SBG IMU User manual
5 !
"6+
" 6
! $ % & 7#-!1899(:;<=:9''$*'"
7#-!28'99$*(>96*''
7#-!.899(*<=:9
7#- .8999?$+'**6<
7#- /8>*$ !!
7#-!/8'99(@@<(#*"$+''69"!
7#-!!8'99$2--6<1''(@@<(
7#-! 899A(>=A>AB>(A>='99C99(9
7#-!-899A(>=A>AB>(A>='+'(*
7#-!&8C(9*9'+699
7#- 4899A(>=A>AB>(A>='$D
7#- %8999'(D'*<
7#- 2899*A(>=A@=A:>A
7#- 899A(>=A@=A'$6*
= 4 & & 7#- 18(@@<(#9':>"<
7#-&18999'+"6(*
- E-/ & & 7#--/8C*'C'(:*
7#--18CF9$*9999'+'C'
7#- &899>$6:A:'*''
7#--48999A(>=A(:(*"9
7#--%8"9*+#2&&'''
7#--28'9$*(>999(@@<(#9(@@<(#
& ' & & 7#-- 89999A(>AA:=A:>?A@<A>B0&C &3*
7#---8'"*G*6<
7#--&899'*;"''6*6'
7#-&%899'A(>=A:A<:HAA&-'*
7#-&/8C#2&&$9+
7#-&.8"(I+99=<'
7#-& 8999A(>=A@=A<JA<='
7#-&-8'99;>$99*9;*9%
7#448999A(>=A@=A(A-A?*'
-4 *-4 &-4 7#41899'$+''>$2&&
7#428A(>=A>AA-A@(B(AA@(:9'9
7#4.8999A(>=A>AA-A:@@:=9;*"
7#4!899H(D*'''
7#4 899A(>=A=:<:A=(ABA2'9.&G
7#4&8A(>AA==AB(@=>:H9K+
7#%48A(>AA:>A-9969
7#%%8'99>*96'<&C -&&C-.
7#%/899>'*6D'9"9
7#%1899>'*6"6$9+"+
7#%28C<*;69
7#%.8C+'<**+''F
7#%!899*9>9''
7#% 899$*69A(>=A@=A<JA:*
7#%-8999A(>=A=@A(<:A((?
7#%&89A(>=A=@A<((A(A(>=A=@AA:A(
7#/489A(>=AA<((A(>BA(>=AAA:A(>B
7#/%8>"9A(>=AA(A@=A(>BA(>=AA(<:A(>B
7#//8'99A(>AA<((A(>AAA:9999'9
7#/18'99A(>=A@=A<((A(>=A@=AA:9999'9
7#/28'99A(>=A>AA(:9''
7#/.899A(>=A@=A(<:9A(>AA(<:A=;@::('*
7#/!899*C.9C# "
7#/-899$*(>@*("='"9
7#/&89B@999"9L+9
7#1%8'99A(>=A>AA(:9B@''
7#128'9**9
7#1.8'B@9**9
;-1.
5 !
" 6
-% "% &-% 7#1!8'9999A(>=A>AA=(@A
7#1 899996'*
7#1-89996**9''*
-/ E- &-% 7#1&8C9"9(69>*9
7#248999*"$+*<(?=M9<=((
7#2%8"9*''(DC
7#218999=@=<*9
7#228'99'++(?=M9<=((6"6*
-1 $1 &-% 7#2.8C9(:*"$+(@@<(
7#2!8C9"9A(>=A@=A(B(:AJ"$+C(@@<(
7#2 8999''(@@<('9
7#2-8999<=:('9*9*
7#2&8C9:-*69*99$$
7#.48C<6"*9
7#.%8'996'9'(@@<(6'9+'6"
7#./8C"9'A(>=A>A>=<:(AA>@
7#.2899A(>=A>AB@:HA:(=@99
7#..8C9:+='@*"$+9'('#;
-2 1 &-/ 7#-!8999?*$*+ 1*9
7#.&8"$"99
7#. 899'9A(>=A@=A::
7#!%8999A(>=A>A(:((:A="9"<99
7#!/8999A(>=A>A(:((:A>=;*6(6*
7# %899:L(
7#!!8999<'+(*69*
7# 4899''(B:'*('
7#!-8C9<9'
7#!&8999B'909+B''3
7# /8999''+(*<'669*6"
7#! 8999(<''+*
7#!.899'*(''+*
7#!18"99'9NN6*$9*
7#.!8999<$B9999$*(>'
-. E/ &-1 7#-8*9('9(DC
7# 8999M<<:=<@<=>:'*9'
7#!8999A(>=A=@A@AB@*(?*
7#.8999A(>=A((@A><A=?*
7#28"96'-!99'96"'
7#18>'6996$*(>'
7#%8999F<:9
7#48999?B69'+'0A(>=A:A<:HA?B3
7#-&8999A(>=A@=A:AA:-?G*+''
7#--8999A(>=A>A=:<:A>@A(@(*9
7#- 8999<'+(*69*
7#-289990'3'''('#(
7#-%8C9"9'96A(>=A>A=:<:A>=
7# &8C9A(>=A@=A<((!-!19
7# 89999<<+='0A(>=A>AH>A=:A>=3
7# !8999<9
7# .8C99**9'
7# 28'9''9
-! +. &-2 7(?=># 48C9>*$69
7#-48C9><**
7(>=#-48999A(>=A@=A<((*9'69
7(?=># !8C9A(>=A(:JA:M;MA=?9
7(?=># &8999$9<9
7#-189999*9$99"6A(>=A@=A<JA<=
7(?=>#!28*9'9('(DC
!;-1.
5 !
" 6
- -/ &-. 9<=+'
"9A(>=A<=A=:A '+'
999A(>=A<=AM('+'
'996"'*'
999(*90:B3
999*';C'9
-- "-2 &-! 999'69<69*9
999B@'''*
'999B@
999:9+<&9<'*
999>*'
- +1 &-! "69
O &&/5 & +*6"969$P6*
6>'+9$69$996C'6G
Q+
.;-1.
5 !
9C
-9 -&
--:+'9 -&
---+' -&
- >'C+' --
- -B$P --
- C$P --
- !'*"$ --
- !-"+' --
- ! "+' -
- !!9*'$+$$9" -
- .<99' -
-!(9 -!
-.>"9 -!
-2(69#**-.
-2- -.
-2 (6 -.
-2!#** -.
-1> -2
-1-' -2
$*(>+< -1
-9' -1
--999 -1
- @*'' -1
- -@* -/
- 9 -/
-!>>9 -%
-.* -4
-2+6;+6' -4
A(>=A>@A>A& &
-9$*(>9 &
--9** &
- ** &
-!D9* -
@*$0:$#'3
-9*969"
"*969" !
!>9="" 2
.>9"$+ /
2'*9 4
2-A(>=A>A(::A>:=0&-3 4
2 A(>=A>A<=:A(::0& 3 4
2!A(>=A>A(M<=:A(::0&!3 !&
19 !&
1-A(>=A>A=0&.3 !&
2;-1.
5 !
/' !-
/-A(>=A>A:A<(:(0&23 !-
/ A(>=A>A=:=A<=@(A0&/3 !
/!A(>=A>AA@(:A@(B(A0&%3 !!
/.A(>=A>AA(:0&43 !.
%** !1
%-A(>=A>A(:=(:(A=(@A0--3 !1
% A(>=A>A(:=(:(A(E(>:A=(0- 3 !/
%!A(>=A>A(:AA>@0-!3 !/
4*$ !%
4-A(>=A>A::AA>@0-.3 !%
4 A(>=A>A>=<:(AA>@0-23 !4
-&* .-
-&-A(>=A>AA=(@A0-/3 .-
-& A(>=A>AA-A@(B(AA@(:0-%3.
