![background image](http://html.mh-extra.com/html/honeywell/hg1120/hg1120_installation-and-interface-manual_151850008.webp)
HG1120 Installation and Interface Manual
|
aerospace.honeywell.com/HG1120
8
Table 3. Control Message (0x04 Data Format)
POSITION
PARAMETER
LENGTH
(BYTES)
LSB WEIGHT
UNITS OR CONTENTS
1
IMU Address
1
N/A
Constant 0x0E
2
Message ID
1
N/A
Constant 0x04
3
Angular Rate X
2
2
-20
* 1800 * 2/3
rad/sec/LSB
4
Angular Rate Y
2
2
-20
* 1800 * 2/3
rad/sec/LSB
5
Angular Rate Z
2
2
-20
* 1800 * 2/3
rad/sec/LSB
6
Linear Acceleration X
2
2
-14
* 1800 * 2/3
0.3048 meters/sec
2
/LSB
7
Linear Acceleration Y
2
2
-14
* 1800 * 2/3
0.3048 meters/sec²/LSB
8
Linear Acceleration Z
2
2
-14
* 1800 * 2/3
0.3048 meters/sec²/LSB
9
Mag Field X
2
0.438404
Milli-gauss/LSB
10
Mag Field Y
2
0.438404
Milli-gauss/LSB
11
Mag Field Z
2
0.438404
Milli-gauss/LSB
12
Main Status Word
2
N/A
See Table 4.
13
Multiplexed Status Word
2
N/A
See Table 5.
14
Checksum
Sum of all message data
(positions 1…13 of this
table), taken as 16 bit
words, and summed
without regard for rollover.
2
N/A
// this pseudo code illustrates the
checksum algorithm
u16sum = 0;
for (i=0; i<12; i++) // (26-2)/2=12
{ = u16_msg_array[i]; }
Checksum = u16_msg_array[12];
if (Checksum != u16sum) {checksum
error}
Total Length
26
Table 4. Main Status Word Definition
BIT(S)
PARAMETER
VALUES
0-3
Multiplexed Status Word Counter
See Table 5.
4
IMU OK
0=OK, 1=Failed
5
Sensor Board Initialization Successful
0=OK, 1=Failed
6
Accelerometer X Validity
0=OK, 1=Failed
7
Accelerometer Y Validity
0=OK, 1=Failed
8
Accelerometer Z Validity
0=OK, 1=Failed
9
Gyro X Validity
0=OK, 1=Failed
10
Gyro Y Validity
0=OK, 1=Failed
11
Gyro Z Validity
0=OK, 1=Failed
12
Magnetometer Validity
0=OK, 1=Failed
13
Power Up BIT Status (Latched)
0=OK, 1=Failed
14
Continuous BIT Status (Latched)
0=OK, 1=Failed
15
Power Up Test - Sets at start of serial data (~100
milliseconds) and clears before 300 milliseconds.
0=Normal, 1+Power Up Tests