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<div id="projectname">MYNT EYE S SDK
 <span id="projectnumber">2.2.4</span>
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<div id="projectbrief">http://www.myntai.com/mynteye/standard</div>
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<div class="title">IMU Data </div> </div>
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<div class="textblock"><h2>IMU Request Packet</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadLeft">Name </th><th class="markdownTableHeadLeft">Header </th><th class="markdownTableHeadLeft">Serial Number </th></tr>
<tr class="markdownTableBody" class="markdownTableRowOdd">
<td class="markdownTableBodyLeft">Bytes </td><td class="markdownTableBodyLeft">1 </td><td class="markdownTableBodyLeft">4 </td></tr>
<tr class="markdownTableBody" class="markdownTableRowEven">
<td class="markdownTableBodyLeft">Type </td><td class="markdownTableBodyLeft">uint8_t </td><td class="markdownTableBodyLeft">uint32_t </td></tr>
<tr class="markdownTableBody" class="markdownTableRowOdd">
<td class="markdownTableBodyLeft">Description </td><td class="markdownTableBodyLeft">0x5A </td><td class="markdownTableBodyLeft">First request should be 0, otherwise the last one </td></tr>
</table>
<h2>IMU Response Packet</h2>
<p>The IMU response packet contains multiple IMU packets, and each IMU packet contains multiple IMU segments.</p>
<table class="markdownTable">
<tr class="markdownTableHead">
<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>
<tr class="markdownTableBody" class="markdownTableRowOdd">
<td class="markdownTableBodyLeft">Bytes </td><td class="markdownTableBodyLeft">1 </td><td class="markdownTableBodyLeft">1 </td><td class="markdownTableBodyLeft">2 </td><td class="markdownTableBodyLeft">... </td><td class="markdownTableBodyLeft">1 </td></tr>
<tr class="markdownTableBody" class="markdownTableRowEven">
<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>
<tr class="markdownTableBody" class="markdownTableRowOdd">
<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>
</table>
<h3>IMU Packet</h3>
<p>The IMU packet is an array of IMU datas.</p>
<table class="markdownTable">
<tr class="markdownTableHead">
<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>
<tr class="markdownTableBody" class="markdownTableRowOdd">
<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>
<tr class="markdownTableBody" class="markdownTableRowEven">
<td class="markdownTableBodyLeft">Type </td><td class="markdownTableBodyLeft">uint32_t </td><td class="markdownTableBodyLeft">uint32_t </td><td class="markdownTableBodyLeft">uint8_t </td><td class="markdownTableBodyLeft">- </td></tr>
<tr class="markdownTableBody" class="markdownTableRowOdd">
<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>
</table>
<h3>IMU Segment</h3>
<table class="markdownTable">
<tr class="markdownTableHead">
<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>
<tr class="markdownTableBody" class="markdownTableRowOdd">
<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>
<tr class="markdownTableBody" class="markdownTableRowEven">
<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>
<tr class="markdownTableBody" class="markdownTableRowOdd">
<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>
</table>
<ul>
<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>
</ul>
</li>
<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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