VERSION ""


NS_ :
  CM_
  BA_DEF_
  BA_
  VAL_
  BA_DEF_DEF_
  SIG_VALTYPE_

BS_:

BU_: Vector__XXX


BO_ 790 IMU_EulerAngles: 8 Vector__XXX
SG_ Pitch : 0|16@1+ (0.0054932478828107,-180) [-180|179.999999999999] "deg" Vector__XXX
SG_ Roll : 16|16@1+ (0.0054932478828107,-180) [-180|179.999999999999] "deg" Vector__XXX
SG_ Yaw : 32|16@1+ (0.0054932478828107,0) [0|359.999999999999] "deg" Vector__XXX
SG_ Accuracy : 48|2@1+ (1,0) [0|3] "n/a" Vector__XXX

BO_ 791 IMU_Accelerometer: 7 Vector__XXX
SG_ XAccel : 0|16@1+ (0.000244144350347,-8) [-8|7.99999999999065] "g" Vector__XXX
SG_ YAccel : 16|16@1+ (0.000244144350347,-8) [-8|7.99999999999065] "g" Vector__XXX
SG_ ZAccel : 32|16@1+ (0.000244144350347,-8) [-8|7.99999999999065] "g" Vector__XXX
SG_ Accuracy : 48|2@1+ (1,0) [0|3] "n/a" Vector__XXX

BO_ 792 IMU_Gyro: 6 Vector__XXX
SG_ XRotation : 0|16@1+ (0.0610360875867857,-2000) [-2000|2000] "deg/sec" Vector__XXX
SG_ YRotation : 16|16@1+ (0.0610360875867857,-2000) [-2000|2000] "deg/sec" Vector__XXX
SG_ ZRotation : 32|16@1+ (0.0610360875867857,-2000) [-2000|2000] "deg/sec" Vector__XXX

BO_ 793 IMU_Quaternion: 8 Vector__XXX
SG_ i : 0|12@1+ (0.00048828125,-1) [-1|0.99951171875] "" Vector__XXX
SG_ j : 12|12@1+ (0.00048828125,-1) [-1|0.99951171875] "" Vector__XXX
SG_ k : 24|12@1+ (0.00048828125,-1) [-1|0.99951171875] "" Vector__XXX
SG_ Real : 36|12@1+ (0.00048828125,-1) [-1|0.99951171875] "" Vector__XXX
SG_ Accuracy : 48|2@1+ (1,0) [0|3] "n/a" Vector__XXX

BO_ 789 IMU_Config: 8 Vector__XXX
SG_ IMU_Config_Mux M : 24|8@1+ (1,0) [0|0] "" Vector__XXX
SG_ UniqueID : 0|24@1+ (1,0) [0|16777215] "" Vector__XXX
SG_ Status m0 : 48|8@1+ (1,0) [0|255] "" Vector__XXX
SG_ Key0 m0 : 32|16@1+ (1,0) [0|65535] "" Vector__XXX
SG_ UnitType m0 : 56|8@1+ (1,0) [0|255] "" Vector__XXX
SG_ Key1 m1 : 32|16@1+ (1,0) [0|65535] "" Vector__XXX
SG_ Key2 m2 : 32|16@1+ (1,0) [0|65535] "" Vector__XXX
SG_ Key4 m4 : 32|16@1+ (1,0) [0|65535] "" Vector__XXX
SG_ CANBusSpeed6 m6 : 32|8@1+ (1,0) [0|255] "kbps" Vector__XXX
SG_ CANStartAddress9 m9 : 32|11@1+ (1,0) [0|2047] "" Vector__XXX
SG_ CANBusSpeed7 m7 : 32|8@1+ (1,0) [0|255] "kbps" Vector__XXX
SG_ CANStartAddress10 m10 : 32|11@1+ (1,0) [0|2047] "" Vector__XXX
SG_ SleepMode12 m12 : 32|8@1+ (1,0) [0|255] "" Vector__XXX
SG_ SleepMode13 m13 : 32|8@1+ (1,0) [0|255] "" Vector__XXX
SG_ Key14 m14 : 32|16@1+ (1,0) [0|65535] "" Vector__XXX
SG_ UpdateRateMilliseconds49 m49 : 32|16@1+ (1,0) [0|65535] "milliseconds" Vector__XXX
SG_ UpdateRateMilliseconds50 m50 : 32|16@1+ (1,0) [0|65535] "milliseconds" Vector__XXX
SG_ UpdateRateMilliseconds52 m52 : 32|16@1+ (1,0) [0|65535] "milliseconds" Vector__XXX
SG_ UpdateRateMilliseconds53 m53 : 32|16@1+ (1,0) [0|65535] "milliseconds" Vector__XXX
SG_ UpdateRateMilliseconds55 m55 : 32|16@1+ (1,0) [0|65535] "milliseconds" Vector__XXX
SG_ UpdateRateMilliseconds56 m56 : 32|16@1+ (1,0) [0|65535] "milliseconds" Vector__XXX
SG_ State61 m61 : 32|8@1+ (1,0) [0|255] "" Vector__XXX
SG_ State62 m62 : 32|8@1+ (1,0) [0|255] "" Vector__XXX
SG_ State64 m64 : 32|8@1+ (1,0) [0|255] "" Vector__XXX
SG_ State65 m65 : 32|8@1+ (1,0) [0|255] "" Vector__XXX
SG_ State67 m67 : 32|8@1+ (1,0) [0|255] "" Vector__XXX
SG_ State68 m68 : 32|8@1+ (1,0) [0|255] "" Vector__XXX
SG_ State70 m70 : 32|8@1+ (1,0) [0|255] "" Vector__XXX
SG_ State71 m71 : 32|8@1+ (1,0) [0|255] "" Vector__XXX
SG_ SoftwareVersion m16 : 32|32@1- (1,0) [-3.4E038|3.4E038] "" Vector__XXX
SG_ State82 m82 : 32|8@1+ (1,0) [0|255] "" Vector__XXX
SG_ State77 m77 : 32|8@1+ (1,0) [0|255] "" Vector__XXX
SG_ State76 m76 : 32|8@1+ (1,0) [0|255] "" Vector__XXX
SG_ State80 m80 : 32|8@1+ (1,0) [0|255] "" Vector__XXX
SG_ State79 m79 : 32|8@1+ (1,0) [0|255] "" Vector__XXX
SG_ State83 m83 : 32|8@1+ (1,0) [0|255] "" Vector__XXX
SG_ OffestDegrees85 m85 : 32|32@1- (1,0) [-3.4E038|3.4E038] "Degrees" Vector__XXX
SG_ OffestDegrees86 m86 : 32|32@1- (1,0) [-3.4E038|3.4E038] "Degrees" Vector__XXX
SG_ OffestDegrees88 m88 : 32|32@1- (1,0) [-3.4E038|3.4E038] "Degrees" Vector__XXX
SG_ OffestDegrees89 m89 : 32|32@1- (1,0) [-3.4E038|3.4E038] "Degrees" Vector__XXX
SG_ OffestDegrees91 m91 : 32|32@1- (1,0) [-3.4E038|3.4E038] "Degrees" Vector__XXX
SG_ OffestDegrees92 m92 : 32|32@1- (1,0) [-3.4E038|3.4E038] "Degrees" Vector__XXX

