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  < span id = "projectnumber" > 2.2.1-rc< / span >
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< div class = "title" > IMU Data < / div > < / div >
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< div class = "textblock" > < h2 > IMU Request Packet< / h2 >
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< th class = "markdownTableHeadLeft" > Name < / th > < th class = "markdownTableHeadLeft" > Header < / th > < th class = "markdownTableHeadLeft" > Serial Number < / th > < / tr >
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< td class = "markdownTableBodyLeft" > Type < / td > < td class = "markdownTableBodyLeft" > uint8_t < / td > < td class = "markdownTableBodyLeft" > uint32_t < / td > < / tr >
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< td class = "markdownTableBodyLeft" > Description < / td > < td class = "markdownTableBodyLeft" > 0x5A < / td > < td class = "markdownTableBodyLeft" > First request should be 0, otherwise the last one < / td > < / tr >
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< / table >
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< h2 > IMU Response Packet< / h2 >
< p > The IMU response packet contains multiple IMU packets, and each IMU packet contains multiple IMU segments.< / p >
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< th class = "markdownTableHeadLeft" > Name < / th > < th class = "markdownTableHeadLeft" > Header < / th > < th class = "markdownTableHeadLeft" > State < / th > < th class = "markdownTableHeadLeft" > Size < / th > < th class = "markdownTableHeadLeft" > IMU Packets < / th > < th class = "markdownTableHeadLeft" > Checksum < / th > < / tr >
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< td class = "markdownTableBodyLeft" > Type < / td > < td class = "markdownTableBodyLeft" > uint8_t < / td > < td class = "markdownTableBodyLeft" > uint8_t < / td > < td class = "markdownTableBodyLeft" > uint16_t < / td > < td class = "markdownTableBodyLeft" > - < / td > < td class = "markdownTableBodyLeft" > uint8_t < / td > < / tr >
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< td class = "markdownTableBodyLeft" > Description < / td > < td class = "markdownTableBodyLeft" > 0x5B < / td > < td class = "markdownTableBodyLeft" > 0 is success, others are failed < / td > < td class = "markdownTableBodyLeft" > Content size < / td > < td class = "markdownTableBodyLeft" > IMU packets < / td > < td class = "markdownTableBodyLeft" > Checksum, XOR of all content bytes < / td > < / tr >
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< / table >
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< h3 > IMU Packet< / h3 >
< p > The IMU packet is an array of IMU datas.< / p >
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< th class = "markdownTableHeadLeft" > Name < / th > < th class = "markdownTableHeadLeft" > Serial Number < / th > < th class = "markdownTableHeadLeft" > Timestamp < / th > < th class = "markdownTableHeadLeft" > Count < / th > < th class = "markdownTableHeadLeft" > IMU Datas < / th > < / tr >
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< td class = "markdownTableBodyLeft" > Bytes < / td > < td class = "markdownTableBodyLeft" > 4 < / td > < td class = "markdownTableBodyLeft" > 4 < / td > < td class = "markdownTableBodyLeft" > 1 < / td > < td class = "markdownTableBodyLeft" > ... < / td > < / tr >
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< td class = "markdownTableBodyLeft" > Description < / td > < td class = "markdownTableBodyLeft" > Serial number < / td > < td class = "markdownTableBodyLeft" > IMU basic timestamp < / td > < td class = "markdownTableBodyLeft" > The number of IMU datas < / td > < td class = "markdownTableBodyLeft" > IMU datas < / td > < / tr >
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< / table >
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< h3 > IMU Segment< / h3 >
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< th class = "markdownTableHeadLeft" > Name < / th > < th class = "markdownTableHeadLeft" > Offset < / th > < th class = "markdownTableHeadLeft" > Frame ID < / th > < th class = "markdownTableHeadLeft" > Accelerometer < / th > < th class = "markdownTableHeadLeft" > Temperature < / th > < th class = "markdownTableHeadLeft" > Gyroscope < / th > < / tr >
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< td class = "markdownTableBodyLeft" > Bytes < / td > < td class = "markdownTableBodyLeft" > 2 < / td > < td class = "markdownTableBodyLeft" > 2 < / td > < td class = "markdownTableBodyLeft" > 6 < / td > < td class = "markdownTableBodyLeft" > 2 < / td > < td class = "markdownTableBodyLeft" > 6 < / td > < / tr >
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< td class = "markdownTableBodyLeft" > Type < / td > < td class = "markdownTableBodyLeft" > int16_t < / td > < td class = "markdownTableBodyLeft" > uint16_t < / td > < td class = "markdownTableBodyLeft" > int16_t * 3 < / td > < td class = "markdownTableBodyLeft" > int16_t < / td > < td class = "markdownTableBodyLeft" > int16_t * 3 < / td > < / tr >
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< td class = "markdownTableBodyLeft" > Description < / td > < td class = "markdownTableBodyLeft" > The timestamp offset < / td > < td class = "markdownTableBodyLeft" > Image frame ID < / td > < td class = "markdownTableBodyLeft" > Accel x,y,z values < / td > < td class = "markdownTableBodyLeft" > IMU temperature < / td > < td class = "markdownTableBodyLeft" > Gyro x,y,z values < / td > < / tr >
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< / table >
< ul >
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< li > Formula for converting the accel & gyro values to real ones: < b > real = data * range / 0x10000< / b > .< ul >
< li > < code > accel< / code > default < code > range< / code > is < b > 8 g< / b > , < code > gyro< / code > default < code > range< / code > is < b > 1000 deg/s< / b > .< / li >
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< / ul >
< / li >
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< li > Formula for converting the temperature to real value: < b > real = data / ratio + offset< / b > .< ul >
< li > default < code > ratio< / code > is < b > 326.8< / b > , default < code > offset< / code > is < b > 25℃< / b > . < / li >
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