-&!A(>=A>AA-A:@@:=0.13 .!
-&.A(>=A>AA-A(E(>:A=(0-43 ..
--B@* .2
---A(>=A>AB@A=(@A0!43 .2
-- A(>=A>AB@A:@@:=0.&3 .1
--!A(>=A>AB@A(E(>:A=(0.-3 .1
- =9* ./
- -A(>=A>A==A>=0 &3 ./
- A(>=A>A==A@(B(A0 -3 ./
- !A(>=A>A==A(E(>:A=(0 3 .%
- .A(>=A>A==A>A>=0.23 .%
-!9* 2&
-!-A(>=A>A:A=(@A0. 3 2&
-! A(>=A>A:A@(B(A0.!3 2-
-!!A(>=A>A:A(E(>:A=(0..3 2-
-.* 2
-.-A(>=A>A:A>=0 !3 2
-. A(>=A>A>AA>=0 .3 2!
-.!A(>=A>A>A=:<:A>=0 23 2.
-2(6>* 22
-2-A(>=A>A(:((:A>=0!13 22
-2 A(>=A>A(:((:A=0!/3 22
-1("* 21
-1-A(>=A>AH>AA>=0 13 21
-1 A(>=A>AH>A=:A>=0 /3 2/
-/='* 24
-/-A(>=A>A(A:@?(A0 43 24
-/ A(>=A>A=:<:A>=0!&3 1&
-/!A(>=A>A=:<:A>@A(@(0!23 1
-%9"9* 1!
-%-A(>=A>AB>(A>=0! 3 1!
-% A(>=A>AB@:HA:(=@0!%3 1.
-4@9 12
-4-A(>=A>A(:(0!!3 12
-4 A(>=A>A@>((A<<@H0!.3 1/
&(:;<=:$*' 1%
&-A(>=A>A<A(:0.13 1%
& A(>=A>A<A<=:0./3 14
!A(>=A>@A@=A(>=A& /&
!-+='@*="" /&
! +='@*"$+ /-
!!9 /!
1;-1.
5 !
!!-" /!
!! :>9<: /1
!. /%
!.-:99 /%
!. 69 /4
!2(?'* %&
!2-(* %-
!2 I9 %
!2!"*'"+ %!
!2."*+ %.
!19*' %2
!1-* %2
!1 *$9 %2
!1!"+ %1
!1.' %/
!12:9* %4
!119 %4
!1/=9"+ 4&
!1%999'9 4-
!14''B+@* 4
!1-&'6 4
!1--@' 4!
!/* 4.
!/-("D 4.
!/ ** 42
!/!:> 42
.A(>=A>@A@=A(>=A- 41
.-='@*="" 41
. ='@*"$+ 41
.!9 4/
!(<9' 4%
!-( 4%
!--(+'" 44
!---*$ 44
!-- $ 44
!--!:" 44
! A(>=A>@A@=A(A& -&&
! -I+9 -&&
! =<' -&&
! !(@*="" -&-
! .(@*"$+ -&
! 2* -&!
! 1>* -&.
! /B:* -&2
! %F* -&1
! 4:* -&1
! -&:* -&/
! --B* -&%
! - <:* -&%
! -!=:* -&4
!!A(>=A>@A@=A(A- --&
!!-(@*="" --&
/;-1.
5 !
!! (@*"$+ --&
!!!<* ---
!!.<* --
!!2<* --!
!!1<* --.
!!/<* --2
!!%C$< --1
!!4C$<:= --/
!!-&C$<@ --%
!!--C$<=>: --4
!!- C$H - &
!!-!:$? - -
.:69<+@*9' -
.-A(>=A>@A@=A:A<:HA& -
.--:69<+@*="" -
.- :69<+@*"$+ - !
.-!:- - .
