Description

The AccelerometerGyroscopeStream command is used to enable or disable streaming of accelerometer and gyroscope data.

Protocol

This command uses the Command-Ack-Response-Data protocol.

Command

Byte Name C Type Value
0 Control Byte ( Packet Type (7:5) / SubSystem (4:0) ) uint8_t 0x4D ( 0b010 / 0b01101 )
1 Payload Length uint8_t 1
2 CRC uint8_t Calculated
3 Command uint8_t 0x10

Payload

Byte Name C Type Value
4 State uint8_t 0x00 (Disable) or 0x01 (Enable)

Response

Header

Byte Name C Type Value
0 Control Byte ( Packet Type (7:5) / SubSystem (4:0) ) uint8_t 0x0D ( 0b000 / 0b01101 )
1 Payload Length uint8_t 8
2 CRC uint8_t Calculated
3 Command uint8_t 0x10

Payload

Byte Name C Type Value
4 - 5 Downsample uint16_t Varies
6 - 7 Accelerometer Range uint16_t Varies
8 - 9 Gyroscope Range uint16_t Varies
10 - 11 Rate uint16_t Varies

Data

Header

Byte Name C Type Value
0 Control Byte ( Packet Type (7:5) / SubSystem (4:0) ) uint8_t 0x6D ( 0b011 / 0b01101 )
1 Payload Length uint8_t 16
2 CRC uint8_t Calculated
3 Command uint8_t 0x10

Payload

Byte Name C Type Value
4 - 7 Timestamp uint32_t Varies
8 - 9 Accelerometer (X) int16_t Varies
10 - 11 Accelerometer (Y) int16_t Varies
12 - 13 Accelerometer (Z) int16_t Varies
14 - 15 Gyroscope (X) int16_t Varies
16 - 17 Gyroscope (Y) int16_t Varies
18 - 19 Gyroscope (Z) int16_t Varies