M-G362 Datasheet, PDF (45/69 Pages) Epson Company – IMU (Inertial Measurement Unit)

7.3 DIAG_STAT Register (Window 0)
Addr
(Hex)
Bit15
Bit14
Bit13
Bit12
Bit11
Bit10
Bit9
0x05
-
ST_ERR ST_ERR ST_ERR ST_ERR
(XGyro) (YGyro) (ZGyro) (ACCL)
-
-
Bit8
R/W
-
R
Addr
(Hex)
Bit7
Bit6
Bit5
Bit4
Bit3
Bit2
Bit1
Bit0
R/W
0x04
-
HARD
_ERR
SPI
_OVF
UART
_OVF
FLASH
_ERR
ST_ERR
_ALL
FLASH
_BU_ER
R
R
Note: When the host reads the diagnosis result, all the results (including the EA flag in the FLAG
register) will be cleared to 0.
bit[14:11] ST_ERR (SelfTest ERRor)
Shows the result of SELF_TEST (internal self test) of MSC_CTRL [0x02(W1)] bit 10.
1 :Error occurred
0 :No error
bit[6:5]
HARD_ERR
Shows the result of the hardware check at startup.
Other than 00
:Error occurred
00
:No error
When this error occurs, it indicates the IMU is faulty.
bit[4]
SPI_OVF (SPI OVer Flow)
Shows an error occurred if the device received too many commands from the SPI interface in short
period of time.
1 :Error occurred
0 :No error
When this error occurs, review the SPI command transmission interval and the SPI clock setting.
bit[3]
UART_OVF (UART OVer Flow)
Shows an error occurred if the data transmission rate is faster than the UART baud rate.
1 :Error occurred
0 :No error
When this error occurs, review the settings for baud rate, data output rate, UART Burst/Auto
Mode in combination.
bit[2]
FLASH_ERR
Shows the result of FLASH_TEST of MSC_CTRL [0x02(W1)] bit 11.
1 :Error occurred
0 :No error
This error indicates a failure occurred when reading data out from the non-volatile memory.
bit[1]
ST_ERR_ALL (SelfTest ERRor All)
Shows the logical sum of bit [14:11] of this register.
1 :Error occurred
0 :No error
bit[0]
FLASH_BU_ERR (FLASH BackUp ERRor)
Shows the result of FLASH_BACKUP of GLOB_CMD [0x0A(W1)] bit 3.
1 :Error occurred
0 :No error
M-G362PDC1 Data Sheet
Seiko Epson Corporation
41
Rev.20131217