CM_ BO_ 790 "Euler angles relative to earth surface";
CM_ BO_ 791 "X Y Z acceleration in g";
CM_ BO_ 792 "Rate of rotation in degrees per second";
CM_ BO_ 793 "Quaternions relative to earth surface";
CM_ BO_ 789 "CAN message to configure IMU";
CM_ SG_ 789 IMU_Config_Mux "A heart beat to show that the unit is alive";

BA_DEF_  "BusType" STRING ;
BA_DEF_ SG_  "GenSigStartValue" FLOAT -3.4E+038 3.4E+038;

BA_DEF_DEF_  "BusType" "CAN";
BA_DEF_DEF_  "GenSigStartValue" 0;

BA_ "BusType" "CAN";

BA_ "GenSigStartValue" SG_ 790 Pitch 32767.5000000001;
BA_ "GenSigStartValue" SG_ 790 Roll 32767.5000000001;
BA_ "GenSigStartValue" SG_ 791 XAccel 32767.5000000192;
BA_ "GenSigStartValue" SG_ 791 YAccel 32767.5000000192;
BA_ "GenSigStartValue" SG_ 791 ZAccel 32767.5000000192;
BA_ "GenSigStartValue" SG_ 792 XRotation 32767.5;
BA_ "GenSigStartValue" SG_ 792 YRotation 32767.5;
BA_ "GenSigStartValue" SG_ 792 ZRotation 32767.5;
BA_ "GenSigStartValue" SG_ 793 i 2048;
BA_ "GenSigStartValue" SG_ 793 j 2048;
BA_ "GenSigStartValue" SG_ 793 k 2048;
BA_ "GenSigStartValue" SG_ 793 Real 2048;

