Vectornav VN-100, Руководство пользователя

Страница: 53 / 114

UM001 53
5 System Module
5.1 Commands
5.1.1 Read Register Command
This command allows the user to read any of the registers on the VN-100. The only required parameter
is the ID of the register to be read. The first parameter of the response will contain the same register ID
followed by a variable number of parameters. The number of parameters and their formatting is specific
to the requested register. Refer to the appropriate register listed in the subsystem sections for details on
this formatting. If an invalid register is requested, an error code will be returned.
Example Read Register Command
Example Command Message
UART Command $VNRRG,5*46
UART Response $VNRRG,5,9600*65
5.1.2 Write Register Command
This command is used to write data values to a specified register on the VN-100 module. The ID of the
register to be written to is the first parameter. This is followed by the data values specific to that register.
Refer to the appropriate register listed in the subsystem sections for details on this formatting. If an
invalid register is requested, an error code will be returned.
Example Write Register Command
Example Command Message
UART Command $VNWRG,5,9600*60
UART Response $VNWRG,5,9600*60