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HG1120 Installation and Interface Manual
Table 2. Mode Selection
DIO4
DIO3
DIO2
DIO1
1
1
1
1
1
1
1
1
0
1
1
0
1
0
1
1
0
1
1
0
0
1
0
0
0
1
1
0
1
1
0
1
0
0
1
0
0
0
1
0
0
1
0
0
0
0
0
0
Asynchronous Protocol
The asynchronous 1800/300 Hz data protocol is as specified in Table 3 – Control Message (0x04)
Format and Table 7 – Inertial Message (0x05) Format.
The asynchronous 600/100 Hz data protocol is as specified in Table 8 – Control Message (0x0C)
Format and Table 9 – Inertial Message (0x0D) Format.
The transmit baud rate will be 1Mbits/sec with 1 start bit, 8 data bits, 1 stop bit, and no parity.
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PROTOCOL
CONTROL/NAV.
DATA RATES
1
ASYNC
1800/300 Hz
0
ASYNC
600/100 Hz
1
ASYNC
600/100 Hz
0
ASYNC
600/100 Hz
1
SPI
1800/300 Hz
0
SPI
600/100 Hz
1
SPI
600/100 Hz
0
SPI
600/100 Hz
1
CAN2A
600/100 Hz
0
CAN2A
600/100 Hz
1
CAN2B
600/100 Hz
0
CAN2B
600/100 Hz
1
SPARE
0
SPARE
1
SPARE
0
SPARE
CONTROL/INERTIAL
MESSAGE FORMATS
0x04/0x05
0x0C/0x0D
0x0C/0x0D
0x0C/0x0D
0x04/0x05
0x0C/0x0D
0x0C/0x0D
0x0C/0x0D
11 Bit ID
11 Bit ID
29 Bit ID
29 Bit ID
NA
NA
NA
NA
NA
NA
NA
NA
7
CONTROL DATA
BANDWIDTH
(-90° PHASE POINT)
97 Hz Gyro
155 Hz Accelerometer
90Hz
50Hz
97 Hz Gyro
155 Hz Accelerometer
90Hz
50Hz
90Hz
50Hz
90Hz
50Hz
NA
NA
NA
NA
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