Aceinna IMU381ZA SERIES Manuals

Manuals and User Guides for Aceinna IMU381ZA SERIES. We have 1 Aceinna IMU381ZA SERIES manual available for free PDF download: User Manual

Aceinna IMU381ZA SERIES User Manual

Aceinna IMU381ZA SERIES User Manual (99 pages)

Brand: Aceinna | Category: Measuring Instruments | Size: 3 MB

Table of Contents

Revision History
3
Table of Contents
4
About this Manual
8
1 Introduction

9
- Manual Overview
  9
- Overview of the IMU381 Series Inertial Measurement Unit
  10
2 Interface

11
- Electrical Interface
  11
- Connector and Mating Connector
  11
- Power Input and Power Input Ground
  12
- Serial Data Interface
  12
- Reserved - Factory Use Only
  13
  - Mechanical Interface
    13
3 Theory of Operation

14
- IMU381 Series Default Coordinate System
  16
- Advanced Settings
  17
  - IMU381 Theory of Operation
    17
- IMU381 Advanced Settings
  17
- IMU381 Built-In Test
  18
4 IMU381 SPI Port Interface Definition

19
- IMU381 Register Map
  19
- IMU381 SPI Register Read Methodology
  21
- IMU381 SPI Port Polled-Mode Read
  22
- IMU381 SPI Port Burst-Mode Read
  23
  - Output Data Registers
    26
  - System Registers
    27
  - Diagnostic Status Register
    27
  - IMU381 SPI Register Write Methodology
    28
  - Configuration Registers
    30
- Self-Test/Data-Ready
  30
- Output Data Rate
  30
- Rate-Sensor Scaling/Low-Pass Filter
  31
- Accelerometer, and Alternate Rate-Sensor Scaling
  33
- Axis Orientation Settings
  35
- Saving the Configuration to EEPROM
  35
- Hardware and Software Version
  35
  - Suggested Operation
    36
- Startup Timing
  36
- SPI Timing
  37
  - Signal Synchronization
    38
  - Bootloader
    39
5 IMU381 UART Port Interface Definition

40
- General Settings
  40
- Number Formats
  40
- Packet Format
  41
- Packet Header
  41
- Packet Type
  41
- Payload Length
  42
- Payload
  42
- 16-Bit CRC-CCITT
  42
- Messaging Overview
  42
6 IMU381 Standard UART Port Commands and Messages

45
- Link Test
  45
- Ping Command
  45
- Ping Response
  45
- Echo Command
  45
- Echo Response
  45
  - Interactive Commands
    45
- Get Packet Request
  46
- Error Response
  46
  - Output Packets (Polled)
    46
- Identification Data Packet
  46
- Version Data Packet
  47
- Test 0 (Detailed BIT and Status) Packet
  47
  - Output Packets (Polled or Continuous)
    48
- Scaled Sensor Data Packet 0
  48
- Scaled Sensor Data Packet 1 (Default IMU Data)
  49
7 IMU381 Advanced UART Port Commands

51
- Configuration Fields
  51
- Continuous Packet Type Field
  52
- Digital Filter Settings
  52
- Orientation Field
  52
- User Behavior Switches
  54
- Commands to Program Configuration
  54
- Write Fields Command
  54
- Set Fields Command
  55
  - Read Fields Command
    56
  - Read Fields Response
    57
  - Get Fields Command
    57
  - Get Fields Response
    58
8 IMU381 Advanced UART Port BIT

59
- Built in Test (BIT) and Status Fields
  59
- Master BIT and Status (Bitstatus) Field
  61
- Hardwarebit Field
  62
- Hardwarepowerbit Field
  62
- Hardwareenvironmentalbit Field
  62
- Combit Field
  63
- Comserialabit Field
  63
- Comserialbbit Field
  63
- Softwarebit Field
  64
- Softwarealgorithmbit Field
  64
- Softwaredatabit Field
  64
- Hardwarestatus Field
  64
- Comstatus Field
  65
- Softwarestatus Field
  65
- Sensorstatus Field
  65
- Configuring the Master Status
  66
- Hardwarestatusenable Field
  66
- Comstatusenable Field
  66
- Softwarestatusenable Field
  66
- Sensorstatusenable Field
  67
9 Imu381 Bootloader

68
- Updating Firmware over UART Interface
  68
- Jump to Bootloader Command
  68
  - Write APP Command
    68
  - Jump to Application Command
    69
    
    Updating Firmware Using the SPI Interface
    69
  - Boot Mode Registers
    69
  - Boot Mode Status Register (0X78)
    70
  - Boot Command Register (0X7A)
    71
  - Boot Data Register (0X7C)
    72
  - Boot Loading Sequence
    72
10 Warranty and Support Information

74
- Authorization
  74
- Identification and Protection
  74
- Sealing the Container
  75
- Marking
  75
Appendix A: Installation and Operation of NAV-VIEW

76
- NAV-VIEW Computer Requirements
  76
  - Install NAV-VIEW
    76
- Connections
  76
- Setting up NAV-VIEW
  76
- Data Recording
  77
- Data Playback
  78
- Raw Data Console
  78
- Horizon and Compass View
  79
- Packet Statistics View
  80
- Unit Configuration
  80
- Advanced Configuration
  81
- Bit Configuration
  82
- Read Unit Configuration
  84
Appendix B: Sample Packet-Parser Code

88
- Overview
  88
- Code Listing
  89
Appendix C: Sample Packet Decoding

96

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