VAL_ 789 IMU_Config_Mux 0 "x00_Heartbeat" 1 "x01_Cmd_Enter_Setup" 2 "x02_Cmd_Save_Setup" 3 "x03_Cmd_Cancel_Setup" 4 "x04_Cmd_Rst_to_Factory_Defaults" 6 "x06_Cmd_Set_CAN_Bus_Speed" 9 "x09_Cmd_Set_CAN_Start_Address" 8 "x08_Cmd_Get_CAN_Start_Address" 5 "x05_Cmd_Get_CAN_Bus_Speed" 7 "x07_Resp_CAN_Bus_Speed" 10 "x0A_Resp_CAN_Start_Address" 11 "x0B_Cmd_Get_Sleep_Mode" 12 "x0C_Cmd_Set_Sleep_Mode" 13 "x0D_Resp_Sleep_Mode" 14 "x0E_Cmd_Reboot_Device" 48 "x30_Cmd_Get_Rotation_Update_ms" 49 "x31_Cmd_Set_Rotation_Update_ms" 50 "x32_Resp_Rotation_Update_ms" 51 "x33_Cmd_Get_Accel_Update_ms" 52 "x34_Cmd_Set_Accel_Update_ms" 53 "x35_Resp_Accel_Update_ms" 54 "x36_Cmd_Get_Gyro_Update_ms" 55 "x37_Cmd_Set_Gyro_Update_ms" 56 "x38_Resp_Gyro_Update_ms" 60 "x3C_Cmd_Get_Euler_On_Or_Off" 61 "x3D_Cmd_Set_Euler_On_Or_Off" 62 "x3E_Resp_Euler_On_Or_Off" 66 "x42_Cmd_Get_Accel_On_Or_Off" 64 "x40_Cmd_Set_Quatern_On_Or_Off" 65 "x41_Resp_Quatern_On_Or_Off" 63 "x3F_Cmd_Get_Quatern_On_Or_Off" 67 "x43_Cmd_Set_Accel_On_Or_Off" 68 "x44_Resp_Accel_On_Or_Off" 69 "x45_Cmd_Get_Gyro_On_Or_Off" 
70 "x46_Cmd_Set_Gyro_On_Or_Off" 71 "x47_Resp_Gyro_On_Or_Off" 15 "x0F_Cmd_Get_Software_Version" 16 "x10_Resp_Software_Version" 75 "x4B_Cmd_Get_Pitch_Inverted" 82 "x52_Cmd_Set_Yaw_Inverted" 77 "x4D_Resp_Pitch_Inverted" 78 "x4E_Cmd_Get_Roll_Inverted" 76 "x4C_Cmd_Set_Pitch_Inverted" 80 "x50_Resp_Roll_Inverted" 81 "x51_Cmd_Get_Yaw_Inverted" 79 "x4F_Cmd_Set_Roll_Inverted" 83 "x53_Resp_Yaw_Inverted" 84 "x54_Cmd_Get_Pitch_Offset" 85 "x55_Cmd_Set_Pitch_Offset" 86 "x56_Resp_Pitch_Offset" 87 "x57_Cmd_Get_Roll_Offset" 88 "x58_Cmd_Set_Roll_Offset" 89 "x59_Resp_Roll_Offset" 90 "x5A_Cmd_Get_Yaw_Offset" 91 "x5B_Cmd_Set_Yaw_Offset" 92 "x5C_Resp_Yaw_Offset" ;
VAL_ 790 Accuracy 0 "Low" 1 "Medium" 2 "High" 3 "Max" ;
VAL_ 791 Accuracy 0 "Low" 1 "Medium" 2 "High" 3 "Max" ;
VAL_ 793 Accuracy 0 "Low" 1 "Medium" 2 "High" 3 "Max" ;
VAL_ 789 Status 0 "Run" 1 "Unit in Setup Mode" ;
VAL_ 789 UnitType 128 "AHRS Gen 1" 0 "Unknown" 131 "IMU Gen 1" 129 "Air Quality Gen 1" 130 "GPS UDR Gen 1" ;
VAL_ 789 CANBusSpeed6 0 "1000" 2 "500" 3 "250" ;
VAL_ 789 CANBusSpeed7 0 "1000" 2 "500" 3 "250" ;
VAL_ 789 SleepMode12 0 "Off" 1 "Wake On External Wake Pin" ;
VAL_ 789 SleepMode13 0 "Off" 1 "Wake On External Wake Pin" ;
VAL_ 789 State61 0 "Off" 1 "On" ;
VAL_ 789 State62 0 "Off" 1 "On" ;
VAL_ 789 State64 0 "Off" 1 "On" ;
VAL_ 789 State65 0 "Off" 1 "On" ;
VAL_ 789 State67 0 "Off" 1 "On" ;
VAL_ 789 State68 0 "Off" 1 "On" ;
VAL_ 789 State70 0 "Off" 1 "On" ;
VAL_ 789 State71 0 "Off" 1 "On" ;
VAL_ 789 State82 0 "Off" 1 "On" ;
VAL_ 789 State77 0 "Off" 1 "On" ;
VAL_ 789 State76 0 "Off" 1 "On" ;
VAL_ 789 State80 0 "Off" 1 "On" ;
VAL_ 789 State79 0 "Off" 1 "On" ;
VAL_ 789 State83 0 "Off" 1 "On" ;

SIG_VALTYPE_ 789 SoftwareVersion : 1;
SIG_VALTYPE_ 789 OffestDegrees85 : 1;
SIG_VALTYPE_ 789 OffestDegrees86 : 1;
SIG_VALTYPE_ 789 OffestDegrees88 : 1;
SIG_VALTYPE_ 789 OffestDegrees89 : 1;
SIG_VALTYPE_ 789 OffestDegrees91 : 1;
SIG_VALTYPE_ 789 OffestDegrees92 : 1;