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)

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.