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HMR3500 User's Guide
Self-Test
Name:
TEST/DTEST
ID:
0x48
Request Data: None
Reply Data:
2 bytes:
Data
Results
Unassigned bits are set to zero, so an overall value of zero indicates that all tests were passed.
Self-testing is done automatically about 150 milliseconds after power-up or a reset, and the DTEST message will be sent
shortly after the DPOWER message. Subsequently, it is done in response to a TEST command. For the most part, self
testing does not interfere with normal operation. However it will cause brief delays (up to 200 milliseconds) in some
functions, so the test should not be commanded when navigation output is critical.
Status
Name:
STAT/DSTAT
ID:
0x49
Request Data: None
Reply Data:
6 bytes:
Data
Type
Temperature
Int
Heading
Kang
Reserved
Int
Initialize Calibrations
Name:
INICAL/DINICAL
ID:
0x50
Request Data: 7 bytes:
Data
Type
Request
Uchar
Azimuth offset
Kang
Roll offset
Kang
Pitch offset
Kang
10
Byte
Type
Offset
Uint
0-1
Byte Offset
Description
0-1
Module temperature in deci-degrees Celsius (degrees times 10).
2-3
Current bearing, corrected for magnetic declination and body offset
4-5
Unused.
Byte Offset
0
1-2
3-4
5-6
Description
Bit flags; 0 = pass, 1 = fail:
0 (0x0001) = ROM checksum
1 (0x0002) = RAM write/read
2 (0x0004) = temperature
3 (0x0008) = X accelerometer
4 (0x0010) = Y accelerometer
5 (0x0020) = Z accelerometer
6 (0x0040) = X magnetometer
7 (0x0080) = Y magnetometer
8 (0x0100) = Z magnetometer
Description
Bit flags; 1 = load corresponding value:
0 (0x01) = Azimuth offset.
1 (0x02) = Roll offset.
2 (0x04) = Pitch offset.
Azimuth (mounting) offset.
Roll offset.
Pitch offset.
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