Register Value Save and Reset Command

Identifier

Name

Parameter

Response

Default

4 (04h)

WRITE_REGISTERS

NONE

ACK/NACK

5 (05h)

RESTORE_FACTORY_VALUE

NONE

ACK/NACK

Mode Switching Commands

Identifier

Name

Parameter

Response

Default

6 (06h)

GOTO_COMMAND_MODE

NONE

ACK/NACK

7 (07h)

GOTO_STREAM_MODE

NONE

ACK/NACK

Sensor Status Command

Identifier

Name

Parameter

Response

Default

8 (08h)

GET_SENSOR_STATUS

NONE

UInt32

1

Get Data Commands

Identifier

Name

Parameter

Response

Default

9 (09h)

GET_IMU_DATA

NONE

Device Info

Identifier

Name

Parameter

Response

Default

20 (14h)

GET_SENSOR_MODEL

NONE

Char[24]

21 (15h)

GET_FIRMWARE_INFO

NONE

Char[24]

22 (16h)

GET_SERIAL_NUMBER

NONE

Char[24]

23(17h)

GET_FILTER_VERSION

NONE

Char[24]

Data Transmission Commands

Identifier

Name

Parameter

Response

Default

30 (1Eh)

SET_IMU_TRANSMIT_DATA

UInt32

ACK/NACK

31 (1Fh)

GET_IMU_TRANSMIT_DATA

NONE

UInt32

IMU ID Settings Commands

Identifier

Name

Parameter

Response

Default

32 (20h)

SET_IMU_ID

UInt32

ACK/NACK

33 (21h)

GET_IMU_ID

NONE

UInt32

1

Stream Frequency Commands

Identifier

Name

Parameter

Response

Default

34 (22h)

SET_STREAM_FREQ

UInt32

ACK/NACK

35 (23h)

GET_STREAM_FREQ

NONE

UInt32

100Hz

Deg/Rad Output Commands

Identifier

Name

Parameter

Response

Default

36 (24h)

SET_DEGRAD_OUTPUT

UInt32

ACK/NACK

37 (25h)

GET_DEGRAD_OUTPUT

NONE

UInt32

0

Reference Setting and Offset Reset Commands

Identifier

Name

Parameter

Response

Default

38 (26h)

SET_ORIENTATION_OFFSET

UInt32

ACK/NACK

39 (27h)

RESET_ORIENTATION_OFFSET

NONE

ACK/NACK

Accelerometer Settings Commands

Identifier

Name

Parameter

Response

Default

50 (32h)

SET_ACC_RANGE

Int32

ACK/NACK

51 (33h)

GET_ACC_RANGE

NONE

Int32

4g

Gyroscope Settings Commands

Identifier

Name

Parameter

Response

Default

60 (3Ch)

SET_GYR_RANGE

UInt32

ACK/NACK

61 (3Dh)

GET_GYR_RANGE

NONE

UInt32

2000dps

62 (3Eh)

START_GYR_CALIBRATION

NONE

ACK/NACK

64 (40h)

SET_ENABLE_GYR_AUTOCALIBRATION

UInt32

ACK/NACK

65 (41h)

GET_ENABLE_GYR_AUTOCALIBRATION

NONE

UInt32

1

Filter Settings Command

Identifier

Name

Parameter

Response

Default

90 (5Ah)

SET_FILTER_MODE

UInt32

ACK/NACK

91 (5Bh)

GET_FILTER_MODE

NONE

UInt32

1

CAN Settings Command

Identifier

Name

Parameter

Response

Default

110 (6Eh)

SET_CAN_START_ID

UInt32

ACK/NACK

111 (6Fh)

GET_CAN_START_ID

NONE

UInt32

0x514

112 (70h)

SET_CAN_BAUDRATE

UInt32

ACK/NACK

113 (71h)

GET_CAN_BAUDRATE

NONE

UInt32

500Kbps

114 (72h)

SET_CAN_DATA_PRECISION

UInt32

ACK/NACK

115 (73h)

GET_CAN_DATA_PRECISION

NONE

UInt32

0

116 (74h)

SET_CAN_MODE

UInt32

ACK/NACK

117 (75h)

GET_CAN_MODE

NONE

UInt32

0

118 (76h)

SET_CAN_MAPPING

UInt32[16]

ACK/NACK

119 (77h)

GET_CAN_MAPPING

NONE

UInt32[16]

120 (78h)

SET_CAN_HEARTBEAT

UInt32

ACK/NACK

121 (79h)

GET_CAN_HEARTBEAT

NONE

UInt32

1s

UART / RS232 Settings Command

Identifier

Name

Parameter

Response

Default

130 (82h)

SET_UART_BAUDRATE

UInt32

ACK/NACK

131 (83h)

GET_UART_BAUDRATE

NONE

UInt32

921600

132 (84h)

SET_UART_FORMAT

UInt32

ACK/NACK

133 (85h)

GET_UART_FORMAT

NONE

UInt32

0

134 (86h)

SET_UART_ASCII_CHARACTER

Int8[4]

ACK/NACK

135 (87h)

GET_UART_ASCII_CHARACTER

NONE

Char[4]

0x24 0x0A 0x00 0x00

136 (88h)

SET_LPBUS_DATA_PRECISION

UInt32

ACK/NACK

137 (89h)

GET_LPBUS_DATA_PRECISION

NONE

UInt32

1

Software Synchronization

Identifier

Name

Parameter

Response

Default

150 (96h)

START_SYNC

NONE

ACK/NACK

151 (97h)

STOP_SYNC

NONE

ACK/NACK

Sensor Data Timestamp Manipulation

Identifier

Name

Parameter

Response

Default

152 (98h)

SET_TIMESTAMP

UInt32

ACK/NACK