Table 5. Asynchronous Control Message Field Status Word 2A; Table 6. Asynchronous Control Message Field Status Word 2B; Table 7. Asynchronous Inertial Message (0X02 Format) - Honeywell HG4930 Installation And Interface Manual

HG4930 Installation and Interface Manual

Table 5. Asynchronous Control Message Field Status Word 2A

BIT
Bit 0-7
Bit 8
Bit 9
Bit 10
Bit 11
Bit 12
Bit 13
Bit 14
Bit 15

Table 6. Asynchronous Control Message Field Status Word 2B

BIT
Bit 0-7
Bits 8-14
Bit 15

Table 7. Asynchronous Inertial Message (0x02 Format)

PARAMETER
POSITION
1 IMU Address
2 Message ID
3-10 Control Data
11 Delta Angle X
12 Delta Angle Y
13 Delta Angle Z
14 Delta Velocity X
15 Delta Velocity Y
16 Delta Velocity Z
17 Checksum
Sum of all message data (positions
1-16 of this table), taken as 16 bit
words, and summed without regard for
rollover.
Total Length
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DEFINITION
Software Version Number
Gyro Health
Start data flag 0=sensor data, 1=0x5555 data transmitted for synchronization
Process Test
Memory Test
Electronics Test (ASIC)
Gyro Health
Accelerometer Health
Status Word 2X flag
DEFINITION
Accelerometer X Temperature
Identical to Field Status Word 2A
Status Word 2X flag
LENGTH
(BYTES)
1
1
16
4
4
4
4
4
4
2
44
NOTES
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=2A
LSB=1°C, Not Calibrated
See Table 5
LSB WEIGHT UNITS OR CONTENTS
N/A Constant 0x0E
N/A Constant 0x02
Contents same as Message 0x01
N/A
Positions 3-10.
2
-33
2 -33 or equivalently,
radians/second/Hz/LSB
2
-33
2
-27
0.3048 meters/sec/LSB
or equivalently,
2
-27
0.3048 meters/sec
2 -27
N/A // this pseudo code illustrates the
checksum algorithm
for (i=0; i<21; i++) // (44-2)/2=21
{ u16sum += u16_msg_array[i]; }
Checksum = u16_msg_array[21];
if (Checksum != u16sum) {checksum
9
NOTES
1=2B
radians/LSB
/Hz/LSB
2
u16sum = 0;
error}