PNI SENtral MandM - Manual (Page 32)

PNI Sensor Corporation Doc #1020129 revE
SENtral M&M Technical Datasheet Page 31
Appendix II
– Parameter Transfer
Note: Implementing the parameter transfer process is not necessary when using SENtral, but can be
useful for enabling a warm start, for setting the sensor ranges to non-default values, and/or for reading
the device driver IDs.
This appendix provides the protocol for implementing SENtral’s parameter transfer process. A
parameter transfer involves the host either loading parameter values into SENtral, or retrieving
parameter values currently used by SENtral.
Register Usage
Table A2-1 provides the registers used for the parameter transfer process.
Table A2-1: Registers Used for Parameter Transfer
Register Name Address Access Format Description
AlgorithmControl 0x54 R/W [7:0]
[0] StandbyEnable. 1 = Enable Standby state
[1] RawDataEnable. 1 = Raw data provided in
MX, MY, MZ, AX, AY, AZ, GX, GY, & GZ.
0 = Scaled sensor data.
[2] HPRoutput. 1 = Heading, pitch, and roll
output in QX, QY, & QZ. QW = 0.0.
0 = Quaternion outputs.
[7] ParamTransfer. 1 = Enable Parameter
Transfer.
LoadParamByte0 0x60 R/W Float 8 Parameter value to be loaded – LSB
LoadParamByte1 0x61 R/W Float 8 Parameter value to be loaded – LSB + 1
LoadParamByte2 0x62 R/W Float 8 Parameter value to be loaded – MSB – 1
LoadParamByte3 0x63 R/W Float 8 Parameter value to be loaded – MSB
ParamRequest 0x64 R/W [7:0]
Bits [0] – [6] provide the parameter number to
be uploaded or retrieved.
[7] Load/Save bit. 1 = Load, 0 = Save.
ParamAcknowledge 0x3A R/O [7:0]
Bits [0] – [6] provide the parameter number
that was uploaded or retrieved.
[7] Load/Retrieve bit. 1 = Load, 0 = Retrieve.
RetrieveParamByte0 0x3B R/O Float 8 Parameter value read from Sentral – LSB
RetrieveParamByte1 0x3C R/O Float 8 Parameter value read from Sentral – LSB + 1
RetrieveParamByte2 0x3D R/O Float 8 Parameter value read from Sentral – MSB – 1
RetrieveParamByte3 0x3E R/O Float 8 Parameter value read from Sentral – MSB