Analog Devices ADIS1700 Series, Руководство пользователя

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IMU Module Messages
The IMU module implements the messages shown in the IMU Module Messages table.
Table 7-124: IMU Module Messages
ID Command Description Availabilty
0x11 Get Measurements Retrieves IMU sample measurements
from the IMU module Sensor/Smart Camera mode
0x15 Get Temperature For future use. (Sensor/Smart Camera
mode)
0x20 Get Configuration Retrieve the IMU configuration in-
cluding the number of available axis,
the measurement rate and the range
for each axis All modes
0x21 Set Configuration Configuration mode
0x24 Get Parameters Reads the IMU parameter values Configuration mode
0x25 Set Parameters Writes the IMU parameter values Configuration mode
Get Measurements
The GetMeasurements message is used to retrieve IMU sample measurements from the IMU module.
The sample format field allows the user to define the structure of the measurement sample. Attempts to request an
axis that is not present returns in an
invalid format in the results status field of response message. In case of invalid
format, the response message returns no samples but the sample format field indicates the measurements that are
available.
There are two possible ways to arrange the data:
•
Structure – a matrix arrangement where all the data in the same row belongs to the same epoch and the matrix
is transmitted row-wise, first row first.
•
Vectors – a matrix arrangement where all the data in the same row are homogeneous (for example, the first row
contains the accelerometer X axis measurements). The vectors arrangement is the transpose of the structure ar-
rangement.
The user can request an arbitrary number of samples using the homonymous field. The response message can return
a smaller number of samples when the number indicated in the command exceeds the number of available measure-
ments. When this happens, no error is reported in the result status of the response message. The number of samples
field indicates the effective number of measurements in the message.
C++ API:
void SnapSensor::SensorConnection::ImuModule::GetMeasurements (SNAP_UINT16
measurementCount, SNAP_UINT32 *timeTag, SNAP_INT32 *accelerometerX,
SNAP_INT32 *accelerometerY, SNAP_INT32 *accelerometerZ, SNAP_UINT16
Application Firmware
ADIS1700x Vision-Sensing Camera Module User Guide 7–49