LPMS-IG1 User Manual

Owned by Klaus Petersen
Last updated: Jan 24, 2024 by HueiY
21 min read

Introduction

This manual applies to the following sensor types:

LPMS-IG1-CAN

LPMS-IG1-RS232

LPMS-IG1P-RS232

LPMS-IG1-RS485

LPMS-IG1P-RS485

 

LPMS-IG1 series sensors are high precision multi-purpose inertial measurement units specially developed for industrial applications. LPMS-IG1 sensors embed a powerful processor, 3 high precision single axis gyroscopes, a general purpose 3 axis gyroscope, accelerometer and magnetometer. The unique dual-gyroscope (Gyro I & II) setup enables accurate dynamics measurement in both low and high-speed applications. Gyro I is suitable for applications where the accuracy requirements are high and the detection range is not critical (<400dps). Gyro II is suitable for general applications where the expected measurement range exceeds 400dps.

LPMS-IG1 series include two models, LPMS-IG1 (without GPS) and LPMS-IG1P (with GPS). Both models offer the following communication methods: USB+RS232 or, USB+CAN or USB+RS485. For details on how to use the communication interface, please refer to the relevant sections below. LPMS-IG1 series come in a waterproof metal housing with a flat bottom profile and mounting holes for easy installation.

Main features:

  • High precision and stability

  • Dual 3-axis general purpose gyroscope, 3-axis accelerometer, 3-axis magnetometer

  • Gyro I: High precision 3-axis gyroscope

  • Gyro II: 3-axis general purpose gyroscope

  • Realtime output: Raw and calibrated sensor data, quaternion, Euler angles, temperature, GPS (LPMS-IG1P)

  • Communication method：USB+RS232 or USB+CAN or USB+RS485

Applications:

  • Robot navigation

  • Automotive navigation

  • Remote control and monitoring for industrial robots

  • Automated guided vehicle navigation

Reference Systems

Coordinates

The LPMS sensor calculates the orientation difference between a fixed sensor coordinate system (S), a object coordinate (O) and a global reference coordinate system (G). All coordinate systems are defined as right-handed Cartesian coordinate systems. The sensor coordinate system (S) can be referred to the sticker information on the sensor enclosure as showed in Fig. 2.1. The object coordinate (O) is the frame to which the sensor is attached. (S) and (O) can be aligned through the methods introduced in the following sections.

The global reference coordinate system (G) can be divided into two different cases. While the orientation calculation is using all acceleration, gyroscope and magnetic data (sensor filter mode set at acc+gyr+mag), (G) system is defined as following:

  • X positive when pointing to the magnetic north

  • Y positive when pointing to the magnetic west

  • Z positive when pointing up (gravity points vertically down with -1g)

While the orientation calculation is using only acceleration and gyroscope data (sensor filter mode set at acc+gyr), (G) system is defined as following:

  • X positive aligned to ground plane horizontal projection of x axis of (S) when sensor powered on

  • Y positive based on right-handed Cartesian coordinate definition

  • Z positive when pointing up (gravity points vertically down with -1g)

Raw Data

The raw data normally contains 3-axis accelerometer data, 3-axis gyroscope data and 3-axis magnetometer data. All these data are referred to coordinate (S) or (O).

Euler Angles

A positive rotation is always right-handed, i.e. defined according to the right-hand rule (corkscrew rule). This means a positive rotation is defined as clockwise in the direction of the axis of rotation.
The definition used for Euler angles in this document is equivalent to roll, pitch, yaw/heading. The Euler angles are of ZYX global type (subsequent rotation around global Z, Y and X axis, also known as aerospace sequence):

  • Roll: Rotation around global X, defined from -180°~180°

  • Pitch: Rotation around Y, defined from -90°~90°

  • Yaw: Rotation around Z, defined from -180°~180°

NOTE: Due to the definition of Euler angles there is a mathematical singularity when the sensor-fixed X-axis is pointing up or down in the global reference frame (i.e. pitch approaches+/-90). This singularity is not present in quaternion output.

Orientation Alignment Modes

Heading Reset

Often it is important that the global Z-axis remains along the vertical (defined by local gravity vector), but the global X-axis has to be pointed in a particular direction on horizontal plane. In this case a heading reset may be used. When performing a heading reset, the new global reference frame is chosen such that the global X-axis points in the direction of the sensor's x direction while keeping the global Z-axis vertical (along gravity, pointing upwards). In other words: The global Z-axis point upwards along gravity, where the X and Y axis orthogonally form a perpendicular plane.
The operation of heading reset comes out a result on Euler angles data is that yaw angle becomes zero, roll and pitch angles keep same.
NOTE: After a heading reset, the yaw may not be exactly zero, this occurs especially when the X-axis is close to the vertical. This is caused by the definition of the yaw when using Euler angles, which becomes unstable when the pitch approaches +/-90 deg.

Alignment Reset

The alignment reset function aims to facilitate in aligning the sensor coordinate system (S) with the ground plane. After an alignment reset, the (S) coordinate system is changed to (S') as follows:

  • The (S') Z-axis is the vertical (up) at time of reset

  • The (S') X-axis equals the (S) X-axis but projected on the new horizontal plane.

  • The (S') Y-axis is chosen as to obtain a right-handed coordinate frame.

The operation of alignment reset comes out a result on Euler angles data is that yaw angle keeps same, roll and pitch angles become zero.

NOTE: Once this alignment reset is done, orientation will be output in the new coordinate frame (S').

Object Reset

The object reset aligns the sensor coordinate frame to that of the object to which it is attached (see Fig. 2.2). The sensor must be attached in such a way that the X-axis is in the XZ-plane of the object coordinate frame, i.e. the sensor can be used to identify the X-axis of the object. To preserve the global vertical, the object must be oriented such that the object Z-axis is vertical. The object reset causes the new (S') coordinate frame and the object coordinate frame (O) to be aligned.

The object reset simply combines alignment reset and the heading reset at a single instant in time. This has the advantage that all coordinate systems can be aligned with a single action. Keep in mind that the new global reference X-axis (heading) is defined by the object X-axis (to which XZ-plane you have aligned the sensor).

NOTE: Since the sensor X-axis is used to describe the direction of the object X-axis, the reset will not work if the sensor X-axis is aligned along the Z-axis of the object.

GPS Data

LPMS-IG1P series also provide the GPS data output, which is contained by four parts as showed in the following table. See the LPMS-IG1P GPS data structure below.

Name

Description

Timestamps

1Hz update rate

NAV-PVT

Navigation Position, Velocity, Time, etc

NAV-ATT

Navigation Attitude, Orientation, etc

ESF-STATUS

External Sensor Fusion Messages.

Communication

LPMS-IG1 series offer two types of communication methods:

  • USB + RS232

  • USB + CAN

  • USB + RS485

Sensor data is streamed to both USB and RS232/CAN/RS485 terminals simultaneously. Communication protocol for different terminals are summarized as below:

Terminal

Protocol

USB

LPBUS Protocol

RS232

LPBUS Protocol/ASCII

RS232

LPBUS Protocol/ASCII

CAN

CANOpen / CAN sequential

Communication Modes

There are two communication modes, Streaming Mode and Command mode in LPMS-IG1 sensors. By default, the sensor will start in Streaming Mode on power up (Except for RS485 communication, it starts at Command mode). In Streaming Mode, the sensor will continuously stream out sensor data via USB and RS232/CAN terminals simultaneously. Streaming frequency for both USB and RS232/CAN terminals is determined by the data streaming rate settings (default at 100Hz). The sensor will stop data streaming in Command Mode. User can change the sensor internal parameters in both Streaming and Command mode, but it is highly recommended to put the sensor in Command Mode before making any parameter changes. The state diagram of the sensor modes is summarized in Fig. 3.1.
NOTE: User must issue a Save Parameters command to retain any parameter changes to the sensor before next power cycle.

