Main connector

Connector: Binder 09 0428 90 08
  1. CAN Low
  2. CAN High
  3. SYNC input (low to high interrupt, V_IH = 2.0 ... 3.3 V, V_IL = 0.8 V max)
  4. GND
  5. RS232 TX (output)
  6. RS232 RX (input)
  7. Input voltage (5 to 28 V)
  8. GND
Mating connectors
Binder 99 0425 00 08, 99 0425 10 08, 99 0425 115 08, 99 0425 70 08, and more.

Serial protocol

COM port settings

  • Baud rate 115200 bits per second
  • Word length 8 bits (including parity)
  • Parity bits: none
  • Stop bits: 1

Protocol description

BAHRS Serial Protocol v1.0

File size: 120.13 KB

Sample data

01_BAHRS_Dynamic

File size: 9.51 MB

The sample was carried repeatedly 2 floors up and down.

02_BAHRS_Static_Temp_Gradient

File size: 25.77 MB

The sample was cooled down to zero degrees Celsius and powered on at 20 degrees Celsius. Static scenario.

CAN interface

General

  • Baud rate 500000 bits per second
  • Standard CAN IDs

Protocol

  • CANaerospace version 1.7
  • Payload type is float

Provided messages

Frame ID­ Data Default output rate, [Hz]­ Units
300 Body longitudinal acceleration 80 g
301 Body lateral acceleration 80 g
302 Body normal acceleration 80 g
303 Body pitch rate 80 deg/s
304 Body roll rate 80 deg/s
305 Body yaw rate 80 deg/s
311 Body pitch angle 80 deg
312 Body roll angle 80 deg
314 Altitude rate 80 m/s
1069 Magnetic heading 80 deg
322 Standard altitude 80 m
326 Static pressure 10 hPa

Device configuration

Some features of the device are configurable. To modify the device's settings a user needs to change parameter values in the device's non-volatile memory (NVM).
Configurable parameters:
  • Vehicle frame
  • Magnetometer calibration (hard- and soft-iron)
  • Output rate of CAN frames
Use our python GUI to configure your sample.

NVMManager
Link to Github

Software updates and reprogramming

Reprogramming via RS232

Serial Wire Debug (SWD) Connector
For debug connector schematics see manual on Github.
Copyright 2023 AMS Advanced Air Mobility Sensors UG (haftungsbeschränkt). All rights reserved.