IMURAW (Sub ID 0x00E)
Output Raw MEMS Data
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 | accX | S32 | X-axis acceleration of the built-in accelerometer; unit: 2^-16 m/s2 |
4 | 20 |
| 11 | accY | S32 | Y-axis acceleration of the built-in accelerometer; unit: 2^-16 m/s2 |
4 | 24 |
| 12 | accZ | S32 | Z-axis acceleration of the built-in accelerometer; unit: 2^-16 m/s2 |
4 | 28 |
| 13 | Speed | S16 | Vehicle speed pulses; > 0 means forward and < 0 means backward; The field is invalid if there is no vehicle pulse signal. |
2 | 32 |
| Total | 34 |