LPBUS Protocol

LPBUS is a communication protocol based on the industry standard MODBUS protocol. It is the default communication format used by LPMS sensors. .An LPBUS communication packet has two basic command types, GET and SET, that are sent from a host (PC, mobile data logging unit etc.) to a client (LPMS sensor). Later in this manual we will show a description of all supported commands to the sensor, their types and transported data.

GET Commands

Data from the client is read using GET requests. A GET request usually contains no data. The answer from the client to a GET request contains the requested data.

SET Commands

Data registers of the client are written using SET requests. A SET command from the host contains the data to be set. The answer from the client is either ACK (acknowledged) for a successful write, or NACK (not acknowledged) for a failure to set the register occurred.

LPBUS Packet Format

Each packet sent during the communication is based on the following structure:

Flag Name

Start

Sensor ID

Command No.

Data length

Data field

LRC

End

Bytes

1

2

2

2

n

2

2

  • Start: 1 byte. data packet start flag, which is fixed to 3Ah.

  • Sensor ID: 2 bytes transmitted at LSB. It contains ID of the sensor to be communicated with. The default value of this ID is 01h. The host sends out a GET / SET request to a specific LPMS sensor by using this ID, and the client answers to request also with the same ID. This ID can be adjusted by sending a SET command to the sensor firmware.

  • Command No.: 2 bytes transmitted at LSB. It contains command number information to be performed by the data transmission.

  • Data length: 2 bytes transmitted at LSB, It contains the length information of packet data field.

  • Data field: n bytes transmitted at LSB, where n is not a fixed number which depends on the command types. It contains all the data needed to be transmitted under a specific command.

  • LRC: 2 bytes transmitted at LSB. It contains the packet checksum information. To ensure the integrity of the transmitted data the LRC checksum is used. It is calculated in the following way:

LRC = sum(Sensor ID, Command no., Data length, and Data field).
The calculated LRC is usually compared with the LRC transmitted from the remote device. If the two LRCs are not equal, and error is reported.

  • End: 2 bytes transmitted at LSB, which is fixed to 0D0Ah.

Example

LPBus packet from sensor (hex):
3A 01 00 09 00 10 00 37 92 00 00 00 70 93 3E 00 40 7B BE 00 38 70 3F 84 04 0D 0A

Flag Name

Start

Sensor ID

Command No.

Data length

Data field

LRC

End

Bytes

1

2

2

2

n

2

2

Hex

3A

01 00

09 00

10 00

37 92 00 00 00 70 93 3E 00 40 7B BE 00 38 70 3F

84 04

0D 0A

Checksum LRC calculation

Calculated Checksum LRC (hex)

= 01 + 00 + 09 + 00 + 10 + 00 + 37 + 92 + 00 + 00 + 00 + 70 + 93 + 3E + 00 + 40 + 7B + BE + 00 + 38 + 70 + 3F

 

= 0x0484

LRC from sensor is transmitted at LSB, hence 84 04

Data Format in a Packet Data Field

Generally, data is sent in little-endian format, low order byte first, high order byte last. Data in the data fields of a packet can be encoded in several ways, depending on the type of information to be transmitted. In the following we list the most common data types. Other command-specific data types are explained in the command reference.

Identifier

Description

Int32

32-bit signed integer value

UInt32

32-bit unsigned integer value

Int16

16-bit signed integer value

UInt16

16-bit unsigned integer value

Int8

8-bit signed integer value

UInt8

8-bit unsigned integer value

Float32

32-bit float value

Vector3f

3 element 32-bit float vector

Vector3i16

3 element 16-bit signed integer vector

Vector4f

4 element 32-bit float vector

Vector4i16

4 element 16-bit signed integer vector

Matrix3x3f

3x3 element 32-bit float value matrix

Sensor Measurement Data

IMU data
There are two precision modes for sensor data: 32-bit float or 16-bit integer. Users can switch between these modes based on the requested data sampling rate and volume. While sensor is in streaming operational mode, LPBUS transports measurement data in the data field of a packet in the following orders shown in the charts below for the cases of 32-bit float and 16-bit integer precision modes. The order of the sensor data chunks depends on which sensor data is enabled.
NOTE: Timestamp data is always 32-bit unsigned integer in both data precision modes.

Order

Identifier

Description

Unit

1

UInt32

Timestamp

multiply by factor 0.002 to convert to seconds

2

Vector3f

Raw accelerometer

g

3

Vector3f

Calibrated accelerometer

g

4

Vector3f

Raw Gyro I

dps (default) or rad/s

5

Vector3f

Raw GyroII

dps (default) or rad/s

6

Vector3f

Static bias calibrated Gyro I

dps (default) or rad/s

7

Vector3f

Static bias calibrated Gyro II

dps (default) or rad/s

8

Vector3f

Alignment calibrated Gyro I

dps (default) or rad/s

9

Vector3f

Alignment calibrated Gyro II

dps (default) or rad/s

10

Vector3f

Raw magnetometer

uT

11

Vector3f

Calibrated magnetometer

uT

12

Vector3f

Angular Vel.

dps (default) or rad/s

13

Vector4f

Quaternion

 

14

Vector3f

Euler

deg (default) or rad

15

Vector3f

Linear acceleration (g)

g

16

Float32

Reserved

 

17

Float32

Reserved

 

18

Float32

Temperature

°C

In 16-bit data precision mode values are transmitted to the host with a multiplication factor applied to increase precision:

Order

Format

Sensor data

Scale factor

1

UInt32

Timestamp

counter incremented in 500Hz. multiply by 0.002 to convert to seconds.

500

2

Vector3i16

Raw accelerometer (g)

1000

3

Vector3i16

Calibrated accelerometer (g)

1000

4

Vector3i16

Raw GyroI (dps or rad/s)

dps: 10 rad/s: 1000

5

Vector3i16

Raw GyroII (dps or rad/s)

dps: 10 rad/s: 100

6

Vector3i16

Static bias calibrated GyroI (dps or rad/s)

dps: 10 rad/s: 1000

7

Vector3i16

Static bias calibrated GyroII (dps or rad/s)

dps: 10 rad/s: 100

8

Vector3i16

Alignment calibrated GyroI (dps or rad/s)

dps: 10 rad/s: 1000

9

Vector3i16

Alignment calibrated GyroII (dps or rad/s)

dps: 10 rad/s: 100

10

Vector3i16

Raw magnetometer (uT)

100

11

Vector3i16

Calibrated magnetometer (uT)

100

12

Vector3i16

Angular Vel. (dps or rad/s)

dps: 10

rad/s: 1000 (gyro range: 400dps)

rad/s: 100 (gyro range >= 1000dps)

13

Vector4i16

Quaternion

10000

14

Vector3i16

Euler(degree or rad)

deg: 100 rad:10000

15

Vector3i16

Linear acceleration (g)

1000

16

Int16

Reserved

 

17

Int16

Reserved

 

18

Int16

Temperature (°C)

100

GPS Data
In addition to IMU data, LPMS-IG1P (with GPS) will output additional 1Hz GPS data packet with the following format:

Order

Format

Sensor data

Scale factor

1

UInt32

Timestamp

 

2

UInt32

PVT iTOW (ms) - GPS time of week of the navigation epoch.

