Table 3. Control Message (0X04 Data Format); Table 4. Main Status Word Definition - Honeywell HG1120 Installation And Interface Manual

HG1120 Installation and Interface Manual

Table 3. Control Message (0x04 Data Format)

POSITION PARAMETER
1 IMU Address
2 Message ID
3 Angular Rate X
4 Angular Rate Y
5 Angular Rate Z
6 Linear Acceleration X
7 Linear Acceleration Y
8 Linear Acceleration Z
9 Mag Field X
10 Mag Field Y
11 Mag Field Z
12 Main Status Word
13 Multiplexed Status Word
Checksum
Sum of all message data
(positions 1...13 of this
14
table), taken as 16 bit
words, and summed
without regard for rollover.
Total Length

Table 4. Main Status Word Definition

BIT(S) PARAMETER
0-3 Multiplexed Status Word Counter
4 IMU OK
5 Sensor Board Initialization Successful
6 Accelerometer X Validity
7 Accelerometer Y Validity
8 Accelerometer Z Validity
9 Gyro X Validity
10 Gyro Y Validity
11 Gyro Z Validity
12 Magnetometer Validity
13 Power Up BIT Status (Latched)
14 Continuous BIT Status (Latched)
Power Up Test - Sets at start of serial data (~100
15
milliseconds) and clears before 300 milliseconds.
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LENGTH LSB WEIGHT
(BYTES)
1 N/A
1 N/A
2 2 -20 * 1800 * 2/3
2 2 -20 * 1800 * 2/3
2 2 -20 * 1800 * 2/3
2 2 -14 * 1800 * 2/3
2 2 -14 * 1800 * 2/3
2 2 -14 * 1800 * 2/3
2 0.438404
2 0.438404
2 0.438404
2 N/A
2 N/A
2 N/A
26
VALUES
See Table 5.
0=OK, 1=Failed
0=OK, 1=Failed
0=OK, 1=Failed
0=OK, 1=Failed
0=OK, 1=Failed
0=OK, 1=Failed
0=OK, 1=Failed
0=OK, 1=Failed
0=OK, 1=Failed
0=OK, 1=Failed
0=OK, 1=Failed
0=Normal, 1+Power Up Tests
UNITS OR CONTENTS
Constant 0x0E
Constant 0x04
rad/sec/LSB
rad/sec/LSB
rad/sec/LSB
0.3048 meters/sec 2 /LSB
0.3048 meters/sec²/LSB
0.3048 meters/sec²/LSB
Milli-gauss/LSB
Milli-gauss/LSB
Milli-gauss/LSB
See Table 4.
See Table 5.
// this pseudo code illustrates the
checksum algorithm
u16sum = 0;
for (i=0; i<12; i++) // (26-2)/2=12
{ u16sum += u16_msg_array[i]; }
Checksum = u16_msg_array[12];
if (Checksum != u16sum) {checksum
error}
8