M-G362 Datasheet, PDF (58/69 Pages) Epson Company – IMU (Inertial Measurement Unit)

TXdata={0xFE01}/ RXdata={0x----}.
/* WINDOW=1 */
TXdata={0x8505}/ RXdata={0x----}.
/* 125SPS */
TXdata={0x8800}/ RXdata={0x----}.
/* disable UART auto mode, just in case. */
TXdata={0x8C06}/ RXdata={0x----}.
/* GPIO=on,COUNT=on,CheckSum=off */
TXdata={0x8DF0}/ RXdata={0x----}.
/* FLAG=on,TEMP=on,Gyro=on,ACCL=on */
TXdata={0x8F00}/ RXdata={0x----}.
/* TEMP=16bit,Gyro=16bit,ACCL=16bit */
TXdata={0xFE00}/ RXdata={0x----}.
/* WINDOW=0 */
TXdata={0x8301}/ RXdata={0x----}.
/* move to Sampling mode */
receive sampling data.
(a)Wait until Data Ready signal is asserted.
(b)
TXdata={0x8000}/ RXdata={0x----}.
/* BURST command */
TXdata={0x----}/ RXdata={FLAG}.
TXdata={0x----}/ RXdata={TEMP_HIGH}.
TXdata={0x----}/ RXdata={XGYRO_HIGH}.
TXdata={0x----}/ RXdata={YGYRO_HIGH}.
TXdata={0x----}/ RXdata={ZGYRO_HIGH}.
TXdata={0x----}/ RXdata={XACCL_HIGH}.
TXdata={0x----}/ RXdata={YACCL_HIGH}.
TXdata={0x----}/ RXdata={ZACCL_HIGH}.
TXdata={0x----}/ RXdata={GPIO}.
TXdata={0x----}/ RXdata={COUNT}.
repeat from (a) to (b).
TXdata={0x8302}/ RXdata={0x----}.
/* return to Configulation mode */
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notes
Please remember to wait until Data Ready signal is asserted.
8.1.4 Selftest (SPI)
Selftest is as follows.
Power-on sequence. Please refer to Chapter 8.1.1.
(a) Send self test command.
TXdata={0xFE01}/ RXdata={0x----}.
/* WINDOW=1 */
TXdata={0x8304}/ RXdata={0x----}.
/* Selftest command */
(b) Wait until selftest has finished.
Wait until SELF_TEST bit goes to 0. SELF_TEST is MSC_CTRL[0x02(W1)]'s bit[10].
TXdata={0x0200}/ RXdata={0x----}.
/* MSC_CTRL read command */
TXdata={0x0000}/ RXdata={MSC_CTRL}. /* get response */
Confirm SELF_TEST bit.
When SELF_TEST becomes 0, it ends. Otherwise , please repeat (b).
(c) Confirm the result.
Confirm ST_ERR bits. ST_ERR is DIAG_STAT[0x04(W0)]'s bit[14:11].
TXdata={0xFE00}/ RXdata={0x----}.
/* WINDOW=0 */
TXdata={0x0400}/ RXdata={0x----}.
/* DIAG_STAT read command */
TXdata={0x0000}/ RXdata={DIAG_STAT}. /* get response */
Confirm each ST_ERR is 0.
If each ST_ERR is 0, the result is OK. Otherwise, the result is NG.
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Seiko Epson Corporation
M-G362PDC1 Data Sheet
Rev.20131217