M-G362 Datasheet, PDF (35/69 Pages) Epson Company – IMU (Inertial Measurement Unit)

Table 6.9 UART Timing (tREADRATE requirements for Burst Mode)
Parameter
Burst Mode (minimum) Unit
tREADRATE(19.2kbps )
tREADRATE(115.2kbps )
tREADRATE(230.4kbps)
2700 + ( 520.8 * B )
μs
500 + ( 86.8 * B )
μs
300 + ( 43.4 * B )
μs
tREADRATE(460.8kbps)
200 + ( 21.7 * B )
μs
B= Number of receive data bytes (AD: address and CR: delimiter is not included).
Example tREADRATE Calculation:
BURST_CTRL1 [0x0C(W1)]: Set value 0xF006
BURST_CTRL2[ 0x0E(W1)]: Set value 0x7000
B=34 byte for the above stated register setting
tREADRATE(460.8kbps) = 200 + (21.7 * 34) = 937.8(μs)
6.2.1 UART Read Timing (Normal Mode)
The response to the read command, i.e. the data from the internal register, is always returned 16-bit
data at a time. The register address (AD) comes at the beginning of the response, for example, 0x02 for
the MODE_CTRL [0x02(W0)] register.
SIN
t_READRATE
t_STALL
Command CR
Command CR
SOUT
AD Response CR
Figure 6.5 UART Read Timing (Normal Mode)
AD Response CR
Table 6.10 Command Format (Read)
First byte
Second byte
Third byte
765432107654321076543210
0
A[6:0]
XX
0x0D
A[6:0] ･･･ Register address (even address)
XX ･･･ Don't Care
0x0D ･･･ Delimiter
Table 6.11 Response Format (Read)
First byte
Second byte
Third byte
Fourth byte
76543210765432107654321076543210
0
A[6:0]
D[15:8]
D[7:0]
0x0D
A[6:0] ･･･ Register address (even address)
D[15:8] ･･･ Register read data (upper byte)
D[7:0] ･･･ Register read data (lower byte)
0x0D ･･･ Delimiter
M-G362PDC1 Data Sheet
Seiko Epson Corporation
31
Rev.20131217