M-G362 Datasheet, PDF (61/69 Pages) Epson Company – IMU (Inertial Measurement Unit)

Please note that read data unit is 16bit, and Most Significant Byte first.
-------------------------------------------------------------
[Write Example]
To write a 8bit-data into a register(addr=0x03 / WINDOW=0).
TXdata={0xFE,0x00,0x0d}.
/* WINDOW=0 */
TXdata={0x83,0x01,0x0d}.
/* command */
RXdata= w/o response
By sending this command, the IMU moves to Sampling mode.
Please note that write data unit is 8bit.
8.2.3 Sampling data (UART)
[Sample Flow 1 (UART auto mode)]
Power-on sequence. Please refer to Chapter 8.2.1.
Filter setting sequence. Please refer to Chapter 8.2.8.
TXdata={0xFE,0x01,0x0d}.
/* WINDOW=1 */
TXdata={0x85,0x05,0x0d}.
/* 125SPS */
TXdata={0x88,0x01,0x0d}.
/* UART Auto mode */
TXdata={0x8C,0x06,0x0d}.
/* GPIO=on,COUNT=on,CheckSum=off */
TXdata={0x8D,0xF0,0x0d}.
/* FLAG=on,TEMP=on,Gyro=on,ACCL=on */
TXdata={0x8F,0x70,0x0d}.
/* TEMP=32bit,Gyro=32bit,ACCL=32bit */
TXdata={0xFE,0x00,0x0d}.
/* WINDOW=0 */
TXdata={0x83,0x01,0x0d}.
/* move to Sampling mode */
receive sampling data.
(a)RXdata={0x80, FLAG_Hi, FLAG_Lo,
TEMP_HIGH_Hi, TEMP_HIGH_Lo, TEMP_LOW_Hi, TEMP_LOW_Lo,
XGYRO_HIGH_Hi, XGYRO_HIGH_Lo, XGYRO_LOW_Hi, XGYRO_LOW_Lo,
YGYRO_HIGH_Hi, YGYRO_HIGH_Lo, YGYRO_LOW_Hi, YGYRO_LOW_Lo,
ZGYRO_HIGH_Hi, ZGYRO_HIGH_Lo, ZGYRO_LOW_Hi, ZGYRO_LOW_Lo,
XACCL_HIGH_Hi, XACCL_HIGH_Lo, XACCL_LOW_Hi, XACCL_LOW_Lo,
YACCL_HIGH_Hi, YACCL_HIGH_Lo, YACCL_LOW_Hi, YACCL_LOW_Lo,
ZACCL_HIGH_Hi, ZACCL_HIGH_Lo, ZACCL_LOW_Hi, ZACCL_LOW_Lo,
GPIO_Hi, GPIO_Lo, COUNT_Hi, COUNT_Lo, 0x0d}
repeat (a).
TXdata={0x83,0x02,0x0d}.
/* return to Configulation mode */
-------------------------------------------------------------
[Sample Flow 2 (UART auto mode)]
To read upper 16 bits data of temperature, gyroscope and accelerometer.
Power-on sequence. Please refer to Chapter 8.2.1.
Filter setting sequence. Please refer to Chapter 8.2.8.
TXdata={0xFE,0x01,0x0d}.
/* WINDOW=1 */
TXdata={0x85,0x05,0x0d}.
/* 125SPS */
TXdata={0x88,0x01,0x0d}.
/* UART Auto mode */
TXdata={0x8C,0x06,0x0d}.
/* GPIO=on,COUNT=on,CheckSum=off */
TXdata={0x8D,0xF0,0x0d}.
/* FLAG=on,TEMP=on,Gyro=on,ACCL=on */
TXdata={0x8F,0x00,0x0d}.
/* TEMP=16bit,Gyro=16bit,ACCL=16bit */
TXdata={0xFE,0x00,0x0d}.
/* WINDOW=0 */
TXdata={0x83,0x01,0x0d}.
/* move to Sampling mode */
receive sampling data.
(a)RXdata={0x80, FLAG_Hi, FLAG_Lo,
TEMP_HIGH_Hi, TEMP_HIGH_Lo,
XGYRO_HIGH_Hi, XGYRO_HIGH_Lo,
M-G362PDC1 Data Sheet
Seiko Epson Corporation
57
Rev.20131217