HG4930 Installation and Interface Manual
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9
Table 6. Asynchronous Control Message Field Status Word 2B
BIT
DEFINITION
NOTES
Bit 0-7
Accelerometer X Temperature
LSB=1°C, Not Calibrated
Bits 8-14
Identical to Field Status Word 2A
See Table 5
Bit 15
Status Word 2X flag
1=2B
Table 7. Asynchronous Inertial Message (0x02 Format)
POSITION
PARAMETER
LENGTH
(BYTES)
LSB WEIGHT
UNITS OR CONTENTS
1
IMU Address
1
N/A
Constant 0x0E
2
Message ID
1
N/A
Constant 0x02
3-10
Control Data
16
N/A
Contents same as Message 0x01
Positions 3-10.
11
Delta Angle X
4
2
-33
radians/LSB
or equivalently,
radians/second/Hz/LSB
12
Delta Angle Y
4
2
-33
13
Delta Angle Z
4
2
-33
14
Delta Velocity X
4
2
-27
0.3048 meters/sec/LSB
or equivalently,
0.3048 meters/sec
2
/Hz/LSB
15
Delta Velocity Y
4
2
-27
16
Delta Velocity Z
4
2
-27
17
Checksum
Sum of all message data (positions
1-16 of this table), taken as 16 bit
words, and summed without regard for
rollover.
2
N/A
// this pseudo code illustrates the
checksum algorithm
u16sum = 0;
for (i=0; i<21; i++) // (44-2)/2=21
{ = u16_msg_array[i]; }
Checksum = u16_msg_array[21];
if (Checksum != u16sum) {checksum
error}
Total Length
44
BIT
DEFINITION
NOTES
Bit 0-7
Software Version Number
Bit 8
Gyro Health
0=OK, 1=Failed
Bit 9
Start data flag
0=sensor data, 1=0x5555 data transmitted for synchronization
Bit 10
Process Test
0=OK, 1=Failed
Bit 11
Memory Test
0=OK, 1=Failed
Bit 12
Electronics Test (ASIC)
0=OK, 1=Failed
Bit 13
Gyro Health
0=OK, 1=Failed
Bit 14
Accelerometer Health
0=OK, 1=Failed
Bit 15
Status Word 2X flag
0=2A
Table 5. Asynchronous Control Message Field Status Word 2A
