PNI SENtral - Manual (Page 21)

PNI Sensor Corporation Doc #1018049 R03
SENtral Technical Data Sheet Page 20
Table 5-3: Sample Host Upload Data Order
Byte Order in Config File Image i i+1 i+2 i+3 i+4 i+5 i+6 i+7
Config File Image Example 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08
Byte Order During Host Upload i+3 i+2 i+1 i i+7 i+6 i+5 i+4
Example Bye Sent during Upload 0x04 0x03 0x02 0x01 0x08 0x07 0x06 0x05

Read the CRCHost register. Compare this to the host-calculated CRC-32 to confirm
a successful upload.

After the reset, write value 0x00 to the HostControl register, which clears the
HostUpload bit and places SENtral in Initialized State.
5.2 Initial Register Set-Up
After the initialization process is complete, it is necessary to configure a few of SENtral’s
registers before running in Normal Operation. These registers are given in Table 5-4.
Table 5-4: Registers for Initial Set-Up
Register Name Address Register Value
MagRate 0x55 Requested magnetometer output data rate
AccelRate 0x56 Requested accelerometer output data rate divided by 10
GyroRate 0x57 Requested gyroscope output data rate divided by 10
QRateDivisor 0x32
Along with GyroRate, establishes output data rate for
quaternion data.
AlgorithmControl 0x54
[0] 1 = StandbyEnable
0 = Disable 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.
EnableEvents 0x33
‘1’ indicates an interrupt to the host will be generated for
the event.
[0] CPUReset. Non-maskable
[1] Error
[2] QuaternionResult
[3] MagResult
[4] AccelResult
[5] GyroResult
[6] Reserved
[7] Reserved