WATSON INDUSTRIES AHRS-S305, Руководство пользователя

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Watson Industries, Inc AHRS-S305 Rev J 03/22/2018
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Appendix C
Binary Data Format
The unit will output up to 6 words at 71.11 frames per second set at 9600 Baud. One word per output parameter.
Example 1: The Unit is seeing these conditions:
Binary output Format:
7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
Data Word
MSB LSB
Bit 7 of the MSB is set to 1. Bits 6 to 0 of the MSB are the upper 7 bits of the data. (sign plus 6 bits of data)
Bit 7 of the LSB is set to 1. Bits 6 to 0 of the LSB are the lower 7 bits of the data.
As the data words are received, the LSB is shifted left to shift out the Bit 7 (always set to 1). The MSB is then
connected to the LSB as a 16-bit word. This word is then shifted left to shift out the Bit 7 (always set to 1). What
remains is a signed fractional word with a resolution of 13 bits plus a sign bit.
To convert binary data:
Need split each word into two bytes:
Remove the most significant bit from each byte:
Bank Elevation Heading X angular rate Y angular rate Z angular rate
15.0˚ -5.0˚ 315.0˚ 10.0˚/sec -15.0˚/sec 55.0˚/sec
Word1 Word2 Word3 Word4 Word5 Word6 <CR> byte
0x85AA 0xFE9C 0xF080 0x8399 0xFB99 0x91CC 0x0D
Bank Elevation Heading X Rate Y Rate Z Rate
0x85AA 0xFE9C 0xF080 0x8399 0xFB99 0x91CC
Bank Elevation Heading X Rate Y Rate Z Rate
0x85
0xAA 0xFE
0x9c 0xF0
0x80 0x83
0x99 0xFB
0x99 0x91
0xCC
Bank Elevation Heading X Rate Y Rate Z Rate
0x05
0x2A 0x7E
0x1C 0x70
0x00 0x03
0x19 0x7B
0x19 0x11
0x4C