M-G362 Datasheet, PDF (34/69 Pages) Epson Company – IMU (Inertial Measurement Unit)

6.2 UART Interface
Table 6.7 shows the supported UART communication settings and Figure 6.4 shows the UART bit
format. Please refer to BAUD_RATE (UART_CTRL [0x08(W1)] bits[9:8]) for changing the baud rate
setting.
NOTE: The BRATE pin should be changed only when the IMU is powered off, or requires asserting a
hardware reset after the BRATE pin change.
Table 6.7 UART Communication Settings
Parameter
Set value
Transfer 19.2kbps/115.2kbps/
rate
230.4kbps/460.8kbps
Start
1 bit
Data
8 bits
Stop
1 bit
Parity
None
Delimiter CR(0x0D)
TX,RX
s1 D0 D1 D2 D3 D4 D5 D6 D7 s2
start bit
stop bit
Data
Figure 6.4 UART Bit Format
For the UART interface, a delimiter (1 byte) is be placed at the end of each command (by the host) and
response (by the IMU). In addition for responses, the address (1 byte) specified by the command is
added (by the IMU) to the beginning of the response.
Table 6.8 and Table 6.9 shows the timing of UART.
Table 6.8 UART Timing
Parameter
Manual mode
Normal mode
Burst mode
Minimum Maximum Minimum Maximum
tSTALL(19.2kbps)
-
25
-
50
tSTALL(115.2kbps)
-
25
-
50
tSTALL(230.4kbps)
-
25
-
50
tSTALL(460.8kbps)
-
25
-
50
tWRITERATE(19.2kbps)
3,700
-
-
-
tWRITERATE(115.2kbps)
650
-
-
-
tWRITERATE(230.4kbps)
350
-
-
-
tWRITERATE(460.8kbps)
200
-
-
-
tREADRATE(19.2kbps)
3,700
-
*1
-
tREADRATE(115.2kbps)
650
-
*1
-
tREADRATE(230.4kbps)
350
-
*1
-
tREADRATE(460.8kbps)
200
-
*1
-
Auto mode
Minimum
-
-
-
-
3,700
650
350
200
- ^*2
- ^*2
- ^*2
- ^*2
Maximum
- ^*2
- ^*2
- ^*2
- ^*2
-
-
-
-
-
-
-
-
Unit
μs
μs
μs
μs
μs
μs
μs
μs
μs
μs
μs
μs
*1) Please refer to Table 6.9.
*2) Register reading is not supported while in Sampling Mode with UART Auto Mode enabled.
30
Seiko Epson Corporation
M-G362PDC1 Data Sheet
Rev.20131217