M-G362 Datasheet, PDF (38/69 Pages) Epson Company – IMU (Inertial Measurement Unit)

6.3 Data Packet Format
The following table shows example of the data packet format sent to the host in the UART Burst Mode
or UART Auto Mode.
Table 6.14 UART Data Packet Format (UART Burst/Auto Mode) Example: 16-bit Output
BURST_CTRL1[0x0C(W1)]=0xF007 / BURST_CTRL2[0x0E(W1)]=0x0000
Byte No.
Name
Bit7
Bit6
Bit5
Bit4
Bit3
Bit2
Bit1
Bit0
1
ADDRESS
0x80
2
ND
ND
ND
ND
ND
ND
ND
ND
(Temp) (XGyro) (YGyro) (ZGyro) (XACCL) (YACCL) (ZACCL)
-
3
EA
-
-
-
-
-
-
-
EA
4
TEMP_HIGH_
H
TEMP_HIGH [15:8]
5
TEMP_HIGH_L
TEMP_HIGH [7:0]
6
XGYRO_HIGH
_H
XGYRO_HIGH [15:8]
7
XGYRO_HIGH
_L
XGYRO_HIGH [7:0]
8
YGYRO_HIGH
_H
YGYRO_HIGH [15:8]
9
YGYRO_HIGH
_L
YGYRO_HIGH [7:0]
10
ZGYRO_HIGH
_H
ZGYRO_HIGH [15:8]
11
ZGYRO_HIGH
_L
ZGYRO_HIGH [7:0]
12
XACCL_HIGH_
H
XACCL_HIGH [15:8]
13
XACCL_HIGH_
L
XACCL _HIGH [7:0]
14
YACCL_HIGH_
H
YACCL _HIGH [15:8]
15
YACCL_HIGH_
L
YACCL _HIGH [7:0]
16
ZACCL_HIGH_
H
ZACCL _HIGH [15:8]
17
ZACCL_HIGH_
L
ZACCL _HIGH [7:0]
18
GPIO_H
-
-
-
-
-
GPIO GPIO GPIO
_DATA3 _DATA2 _DATA1
19
GPIO_L
-
-
-
-
-
GPIO
_DIR3
GPIO
_DIR2
GPIO
_DIR1
20
COUNT_H
COUNT [15:8]
21
COUNT_L
COUNT [7:0]
22
CHECKSUM_H
23
CHECKSUM_L
CHECKSUM [15:8]
CHECKSUM [7:0]
24
CR
0x0D
34
Seiko Epson Corporation
M-G362PDC1 Data Sheet
Rev.20131217