Description

The GyroscopeStream command is used to enable or disable streaming of gyroscope data.

The 3-axis gyroscope captures the angular velocity in 3D space. The software layer in our protocol can configure the gyroscope's range to be one of the following values: \(\pm500dps, \pm2000dps\), where \(dps\) is degrees per second. Please refer to the SetRange API for details on how to set the sensor range.

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 0x0B

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 6
2 CRC uint8_t Calculated
3 Command uint8_t 0x0B

Payload

Byte Name C Type Value
4 - 5 Downsample uint16_t Varies
6 - 7 Gyroscope Range uint16_t Varies
8 - 9 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 10
2 CRC uint8_t Calculated
3 Command uint8_t 0x0B

Payload

Byte Name C Type Value
4 - 7 Timestamp uint32_t Varies
8 - 9 Gyroscope (X) int16_t Varies
10 - 11 Gyroscope (Y) int16_t Varies
12 - 13 Gyroscope (Z) int16_t Varies