Rion HCM705B, Быстрый старт

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HCM705B
- High Accuracy Gyro Compass
二、
Command word analysis
Desc. Meaning/Example Description
0X04 Meanwhile read
Pitch
、
Roll
、
Heading
、
Angle command
68 04 00 04 08
Data domain （ 0byte ）
No Data domain command
0X84 Sensor answer reply
E.g
68 0D 00 84 00 10 50 10 10 05 01
04 01 23
Data domain
（
9byte
）
AA AB BB CC CD DD EE EF FF
AA AB BB:3 Characters is Pitch Axis
CC CD DD: 3 Characters is Roll Axis
EE EF FF: 3 Characters is Heading angle
Angle format with same analytic method as Pitch
、
Roll
、
Heading
On the left example , the angle is
: Pitch: +010.50°,Roll:-010.05°
，
104.01°
0X06 Setting declination command
68 06 00 06 02 08 16
Data domain(2byte ） SA AB
S is symbol 0 positive 1 negative
AA: two digits integer
，
B: two digits decimals
E.g ： 02 08 is +20.8 deg
0X86 Sensor answer reply
E.g:
68 08 00 86 00 8E
Data domain
（
1byte
）
Data domain in the number means the sensor response
result
00 Setting successfully
FF Setting failure
0X07 Read declination command
68 04 00 07 0b
Data domain （ 0byte ）
No Data domain command
0X87 Sensor answer reply
E.g:
68 06 00 87 02 08 97
Data domine
（
2byte
）
Data domain in the number means the sensor response
result
0X08 Start calibration command
68 04 00 08 0C
Data domain
（
0byte
）
No Data domain command
0X88 Sensor answer reply
E.g:
68 05 00 88 00 8D
Data domain
（
1byte
）
Data domain in the number means the sensor response
result
00 Start success
FF Start failure
Note: after each module take a point returns data at a time, until the stop calibration, format as below
0X88 Sensor replay calibration points
E.g:
68 05 00 88 07 94
Data domain
（
1byte
）
The number in the data domain indicates the number
sensor collects the calibration points (hexadecimal)
0X09 top calibration command
68 04 00 09 0D
Data domain
（
0byte
）
No Data domain command
0X89 Sensor answer reply command
E.g:
68 05 00 89 XX CS
Data domain
（
4byte
）
XX is 00 can receive ， FF can not receive
0X0A Save calibration command
68 04 00 0A 0E
Data domain （ 0byte ）
No Data domain command
0X8A Sensor answer reply command Data domain
（
1byte
）