M-G362 Datasheet, PDF (26/69 Pages) Epson Company – IMU (Inertial Measurement Unit)

5.12 Automatic Start (For UART Auto Mode Only)
The Automatic Start function when enabled allows the device to automatically enter Sampling Mode
after completing internal initialization when power is supplied or the IMU is reset. This function is
designed to be used in conjunction with the UART Auto Mode. Please refer to Figure 5.3 for the state
transition.
Follow the procedures below to enable the Automatic Start function:
1. Write a “1” to both UART_AUTO (bit 0) and AUTO_START (bit 1) of UART_CTRL [0x08(W1)].
2. Store the current register settings to non-volatile memory by writing a "1" to FLASH_BACKUP
(GLOB_CMD [0x0A(W1)] bit 3). After completion of the FLASH_BACKUP command, confirm
the results by FLASH_BU_ERR (DIAG_STAT [0x04(W0)] bit 0).
3. The IMU will automatically enter Sampling Mode after the power supply is cycled, or a
hardware reset, or a software reset command is executed.
The Automatic Start function can be enabled simultaneously with the External Trigger Input function.
Follow the procedures below to enable the Automatic Start with External Trigger Input function:
1. Write a “1” to both UART_AUTO (bit 0) and AUTO_START (bit 1) of UART_CTRL [0x08(W1)].
2. If necessary, set the proper polarity of the External Trigger Input with EXT_POL (MSC_CTRL
[0x02(W1)] bit 5). Write a "10" to EXT_SEL (MSC_CTRL [0x02(W1)] bit [7:6]) to enable the
External Trigger Input. Please connect the external trigger input signal to the GPIO2 pin.
3. Store the current register settings to non-volatile memry by writing a "1" to FLASH_BACKUP
(GLOB_CMD [0x0A(W1)] bit 3). After completion of the FLASH_BACKUP command, confirm
the results by FLASH_BU_ERR (DIAG_STAT [0x04(W0)] bit 0).
4. The IMU will automatically enter Sampling Mode after the power supply is cycled, or a
hardware reset, or a software reset command is executed.
5.13 Filter
This device contains built-in user configurable digital filters that are applied to the sensor data. The type
of filter (moving average filter or FIR Kaiser filter) and the numbers of TAPs can be set with the
FILTER_CTRL [0x06(W1)] register.
(1) Moving Average Filter:
TAP setting can be N= 2, 4, 8, 16, 32, 64, or 128.
Figure 5.12 shows the characteristics of this filter.
Figure 5.12 Moving Average Filter Characteristics
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Seiko Epson Corporation
M-G362PDC1 Data Sheet
Rev.20131217