RoboSense RS-Bpearl, Руководство пользователя

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RS-Bpearl User Manual
The LSB for Idat is 1μA, the formula is as below:
dat䋰
݀ ܽ 䖧 ̴ ݎݎ݁ ݃ ݀ ܽ 䖧 ̴ ݎ憌݃ 䋰
݀ ܽ 䖧 ̴ ݎݎ݁ ݃ ݀ ܽ 䖧 ̴ ݎ憌݃ 䋰
dat䋰
݀ ܽ 䖧 ̴ ݎݎ݁ ݃ ݀ ܽ 䖧 ̴ ݎ憌݃ 䋰
݀ ܽ 䖧 ̴ ݎݎ݁ ݃ ݀ ܽ 䖧 ̴ ݎ憌݃ 䋰
For example, if byte1 = 8C, byte2 = D5 and byte3 = 00, then the current value is:
Idat = -Idat_reg[22:0] = -0x0CD500 uA = -840960uA≈-841mA
(2) There are six different voltages, each voltage register has 2 bytes to be
Vdat_reg[15:0]. Vdat_reg[15:12] is invalid, while Vdat[11:0] represent the
voltage value. The six different voltage formula is as below:
The unit above is volt (V).
B.11 Fault Diagnosis
Fault Diagnosis (40bytes in total)
Byte No. byte1 byte2 byte3 byte4 byte5 byte6 byte7 byte8
Function internal debug
Byte No. byte9 byte10 byte11 byte12 byte13 byte14 byte15 byte16
Function internal debug cksum_st manc_err1 manc_err2 gps_st
Byte No. byte17 byte18 byte19 byte20 byte21 byte22 byte23 byte24
Function temperature1 temperature2 temperature3 temperature4
Byte No. byte25 byte26 byte27 byte28 byte29 byte30 byte31 byte32
Function temperature5 internal debug r_rpm1
Byte No. byte33 byte34 byte35 byte36 byte37 byte38 byte39 byte40
Function r_rpm2 internal debug
Register description:
(1) chksum_st represents the temperature compensation status. If chksum_st = 0x00, the
temperature compensation is working. If chksum_st = 0x01, the temperature
compensation is, the temperature compensation is abnormal.
(2) manc_err1 and manc_err2 are used to calculate the bit error rate of the data
communication. manc_err1 represents 1bit error, while manc_err2 represents 2bit error.
The error rate formula is as below:
h 䖧䖧 䖧 䋰 h 䖧䖧 ݎ ൌൌ憌 ܽ ܿ
h 䖧䖧ݎ 䖧 䋰 h 䖧䖧ݎݎ ൌൌ憌 ܽ ܿ
When the manc_err1_per and manc_err1_per are both zero, the system data
communication is normal.
(3) Temperature1 and temperature2 represent the bottom board temperature, while
temperature3 and temperature4 represent the top board temperature. Each temperature
register contains 2 bytes to be temperature_reg[15:0]. temperature_reg[2:0] is invalid.
temperature_reg[15:3] is temperature value, while temperature_reg[15] is symbol flag.
The temperature formula is as below: