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8.4 ?baud
8.4.1 Description
This command queries the baud rate of the system.
8.4.2 Usage
?BAUD
8.4.3 Response
BAUD,<9600|19200|38400|57600|115200|460800|576000|921600|4147200>
Where the value is an integer in Bd units and is one of the permitted baud rates.
8.5 ?bit
8.5.1 Description
This command is used to perform a Built-In-Test of the unit while it is running in Normal
(binary) Mode. This command will return the results of internal background built-in tests that
are continually being done on various pieces of hardware and software in the system to
guarantee that valid readings are being made. For the most part, this reflects that internal
devices are communicating appropriately and within expected times. The response will appear
in the format specified by Section 5.3. The response time will vary based on system load and
the selected data rate, but typically a response will be available within 100 ms of the command
being issued. After a response becomes available, it will be transmitted immediately following
the next data message. This is done to guarantee that the normal data message is not
delayed.
The BIT results message will be appended to one of the Normal Mode data output messages
following an MSYNC input signal. There may be a short delay of one or more MSYNC signals
to allow the system to complete the BIT process. The user should make sure to pulse the
MSYNC input signal one or more times between 90 µs and 2 s after sending the ?bit
command. Failure to do so may result in bit 43 (IMU FPGA Status) of the response being set
to the error state. Most users will not need to handle this as a special case, as the typical user
requests data far faster than the 1/2 Hz limit. The 1775 IMU has a 90 µs hold off time from
reception of one MSYNC to the next and this must also be taken into account.
8.5.2 Usage
?BIT<,2>
The optional 2 parameter specifies the alternate extended BIT test results.
8.5.3 Response
The response to ?BIT and ?BIT,2 queries are not human-readable, because the unit is
operating in Normal (binary) Mode. See the sections about built-in test for details related to the
response.
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