Advanced
Register Protocol
0x00
WhoAmI
Read-only
50 (0x32): navX-sensor
0x01
Board Revision
Read-only
Unsigned byte
0x02
Firmware Major Version Read-only
Unsigned byte
0x03
Firmware Minor Version Read-only
Unsigned byte
0x04
Update Rate
Read/write
Unsigned byte (Hz)
0x05
Accel FSR
Read-only
Unsigned byte
(Degrees/Sec)
0x06-0x07
Gyro FSR
Read-only
Unsigned short(G)
0x08
Operational Status
Read-only
See
NAVX_OP_STATUS
0x09
Calibration Status
Read-only
See
NAVX_CAL_STATUS
0x0A
Self-test Status
Read-only
See NAVX_SELFTEST_
STATUS
0x0B
Capability Flags (low)
Read-only
See
NAVX_CAPABILITY
0x0C
Capability Flags (high)
Read-only
“”
0x0D-0x0F
n/a
Read-only
Open-source Hardware/Software
“Classic” navX-MXP
The navX-MXP project is completely open source, including schematics, firmware and design files for an
enclosure.
These sources are available online at the
.
“Generation 2” navX2-MXP
Sources for the navX-sensor libraries are available online at the
"Classic" navX-MXP Firmware Customization
The “Classic” navX-MXP firmware was developed/debugging using the following software tools, which
(with the exception of the Debugging hardware) are open-source or freely-available. The only component
you may want to purchase is the inexpensive ST-LINK/V2 JTAG programmer/debugger described below.
NOTE: The instructions below are only for the “Classic” navX-MXP firmware.
Install Compiler
Install the free Code sourcery G++ Lite compiler for the ARM Cortex processor used in the nav-MXP.
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