PNI TCM 5 - Manual (Page 33)

PNI Sensor Corporation Doc #1007537 r12
TCM3 & TCM5 User Manual – Sept 2012 Page 33
kGetModInfo (frame ID 1)
This frame queries the module's type and firmware revision number. The frame has no payload. The
complete packet for the kGetModInfo command would be:
0005 01 EFD4
with 0005 being the byte count
01
kGetModInfo command
EFD4 CRC-16 checksum
kModInfoResp (frame ID 2)
This frame is the response to kGetModInfo frame. The payload contains the module type identifier
followed by the firmware revision number.
Type Revision
UInt32 UInt32
Payload
2
Frame ID
kUlnt8
kSetDataComponents (frame ID 3)
This frame sets the data components in the module's data output. This is not a query for the module's
data (see kGetData). The first byte of the payload indicates the number of data components followed by
the data component IDs.
Count ID
1
ID
2
ID
3
ID
Count
UInt8 UInt8 UInt8 UInt8 UInt8
Payload
Example:
To query the heading and pitch, the payload should contain:
2 5 24
ID Count Heading ID Pitch ID
Payload
3
Frame ID
When querying for data (kGetData frame), the sequence of the data component output follows the
sequence of the data component IDs as set in this frame.