.-.?B - 1
.-2:9+#<& - 1
.-19(-&&&9(!&&& - /
.-/?$*'6+@* 1 - %
.-%=@=<* -!&
.-4>$#2&&<D -!-
.--&<D -!!
.--->$6:A: -!2
.-- ?$*$+@*0?3 -!1
2'' -!%
2--'<'' -!%
2- $*(>'< -!%
2-!(< -!4
2-.M' -.&
2-2"+< -.&
2-1'$+' -.-
2-/:$=$+' -.-
2-%:9+<&' -.-
2-4:9+<1' -.-
2--&>$#2&& -.
1>'' -.!
1-9 -.!
1 >"9'' -.!
1 -99 -.!
1 B*9 -.!
1 !*9 -.!
1!='@* -.!
1!->*="" -.!
1! *"$+ -.1
%;-1.
5 !
1!!' -.%
1!.:>' -.4
1!2' -2&
1!1(?' -2-
1!1-(? -2-
1!1 =9 -2-
1!1!<9 -2
1!1.B+ -2!
1!/"=' -2.
1!%"*+ -22
1!4*' -21
1!-&=9' -2/
1!--' -2%
1!- '6' -24
1!-!-9 ' -1&
1!-!-B+ -1&
1!-! < -1-
1!-!!:9* -1
1!-.("D -1!
/'' -1.
4;-1.
5 !
-9
:6'6'9''''9$+(@@<((?=M
<=((B:9I:'9
69(?=M<=((B:9I:'99*6
<'9:6'966966
'*9*(@@<(66696"'
66+69969"969*
99*969"
--:+'9
---+'
6L96*+'$99$"$
:+' '
D :6+'9*9*"$9$#DR:6+'6'#99G
9696'9*G
( :6+'9*'"$9*'$(6"'9R:6
+'6'#99G9696'9*G
$ %$$&C&&@(&C&-:(
% %$*9*
% %$*9*
-1 -1$*9*
-1 -1$*9*
! ! $*9*
! ! $*9*
1. 1.$*9*
1. 1.$*9*
! $**'99(((/2.
9$ 1.$9$*'99(((/2.
"978 $6"$*6
* 999>**CG996*
-&;-1.
5 !
- >'C+'
- -B$P
B9-+9$'
V=
(
V0
V1
V2
)
:6"9+6+S
- C$P
C9-+9$:6+C'9"
M3x3=
(
U0V0W0
U1V1W1
U2V2W2
)
:6 C 9 6 +S
- !'*"$
99*"$6699! $*9*
*6$66*6"6"$+'"
:+'"969'S
- !-"+'
:6+'"'"+6P"9K9"+66
"99C'9C'6$"+'99+
6"6$969"
:6$"+'9S
9 G0$3
>(( -03 :69$9"+'
&9$"+'
E= / P"$
*&- /
= % "$
*& 22
(B % "
*& 22
@ % 9$
*& 22
--;-1.
V0
V1
V2
U0
U1
U2
V0
V1
V2
W0
W1
W2
5 !
- ! "+'
:6"699+6"9
9S
9 G0$3
>(( -03 :69$9"+'
-9"+'
:: ! 6
E= 1 P"$
*&1!
= 1 "$
*&1!
@ -1 9$
*&122!2
:69'"9$6$+6"S
$*B9
9 B '
AB(=A::A(B &C& :6"99"'5+
AB(=A::A@< &C- :6"99"'5+
AB(=A::A(: &C :6"$969$96
AB(=A::A> &C! :6"99
AB(=A::A:@( &C. :6"
AB(=A::A=:AM &C2 :6"$9$*C
- !!9*'$+$$9"
+'$+$6$"96"9$+P
6D*"S9&*$""69-6"
"+'
- .<99'
:6$*(>'96+'$*'9969'".99:69+*+'
! 66%$<999$*9'+6(69
6'99-4 -1%- 0>366*+*GS
@(9< *(9<
+9C 0@3
& -
03
!
