PNI SENtral - Manual (Page 23)

PNI Sensor Corporation Doc #1018049 R03
SENtral Technical Data Sheet Page 22
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Write 0x07 to the EnableEvents register. This sets up the host to receive interrupts
from SENtral whenever the quaternion results registers are updated, an error has been
detected, or when SENtral needs to be reset.
Note: It is necessary to set the MagRate, AccelRate, AND GyroRate registers to non-zero values for
the SENtral algorithm to function properly and to obtain reliable orientation and scaled sensor data. If
a [Sensor]Rate register is left as 0x00 after power-up, or is changed to 0x00, this effectively disables
that sensor within the SENtral algorithm. Also, the CalStatus, MagTransient, and AlgorithmSlow bits
become undefined.
5.3 Running in Normal Operation
After performing the steps listed above, SENtral is ready to start generating orientation data.
Below is a flow diagram for Normal Operation, followed by the pertinent registers, and then
the steps to follow when running.
Figure 5-3: SENtral Normal Operation Flow