RAWDMI
Raw Distance Measurement Instrument (DMI) Measurements
|
Platform: |
OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, CPT7, CPT7700 |
This log contains the raw measurements from the Distance Measurement Instruments (DMI) connected to the receiver and enabled by the DMICONFIG command.
RAWDMI can also be used as a command. If DMI inputs are not supported on the OEM7 receiver or IMU, the DMI wheel ticks can be collected by a separate device and sent to the receiver using RAWDMI as a command.
The RAWDMI command does not need to be sent if the SPAN system has a PwrPak7 receiver or one of the following NovAtel enclosure IMUs: IMU‑ISA‑100C, IMU‑LN200, IMU-LN200C, IMU‑HG1900, IMU‑µIMU‑IC, IMU‑IGM‑A1, IMU‑IGM‑S1, IMU‑FSAS or IMU‑CPT. For these devices, connect the DMI to the DMI inputs on the PwrPak7 or IMU and SPAN system will collect the wheel tick.
Message ID: 2269
Log Type: Synch
Recommended Input:
log rawdmia onnew
Example log:
#RAWDMIA,COM1,0,24.0,FINESTEERING,2048,427043.137,02004048,b411,32768;2297,0,0,0,00000001*40c6ec74
Command Abbreviate ASCII Syntax:
RAWDMI DMI1 DMI2 DMI3 DMI4 Mask
Command Example:
RAWDMI 1000 0 0 0 1 (indicates 1000 wheel ticks from DMI1)
RAWDMI 0 0 0 2000 8 (indicates 2000 wheel ticks from DMI4)
|
Field |
Field Type |
Description |
Format |
Binary Bytes |
Binary Offset |
|---|---|---|---|---|---|
|
1 |
Log header |
RAWDMI header For information about log headers, see ASCII, Abbreviated ASCII or Binary. |
– |
H |
0 |
|
2 |
DMI1 |
DMI Input Value for DMI1 |
Long Array [4] |
16 |
H |
|
DMI2 |
DMI Input Value for DMI2 (Inactive - support coming in a future release) |
||||
|
DMI3 |
DMI Input Value for DMI3 (Inactive - support coming in a future release) |
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|
DMI4 |
DMI Input Value for DMI4 (Inactive - support coming in a future release) |
||||
|
3 |
Mask |
Mask to indicate which DMI inputs are used in the solution. Bit 0 = DMI1 Bit 1 = DMI2 Bit 2 = DMI3 Bit 3 = DMI4 |
Long |
4 |
H+16 |
|
4 |
xxxx |
32-bit CRC (ASCII and Binary only) |
Hex |
4 |
H+20 |
|
5 |
[CR][LF] |
Sentence Terminator (ASCII only) |
– |
– |
– |
The DMI Input Values are interpreted based on the configuration of that input in the DMICONFIG command.
Only DMI1 is currently supported.