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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

C bus.

Table 5-6: Results Registers

Name

Address

(Hex)

Description

Format

Full-Scale Range

00 – 03

Normalized Quaternion – X, or Heading

Float32

0.0 – 1.0, or ±

04 – 07

Normalized Quaternion – Y, or Pitch

Float32

0.0 – 1.0, or ±/2

08 – 0B

Normalized Quaternion – Z, or Roll

Float32

0.0 – 1.0, or ±

0C – 0F

Normalized Quaternion – W, or 0.0

Float32

0.0 – 1.0

QTime

10 – 11

Quaternion Data Timestamp

UInt16

0 – 2048 msec

12 – 13

Magnetic Field – X Axis, or Raw Mag Data

Int16

±1000 µT when scaled

14 – 15

Magnetic Field – Y Axis, or Raw Mag Data

Int16

±1000 µT when scaled

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

1A – 1B

Linear Acceleration – X Axis, or Raw Accel Data

Int16

±16 g when scaled

1C – 1D

Linear Acceleration – Y Axis, or Raw Accel Data

Int16

±16 g when scaled

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

22 – 23

Rotational Velocity – X Axis, or Raw Gyro Data

Int16

±5000°/s when scaled

24 – 25

Rotational Velocity – Y Axis, or Raw Gyro Data

Int16

±5000°/s when scaled

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

1 2 ... 20 21 22 23 24 25 26 27 28 29 30 ... 53 54

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