- Quick start guide
- SenTiBoard utils installation
- SenTiBoard onboard commands
- Firmware upgrade
- Configure ADIS (16490)
- RTK setup for uBlox receivers
The SenTiBoard output format:
Sync should be '^B', Length is an unsigned 16-bit integer is the number of bytes from TOV to the end of DATA, ID is the sensor port number (see table below), Rev. is the revision of the SenTiBoard envelope - current version is 1, CHK_H is the header checksum - calculated using
fletcher8 from byte 0 to and including byte 5.
TOV is clock at the last time the IC was triggered when the message sync bytes were read, TOA is the time the package was fully transferred to the SenTiBoard, and TOT is the time the first byte of the package was transferred to the SenTiBoard.
DATA is the unaltered data received from the sensor, and finally CHK_PKG is a checksum calculated from the first byte of TOV to and including the last byte of DATA.
The onboard timestamp is only available if the logging software is used. If the timestamp is present, the sync word is changed from '^B' to '^C' (note that the header checksum is unchanged).
The 0 at the end are represents 0-3 bytes that should be skipped. These are added to comply with the microprocessors DMA module.
Cable color recommendations
|Sensor ID||Sensor function||Short name||OC port||IC max [V]|
|Sensor 0||UART 2||u2||oc7||5 V|
|Sensor 1||RS232 1||r1||oc7||3.3 V|
|Sensor 2||RS422||r4||oc4||5 V|
|Sensor 3||UART 3||u3||oc4||3.3 V|
|Sensor 4||UART 1||u1||oc4||5 V|
|Sensor 5||RS232 2||r2||oc4||3.3 V|
|Sensor 6||SPI 1||s1||oc2||5 V|
|Sensor 7||SPI 2||s2||oc1||3.3 V|
|Sensor 8||IC only||only||5V|