M-G362 Datasheet, PDF (48/69 Pages) Epson Company – IMU (Inertial Measurement Unit)

7.8 GYRO Register (Window 0)
Addr
(Hex)
0x12
Bit15
...
XGYRO_HIGH
Bit0
R/W
R
0x14
XGYRO_LOW
R
0x16
YGYRO_HIGH
R
0x18
YGYRO_LOW
R
0x1A
ZGYRO_HIGH
R
0x1C
ZGYRO_LOW
R
bit[15:0] Gyroscope output data
Returns the 3-axis gyroscope data for X, Y, and Z as referenced in Figure 3.1 Outline Dimensions
( millimeters ).
The output data format is 32-bits two's complement. For 16-bit usage, treat the data as 16-bits
two's complement using the upper 16-bits.
Please refer to Table 2.3 Sensor Specification for the Scale Factor value.
For 32-bit usage:, G [deg/s]= (SF/65536) * B
For 16-bit usage: G [deg/s]= SF * B
SF : Scale Factor
B: Gyroscope output data (decimal)
7.9 ACCL Register (Window 0)
Addr
(Hex)
0x1E
Bit15
...
XACCL_HIGH
Bit0
R/W
R
0x20
XACCL_LOW
R
0x22
YACCL_HIGH
R
0x24
YACCL_LOW
R
0x26
ZACCL_HIGH
R
0x28
ZACCL_LOW
R
bit[15:0] Acceleration sensor output data
Returns the 3-axis acceleration data for X, Y, and Z as referenced in Figure 3.1 Outline
Dimensions ( millimeters ).
The output data format is 32-bits two's complement. For 16-bit usage, treat the data as 16-bits
two's complement using the upper 16-bits.
Please refer to Table 2.3 Sensor Specification for the Scale Factor value.
For 32-bit usage:, A [mG]= (SF/65536) * C
For 16-bit usage: A [mG]= SF * C
SF : Scale Factor
C: Acceleration sensor output data (decimal)
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Seiko Epson Corporation
M-G362PDC1 Data Sheet
Rev.20131217