M-G362 Datasheet, PDF (60/69 Pages) Epson Company – IMU (Inertial Measurement Unit)

TXdata={0xFE00}/ RXdata={0x----}.
/* WINDOW=0 */
Confirm FLASH_BU_ERR bits. FLASH_BU_ERR is DIAG_STAT[0x04(W0)]'s bit[0].
TXdata={0x0400}/ RXdata={0x----}.
/* DIAG_STAT read command */
TXdata={0x0000}/ RXdata={DIAG_STAT}. /* get response */
Confirm FLASH_BU_ERR is 0.
If FLASH_BU_ERR is 0, the result is OK. Otherwise, the result is NG.
-:don't care
8.1.8 Filter setting (SPI)
Filter setting is as follows.
Power-on sequence. Please refer to Chapter 8.1.1.
(a) Send filter setting command for moving average filter and TAP32.
TXdata={0xFE01}/ RXdata={0x----}.
/* WINDOW=1 */
TXdata={0x8605}/ RXdata={0x----}.
/* Filter setting command */
(b) Wait until filter setting has finished.
Wait until FILTER_STAT bit goes to 0. FILTER_STAT is FILTER_CTRL[0x06(W1)]'s bit[5].
TXdata={0x0600}/ RXdata={0x----}.
/* FILTER_CTRL read command */
TXdata={0x0000}/ RXdata={FILTER_CTRL}.
/* get response */
Confirm FILTER_STAT bit.
When FILTER_STAT becomes 0, it ends. Otherwise , please repeat (b).
8.2 UART Sequence
8.2.1 Power-on sequence (UART)
Power-on sequence is as follows.
(a) power-on.
(b) Wait 800ms.
(c) Wait until NOT_READY bit goes to 0. NOT_READY is GLOB_CMD[0x0A(W1)]'s bit[10].
TXdata={0xFE,0x01,0x0d}.
/* WINDOW=1 */
TXdata={0x0A,0x00,0x0d}.
/* GLOB_CMD read command */
TXdata={0x0A,MSByte,LSByte,0x0d}.
/* get response */
Confirm NOT_READY bit.
When NOT_READY becomes 0, it ends. Otherwise , please repeat (c).
(d) Confirm HARD_ERR bits. HARD_ERR is DIAG_STAT[0x04(W0)]'s bit[6:5].
TXdata={0xFE,0x00,0x0d}.
/* WINDOW=0 */
TXdata={0x04,0x00,0x0d}.
/* DIAG_STAT read command */
TXdata={0x04,MSByte,LSByte,0x0d}.
/* get response */
Confirm HARD_ERR is 00.
If HARD_ERR is 00, the IMU is OK. Otherwise, the IMU is faulty.
8.2.2 Register read and write (UART)
[Read Example]
To read a 16bit-data from a register(addr=0x02 / WINDOW=0).
TXdata={0xFE,0x00,0x0d}.
/* WINDOW=0 */
TXdata={0x02,0x00,0x0d}.
/* command */
RXdata={0x02,0x04,0x00,0x0d}
/* response */
0x04 in 2nd byte of RXdata is Configuration mode.
0x00 in 3rd byte of RXdata is Reserved.
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Seiko Epson Corporation
M-G362PDC1 Data Sheet
Rev.20131217