DMU380SA Series
User’s Manual
________________________________________________________________________
Doc# 7430-0026 Rev.01
Page 53
through >360 degrees yaw and then send 0x000B calibration request to
terminate.
0x000B
Terminate magnetic alignment. The unit will send a CC response containing
the hard-iron and soft-iron values. To accept the parameters, store them
using the write magnetic calibration command.
0x000C
Begin magnetic calibration with automatic termination. Rotate the unit
through 380 degrees in yaw. The unit will send a CC response containing
the hard-iron and soft-iron values upon completion of the turn. To accept the
parameters, store them using the write magnetic calibration command.
0x000E
Write magnetic calibration. The unit will write the parameters to EEPROM
and then send a calibration response.
7.2.5
Calibrate Acknowledgement Response
Calibrate (‘WC’ = 0x5743)
Preamble
Packet Type
Length
Payload
Termination
0x5555
0x5743
0x02
<WC payload>
<CRC (U2)>
The unit will send this packet in response to a calibrate request if the procedure can be
performed or initiated.
WC Payload Contents
Byte Offset
Name
Format
Scaling
Units
Description
0
calibrationRequest
U2
-
-
The requested calibration
task
7.2.6
Calibration Completed Parameters Response
Calibrate Completed (‘CD’ = 0x4344
)
Preamble
Packet Type
Length
Payload
Termination
0x5555
0x4344
0x0A
<CD payload>
<CRC (U2)>
The unit will send this packet after a calibration has been completed. Currently, there is
only one message of this type sent after a magnetic calibration has been completed (with
or without automatic termination) and the parameters have been calculated. Thus, the
calibrationRequest field will be 0x000B or 0x000C.
CD Payload Contents
Byte Offset
Name
Format
Scaling
Units
Description
0
calibrationRequest
U2
-
-
The requested calibration
task
2
xHardIron
I2
20/2^16
G
The x hard iron bias
4
yHardIron
I2
20/2^16
G
The y hard iron bias
6
softIronScaleRatio
U2
2/2^16
-
The scaling ratio between
the x and y axis
8
softIronAngle
I2
2*pi/2^16
(360/2^16)
Rad
Deg
The soft iron phase angle
between x and y axis
