Bewis Sensing Technology LLC
www.bwsensing.com TEL：0510-85737158
BW-AH325
High cost performance CAN bus AHRS
Ⅰ
Set the extended CAN-ID high 16-bit address
send
answer
CAN-ID
0x600+0x05
First
byte
0x40
Second
byte
0x72
Fourth
byte
0x00
Fifth
byte
XH
Sixth
byte
XL
Seventh
byte
0x00
Eighth
byte
0x00
0x10
Third
byte
Note: The extended CAN-ID high 16-bit address cannot be greater than 7FF.
Ⅱ
Set the extended CAN-ID low 16-bit address
send
answer
CAN-ID
0x600+0x05
First
byte
0x40
Fourth
byte
0x00
Fifth
byte
XH
Sixth
byte
XL
Seventh
byte
0x00
Eighth
byte
0x00
0x10
Third
byte
Note: The extended CAN-IDd low 16-bit address cannot be greater than FFFF.
For example, if you send 605 40 72 10 00 01 23 00 00, 605 40 73 10 00 45 67
00 00 twice, the CAN-ID will be 01234567 after power-off.
Second
byte
0x73
16)
Set Kalman filter parameters
CAN-ID
0x600+0x05
0x580+0x05
send
answer
First
byte
0x40
0x00
Second
byte
0x80
XX
Third
byte
0x10
YY
Fourth
byte
0x00
YY
Fifth
byte
Sixth
byte
YY
0x00
Seventh
byte
YY
0x00
Seventh
byte
0x00
0x00
XX
0x00
Note: Set the parameter to XX.YYYY and save it automatically after setting. The parameter range is
1.0~1.5 (excluding 1.0 and 1.5).
For example: Send 605 40 80 10 00 01 00 02 00, then set the Kalman filter parameter to 1.0002 and save it
automatically.
17)
Query Kalman filter parameters
CAN-ID
0x600+0x05
0x580+0x05
send
answer
First
byte
0x40
0x00
Second
byte
0x81
XX
Third
byte
0x10
YY
Fourth
byte
0x00
YY
Fifth
byte
Sixth
byte
0x00
0x00
Seventh
byte
0x00
0x00
Seventh
byte
0x00
0x00
0x00
0x00
For example: return 585 00 01 00 02 00 00 00 00, then the Kalman filter parameter is 10002.
