Description

The FusionStatus is used to retrieve the status of the Fusion subsystem. This status contains the state of each fusion stream.

Protocol

This command uses the Command-Ack-Response protocol.

Command

Byte Name C Type Value
0 Control Byte ( Packet Type (7:5) / SubSystem (4:0) ) uint8_t 0x40 ( 0b010 / 0b00000 )
1 Payload Length uint8_t 0
2 CRC uint8_t Calculated
3 Command uint8_t 0x02

Payload

This command contains no payload.

Response

Header

Byte Name C Type Value
0 Control Byte ( Packet Type (7:5) / SubSystem (4:0) ) uint8_t 0x00 ( 0b000 / 0b00000 )
1 Payload Length uint8_t 4
2 CRC uint8_t Calculated
3 Command uint8_t 0x02

Payload

Byte Name C Type Value
4 - 7 Status uint32_t See Below

Following is the list of each fusion stream and its bit mask:

Bit Mask v2.0 v2.1
0x00000001 Euler Angle Calibrated Accelerometer
0x00000002 External Force Euler Angle
0x00000004 Finger Gesture External Force
0x00000008 Motion Analysis Finger Gesture
0x00000010 Motion State Inclinometer
0x00000020 Pedometer Magnetometer AC
0x00000040 Quaternion Motion Analysis
0x00000080 Rotation Info Motion Direction
0x00000100 Sitting Standing Motion Intensity Trend
0x00000200 Trajectory Info Motion State
0x00000400 - Pedometer
0x00001000 - Quaternion
0x00002000 - Rotation Info
0x00004000 - Shock Segment
0x00008000 - Sitting Standing
0x00010000 - Trajectory Info