 

3

UInt16

PVT year (UTC)

 

4

UInt8

PVT month (UTC)

 

5

UInt8

PVT day (UTC)

 

6

UInt8

PVT hour (UTC)

 

7

UInt8

PVT min (UTC)

 

8

UInt8

PVT sec (UTC)

 

9

UInt8

PVT valid - Validity flags

 

10

UInt32

PVT tAcc - Time accuracy estimate (UTC)

 

11

Int32

PVT nano (ns) - Fraction of second (UTC)

 

12

UInt8

PVT fixType

 

13

UInt8

PVT flags - Fix status flags

 

14

UInt8

PVT flags2 - Additional flags

 

15

UInt8

PVT numSV - Number of satellites used in Nav Solution

 

16

Int32

PVT longitude (deg)

10000000

17

Int32

PVT latitude (deg)

10000000

18

Int32

PVT height (mm) - Height above ellipsoid

 

19

Int32

PVT hMSL (mm) - Height above mean sea level

 

20

UInt32

PVT hAcc (mm)- Horizontal accuracy estimate

 

21

UInt32

PVT vAcc (mm) - Vertical accuracy estimate

 

22

Int32

PVT velN (mm/s) - NED north velocity

 

23

Int32

PVT velE (mm/s) - NED east velocity

 

24

Int32

PVT velD (mm/s) - NED down velocity

 

25

Int32

PVT gSpeed (mm/s) - Ground Speed (2-D)

 

26

Int32

PVT headMot (deg) - Heading of motion (2-D)

100000

27

UInt32

PVT sAcc (mm/s) - Speed accuracy estimate

 

28

UInt32

PVT headAcc (deg) - Heading accuracy estimate

100000

29

UInt16

PVT pDOP - Position DOP

100

30

Int32

PVT headVeh (deg) - Heading of vehicle (2-D)

100000

31

UInt32

ATT iTOW (ms) - GPS time of week of the navigation epoch

 

32

UInt8

ATT version - Message version (0 for this version)

 

33

Int32

ATT roll (deg) - Vehicle roll

100000

34

Int32

ATT pitch (deg) - Vehicle pitch

100000

35

Int32

ATT heading (deg) - Vehicle heading

100000

36

UInt32

ATT accRoll (deg) - Vehicle roll accuracy

100000

37

UInt32

ATT accPitch (deg) - Vehicle pitch accuracy

100000

38

UInt32

ATT accHeading (deg) - Vehicle heading accuracy

100000

39

UInt32

ESF iTOW (ms) - GPS time of week of the navigation epoch

 

40

UInt8

ESF version - Message version (2 for this version)

 

41

UInt8

ESF initStatus1

 

42

UInt8

ESF initStatus2

 

43

UInt8

ESF fusionMode

 

44

UInt8

ESF numSens - Number of sensors

 

45

UInt32[n]

ESF sensStatus

 

LPBUS Example Communication

In this section we will show a few practical examples of communication using the LPBUS protocol.

Goto Command Mode

GET request (HOST -> SENSOR)

Packet byte no.

Content

Description

0

3Ah

Packet start

1

01h

Sensor ID LSB (ID = 1)

2

00h

Sensor ID MSB

3

06h

Command no. LSB
(06h = GOTO_COMMAND_MODE)

4

00h

Command no. MSB

5

00h

Data length LSB (GET command = no data)

6

00h

Data length MSB

7

07h

Check sum LSB

8

00h

Check sum MSB

9

0Dh

Packet end 1

10

0Ah

Packet end 2

Reply data (SENSOR -> HOST)

Packet byte no.

Content

Description

0

3Ah

Packet start

1

01h

Sensor ID LSB (ID = 1)

2

00h

Sensor ID MSB

3

00h

Command no. LSB (00h = REPLY_ACK)

4

00h

Command no. MSB

5

00h

Data length LSB (Zero length data for ACK reply)

6

00h

Data length MSB

7

01h

Check sum LSB

8

00h

Check sum MSB

9

0Dh

Packet end 1

10

0Ah

Packet end 2

Goto Steaming Mode

GET request (HOST -> SENSOR)

Packet byte no.

Content

Description

0

3Ah

Packet start

1

01h

Sensor ID LSB (ID = 1)

2

00h

Sensor ID MSB

3

07h

Command no. LSB(07h = GOTO_STREAMING_MODE)

4

00h

Command no. MSB

5

00h

Data length LSB (GET command = no data)

6

00h

Data length MSB

7

08h

Check sum LSB

8

00h

Check sum MSB

9

0Dh

Packet end 1

10

0Ah

Packet end 2

Reply data (SENSOR -> HOST)

Packet byte no.

Content

Description

0

3Ah

Packet start

1

01h

Sensor ID LSB (ID = 1)

2

00h

Sensor ID MSB

3

00h

Command no. LSB (00h = REPLY_ACK)

4

00h

Command no. MSB

5

00h

Data length LSB (Zero length data for ACK reply)

6

00h

Data length MSB

7

01h

Check sum LSB

8

00h

Check sum MSB

9

0Dh

Packet end 1

10

0Ah

Packet end 2

Request Gyroscope Range

GET request (HOST -> SENSOR)

Packet byte no.

Content

Description

0

3Ah

Packet start

1

01h

Sensor ID LSB (ID = 1)

2

00h

Sensor ID MSB

3

3Dh

Command no. LSB(3Dh = GET_GYRO_RANGE)

4

00h

Command no. MSB

5

00h

Data length LSB (GET command = no data)

6

00h

Data length MSB

7

3Eh

Check sum LSB

8

00h

Check sum MSB

9

0Dh

Packet end 1

10

0Ah

Packet end 2

Reply data (SENSOR -> HOST)

Packet byte no.

Content

Description

0

3Ah

Packet start

1

01h

Sensor ID LSB (ID = 1)

2

00h

Sensor ID MSB

3

3Dh

Command no. LSB(3Dh = GET_GYRO_RANGE)

4

00h

Command no. MSB

5

04h

Data length LSB (32-bit integer = 4 bytes)

6

00h

Data length MSB

7

xxh

Range data byte 1 (LSB)

8

xxh

Range data byte 2

9

xxh

Range data byte 3

10

xxh

Range data byte 4 (MSB)

11

xxh

Check sum LSB

12

xxh

Check sum MSB

13

0Dh

Packet end 1

14

0Ah

Packet end 2

xx = Value depends on the current sensor configuration.

Set Accelerometer Range

SET request (HOST -> SENSOR)

Packet byte no.

Content

Description

0

3Ah

Packet start

1

01h

Sensor ID LSB (ID = 1)

2

00h

Sensor ID MSB

3

32h

Command no. LSB (32h = SET_ACC_RANGE)

4

00h

Command no. MSB

5

04h

Data length LSB (32-bit integer = 4 bytes)

6

00h

Data length MSB

7

08h

Range data byte 1 (Range indicator 8g = 8d)

8

00h

Range data byte 2

9

00h

Range data byte 3

10

00h

Range data byte 4

11

3Fh

Check sum LSB

12

00h

Check sum MSB

13

0Dh

Packet end 1

14

0Ah

Packet end 2

Reply data (SENSOR -> HOST)

Packet byte no.

Content

Description

0

3Ah

Packet start

1

01h

Sensor ID LSB (ID = 1)

2

00h

Sensor ID MSB

3

00h

Command no. LSB (00h = REPLY_ACK)

4

00h

Command no. MSB

5

00h

Data length LSB (Zero length data for ACK reply)

6

00h

Data length MSB

7

01h

Check sum LSB

8

00h

Check sum MSB

9

0Dh

Packet end 1

10

0Ah

Packet end 2

Save Sensor Parameters

WRITE_REGISTER request (HOST -> SENSOR)

Packet byte no.

Content

Description

0

3Ah

Packet start

1

01h

Sensor ID LSB (ID = 1)

2

00h

Sensor ID MSB

3

04h

Command no. LSB(04h = WRITE_REGISTER)

4

00h

Command no. MSB

5

00h

Data length LSB (WRITE_REGISTER command = no data)

6

00h

Data length MSB

7

05h

Check sum LSB

8

00h

Check sum MSB

9

0Dh

Packet end 1

10

0Ah

Packet end 2

Reply data (SENSOR -> HOST)

Packet byte no.

Content

Description

0

3Ah

Packet start

1

01h

Sensor ID LSB (ID = 1)

2

00h

Sensor ID MSB

3

00h

Command no. LSB (00h = REPLY_ACK)

4

00h

Command no. MSB

5

00h

Data length LSB (Zero length data for ACK reply)

6

00h

Data length MSB

7

01h

Check sum LSB

8

00h

Check sum MSB

9

0Dh

Packet end 1

10

0Ah

Packet end 2

NOTE: WRITE_REGISTER command involves flash operation, which might result in delay ACK response

Read Sensor Status

GET request (HOST -> SENSOR)

Packet byte no.

