M-G362 Datasheet, PDF (18/69 Pages) Epson Company – IMU (Inertial Measurement Unit)

5.2 Operation Mode
The device has the following two operation modes. Only when UART is used, Sampling mode has two
submodes: Manual mode and Auto mode.
(1) Configuration mode
(2) Sampling mode
• Manual mode
• Auto mode (for UART only)
Immediately after a hardware reset or power-on, internal initialization starts. During the internal
initialization, all the register values and states of external pins are undefined. After the internal
initialization is completed, the device goes into Configuration mode. Configure various operational
settings in Configuration mode^(*1). After configuration is completed, go to the sampling mode to read out
the temperature, angular rate, and acceleration data. To change the operation mode, write to
MODE_CMD (MODE_CTRL[0x02(W0)] bit[9:8]). When software reset is executed by writing 1 to
SOFT_RST (GLOB_CMD[0x0A(W1)] bit[7]), internal initialization is executed and then the device goes
into Configuration mode regardless of the current operation mode.
When the UART interface is used, writing to UART_AUTO (UART_CTRL[0x08(W1)] bit[0]) can switch
between the Manual mode and the Auto mode^(*2).
NOTE: When SPI interface is used, Manual mode must be selected. Otherwise, the device does not
work properly.
*1) Make sure that the device is in Configuration mode when you write to the registers to configure
operational settings. In Sampling mode, writing to registers is ignored except the following cases.
• Writing to MODE_CMD (MODE_CTRL[0x02(W0)] bit[9:8])
• Writing to GPIO_DATA (GPIO[0x08(W0)] bit[10:8])
• Writing to SOFT_RST (GLOB_CMD[0x0A(W1)] bit[7])
• Writing to WINDOW_ID (WIN_CTRL[0x7E(W0/W1)] bit[7:0])
*2) The following explains register notation used in this document.
For example, MODE_CTRL[0x02(W0)] bit[9:8] refers to:
• MODE_CTRL : Register Name
• [0x02(W0)] :
First number is the Register Address, (W0) refers to Window Number “0”
• bit[9:8] :
Bits from 9 to 8
*3) While the device is in UART Auto Mode and sensor sampling is active, register read access is not
supported. Otherwise, the sampling data transmitted in the UART auto mode will be corrupted by the
response data from the register read.
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Seiko Epson Corporation
M-G362PDC1 Data Sheet
Rev.20131217