SMC Networks IMU-007 User Manual

67
IMU User Guide revision 3.1 SMC Ship Motion Control www.shipmotion.eu
4.3.4 BINARY STRING 2
Example
00000001 00001101 00000000 00011110 00110111 10001001 00000101 00000000
11010101 01110010 10011100 11111111 00000000 00000000 00000100
Bitrate
Max output Rate
115200
100
57600
100
38400
100
19200
100
9600
53
4800
26
Description
Bytes
Hex
Form
Header (32 bits)
4
0x01
SOH
0x0D
Start of header Byte
Message length
0x00
Remaining number of Bytes to follow
Message Type
Message code
EOH
End of Header
Data
10
Pitch Byte 1
LSB
Positive Pitch = Bow up
Pitch Byte 2
Pitch Byte 3
Pitch Byte 4
MSB
Roll Byte 1
LSB
Positive Roll = Port up
Roll Byte 2
Roll Byte 3
Roll Byte 4
MSB
Pitch invalid
Invalidity byte flag 0x00=Valid, 0x01-0xFF=Invalid
Roll invalid
Invalidity byte flag 0x00=Valid, 0x01-0xFF=Invalid
Footer
EOM
1
0x04
End of Message
Pitch/Roll Value = 360/(2³²)
0 (00000000 Hex) = 0 Degrees
1 (00000001 Hex) = +0.0000008382 Degrees
-1 (FFFFFFFF Hex) = -0. 0000008382 Degrees

SMC Networks IMU-007 Specifications

General

Brand	SMC Networks
Model	IMU-007
Category	Accessories
Language	English