Content

Description

0

3Ah

Packet start

1

01h

Sensor ID LSB (ID = 1)

2

00h

Sensor ID MSB

3

08h

Command no. LSB(08h = GET_SENSOR_STATUS)

4

00h

Command no. MSB

5

00h

Data length LSB (GET command = no data)

6

00h

Data length MSB

7

09h

Check sum LSB

8

00h

Check sum MSB

9

0Dh

Packet end 1

10

0Ah

Packet end 2

Reply data (SENSOR -> HOST)

Packet byte no.

Content

Description

0

3Ah

Packet start

1

01h

Sensor ID LSB (ID = 1)

2

00h

Sensor ID MSB

3

08h

Command no. LSB (08h = GET_SENSOR_STATUS)

4

00h

Command no. MSB

5

04h

Data length LSB (32-bit integer = 4 bytes)

6

00h

Data length MSB

7-10

xxxxxxxxh

Sensor status data

11

xxh

Check sum LSB

12

xxh

Check sum MSB

13

0Dh

Packet end 1

14

0Ah

Packet end 2

NOTE: Please refer to Appendix for details of reply data mapping

Set UART / RS232 Baudrate

SET request (HOST -> SENSOR)

Packet byte no.

Content

Description

0

3Ah

Packet start

1

01h

Sensor ID LSB (ID = 1)

2

00h

Sensor ID MSB

3

82h

Command no. LSB (82h = SET_UART_BAUDRATE)

4

00h

Command no. MSB

5

04h

Data length LSB (32-bit integer = 4 bytes)

6

00h

Data length MSB

7

00h

921600 = 0x000E1000

8

10h

 

9

0Eh

 

10

00h

 

11

A5h

Check sum LSB

12

00h

Check sum MSB

13

0Dh

Packet end 1

14

0Ah

Packet end 2

Reply data (SENSOR -> HOST)

Packet byte no.

Content

Description

0

3Ah

Packet start

1

01h

Sensor ID LSB (ID = 1)

2

00h

Sensor ID MSB

3

00h

Command no. LSB (00h = REPLY_ACK)

4

00h

Command no. MSB

5

00h

Data length LSB (Zero length data for ACK reply)

6

00h

Data length MSB

7

01h

Check sum LSB

8

00h

Check sum MSB

9

0Dh

Packet end 1

10

0Ah

Packet end 2

NOTE: Power cycle is required for baudrate settings to take effect

CANOpen and Sequential CAN Protocols

In CANOpen and sequential CAN transmission modes, two or more output words of measurement data can be assigned to a CAN channel. In sequential CAN mode the channel addressing can be individually controlled. In CANOpen mode, 4 TPDO (Transmission Data Process Object) messages and a heartbeat message are transmitted.

NOTE: In CANOpen mode a heartbeat message is transmitted with a frequency between 0.1 Hz and 2 Hz.

In CANOpen mode, the message base address is calculated in the following way:
CAN ID1 = Base CAN ID = Start ID + IMU ID
CAN ID2 = CAN ID1 + 100h
CAN ID3 = CAN ID2 + 100h
CAN ID4 = CAN ID3 + 100h
CAN ID5 = 700h + IMU ID

Note: In CANOpen mode, Start ID is fixed at 180h

In sequential CAN mode, the message base address is calculated in the following way:
CAN ID1 = Base CAN ID = Start ID + IMU ID
CAN ID2 = CAN ID1 + 1h
CAN ID3 = CAN ID2 + 1h
CAN ID4 = CAN ID3 + 1h

NOTE: In sequential CAN mode, Start ID is set to 514h (1300d) by default. This value can be changed via IG1Control interface

CAN Data Output Format

Each CAN message can be assigned multiple channels representing the sensor data. The number of assignable sensor data will depend on the data output precision, i.e. 32bit data or 16bit data output. By utilizing 4 CAN message with 16bit sensor data precision, the sensor can output a maximum of 16 different sensor data for a given instance.

CAN channel mapping (16bit data output)

CANOpen ID

Sequential CAN

Output data

 

 

 

181h

515h

channel 1

channel 2

channel 3

channel 4

281h

516h

channel 5

channel 6

channel 7

channel 8

381h

517h

channel 9

channel 10

channel 11

channel 12

481h

518h

channel 13

channel 14

channel 15

channel 16

701h

-

  • (heartbeat)

 

 

 

CAN channel mapping (32bit data output)

CANOpen ID

Sequential CAN

Output data

 

181h

515h

channel 1

channel 2

281h

516h

channel 3

channel 4

381h

517h

channel 5

channel 6

481h

518h

channel 7

channel 8

701h

-

  • (heartbeat)

 

CAN Mapping

Each channel can be assigned different sensor data by changing the CAN mapping via IG1Control. The table below summarizes the available sensor output data.

Mapping index

Data

Unit

16bit data scaling factor

0

Not assigned

 

 

1

Raw Accelerometer X

g

1000

2

Raw Accelerometer Y

g

1000

3

Raw Accelerometer Z

g

1000

4

Calibrated Accelerometer X

g

1000

5

Calibrated Accelerometer Y

g

1000

6

Calibrated Accelerometer Z

g

1000

7

Raw GyroI X

dps or rad/s

10 (dps), 100 (rad/s)

8

Raw GyroI Y

dps or rad/s

10 (dps), 100 (rad/s)

9

Raw GyroI Z

dps or rad/s

10 (dps), 100 (rad/s)

10

Raw GyroII X

dps or rad/s

10 (dps), 100 (rad/s)

11

Raw GyroII Y

dps or rad/s

10 (dps), 100 (rad/s)

12

Raw GyroII Z

dps or rad/s

10 (dps), 100 (rad/s)

13

Bias calibrated GyroI X

dps or rad/s

10 (dps), 100 (rad/s)

14

Bias calibrated GyroI Y

dps or rad/s

10 (dps), 100 (rad/s)

15

Bias calibrated GyroI Z

dps or rad/s

10 (dps), 100 (rad/s)

16

Bias calibrated GyroII X

dps or rad/s

10 (dps), 100 (rad/s)

17

Bias calibrated GyroII Y

dps or rad/s

10 (dps), 100 (rad/s)

18

Bias calibrated GyroII Z

dps or rad/s

10 (dps), 100 (rad/s)

19

Alignment calibrated GyroI X

dps or rad/s

10 (dps), 100 (rad/s)

20

Alignment calibrated GyroI Y

dps or rad/s

10 (dps), 100 (rad/s)

21

Alignment calibrated GyroI Z

dps or rad/s

10 (dps), 100 (rad/s)

22

Alignment calibrated GyroII X

dps or rad/s

10 (dps), 100 (rad/s)

23

Alignment calibrated GyroII Y

dps or rad/s

10 (dps), 100 (rad/s)

24

Alignment calibrated GyroII Z

dps or rad/s

10 (dps), 100 (rad/s)

25

Raw magnetometer X

uT

100

26

Raw magnetometer Y

uT

100

27

Raw magnetometer Z

uT

100

28

Calibrated magnetometer X

uT

100

29

Calibrated magnetometer Y

uT

100

30

Calibrated magnetometer Z

uT

100

31

Angular Velocity X

dps or rad/s

10 (dps), 100 (rad/s)

32

Angular Velocity Y

dps or rad/s

10 (dps), 100 (rad/s)

33

Angular Velocity Z

dps or rad/s

10 (dps), 100 (rad/s)

34

Quaternion W

 

10000

35

Quaternion X

 

10000

36

Quaternion Y

 

10000

37

Quaternion Z

 

10000

38

Euler X

deg or rad

100 (deg), 10000 (rad)

39

Euler X

deg or rad

100 (deg), 10000 (rad)

40

Euler Z

deg or rad

100 (deg), 10000 (rad)

