Analog Devices ADIS1700 Series, Руководство пользователя

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Table 7-128:
Get Measurements Response - Payload (Continued)
Field Name Type Notes
Time Of Day U4 0 – 86400s with resolution 0.1 ms
IMU Measurements N × M See the Table 7-129 Get Measurement Format ta-
ble.
M = size of requested data. Acceleration and angu-
lar rates are two bytes long while the time tag field
is four bytes long. Data are sorted oldest first.
Table 7-129:
Get Measurement Format
Bit Field Name Bit Notes
Time Tag 0 Set to 1 when the measurement is required
Accelerometer X 1 Set to 1 when the measurement is required
Accelerometer Y 2 Set to 1 when the measurement is required
Accelerometer Z 3 Set to 1 when the measurement is required
Structure/Vectors 15 (MSB) Set to 1 when structure format is desired.
(See the
Structure Format Example ).
Set to 0 when vectors format is desired.
(See the
Vector Format Example ).
Structure Format Example
The following code example show the IMU measurement using the structure format for:
Bitfield = 1+2+4+(1<<15)
ImuMeasurements = {
TimeTag[0],
Accelerometer X[0],
Accelerometer Y[0],
……
TimeTag[N-1],
Accelerometer X[N-1],
Accelerometer Y[N-1],
};
Vector Format Example
The following code example show the IMU measurement using the vector format for:
Bitfield = 1+2+4+(1<<15)
ImuMeasurements = {
IMU Module Messages
ADIS1700x Vision-Sensing Camera Module User Guide 7–51