DMU380SA Series
User’s Manual
________________________________________________________________________
Doc# 7430-0026 Rev. 01
Page 56
Accelerometers: scaled to a range of [-10,+10) g
Magnetometers: scaled to a range of [-1,+1) Gauss
Temperature: scaled to a range of [-100, +100)°C
S0 Payload Contents
Byte Offset
Name
Format
Scaling
Units
Description
0
xAccel
I2
20/2^16
g
X accelerometer
2
yAccel
I2
20/2^16
g
Y accelerometer
4
zAccel
I2
20/2^16
g
Z accelerometer
6
xRate
I2
7*pi/2^16
[1260°/2^16]
rad/s
[°/sec]
X angular rate
8
yRate
I2
7*pi/2^16
[1260°/2^16]
rad/s
[°/sec]
Y angular rate
10
zRate
I2
7*pi/2^16
[1260°/2^16]
rad/s
[°/sec]
Z angular rate
12
xMag
I2
20/2^16
Gauss
X magnetometer
14
yMag
I2
20/2^16
Gauss
Y magnetometer
16
zMag
I2
20/2^16
Gauss
Z magnetometer
18
xRateTemp
I2
200/2^16
deg. C
X rate temperature
20
yRateTemp
I2
200/2^16
deg. C
Y rate temperature
22
zRateTemp
I2
200/2^16
deg. C
Z rate temperature
24
boardTemp
I2
200/2^16
deg. C
CPU board temperature
26
GPSITOW
U2
truncated
ms
GPS ITOW (lower 2 bytes)
Not implemented
28
BITstatus
U2
-
-
Master BIT and Status
7.4.2
Scaled Sensor Data Packet 1 (Default IMU Data)
Scaled Sensor Data (‘S1’ = 0x5331
)
Preamble
Packet Type
Length
Payload
Termination
0x5555
0x5331
0x18
<S1 payload>
<CRC (U2)>
This packet contains scaled sensor data. Data involving angular measurements include
the factor pi in the scaling and can be interpreted in either radians or degrees.
Angular rates: scaled to range of 3.5* [-pi,+pi) or [-630 deg/sec to +630 deg/sec)
Accelerometers: scaled to a range of [-10,+10)g
Temperature: scaled to a range of [-100, +100)°C
S1 Payload Contents
Byte Offset
Name
Format
Scaling
Units
Description
0
xAccel
I2
20/2^16
g
X accelerometer
2
yAccel
I2
20/2^16
g
Y accelerometer
4
zAccel
I2
20/2^16
g
Z accelerometer
6
xRate
I2
7*pi/2^16
[1260°/2^16]
rad/s
[°/sec]
X angular rate
8
yRate
I2
7*pi/2^16
[1260°/2^16]
rad/s
[°/sec]
Y angular rate
10
zRate
I2
7*pi/2^16
rad/s
Z angular rate
