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Specification / DataMK1

Data

Serial data format

All multi byte data is little endian, there are 18 bytes in each data packet consisting of the following: 4 bytes of header data 12 bytes of sensor data 1 byte time stamp, counts up to 100 then resets to zero 1 byte checksum

Header data

This is always 0xBD 0x10 0x32, 0x00

Sensor data

6 x 2 byte words of data, twos complement, LSB first Bytes Description 1,2 X-axis acceleration 3,4 Y-axis acceleration 5,6 Z-axis acceleration 7,8 X-axis gyro 9,10 Y-axis gyro 11,12 Z-axis gyro

To convert compensated accelerometer data to g, multiply by A/215 To convert compensated gyro data to 0/sec, multipy by G/215

Where A=2, G=150 for 2g 150o/s and A=10, G=300 for 10g 300o/s

Time stamp

Increments with each packet of data sent wraps around to 0 after 255

Checksum

The checksum byte is calculated by XORing all the other bytes in the data packet together, including the header bytes.

Page last modified on September 04, 2008, at 01:01 PM