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FOG IMU Serial Communication Guide

The FOG IMU communicates via RS422 at a baud rate of 921600 with a data packet length of 23 bytes, including sensor outputs and temperature data. The data structure consists of accelerometer and FOG outputs as 24-bit words, with temperature as a 16-bit word, and a checksum calculated using CRC8. The document outlines the packet structure, data field formats, and CRC8 parameters for error checking.

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13 views1 page

FOG IMU Serial Communication Guide

The FOG IMU communicates via RS422 at a baud rate of 921600 with a data packet length of 23 bytes, including sensor outputs and temperature data. The data structure consists of accelerometer and FOG outputs as 24-bit words, with temperature as a 16-bit word, and a checksum calculated using CRC8. The document outlines the packet structure, data field formats, and CRC8 parameters for error checking.

Uploaded by

mikhailov.vitaliy.92
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

FOG IMU SERIAL COMMUNICATION PROTOCOL

Info Notes 1

Our FOG-based Inertial Measurement Unit (FOG IMU) sends data via RS422 port configured as
follows:

• Baud rate: 921600 • Data bits: 8 • Stop bits: 1 • Parity: None • Flow control: None
• Repetition rate: 4000 Hz.

Each data packet has length of 23 byte and starts with a preamble 0xDD (see Table 1). Data field
contains 18 bytes – accelerometers outputs (ax, ay, az), FOGs outputs (wx, wy, wz) and temperature
(t). Sensor outputs (ax, ay, az, wx, wy, wz) are binary complementary 24-bit words (see Table 2).
Temperature is 16-bit positive word (see Table 3).

Table 1. Data packet structure

Preamble ax ay az wx wy wz Counter t Checksum


0xDD 3 bytes 3 bytes 3 bytes 3 bytes 3 bytes 3 bytes 1 byte 2 bytes 1 byte

Table 2. Sensor data field structure (LSB = 0.3 µV)

1st byte 2nd byte 3rd byte


lowest byte (L) middle byte (M) highest byte (H)

Table 3. Temperature data field structure

1st byte 2nd byte


low byte (L) high byte (H)

The checksum is calculated as CRC8 of all bytes between preamble and “Checksum” bytes.

Table 4. CRC8 calculation parameters

Parameter Value
Name CRC-8
Poly 0x07 (x8+x2+x+1)
Revert false
XorOut 0x00
Check 0x99
0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 0x09 0x0A 0x0B 0x0C 0x0D 0x0E 0x0F 0x10 0x11 0x12 0x13
0x14

1
The information presented in this document is believed to be correct. MostaTech accepts no liability for any errors it might contain and reserves the right to
alter specifications without prior notice.

IMU Serial Communication Protocol. Info Notes Ver #2 Jan 2025 Page 1 of 1

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