DAS MSENS-GY, Руководство пользователя

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3-axis accelerometer & 3-axis gyro sensor
MSENS-GY
User’s manual
9
４MSENS-GY Communication Commands
First of all the transfer of 'CR' will be sent by appending.
Example> In case ID = 1 , MODE = 0,
Send format : <1 Command> + Check-sum + CR
Receive format : [1 0 “Pich”“Roll”“Yaw”] + Check-sum + CR
Example of calculation checksum)
<1 START> = ‘<‘ XOR ‘1‘ XOR ‘‘ XOR ‘S’ XOR ‘T’ XOR ‘A’ XOR ‘R’ XOR ‘T’ XOR ‘>’
= CHECK_SUM
Command Echo CMD VALUE Function Data output
Data
OutPut <1> x x 1time data [1 0 1234 45 4567]
<1 START> [1 START] x Continues
data
[1 0 1234 45 4567]
<1 STOP> [1 STOP] x Stop output
Set-up
command <1 ID 254> [1 ID 254] 1~254 ID Change
<1 SPEED 1> [1 SPEED 0] 1, 2, 3 baudrate
<1 MODE 0> [1 MODE 0] Angle:0,
angular
velocity :1 MODE
change
<1 SCALE 1> [1 SCALE 1] GY: 1,2,8
AC: 2,4,8 Full Scale
Setting
<1 ANALOG 2> [1 ANALOG 2] X:0, Y:1, Z:2 Analog 출력
축 설정
<1 OFFSET 3.5> [1 OFFSET 3.5]
Voltage(mV) Analog output
axis offset
<1 SPAN 1.05> [1 SPAN 1.05] Scale
Factor
Analog output
span
<1 CALI> [1 CALI 12 34 56] x Gyro Bias
Calibration
<1 INIT> [1 INIT] x
Set to YAW 0
<1 SAVE> [1 SAVE] x Save Setting
<1 RESTORE> [1 RESTORE] x Default setting
values return
<1 VER> [1 VER MSENS-GY 01.00] x
Version
information