41

Linear Acceleration X

g

1000

42

Linear Acceleration Y

g

1000

43

Linear Acceleration Z

g

1000

44

Pressure

kPa

100

45

Temperature

°C

100

Example

Assuming default sensor settings, the CAN bus settings and corresponding data output are shown below:

Here we can decode the data for CAN-ID 181h as follow:

181h

Byte [0:1]

Byte [2:3]

Byte [4:5]

Byte [6:7]

181h

Byte [0:1]

Byte [2:3]

Byte [4:5]

Byte [6:7]

Byte

22 FF

39 00

C9 03

FA FF

Integer value

-222

57

969

-6

Corresponding data

Acc Calibrated X

Acc Calibrated Y

Acc Calibrated Z

GyroII Align. Calibrated X

Scaled data

-0.222g

-0.057g

0.969g

-0.6dps

Like wise, the raw data can be decoded for 281h, 381h, 481h as follow:

281h

Byte [0:1]

Byte [2:3]

Byte [4:5]

Byte [6:7]

281h

Byte [0:1]

Byte [2:3]

Byte [4:5]

Byte [6:7]

Byte

FF FF

00 00

75 07

75 09

Integer value

-1

1

1909

2421

Corresponding data

GyroII Align. Calibrated Y

GyroII Align. Calibrated Z

Mag Calibrated X

Mag Calibrated Y

Scaled data

-0.1dps

0.1dps

19.09uT

24.21uT

381h

Byte [0:1]

Byte [2:3]

Byte [4:5]

Byte [6:7]

381h

Byte [0:1]

Byte [2:3]

Byte [4:5]

Byte [6:7]

Byte

DD 02

4F 01

0D 05

73 FB

Integer value

733

335

1293

-1165

Corresponding data

Mag Calibrated Z

Euler X

Euler Y

Euler Z

Scaled data

7.33uT

3.35deg

12.93deg

-11.65deg

481h

Byte [0:1]

Byte [2:3]

Byte [4:5]

Byte [6:7]

481h

Byte [0:1]

Byte [2:3]

Byte [4:5]

Byte [6:7]

Byte

96 26

93 01

42 04

EF FB

Integer value

9878

403

1090

-1041

Corresponding data

Quat W

Quat X

Quat Y

Quat Z

Scaled data

0.9878

0.0403

0.109

-0.1041

 

ASCII Output

LPMS-IG1 RS232 supports both LPBUS protocol and ASCII output via RS232 terminal. The output format can be set via SET_UART_FORMAT command. In ASCII output format, every data packet has a prefix Start character and End character at the end. Default start character is '$' and end character is '\n'. User can define both Start and End character via SET_UART_ASCII_CHARACTER command. Sensor data is streamed out in comma separated format.

Start character

Data 1

,

Data 2

,

......

,

Data n

End character

Sensor data is in 16bit integer format. ASCII data should be divided by the scale factor as shown in the table below. For example, if the accelerometer X data is 234, the actual acceleration in g is 234/1000 = 0.234g.

Order

Format

Sensor data

Scale factor

1

UInt32

Timestamp

counter incremented in 500Hz. multiply by 0.002 to convert to seconds.

500

2

Vector3i16

Raw accelerometer (g)

1000

3

Vector3i16

Calibrated accelerometer (g)

1000

4

Vector3i16

Raw GyroI (dps or rad/s)

dps: 1000 rad/s: 1000

5

Vector3i16

Raw GyroII (dps or rad/s)

dps: 1000 rad/s: 1000

6

Vector3i16

Static bias calibrated GyroI (dps or rad/s)

dps: 1000 rad/s: 1000

7

Vector3i16

Static bias calibrated GyroII (dps or rad/s)

dps: 1000 rad/s: 1000

8

Vector3i16

Alignment calibrated GyroI (dps or rad/s)

dps: 1000 rad/s: 1000

9

Vector3i16

Alignment calibrated GyroII (dps or rad/s)

dps: 1000 rad/s: 1000

10

Vector3i16

Raw magnetometer (uT)

100

11

Vector3i16

Calibrated magnetometer (uT)

100

12

Vector3i16

Angular Vel. (dps or rad/s)

dps: 1000 rad/s: 1000

13

Vector4i16

Quaternion

100000

14

Vector3i16

Euler(degree or rad)

deg: 100 rad:10000

15

Vector3i16

Linear acceleration (g)

1000

16

Int16

Reserved

 

17

Int16

Reserved

 

18

Int16

Temperature (°C)

100

 

Appendix

Firmware Function / Command List

Summary

Acknowledged / Not-acknowledged Identifiers









Identifier

Name

Parameter

Response

Default

0(00h)

REPLY_ACK

 

 

 

1(01h)

REPLY_NACK

 

 

 

 

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

 

 

10 (0Ah)

GET_GPS_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

Int32

ACK/NACK

 

33 (21h)

GET_IMU_ID

NONE

Int32

1

 

Stream Frequency Commands









Identifier

Name

Parameter

Response

Default

34 (22h)

SET_STREAM_FREQ

Int32

ACK/NACK

 

35 (23h)

GET_STREAM_FREQ

NONE

Int32

100

 

Deg/Rad Output Commands

 

 

 

 

Identifier

Name

Parameter

Response

Default

36 (24h)

SET_DEGRAD_OUTPUT

Int32

ACK/NACK

 

37 (25h)

GET_DEGRAD_OUTPUT

NONE

Int32

0

 

Reference Setting and Offset Reset Commands

 







Identifier

Name

Parameter

Response

Default

38 (26h)

SET_ORIENTATION_OFFSET

Int32

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

Int32

ACK/NACK



61 (3Dh)

GET_GYR_RANGE

NONE

Int32

500dps

62 (3Eh)

START_GYR_CALIBRATION

NONE

ACK/NACK



64 (40h)

SET_ENABLE_GYR_AUTOCALIBRATION

Int32

ACK/NACK



65 (41h)

GET_ENABLE_GYR_AUTOCALIBRATION

NONE

Int32

1

66(42h)

SET_GYR_THRESHOLD

Float32

ACK/NACK

 

67 (43h)

GET_GYR_THRESHOLD

NONE

Float32

0

 

Magnetometer Settings Commands









Identifier

Name

Parameter

Response

Default

70 (46h)

SET_MAG_RANGE

Int32

ACK/NACK

 

71 (47h)

GET_MAG_RANGE

NONE

Int32

8 Gauss

84 (54h)

START_MAG_CALIBRATION

NONE

ACK/NACK

 

85 (55h)

STOP_MAG_CALIBRATION

NONE

ACK/NACK

 

86 (56h)

SET_MAG_CALIBRATION_TIMEOUT

Int32

ACK/NACK

 

87 (57h)

GET_MAG_CALIBRATION_TIMEOUT

NONE

Int32

20s

 

Filter Settings Command

 

 

 

 

Identifier

Name

Parameter

Response

Default

90 (5Ah)

SET_FILTER_MODE

Int32

ACK/NACK

 

91 (5Bh)

GET_FILTER_MODE

NONE

Int32

1

 

CAN Settings Command

 

 

 

 

Identifier

Name

Parameter

Response

Default

110 (6Eh)

SET_CAN_START_ID

Int32

ACK/NACK

 

111 (6Fh)

GET_CAN_START_ID

NONE

Int32

0x514

112 (70h)

SET_CAN_BAUDRATE

Int32

ACK/NACK

 

113 (71h)

GET_CAN_BAUDRATE

NONE

Int32

500

114 (72h)

SET_CAN_DATA_PRECISION

Int32

ACK/NACK

 

115 (73h)

GET_CAN_DATA_PRECISION

NONE

Int32

0

116 (74h)

SET_CAN_MODE

Int32

ACK/NACK

 

117 (75h)

GET_CAN_MODE

NONE

Int32

0

118 (76h)

SET_CAN_MAPPING

Int32[16]

ACK/NACK

 

119 (77h)

GET_CAN_MAPPING

NONE

Int32[16]

 

120 (78h)

