GYOACC (Sub ID 0x00B)
Output MEMS, Odometer Data Etc.
Applicable to: UM621 series, UM681A
| ID | Field | Type | Description | Bytes | Byte Offset |
|---|---|---|---|---|---|
| 1 | Year | U16 | Year: (UTC) 0xFFFF means invalid |
2 | 0 |
| 2 | Month | U8 | Month: 1 to 12 (UTC) 0xFF means invalid |
1 | 2 |
| 3 | Day | U8 | Day: 1 to 31 (UTC) 0xFF means invalid |
1 | 3 |
| 4 | Hour | U8 | Hour: 0 to 23 (UTC) 0xFF means invalid |
1 | 4 |
| 5 | Min | U8 | Minute: 0 to 59 (UTC) 0xFF means invalid |
1 | 5 |
| 6 | mSec | U16 | Millisecond 0xFFFF means invalid |
2 | 6 |
| 7 | gyroX | S32 | X-axis angular velocity of the built-in gyroscope; unit: 2^-16 rad/s |
4 | 8 |
| 8 | gyroY | S32 | Y-axis angular velocity of the built-in gyroscope; unit: 2^-16 rad/s |
4 | 12 |
| 9 | gyroZ | S32 | Z-axis angular velocity of the built-in gyroscope; unit: 2^-16 rad/s |
4 | 16 |
| 10 | gyroPeriod | U8 | Output interval of the built-in gyroscope data; unit: ms | 1 | 20 |
| 11 | accX | S32 | X-axis acceleration of the built-in accelerometer; unit: 2^-16 m/s2 |
4 | 21 |
| 12 | accY | S32 | Y-axis acceleration of the built-in accelerometer; unit: 2^-16 m/s2 |
4 | 25 |
| 13 | accZ | S32 | Z-axis acceleration of the built-in accelerometer; unit: 2^-16 m/s2 |
4 | 29 |
| 14 | accPeriod | U8 | Output interval of the built-in accelerometer data; unit: ms | 1 | 33 |
| 15 | temp | S8 | Temperature; unit: °C; 0x80 means invalid | 1 | 34 |
| 16 | speed | U16 | Vehicle speed pulse; output 0xFFFF if not accessing the odometer signal, meaning invalid |
1 | 35 |
| 17 | pulsePeriod | U8 | Output interval of pulses; unit: ms; output 0xFF if not accessing the odometer signal, meaning invalid |
1 | 36 |
| 18 | fwd | U8 | Vehicle direction signal: 0 - Forward 1 - Backward; output 0xFF if not accessing the odometer signal, meaning invalid |
1 | 37 |
| Total | 39 |