Register Protocol - Kauai Labs navX-MXP User Manual

Advanced
Serial Protocol
Stream Configuration Response message, which is formatted as follows:
Byte Offset
0
1
5
9
13
20
24
28
32
36
Flag value
0, 1
2
Integration Control Command
The Integration Control Command is sent in order to cause certain values being integrated on
the navX-MXP to be reset to 0.
Byte Offset
0
1
Integration Control Response
The Integration Control Response is sent in response to an Integration Control Command,
confiming that certain values being integrated on the navX-MXP have been reset to 0.
Byte Offset
0
1
In addition to the streaming Serial protocol, navX-MXP may be accessed over the I2C and SPI
buses, using a register-based protocol. This page documents the register-based protocol used
Element
Stream Type
Gyroscope Full Scale Range
(Degrees/sec)
Accelerometer Full Scale
Range (G)
Update Rate (Hz)
Calibrated Yaw Offset
(Degrees)
Reserved
Reserved
Reserved
Reserved
Flags
Desription
Startup Gyro Calibration in progress
Startup Gyro Calibration complete
Element
Action
Parameter
Element
Action
Parameter

Register Protocol

Data Type
8-bit ASCII Character
16-bit Integer
16-bit Integer
16-bit Integer
Float
16-bit Integer
16-bit Integer
16-bit Integer
16-bit Integer
16-bit Integer
Data Type
Uint8
(NAVX_INTEGRATION_CTL)
Uint32
Data Type
Uint8
(NAVX_INTEGRATION_CTL)
Uint32
82