PNI SENtral - Manual (Page 25)

PNI Sensor Corporation Doc #1018049 R03
SENtral Technical Data Sheet Page 24
5.3.2 CPUReset
SENtral will report a CPUReset event after the ResetReq command has been issued, and
prior to uploading the Configuration File. In this case, SENtral is in Unprogrammed
State and needs the Configuration File to be uploaded. If a dedicated EEPROM is used
to store the Configuration File, then CPUReset should not be encountered as the
Configuration File is automatically uploaded.
5.3.3 Read Results
The Results Registers’ addresses, formats, and full-scale ranges are given below in Table
5-6. For an explanation of how to convert quaternions to the rotation vector, the rotation
matrix, or heading, pitch, and roll (Euler angles), see Appendix II – Converting
Quaternions. The resolution is 32 kHz for all timestamps.
Note: All multi-byte elements are stored and transmitted using the Little Endian convention: the
least significant byte is stored at the lowest address and transmitted first over the I
2
C bus.
Table 5-6: Results Registers
Name
Address
(Hex)
Description Format Full-Scale Range
QX 00 – 03 Normalized Quaternion – X, or Heading Float32 0.0 – 1.0, or ±

QY 04 – 07 Normalized Quaternion – Y, or Pitch Float32 0.0 – 1.0, or ±

/2
QZ 08 – 0B Normalized Quaternion – Z, or Roll Float32 0.0 – 1.0, or ±

QW 0C – 0F Normalized Quaternion – W, or 0.0 Float32 0.0 – 1.0
QTime 10 – 11 Quaternion Data Timestamp UInt16 0 – 2048 msec
MX 12 – 13 Magnetic Field – X Axis, or Raw Mag Data Int16 ±1000 µT when scaled
MY 14 – 15 Magnetic Field – Y Axis, or Raw Mag Data Int16 ±1000 µT when scaled
MZ 16 – 17 Magnetic Field – Z Axis, or Raw Mag Data Int16 ±1000 µT when scaled
MTime 18 – 19 Magnetometer Interrupt Timestamp UInt16 0 – 2048 msec
AX 1A – 1B Linear Acceleration – X Axis, or Raw Accel Data Int16 ±16 g when scaled
AY 1C – 1D Linear Acceleration – Y Axis, or Raw Accel Data Int16 ±16 g when scaled
AZ 1E – 1F Linear Acceleration – Z Axis, or Raw Accel Data Int16 ±16 g when scaled
ATime 20 – 21 Accelerometer Interrupt Timestamp UInt16 0 – 2048 msec
GX 22 – 23 Rotational Velocity – X Axis, or Raw Gyro Data Int16 ±5000°/s when scaled
GY 24 – 25 Rotational Velocity – Y Axis, or Raw Gyro Data Int16 ±5000°/s when scaled
GZ 26 – 27 Rotational Velocity – Z Axis, or Raw Gyro Data Int16 ±5000°/s when scaled
GTime 28 – 29 Gyroscope Interrupt Timestamp UInt16 0.0 – 2.048 sec