SET_CAN_HEARTBEAT

Int32

ACK/NACK

 

121 (79h)

GET_CAN_HEARTBEAT

NONE

Int32

1

 

UART / RS232 Settings Command









Identifier

Name

Parameter

Response

Default

130 (82h)

SET_UART_BAUDRATE

Int32

ACK/NACK

 

131 (83h)

GET_UART_BAUDRATE

NONE

Int32

921600

132 (84h)

SET_UART_FORMAT

Int32

ACK/NACK

 

133 (85h)

GET_UART_FORMAT

NONE

Int32

0

134 (86h)

SET_UART_ASCII_CHARACTER

Int8[4]

ACK/NACK

 

135 (87h)

GET_UART_ASCII_CHARACTER

NONE

Int8[4]

0x24 0x0D 0x00 0x00

136 (88h)

SET_LPBUS_DATA_PRECISION

Int32

ACK/NACK

 

137 (89h)

GET_LPBUS_DATA_PRECISION

NONE

Int32

1

 

Sensor Data Timestamp Manipulation

 







Identifier

Name

Parameter

Response

Default

152 (98h)

SET_TIMESTAMP

Int32

ACK/NACK

 

 

GPS Data Transmission Commands

 







Identifier

Name

Parameter

Response

Default

160 (A0h)

SET_GPS_TRANSMIT_DATA

Int32[2]

ACK/NACK

 

161 (A1h)

GET_GPS_TRANSMIT_DATA

NONE

Int32[2]

 

162 (A2h)

SAVE_GPS_STATE

NONE

ACK/NACK

 

163 (A3h)

CLEAR_GPS_STATE

NONE

ACK/NACK

 

Acknowledged and Not-acknowledged Identifiers

Identifier

0(0x00)

Name

REPLY_ACK

Description

Confirms a successful SET command.

 

Identifier

1(0x01)

Name

REPLY_NACK

Description

Reports an error during processing a SET command.

Register Value Save and Reset Command

Identifier

4 (0x04)

Name

WRITE_REGISTERS

Description

Write the currently set parameters to flash memory.

Parameter

NONE

Response

ACK (success) or NACK (error

 

Identifier

5 (0x05)

Name

RESTORE_FACTORY_VALUE

Description

Reset the LPMS parameters to factory default values. Please note that upon issuing this command your currently set parameters will be erased.

Parameter

NONE

Response

ACK (success) or NACK (error)

Mode Switching Commands

Identifier

6 (0x06)

Name

GOTO_COMMAND_MODE

Description

Switch to command mode. In command mode the user can issue commands to the firmware to perform calibration, set parameters etc.

Parameter

NONE

Response:

ACK (success) or NACK (error)

Identifier

7 (0x07)

Name

GOTO_STREAM_MODE

Description

Switch to streaming mode. In this mode data is continuously streamed from the sensor, and some commands cannot be performed until the sensor receives the GOTO_COMMAND_MODE command.

Parameter

NONE

Response

ACK (success) or NACK (error)

Sensor Status Command

Identifier

8 (0x08)

Name

GET_SENSOR_STATUS

Description

Get the current sensor status

Parameter

NONE

Response

Int32

Sensor status

Identifier

Command Mode

0

Streaming Mode

1

Get Data Commands

Identifier

9(0x09)

Name

GET_IMU_DATA

Description

Get the sensor data

Parameter

NONE

Response

See output data description

 

Identifier

10(0x0A)

Name

GET_GPS_DATA

Description

Get the GPS data

Parameter

NONE

Response

See output data description

Device Info Commands

Identifier

20 (0x14)

Name

GET_SENSOR_MODEL

Description

Get the sensor model information

Parameter

NONE

Response

Char[24]

 

Identifier

21 (0x15)

Name

GET_FIRMWARE_INFO

Description

Get the firmware information

Parameter

NONE

Response

Char[24]

 

Identifier

22 (0x16)

Name

GET_SERIAL_NUMBER

Description

Get the serial number information

Parameter

NONE

Response

Char[24]

 

Identifier

23 (0x17)

Name

GET_FILTER_VERSION

Description

Get the internal filter version information

Parameter

NONE

Response

Char[24]

Data Transmission Commands

Identifier

30 (0x1E)

Name

SET_IMU_TRANSMIT_DATA

Description

Set the current transmitted data of sensor

Parameter

Int32

Bit

Reported State / Parameter

0

Accelerometer raw data transmission enabled

1

Accelerometer calibrated data transmission enabled

2

GyroI raw data transmission enabled

3

GyroII raw data transmission enabled

4

GyroI bias calibrated data transmission enabled

5

GyroII bias calibrated data transmission enabled

6

GyroI alignment calibrated data transmission enabled

7

GyroII alignment calibrated data transmission enabled

8

Magnetometer raw data transmission enabled

9

Magnetometer calibrated data transmission enabled

10

Angular velocity transmission enabled

11

Quaternion orientation transmission enabled

12

Euler angle data transmission enabled

13

LinAcc data transmission enabled

14

Reserved

15

Reserved

16

Temperature data transmission enabled

17-31

Reserved

Response

ACK (success) or NACK (error)

 

Identifier

31 (0x1F)

Name

GET_IMU_TRANSMIT_DATA

Description

Get the current transmitted data from sensor

Parameter

NONE

Response

Int32

Bit

Reported State / Parameter

0

Accelerometer raw data transmission enabled

1

Accelerometer calibrated data transmission enabled

2

GyroI raw data transmission enabled

3

GyroII raw data transmission enabled

4

GyroI bias calibrated data transmission enabled

5

GyroII bias calibrated data transmission enabled

6

GyroI alignment calibrated data transmission enabled

7

GyroII alignment calibrated data transmission enabled

8

Magnetometer raw data transmission enabled

9

Magnetometer calibrated data transmission enabled

10

Angular velocity transmission enabled

11

Quaternion orientation transmission enabled

12

Euler angle data transmission enabled

13

LinAcc data transmission enabled

14

Reserved

15

Reserved

16

Temperature data transmission enabled

17-31

Reserved

IMU ID Setting Command

Identifier

32 (0x20)

Name

SET_IMU_ID

Description

Set sensor ID

Parameter

Int32

Response

ACK (success) or NACK (error)

 

Identifier

33 (0x21)

Name

GET_IMU_ID

Description

Get sensor ID

Parameter

None

Response

Int32

Stream Frequency Commands

Identifier

34 (0x22)

Name

SET_STREAM_FREQ

Description

Set the current streaming frequency

Parameter

Int32

Frequency (Hz)

Identifier

5

5

10

10

50

50

100

100

250

250

500

500

Response

ACK (success) or NACK (error)

 

Identifier

35 (0x23)

Name

GET_STREAM_FREQ

Description

Get the current streaming frequency

Parameter

NONE

Response

Int32

Frequency (Hz)

Identifier

5

5

10

10

50

50

100

100

250

250

500

500

Deg/Rad Output Commands

Identifier

36 (0x24)

Name

SET_DEGRAD_OUTPUT

Description

Set the current output unit of angle and rate

Parameter

Int32

Output unit

Identifier

degree or degree per second

0

radian or radian per second

1

Response

ACK (success) or NACK (error)

 

Identifier

37 (0x25)

Name

GET_DEGRAD_OUTPUT

Description

Get the current output unit of angle and rate

Parameter

NONE

Response

Int32

Output unit

Identifier

degree or degree per second

0

radian or radian per second

1

Reference Setting and Offset Reset Command

Identifier

38 (0x26)

Name

SET_ORIENTATION_OFFSET

Description

Set the orientation offset (unity quaternion).

Parameter

Int32

Offset Mode

Identifier

Object

0

Heading

1

Alignment

2

Response

ACK (success) or NACK (error)

 

Identifier

39 (0x27)

Name

RESET_ORIENTATION_OFFSET

Description

Reset the orientation offset to 0 (unity quaternion).

