PNI TCM - Manual (Page 47)

PNI Sensor Corporation DOC#1014688 r06
TCM User Manual – July 2013 Page 42
Component types are listed below. All are read-only values.
kHeading, kPitch, kRoll (Component IDs 5
d
, 24
d
, 25
d
)
Provides compass heading, pitch and roll outputs. The heading range is 0.0˚ to
+359.9˚, the pitch range is -90.0˚ to +90.0˚, and the roll range is to -180.0˚ to +180.0˚.
kTemperature (Component ID 7
d
)
This value is provided by the device’s internal temperature sensor in degrees Celsius,
and has an accuracy of ±3° C.
kDistortion (Component ID 8
d
)
This flag indicates at least one magnetometer axis reading is beyond ±125 µT.
kCalStatus (Component ID 9
d
)
This flag indicates the user calibration status. False means it is not user calibrated
and this is the default value.
kAccelX, kAccelY & kAccelZ (Component IDs 21
d
, 22
d
, 23
d
)
These values represent the accelerometer sensor data for the x, y, and z axis,
respectively. The values are normalized to g (Earth’s gravitational force).
kMagX, kMagY & kMagZ (Component IDs 27
d
, 28
d
, 29
d
)
These values represent the magnetic sensor data for the x, y, and z axis, respectively.
The values are given in µT.
7.3.4 kGetData (frame ID 4
d
)
If the TCM is configured to operate in Poll Acquisition Mode, as defined by
kSetAcqParams, then this frame requests a single measurement data set. The frame has
no payload. The response is kGetDataResp.
7.3.5 kGetDataResp (frame ID 5
d
)
The response to kGetData, kStartContinuousMode, and kSyncRead is kGetDataResp.
The specific data fields that will be output (ID 1, Value ID 1, etc.) should have been
previously established by the kSetDataComponents command frame.
ID Count
UInt8
Payload
ID Specific ID Specific ID Specific
Value ID 1 Value ID 2 Value ID 3 ID 1
UInt8
ID 2
UInt8
ID 3
UInt8