03
& -
0@3
!
" -4 -1% - -4 -1% -
CB &C>& &C% &C&- &C& &C>& &C% &C&- &C&
B! !!11!-1% ! ! !2//%
- ;-1.
5 !
-!(9
:6$*(>$+'99$+69'+*$*
996K+'969
:6$*(>$+6$9*9$'$6$69$*9
'
>(*6'99*'**
-.>"9
+ 9 6 + 03 6 ''$ :6 9"
9996(0(3
<6+L+ 9'
* 9'6+
'9 9#-
#
B+ #-
@9 *'"6*"6
@*9 *'"(*"
9 '"'$"@"*"9
6' *'"9+'"*6"'"9C'9
-!;-1.
5 !
-2(69#**
'9*6'9+6" 69"99 *
9"6"# ! 9;#. 9"9'9'"9(6
"+$9999**
H6969+'9*9$"$
96+'
-2-
'6*S
●9S.%&&4 -1&&$'039'.$;03
●%$9
●-'$
●<+S("=99D'
●
S :6'+*+"$*6<(@@<('+
+
-2 (6
D$9'9'"(6"'S(:Q&(:Q-(:Q (:Q!(:Q.
(6''"9'9'69'C'
(6'$*9"'":><;<0"3<:6<'
6$96*6'$9K*69$*"9+
S969"(6'9$+! $>>"<
-2!#**
:69999'9$9+'9*:69#
**C++6"96$+*':69#**
6*$6$+*9(;>*
-.;-1.
5 !
-1>
:6'9$969966;>#
D0>3$
:6>$*$9'9*9"''99
9+9
:6>'''$6> &9> &99"+"6
$9*9CG6'$+669'+L'9>
-1-'
:6*$''9S
●-Q&&&D;
●2&&D;
●2&D;
●&&D;
●- 2D;
●-&&D;
●2&D;
●2D;
●&D;
C%$+'9$6990--$39C990 4$39
''9
-2;-1.
5 !
$*(>+<
-9'
:6$*(>'6$9*9'996D$+
9-1 $>>K6"+ "*96
L6*66*6'96*69*+
996$*(>$+'6$+69"9+K
*+996'6$*6+
--999
6*66$*(>'6"669$9$S
9 H>- H> >@ @( : >> (:M
G0$+3 - - - - &.&%1 -
' +
9
+
9
*
*
@*6
:
<+99 -1$
>>
(9
B &C &C2 # # # # # &C!!
-S:6@(96:G$+&@(9'6:
'C*6".&%1
S:66'99@::@(9@(9>>99+
9
!S>>9'97>@@(:89>6D6*>>
99$>>'
.S 69'+"$'9'+66'
'6$996$*6996
9"'96
- @*''
:6$*(>"'+9'+9'.&%1$+"-C9 C
$*(>"!C99E+ & 6"'6$C99''
*'+999$+6SBG_ECOM_CMD_API_GET9SBG_ECOM_CMD_API_POST9
:6C99*'+9$+69"66'+9C9699
CG.&%1$+:6$*(>$+C'696++9
Q+*+96$*(>$+9+6'$
-1;-1.
5 !
:6'C+$D9'$ +9T6SBG_ECOM_CMD_API_GET
9SBG_ECOM_CMD_API_POST9+6"'+96.&%1$++9T"
6"'9+'
:'''+9$**6.&%1$+''*+9996
$999'"$9"9C*9
- -@*
*9966 >@ 9$-0&C%&366
96*S
9 H>- H> >@ @( :M <(M <( : >> (:M
G0$+3 - - - - - &.&%- -
' +
*
9
+
*
9
* *
6
$/
<+9
*6,2
:
>
<*
9C
:'*
<+99
'
-1
$
>>
(9
B &C &C2 # # # # # # # # &C!!
