PNI TCM 5 - Manual (Page 35)

PNI Sensor Corporation Doc #1007537 r12
TCM3 & TCM5 User Manual – Sept 2012 Page 35
kGetData (frame ID 4)
This frame queries the module for data. The frame has no payload. The complete packet for the
kGetModInfo command would be:
00 05 04 BF71
with 00 05 being the byte count
04 kGetData command
BF71 CRC-16 checksum
kDataResp (frame ID 5)
The frame is the response to kGetData frame. The first byte of the payload indicates the number of data
components then followed by the data component ID-value pairs. The sequence of the components Ids
follows the sequence set in the kSetDataComponents frame.
Count ID
1
Value
ID1
ID
2
Value
ID2
UInt8 UInt8
ID
Specific
UInt8
ID
Specific
ID
Count
Value
IDCount
UInt8
ID
Specific
Payload
Example:
If the response contains the heading and pitch output, the payload would look like:
2 5 359.9 24 10.5
ID Count Heading ID Heading
Output
(Float32)
Pitch ID Pitch
Output
(Float32)
kSetConfig (frame ID 6)
This frame sets internal configurations in the module. The first byte of the payload is the configuration ID
followed by a format specific value. These configurations can only be set one at time.
Config ID Value
UInt8
ID
Specific
Payload
Example:
To configure the declination, the payload would look like: