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HMR3500 User's Guide
Reply Data:
13 bytes:
Data
State
Status Code
Bin 0 Data Count
Bin 1 Data Count
Bin 2 Data Count
Bin 3 Data Count
Bin 4 Data Count
Bin 5 Data Count
Bin 6 Data Count
Bin 7 Data Count
Computation
Completion Count
Quality
The DMCAL message is generated by the compass in response to a MCAL message, whenever a data or computation
count changes, when compensation completes, or in response to an error during the compass magnetic compensation
procedure.
DORIENT Message Rate
Name:
ORRATE/DORRATE
ID:
0x7F
Request Data: 2 bytes:
Data
DORIENT interval
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Byte
Type
Offset
uchar
0
uchar
1
uchar
2
uchar
3
uchar
4
uchar
5
uchar
6
uchar
7
uchar
8
uchar
9
uchar
10
int
11-12
Type
Byte Offset
int
0-1
Description
0 = Compass Compensation Off
1 = Compass Compensation Data Collection
2 = Compass Compensation Computation in
Progress
3 = Compass Compensation Procedure Abort
0 = No error
1 = Compass Compensation Success
2 = Compass Compensation Already Started
3 = Compass Compensation Not Started
4 = Compass Compensation Timeout
5 = Compass Compensation Computation Failure
6 = New Computed Parameters No Better
7 = Flash Write Fail
Data Collection Count for Bin 0
Data Collection Count for Bin 1
Data Collection Count for Bin 2
Data Collection Count for Bin 3
Data Collection Count for Bin 4
Data Collection Count for Bin 5
Data Collection Count for Bin 6
Data Collection Count for Bin 7
Progress of Compensation Computation.
0 – 100.
Numeric Quality of Compass Compensation
Description
Milliseconds between DORIENT messages. If necessary, the
module will round this to the nearest multiple of five. A value of zero
disables DORIENT messages; a value of –1 causes the DORRATE
message to return the current value without changing it.
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