- 9
<9$C'6996*'S
9 '
H>- $*(>+6G$+*9+L&C
H> 9$*(>+6G$+*9+L&C2
:6*966*999
>@ :6*$$/-9*+'S&$-CCCCCCC
@( :6**6$+99*:M<(M<(9:9
:M :69$'9*9'9*6'+9
G:6996999
9*$*C9*69*'+9$+
<(M F$9'*9C+$*9
<( :$'*6'6:6122!2+9* 22'+9
: :6'+9'66$$9$+66
>> :6-1$>>99699
(:M (9*9+&C!!
(@@<(- 9!9T*6$*'H69+
9 * + '' *6 < 9 <@( 6 6
$*'
-/;-1.
5 !
-!>>9
:6$*(> ' -1 $>> 9 '9* :6>> 6 *
'+"S&C%.&%
H 9 6 $*(> $+ 9 6 > 9 9 ' 6 >> 6
;$*>:6$*(>>>'D'$'9'6>>'
6>9$+6"'G969'6-1>>
/*!
* Compute a CRC for a specified uffer.
*
* \param[in] pBuffer Read only uffer to compute the CRC on.
* \param[in] ufferSize Buffer size in ytes.
* \return The computed 16 it CRC.
*/
uint16_t calcCRC(const void *pBuffer, uint16_t ufferSize)
{
const uint8_t *pBytesArray = (const uint8_t*)pBuffer;
uint16_t poly = 0x8408;
uint16_t crc = 0;
uint8_t carry;
uint8_t i;
uint16_t j;
assert(pBuffer);
for (j = 0; j < ufferSize; j++)
{
crc = crc ^ pBytesArray[j];
for (i = 0; i < 8; i++)
{
carry = crc & 1;
crc = crc / 2;
if (carry)
{
crc = crc^poly;
}
}
}
return crc;
}
-%;-1.
5 !
-.*
:6*$6*96$*(>'
>@ '
A(>=A>@A>A& &C-& >6$*(>'9
A(>=A>@A@=A(>=A& &C&& >6$*(>'**
A(>=A>@A@=A(>=A- &C&- >6$*(>*6696*6L+'
A(>=A>@A@=A(A& &C& >699('*R+'+6
D
S:6+99''99
+$*(>*
A(>=A>@A@=A(A- &C&! >6''+('*R+'+6
6U<*6(+*
S:6+99''99
+$*(>*
A(>=A>@A@=A:A<:HA& &C&. >6669'+'*
S:6+99''99
+$*(>*
:$-S$*(>>
>9"*
*6'> 9*'':6
*996*9+69"*9"
=6669*'@=6**969
'9
-2+6;+6'
:66999+'**+696'*
$H6*'*9"996*$$+69"
699'K6C'9'""**
=6*6=9B@99+6:6**9
6"96'9':6*
K9K"96*'96*69
-4;-1.
5 !
A(>=A>@A>A&
-9$*(>9
:699+*'*969"66
'"96''9''':6+'6
$#9
:6 $ '' ' $69 6 $*(> 9 9" $+ 6 '+9
C'96*
--9**
66D6'*6*$6+
'+9069'+93C'6A(>=A>A==A>=6+
'L9K*
69"6A(>=A>A==A>=$6'+9S
9 ' G =
=9K* <; . &
A(= *"* V % - .
(>:= =9K9S
&S'"
-S*"
# $ - 2
:G 1
- **
6K''+*6696**6
'+9
"K $ D9* '"9* $ ' 9*
*
>9"+
:66+'996+'6+*''9S
●>96*6'*'**
9*D999"$''9
●>969'+*$''9+9
69 + A(>=A>A(::A>:= 0&-3 9 6
A(>=AB(A(:: ' :6 9" 6 " * 9 $ 6
*
●>96+*6+*$''99+:69
P9+6*9$"9#"+6
A(>=A>A(::A>:= 0&-3 9 6 A(>=AB(A(:: '
$9
'+699*''99+$
&;-1.
This manual suits for next models
3
Table of contents
