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 <span id="projectnumber">2.0.0-rc</span>
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<div class="title">IMU 数据说明 </div> </div>
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<div class="contents">
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<div class="textblock"><h2>IMU 请求数据包</h2>
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<table class="markdownTable">
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<tr class="markdownTableHead">
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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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<tr class="markdownTableBody" class="markdownTableRowOdd">
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<td class="markdownTableBodyLeft">字节数 </td><td class="markdownTableBodyLeft">1 </td><td class="markdownTableBodyLeft">4 </td></tr>
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<tr class="markdownTableBody" class="markdownTableRowEven">
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<td class="markdownTableBodyLeft">类型 </td><td class="markdownTableBodyLeft">uint8_t </td><td class="markdownTableBodyLeft">uint32_t </td></tr>
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<tr class="markdownTableBody" class="markdownTableRowOdd">
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<td class="markdownTableBodyLeft">描述 </td><td class="markdownTableBodyLeft">0x5A </td><td class="markdownTableBodyLeft">首次请求写 0 ，不然写上次响应数据包最后一个 IMU 包的序列号 </td></tr>
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</table>
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<h2>IMU 响应数据包</h2>
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<p>IMU 响应数据包里会包含多个 IMU 包，而每个 IMU 包又带有多个 IMU 段。</p>
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<table class="markdownTable">
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<tr class="markdownTableHead">
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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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<tr class="markdownTableBody" class="markdownTableRowOdd">
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<td class="markdownTableBodyLeft">字节数 </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>
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<tr class="markdownTableBody" class="markdownTableRowEven">
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<td class="markdownTableBodyLeft">类型 </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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<tr class="markdownTableBody" class="markdownTableRowOdd">
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<td class="markdownTableBodyLeft">描述 </td><td class="markdownTableBodyLeft">0x5B </td><td class="markdownTableBodyLeft">正常状态为 0 ，否则错误 </td><td class="markdownTableBodyLeft">数据内容大小 </td><td class="markdownTableBodyLeft">所包含的 IMU 包 </td><td class="markdownTableBodyLeft">校验码（数据内容所有字节异或） </td></tr>
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</table>
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<h3>IMU 包</h3>
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<p>IMU 包/小包，是一组 IMU 数据。</p>
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<table class="markdownTable">
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<tr class="markdownTableHead">
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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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<tr class="markdownTableBody" class="markdownTableRowOdd">
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<td class="markdownTableBodyLeft">字节数 </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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<tr class="markdownTableBody" class="markdownTableRowEven">
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<td class="markdownTableBodyLeft">类型 </td><td class="markdownTableBodyLeft">uint32_t </td><td class="markdownTableBodyLeft">uint32_t </td><td class="markdownTableBodyLeft">uint8_t </td><td class="markdownTableBodyLeft">- </td></tr>
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<tr class="markdownTableBody" class="markdownTableRowOdd">
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<td class="markdownTableBodyLeft">描述 </td><td class="markdownTableBodyLeft">序列号 </td><td class="markdownTableBodyLeft">IMU 基准时间戳 </td><td class="markdownTableBodyLeft">IMU 段数量 </td><td class="markdownTableBodyLeft">所包含的 IMU 段 </td></tr>
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</table>
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<h3>IMU 段</h3>
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<table class="markdownTable">
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<tr class="markdownTableHead">
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<th class="markdownTableHeadLeft">Name </th><th class="markdownTableHeadLeft">Offset </th><th class="markdownTableHeadLeft">FrameID </th><th class="markdownTableHeadLeft">Accelerometer </th><th class="markdownTableHeadLeft">Temperature </th><th class="markdownTableHeadLeft">Gyroscope </th></tr>
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<tr class="markdownTableBody" class="markdownTableRowOdd">
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<td class="markdownTableBodyLeft">字节数 </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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<tr class="markdownTableBody" class="markdownTableRowEven">
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<td class="markdownTableBodyLeft">类型 </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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<tr class="markdownTableBody" class="markdownTableRowOdd">
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<td class="markdownTableBodyLeft">Description </td><td class="markdownTableBodyLeft">相对基准时间戳的偏移量 </td><td class="markdownTableBodyLeft">图像帧 ID </td><td class="markdownTableBodyLeft">加速度计 x y z 三轴的值 </td><td class="markdownTableBodyLeft">IMU 的温度 </td><td class="markdownTableBodyLeft">陀螺仪 x y z 三轴的值 </td></tr>
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</table>
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<ul>
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<li>加速度计和陀螺仪的计量值换算成物理值公式： <b>real = data * range / 0x10000</b> 。<ul>
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<li>加速度计量程默认值为 <b>8 g</b> ，陀螺仪量程默认值为 <b>1000 deg/s</b> 。</li>
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</ul>
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</li>
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<li>温度计量值换算成物理值公式： <b>real = data / ratio + offset</b> 。<ul>
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<li><code>ratio</code> 默认值为 <b>326.8</b> ， <code>offset</code> 默认值为 <b>25℃</b> 。 </li>
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</ul>
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</li>
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</ul>
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</div></div><!-- contents -->
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<li class="footer">制作者
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<a href="http://www.doxygen.org/index.html">
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<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.14 </li>
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