PNI SpacePoint Scout - Manual (Page 9)

PNI Sensor Corporation Doc #1017545 r03
SpacePoint Scout User Manual – January 2013 Page 9 of 19
kRequestQ & kRequestQResp
The command to receive data (kRequestQ) is 0x32. Once the SpacePoint algorithm
receives the kRequestQ command, the algorithm will operate in push mode, such that
the response frame is constantly transmitted at 125 Hz. The structure of the
kRequestQResp frame is given below in Table 4-2.
Table 4-2: Structure of UART kRequestQResp frame
Byte Description
1 Leading Byte = 0x24
2 Byte Count = 0x1A
3 Frame ID = 0x32
4 Accel X LSB
5 Accel X MSB
6 Accel Y LSB
7 Accel Y MSB
8 Accel Z LSB
9 Accel Z MSB
10 Quaternion X LSB
11 Quaternion X MSB
12 Quaternion Y LSB
13 Quaternion Y MSB
14 Quaternion Z LSB
15 Quaternion Z MSB
16 Quaternion W LSB
17 Quaternion W MSB
18 Horizontal Position (Hpos) LSB
19 Horizontal Position (Hpos) MSB
20 Vertical Position (Vpos) LSB
21 Vertical Position (Vpos) MSB
22 Reserved
23 CRC – 16 Upper Byte
24 CRC – 16 Lower Byte
25 Upper Trailing Byte = 0x0D
26 Lower Trailing Byte = 0x0A