Parameter

NONE

Response

ACK (success) or NACK (error)

Accelerometer Settings Command

Identifier

50 (0x32)

Name

SET_ACC_RANGE

Description

Set the current range of the accelerometer

Parameter

Int32

Range

Identifier

2g

2

4g

4

8g

8

16g

16

Response

ACK (success) or NACK (error)

 

Identifier

51 (0x33)

Name

GET_ACC_RANGE

Description

Get the current range of the accelerometer

Parameter

NONE

Response

Int32

Range

Identifier

2g

2

4g

4

8g

8

16g

16

Gyroscope Settings Command

Identifier

60 (0x3C)

Name

SET_GYR_RANGE

Description

Set the current range of the gyroscope

Parameter

Int32

Range (deg/s)

Identifier

400

400

1000

1000

2000

2000

Response

ACK (success) or NACK (error)

 

Identifier

61 (0x3D)

Name

GET_GYR_RANGE

Description

Get current gyroscope range.

Parameter

NONE

Response

Int32

Range (deg/s)

Identifier

400

400

1000

1000

2000

2000

Identifier

62 (0x3E)

Name

START_GYR_CALIBRATION

Description

Start gyro static bias calibration.

Parameter

NONE

Response

ACK (success) or NACK (error)

 

Identifier

64 (0x40)

Name

SET_ENABLE_GYR_AUTOCALIBRATION

Description

Enable / Disable gyro autocalibration.

Parameter

Int32

Function

Identifier

ENABLE_GYR_AUTOCAL

1

DISABLE_GYR_AUTOCAL

0

Response:

ACK (success) or NACK (error)

 

Identifier

65 (0x41)

Name

GET_ENABLE_GYR_AUTOCALIBRATION

Description

Get gyro autocalibration status.

Parameter

NONE

Response

Int32

Function

Identifier

ENABLE_GYR_AUTOCAL

1

DISABLE_GYR_AUTOCAL

0

 

Identifier

66 (0x42)

Name

SET_GYR_THRESHOLD

Description

Set the gyroscope threshold which can be used to suppress noise or vibrations that might impact the sensor measurements.

Parameter

Float32

Response

ACK (success) or NACK (error)

 

Identifier

67 (0x43)

Name

GET_GYR_THRESHOLD

Description

Get the gyroscope threshold.

Parameter

NONE

Response

Float32

Magnetometer Settings Command

Identifier

70 (0x46)

Name

SET_MAG_RANGE

Description

Set the current range of the gyroscope

Parameter

Int32

Range

Identifier

2 Gauss

2

8 Gauss

8

Response

ACK (success) or NACK (error)

 

Identifier

71 (0x47)

Name

GET_MAG_RANGE

Description

Get current magnetometer range.

Parameter

NONE

Response

Int32

Range

Identifier

2 Gauss

2

8 Gauss

8

 

Identifier

84 (0x54)

Name

START_MAG_CALIBRATION

Description

Start calibration of magnetometer.

Parameter

NONE

Response

ACK (success) or NACK (error)

 

Identifier

85 (0x55)

Name

STOP_MAG_CALIBRATION

Description

Stop calibration of magnetometer.

Parameter

NONE

Response

ACK (success) or NACK (error)

 

Identifier

86 (0x56)

Name

SET_MAG_CALBRATION_TIMEOUT

Description

Set the time of the magnetometer calibration.

Parameter

Int32

Response

ACK (success) or NACK (error)

 

Identifier

87 (0x57)

Name

GET_MAG_CALBRATION_TIMEOUT

Description

Get the time of the magnetometer calibration.

Parameter

NONE

Response

Int32

Filter Settings Command

Identifier

90 (0x5A)

Name

SET_ FILTER_MODE

Description

Set the sensor filter mode

Parameter

Int32

Mode

Value

Gyroscope(Only)

0

Accelerometer + gyroscope (Kalman filter)

1

Accelerometer + gyroscope + Magnetometer(Kalman filter)

2

Accelerometer + gyroscope (DCM filter)

3

Accelerometer + gyroscope + Magnetometer(DCM filter)

4

Response

ACK (success) or NACK (error)

 

Identifier

91 (0x5B)

Name

GET_ FILTER_MODE

Description

Get the sensor filter mode

Parameter

NONE

Response

Int32

Mode

Value

Gyroscope(Only)

0

Accelerometer + gyroscope (Kalman filter)

1

Accelerometer + gyroscope + Magnetometer(Kalman filter)

2

Accelerometer + gyroscope (DCM filter)

3

Accelerometer + gyroscope + Magnetometer(DCM filter)

4

CAN Settings Command

Identifier

110 (0x6E)

Name

SET_CAN_START_ID

Description

Set the CAN sequential start ID

Parameter

Int32

Response

ACK (success) or NACK (error)

 

Identifier

111 (0x6F)

Name

GET_CAN_START_ID

Description

Get the CAN sequential start ID

Parameter

NONE

Response

Int32

 

Identifier

112 (0x70)

Name

SET_CAN_BAUDRATE

Description

Set the current can baudrate

Parameter

Int32

Baud rate

Identifier

125K

125

250K

250

500K

500

800K

800

1M

1000

Response:

ACK (success) or NACK (error)

 

Identifier

113 (0x71)

Name

GET_CAN_BAUDRATE

Description

Get the current can baudrate

Parameter

NONE

Response

Int32

Baud rate

Identifier

125K

125

250K

250

500K

500

800K

800

1M

1000

 

Identifier

114 (0x72)

Name

SET_CAN_DATA_PRECISION

Description

Set the CAN output data precision

Parameter

Int32

Data Precision

Identifier

16bit Fixed point

0

32bit Float point

1

Response:

ACK (success) or NACK (error)

 

Identifier

115 (0x73)

Name

GET_CAN_DATA_PRECISION

Description

Get the CAN output data precision

Parameter

NONE

Response:

Int32

Data Precision

Identifier

16bit Fixed point

0

32bit Float point

1

 

Identifier

117 (0x75)

Name

GET_CAN_MODE

Description

Get the current can mode

Parameter

NONE

Response

Int32

Mode

Identifier

CANopen

0

Sequential can

1

 

Identifier

118 (0x76)

 

Name

SET_CAN_MAPPING

 

Description

Set the current transmitted data of each can channel

 

Parameter

Int32[16]

 

Int32[]

CAN Channel

Identifier

Int32[0]

Channel1

Mapping index

Int32[1]

Channel2

Mapping index

Int32[2]

Channel3

Mapping index

…

…

…

Int32[15]

Channel16

Mapping index

Response

ACK (success) or NACK (error)

 

NOTE: See here for CAN mapping details

 

Identifier

119 (0x77)

 

Name

GET_CAN_MAPPING

 

Description

Get the current transmitted data of each can channel

 

Parameter

NONE

 

Response

Int32[16]

 

Int32[]

CAN Channel

Identifier

Int32[0]

Channel1

Mapping index

Int32[1]

Channel2

Mapping index

Int32[2]

Channel3

Mapping index

…

…

…

Int32[15]

Channel16

Mapping

NOTE: See here for CAN mapping details

 

Identifier

120 (0x78)

Name

SET_CAN_HEARTBEAT

Description

Set the CANopen heartbeat

Parameter

Int32

Period

Identifier

0.5s

0

1s

1

2s

2

5s

5

10s

10

Response

ACK (success) or NACK (error)

 

Identifier

121 (0x79)

Name

GET_CAN_HEARTBEAT

Description

Get the CANopen heartbeat

Parameter

NONE

Response

Int32

period

Identifier

0.5s

0

1s

1

2s

2

5s

5

10s

10

UART / RS232 Settings Command

Identifier

130 (0x82)

Name

SET_UART_BAUDRATE

Description

Set the current UART / RS232 baudrate

Parameter

Int32

Baud rate

Identifier

115200

115200

230400

230400

256000

256000

460800

460800

921600

921600

Response

ACK (success) or NACK (error)

 

Identifier

131 (0x83)

