Data Sheet

Sensor Documentation Modern Robotics, Inc.
Version 1.4.3 15
Register
Function
0x00
Sensor Firmware Revision
0x01
Manufacturer Code
0x02
Sensor ID Code
0x03
Command
0x04/0x05
Heading Data (lsb/msb)
0x06/0x07
Accelerometer X Value (lsb/msb)
0x08/0x09
Accelerometer Y Value (lsb/msb)
0x0A/0x0B
Accelerometer Z Value (lsb/msb)
0x0C/0x0D
Magnetometer X Value (lsb/msb)
0x0E/0x0F
Magnetometer Y Value (lsb/msb)
0x10/0x11
Magnetometer Z Value (lsb/msb)
0x12/0x13
Accelerometer X Offset (lsb/msb)
0x14/0x15
Accelerometer Y Offset (lsb/msb)
0x16/0x17
Accelerometer Z Offset (lsb/msb)
0x18/0x19
Magnetometer X Offset (lsb/msb)
0x1A/0x1B
Magnetometer Y Offset (lsb/msb)
0x1C/0x1D
Magnetometer Z Offset (lsb/msb)
0x1E/0x1F
Magnetometer Tilt Coefficient (fsb/lsb)
0x20/0x21
Accelerometer Scale Coefficient (fsb/lsb)
0x22/0x23
Magnetometer X Scale Coefficient (fsb/lsb)
0x24/0x25
Magnetometer Y Scale Coefficient (fsb/lsb)
Command
Operation
EEPROM
Auto-Update
0x00
Normal measurement mode
0x43
Hard Iron Calibration mode
✓
0x58
Accelerometer X axis null
✓
0x59
Accelerometer Y axis null
✓
0x5A
Accelerometer Z axis null
✓
0x47
Accelerometer sensitivity/gain adjust
✓
0x55
Measure tilted up accelerometer value
0x44
Measure tilted down accelerometer value
✓
0x57
Write EEPROM Data
✓