PNI TCM 5 - Manual (Page 40)

PNI Sensor Corporation Doc #1007537 r12
TCM3 & TCM5 User Manual- Sept 2011 Page 40
kGetParam (frame ID 13)
This frame queries the FIR filter settings for the magnetometer and accelerometer sensors. The first
byte of the payload is the kFIRConfig ID followed by the vector axis ID (byte).
Parameter ID Axis ID
UInt8 UInt8
Payload
kParamResp (frame ID 14)
This frame contains the current FIR filter settings for either magnetometer or accelerometer sensors. The
second byte of the payload is the vector axis ID, the third byte is the number of filter taps then followed by
the filter taps. Each tap is a Float64.
Parameter ID Axis ID Count Value
1
Value
2
UInt8 UInt8 UInt8
Filter Top
Value
ID
Specific
Value
3
Value
Count
ID
Specific
ID
Specific
Payload
kPowerDown (frame ID 15)
This frame is used to completely power-down the module. The frame has no payload. The unit will power
down all peripherals including the RS-232 driver but the driver chip has the feature to keep the Rx line
enabled. Any character sent to the module causes it to exit power down mode. It is recommended to send
the byte oxFFh.
kSaveDone (frame ID 16)
This frame is the response to kSave frame. The payload contains a UInt16 error code, 0000h
indicates no error, 0001h indicates error when attempting to save data into non-volatile memory.
Error code
UInt16
Payload
Axis IDs
kXAxis = 1
kYAxis = 2
kZAxis = 3
kPAxis = 4
kRAxis = 5
KIZAxis = 6