Memsic AHRS380ZA-200, User Manual

Page: 4 / 113

DMU380ZA Series
User’s Manual
Page ii
Doc# 7430-3810 Rev. 02
DMU380ZA Register Map .................................................................................33 5.1
DMU380ZA SPI Register Read Methodology ...................................................34 5.2
5.2.1 DMU380ZA SPI Port Polled-Mode Read ...................................................35
5.2.2 DMU380ZA SPI Port Burst-Mode Read .....................................................36
Output Data Registers .........................................................................................38 5.3
System Registers .................................................................................................38 5.4
Diagnostic Status Register ..................................................................................39 5.5
DMU380ZA SPI Register Write Methodology ..................................................39 5.6
Configuration Registers ......................................................................................41 5.7
5.7.1 Self-Test/Data-Ready ..................................................................................41
5.7.2 Output Data Rate/Clock Configuration .......................................................41
5.7.3 Rate-Sensor Scaling/Low-Pass Filter ..........................................................42
5.7.4 Magnetic-Alignment ....................................................................................43
Suggested Operation ...........................................................................................44 5.8
6 DMU380 UART Port Interface Definition ................................................................47
General Settings ..................................................................................................47 6.1
Number Formats .................................................................................................47 6.2
Packet Format .....................................................................................................48 6.3
6.3.1 Packet Header ..............................................................................................48
6.3.2 Packet Type .................................................................................................48
6.3.3 Payload Length ............................................................................................49
6.3.4 Payload ........................................................................................................49
6.3.5 16-bit CRC-CCITT ......................................................................................49
6.3.6 Messaging Overview ...................................................................................49
7 DMU380 Standard UART Port Commands and Messages .......................................51
Link Test. ............................................................................................................51 7.1
7.1.1 Ping Command ............................................................................................51
7.1.2 Ping Response..............................................................................................51
7.1.3 Echo Command ...........................................................................................51
7.1.4 Echo Response .............................................................................................51
Interactive Commands ........................................................................................51 7.2
7.2.1 Get Packet Request ......................................................................................51
7.2.2 Algorithm Reset Command .........................................................................52
7.2.3 Algorithm Reset Response ..........................................................................52
7.2.4 Calibrate Command .....................................................................................52
7.2.5 Calibrate Acknowledgement Response .......................................................53
7.2.6 Calibration Completed Parameters Response ..............................................53