M-G362 Datasheet, PDF (63/69 Pages) Epson Company – IMU (Inertial Measurement Unit)

XGYRO_HIGH_Hi, XGYRO_HIGH_Lo,
YGYRO_HIGH_Hi, YGYRO_HIGH_Lo,
ZGYRO_HIGH_Hi, ZGYRO_HIGH_Lo,
XACCL_HIGH_Hi, XACCL_HIGH_Lo,
YACCL_HIGH_Hi, YACCL_HIGH_Lo,
ZACCL_HIGH_Hi, ZACCL_HIGH_Lo,
GPIO_Hi, GPIO_Lo, COUNT_Hi, COUNT_Lo, 0x0d}
repeat from (a) to (c).
TXdata={0x83,0x02,0x0d}.
/* return to Configulation mode */
notes
Please remember to wait until Data Ready signal is asserted.
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[Notes]
Please note that read data unit is 16bit, and Most Significant Byte first.
Please note that write data unit is 8bit.
XGYRO_HIGH_Hi: means MSByte of XGYRO_HIGH data
XGYRO_HIGH_Lo: means LSByte of XGYRO_LOW data
8.2.4 Selftest (UART)
Selftest is as follows.
Power-on sequence. Please refer to Chapter 8.2.1.
(a) Send self test command.
TXdata={0xFE,0x01,0x0d}.
/* WINDOW=1 */
TXdata={0x83,0x04,0x0d}.
/* 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={0x02,0x00,0x0d}.
/* MSC_CTRL read command */
RXdata={0x02,MSByte,LSByte,0x0d}.
/* 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={0xFE,0x00,0x0d}.
/* WINDOW=0 */
TXdata={0x04,0x00,0x0d}.
/* DIAG_STAT read command */
RXdata={0x04,MSByte,LSByte,0x0d}.
/* get response */
Confirm each ST_ERR is 0.
If each ST_ERR is 0, the result is OK. Otherwise, the result is NG.
8.2.5 Software Reset (UART)
Software reset is as follows.
Power-on sequence. Please refer to Chapter 8.2.1.
(a) Send software reset command.
TXdata={0xFE,0x01,0x0d}.
/* WINDOW=1 */
TXdata={0x8A,0x80,0x0d}.
/* Software reset command */
(b) Wait 800ms.
M-G362PDC1 Data Sheet
Seiko Epson Corporation
59
Rev.20131217