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SENtral Technical Data Sheet Page 43

Appendix III – Parameter Transfer

Note: Implementing the parameter transfer process is not necessary when using SENtral, but can be

useful for enabling a warm start, for setting the sensor ranges to non-default values, and/or for reading

the device driver IDs.

This appendix provides the protocol for implementing SENtral’s parameter transfer process. A

parameter transfer involves the host either loading parameter values into SENtral, or retrieving

parameter values currently used by SENtral.

Table A3-1 provides the registers used for the parameter transfer process.

Table A3-1: Registers Used for Parameter Transfer

Address

Access

Format

Description

AlgorithmControl

0x54

R/W

[7:0]

[0] StandbyEnable. 1 = Enable 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.

[7] ParamTransfer. 1 = Enable Parameter

Transfer.

LoadParamByte0

0x60

R/W

Float 8

Parameter value to be loaded – LSB

LoadParamByte1

0x61

R/W

Float 8

Parameter value to be loaded – LSB + 1

LoadParamByte2

0x62

R/W

Float 8

Parameter value to be loaded – MSB – 1

LoadParamByte3

0x63

R/W

Float 8

Parameter value to be loaded – MSB

ParamRequest

0x64

R/W

[7:0]

Bits [0] – [6] provide the parameter number to

be uploaded or retrieved.

[7] Load/Save bit. 1 = Load, 0 = Save.

ParamAcknowledge

0x3A

R/O

[7:0]

Bits [0] – [6] provide the parameter number

that was uploaded or retrieved.

[7] Load/Retrieve bit. 1 = Load, 0 = Retrieve.

RetrieveParamByte0

0x3B

R/O

Float 8

Parameter value read from Sentral – LSB

RetrieveParamByte1

0x3C

R/O

Float 8

Parameter value read from Sentral – LSB + 1

RetrieveParamByte2

0x3D

R/O

Float 8

Parameter value read from Sentral – MSB – 1

RetrieveParamByte3

0x3E

R/O

Float 8

Parameter value read from Sentral – MSB

1 2 ... 39 40 41 42 43 44 45 46 47 48 49 ... 53 54

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