DMU380ZA Series
User’s Manual
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Doc# 7430-3810 Rev.02
Page 27
3.5.3
INS380ZA Built-In Test
As with the IMU, VG and AHRS380ZA, the Built-In Test capability allows users of the
INS380ZA to monitor health, diagnostic, and system status information of the unit in
real-time. The Built-In Test information consists of a BIT word (2 bytes) transmitted in
every measurement packet. In addition, there is a diagnostic packet ‘T0’ that can be
requested via the Get Packet ‘GP’ command which contains a complete set of status for
each hardware and software subsystem in the INS380ZA. See Sections 6 and 7 of the
manual for details on the ‘T0’ packet.
The BIT word contained within each measurement packet is detailed below. The LSB
(Least Significant Bit) is the Error byte, and the MSB (Most Significant Bit) is a Status
byte with programmable alerts. Internal health and status are monitored and
communicated in both hardware and software. The ultimate indication of a fatal problem
is the masterFail flag. The softwareError bit also provides useful information regarding
the status and quality of the INS380ZA magnetic alignment. If the INS380ZA has not
been properly magnetically calibrated, the INS380ZA shall indicate a softwareError.
The masterStatus flag is a configurable indication that can be modified by the user. This
flag is asserted as a result of any asserted alert signals which have been enabled. See
Advanced Settings for details for configuring the masterStatus flags. Table 13 shows the
BIT definition and default settings for BIT programmable alerts in the INS380ZA.
Table 13 INS380ZA Default BIT Status Definitions
BITstatus Field
Bits
Meaning
Category
masterFail
0
0 = normal, 1 = fatal error has occurred
BIT
HardwareError
1
0 = normal, 1= internal hardware error
BIT
comError
2
0 = normal, 1 = communication error
BIT
softwareError
3
0 = normal, 1 = internal software error or
magAlignOutofBounds
BIT
Reserved
4:7
N/A
masterStatus
8
0 = nominal, 1 = one or more status alert
Status
hardwareStatus
9
0 = nominal, 1 = Internal GPS unlocked or 1PPS
invalid
Status
comStatus
10
Disabled
Status
softwareStatus
11
0 = nominal, 1 = Algorithm Initialization or high gain
Status
sensorStatus
12
0 = nominal, 1 = Sensor Over Range
Status
Reserved
13:15
N/A
The INS380ZA also allows a user to configure the Status byte within the BIT message.
To configure the word, select the BIT Configuration tab from the Unit Configuration
menu. The dialog box allows selection of which status types to enable (hardware,
software, sensor, and comm). Like the IMU, VG and AHRS380ZA, MEMSIC
recommends for the vast majority of users, that the default Status byte for the INS380ZA
is sufficient. For users, who wish to have additional visibility or alerts relative to the GPS
sensor status or algorithm status, they can configure additional triggers for both the