Name

GET_UART_BAUDRATE

Description

Get the current UART / RS232 baudrate

Parameter

NONE

Response

Int32

Baud rate

Identifier

115200

115200

230400

230400

256000

256000

460800

460800

921600

921600

Identifier

132 (0x84)

Name

SET_UART_FORMAT

Description

Set the UART / RS232 output format

Parameter

Int32

Format

Identifier

LPBUS

0

ASCII

1

Response

ACK (success) or NACK (error)

 

Identifier

133 (0x85)

Name

GET_UART_FORMAT

Description

Get the UART / RS232 output format

Parameter

NONE

Response

Int32

Format

Identifier

LPBUS

0

ASCII

1

 

Identifier

134 (0x86)

Name

SET_UART_ASCII_CHARACTER

Description

Set the ASCII start/stop character

Parameter

Int8[4]

Byte

Parameter

0

Start character

1

stop character

2

Reserved

3

Reserved

Response

ACK (success) or NACK (error)

 

Identifier

135 (0x87)

Name

GET_UART_ASCII_CHARACTER

Description

Get the ASCII start/stop character

Parameter

NONE

Response

Int8[4]

Byte

Parameter

0

Start character

1

stop character

2

Reserved

3

Reserved

 

Identifier

136 (0x88)

Name

SET_LPBUS_DATA_PRECISION

Description

Set the current UART / RS232 output data precision

Parameter

Int32

Data Precision

Identifier

16bit Fixed point

0

32bit Float point

1

Response

ACK (success) or NACK (error)

 

Identifier

137 (0x89)

Name

GET_LPBUS_DATA_PRECISION

Description

Get the current UART / RS232 output data precision

Parameter

NONE

Response

Int32

Data Precision

Identifier

16bit Fixed point

0

32bit Float point

1

Sensor Data Timestamp Manipulation

Identifier

152 (0x98)

Name

SET_TIMESTAMP

Description

Set the sensor data timestamp

Parameter

Int32

Response

ACK (success) or NACK (error)

GPS Data Transmission Commands

Identifier

160 (0xA0)

 

Name

SET_GPS_TRANSMIT_DATA

 

Description

Set the current transmitted data of GPS

 

Parameter

Int32[2]

 

Int32[0]

Bit

Reported State / Parameter



0

GPS NAV-PVT iTOW transmission enabled



1

GPS NAV-PVT year transmission enabled



2

GPS NAV-PVT month transmission enabled



3

GPS NAV-PVT day transmission enabled



4

GPS NAV-PVT hour transmission enabled



5

GPS NAV-PVT min transmission enabled



6

GPS NAV-PVT sec transmission enabled



7

GPS NAV-PVT valid transmission enabled



8

GPS NAV-PVT tAcc transmission enabled



9

GPS NAV-PVT nano transmission enabled



10

GPS NAV-PVT fixType transmission enabled



11

GPS NAV-PVT flags transmission enabled



12

GPS NAV-PVT flags2 transmission enabled



13

GPS NAV-PVT numSV transmission enabled



14

GPS NAV-PVT longitude transmission enabled



15

GPS NAV-PVT latitude transmission enabled



16

GPS NAV-PVT height transmission enabled



17

GPS NAV-PVT hMSL transmission enabled



18

GPS NAV-PVT hAcc transmission enabled



19

GPS NAV-PVT vAcc transmission enabled



20

GPS NAV-PVT velN transmission enabled



21

GPS NAV-PVT velE transmission enabled



22

GPS NAV-PVT velD transmission enabled



23

GPS NAV-PVT gSpeed transmission enabled



24

GPS NAV-PVT headMot transmission enabled



25

GPS NAV-PVT sAcc transmission enabled



26

GPS NAV-PVT headAcc transmission enabled



27

GPS NAV-PVT pDOP transmission enabled



28

GPS NAV-PVT headVeh transmission enabled

 

29-31

Reserved

Int32[1]

Bit

Reported State / Parameter



0

GPS NAV-ATT iTOW transmission enabled



1

GPS NAV-ATT version transmission enabled



2

GPS NAV-ATT roll transmission enabled



3

GPS NAV-ATT pitch transmission enabled



4

GPS NAV-ATT heading transmission enabled



5

GPS NAV-ATT accRoll transmission enabled



6

GPS NAV-ATT accPitch transmission enabled



7

GPS NAV-ATT accHeading transmission enabled



8

GPS ESF-STATUS iTOW transmission enabled



9

GPS ESF-STATUS version transmission enabled



10

GPS ESF-STATUS initStatus1 transmission enabled



11

GPS ESF-STATUS initStatus2 transmission enabled



12

GPS ESF-STATUS fusionMode transmission enabled



13

GPS ESF-STATUS numSens transmission enabled



14

GPS ESF-STATUS sensStatus transmission enabled

 

15-31

Reserved

Response:

ACK (success) or NACK (error)

 

 

Identifier

161 (0xA1)

 

Name

GET_GPS_TRANSMIT_DATA

 

Description

Get the current transmitted data of GPS

 

Parameter

NONE

 

Response

Int32[2]

 

Int32[0]

Bit

Reported State / Parameter



0

GPS NAV-PVT iTOW transmission enabled



1

GPS NAV-PVT year transmission enabled



2

GPS NAV-PVT month transmission enabled



3

GPS NAV-PVT day transmission enabled



4

GPS NAV-PVT hour transmission enabled



5

GPS NAV-PVT min transmission enabled



6

GPS NAV-PVT sec transmission enabled



7

GPS NAV-PVT valid transmission enabled



8

GPS NAV-PVT tAcc transmission enabled



9

GPS NAV-PVT nano transmission enabled



10

GPS NAV-PVT fixType transmission enabled



11

GPS NAV-PVT flags transmission enabled



12

GPS NAV-PVT flags2 transmission enabled



13

GPS NAV-PVT numSV transmission enabled



14

GPS NAV-PVT longitude transmission enabled



15

GPS NAV-PVT latitude transmission enabled



16

GPS NAV-PVT height transmission enabled



17

GPS NAV-PVT hMSL transmission enabled



18

GPS NAV-PVT hAcc transmission enabled



19

GPS NAV-PVT vAcc transmission enabled



20

GPS NAV-PVT velN transmission enabled



21

GPS NAV-PVT velE transmission enabled



22

GPS NAV-PVT velD transmission enabled



23

GPS NAV-PVT gSpeed transmission enabled



24

GPS NAV-PVT headMot transmission enabled



25

GPS NAV-PVT sAcc transmission enabled



26

GPS NAV-PVT headAcc transmission enabled



27

GPS NAV-PVT pDOP transmission enabled



28

GPS NAV-PVT headVeh transmission enabled

 

29-31

Reserved

Int32[1]

Bit

Reported State / Parameter



0

GPS NAV-ATT iTOW transmission enabled



1

GPS NAV-ATT version transmission enabled



2

GPS NAV-ATT roll transmission enabled



3

GPS NAV-ATT pitch transmission enabled



4

GPS NAV-ATT heading transmission enabled



5

GPS NAV-ATT accRoll transmission enabled



6

GPS NAV-ATT accPitch transmission enabled



7

GPS NAV-ATT accHeading transmission enabled



8

GPS ESF-STATUS iTOW transmission enabled



9

GPS ESF-STATUS version transmission enabled



10

GPS ESF-STATUS initStatus1 transmission enabled



11

GPS ESF-STATUS initStatus2 transmission enabled



12

GPS ESF-STATUS fusionMode transmission enabled



13

GPS ESF-STATUS numSens transmission enabled



14

GPS ESF-STATUS sensStatus transmission enabled

 

15-31

Reserved

 

Identifier

162 (0xA2)

Name

SAVE_GPS_STATE

Description

Save current GPS state to the flash of GPS module

Parameter

NONE

Response:

ACK (success) or NACK (error)

 

Identifier

163 (0xA3)

Name

CLEAR_GPS_STATE

Description

Clear flash of GPS module

Parameter

NONE

Response:

ACK (success) or NACK (error)