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SENtral MandM
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PNI SENtral MandM User Manual
Sentral, Motion & measurement modules
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PNI SENtral MandM User Manual | 40 pages
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Table of contents
Document Outline
1 Product Overview
1.1 SENtral Features and Benefits
1.2 SENtral M&M System Overview
2 SENtral Specifications1
2.1 Performance Characteristics
2.2 Electrical Characteristics
3 Interface
3.1 I2C Timing
3.2 I2C Host Interface (Host Bus)
3.2.1 I2C Transfer formats
3.3 I2C Sensor Interface (Sensor Bus)
3.4 Host Interrupt/GPIO Lines
4 Operation
4.1 Power-Up
4.2 Initial Register Set-Up
4.3 Running in Normal Operation
4.3.1 Error
4.3.2 Read Results
4.4 Standby State
4.5 Pass-Through State
4.6 Troubleshooting
4.6.1 Hardware-Related Error Conditions
4.6.2 Software-Related Error Conditions
5 Package Information
6 Assembly Guidelines
Appendix I – Converting Quaternions
Appendix II – Parameter Transfer
Register Usage
Parameter Load
Parameter Retrieve
Interleaving Parameter Load and Retrieve
Parameters
WarmStart
SensorRange
DriverID and AlgorithmID
Appendix III – Measuring Current Consumption
Method 1: Replace zero-ohm resistor with 100 Ω resistor.
Method 2: Remove zero-ohm resistor and place ammeter in series.
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