Bewis Sensing Technology LLC
www.bwsensing.com TEL：0510-85737158
BW-AH325
High cost performance CAN bus AHRS
4)
Query relative\absolute zero:
send
answer
0x10
Fourth
byte
0x00
Fifth
byte
0x00
Sixth
byte
0x00
Seventh
byte
0x00
Eighth
byte
0x00
0x40
0x05
0x10
0x00
Type
0x00
0x00
0x00
Note: The 5th byte Type is 0x00, 0x01. 0x00 is represented as absolute zero, and 0x01 is represented as
relative zero.
First
byte
0x40
Second
byte
0x0d
Third
byte
5)
save
send
answer
Note: After some parameters are modified, you need to send a save command to take effect.
CAN-ID
0x600+0x05
0x580+0x05
6)
Read each attitude angle
CAN-ID
0x600+0x05
0x580+0x05
send
answer
First
byte
0x40
SX
Second
byte
0x04
XX
Third
byte
0x10
xx
Fourth
byte
0x00
SX
Fifth
byte
Sixth
byte
0x00
yy
Seventh
byte
0x00
BB
Eighth
byte
0x00
Bb
0x00
YY
Note: The read angle command needs to be valid in the answer mode.
The pitch angle is represented by a 3-byte BCD code (1~3 bytes). The highest bit S is a sign bit, 0-positive; 1-negative, uppercase
X is an integer bit, lowercase x is a decimal place; roll angle is 3 The BCD code of the byte indicates (4~6 bytes) that the highest bit
S is a sign bit, 0-positive; 1-negative, uppercase Y is an integer bit, lowercase y is a decimal place; azimuth is 2 bytes BCD The code
indicates (7~8 bytes) unsigned bits, uppercase B is an integer bit, and lowercase b is a decimal place;
For example, if the returned data is 585 00 12 34 10 12 34 26 35, it means that the pitch angle is +12.34 degrees, the roll angle is
-12.34 degrees, and the azimuth angle is 263.5 degrees.
CAN-ID
0x600+0x05
0x580+0x05
0x10
Fourth
byte
0x00
Fifth
byte
0x00
Sixth
byte
0x00
Seventh
byte
0x00
Eighth
byte
0x00
0x40
0x0a
0x10
0x00
0x00
0x00
0x00
0x00
First
byte
0x40
Second
byte
0x0a
Third
byte
7)
Set output mode
CAN-ID
First
byte
Second
byte
Third
byte
Fourth
byte
Fifth
byte
Sixth
byte
Seventh
byte
0x600+0x05
0x580+0x05
0x40
0x40
0x0c
0x0c
0x10
0x10
0x00
0x00
mode
mode
0x00
0x00
0x00
0x00
0x00
0x00
Note: The fifth byte mode is 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06. Where 0x00 represents the answer mode,
0x01
：
5Hz Data Rate
，
0x02
：
10Hz Data Rate
，
0x03
：
20Hz
Data
Rate
，
0x04
：
25Hz
Data
Rate
，
0x05
：
50Hz Data Rate
，
0x06
：
100Hz Data Rate
（
default
）
，
5Hz Data Rate means 5 times of data is output automatically every second. Sending other names should
be done in Q&A mode (automatic mode is to continuously output the current angle of the axis according
to the specific frequency. In the answer mode, it is easier to see other commands return. value).
Eighth
byte
send
answer
