17
ADDRESS
PARAMETER NAME
LENGTH
(bytes)
TYPE
DESCRIPTION
0x02
SW_RELEASE
16
String
info about the device’s SW
(read only)
0x12
HW_RELEASE
16
String
info about the device’s HW
(read only)
0x22
BT_NAME
16
string
Bluetooth name
maximum 15 characters max plus
null
char (‘/0’)
(WARNING: changing this parameter will require entering the
Bootloader
Mode
in order to take effect)
0x34
ACC_FS
1
u8
Full-scale range of the
Accelerometer
0x00
= ±2 g
0x01
= ±4 g
0x02
= ±8 g
0x03
= ±16 g
0x35
GYRO_FS
1
u8
Full-scale range of the
Gyroscope
0x00
= ±250 dps
0x01
= ±500 dps
0x02
= ±1000 dps
0x03
= ±2000 dps
0x36
IMU_DLPF
1
u8
Internal sensor low-pass filter (reserved)
0x37
IMU_SRD
1
u8
Internal sensor divider (reserved)
0x38
PACKET_TYPE
1
u8
Output Packet type.
By setting the value of this register it is possible to indicate the information
transported by the data packet when streaming or logging.
The following coding is used:
1
0
0
B O M G A
where each bit indicates if a specific measurement is enabled
B = Battery voltage
O = Orientation
M= Magnetometer
G = Gyroscope
A = Accelerometer
For example if packet_type =
0x9F
(hexadecimal) all the measurements are
output (AGMOB type packet).
0x9F
= AGMOB
0x97
= AGMB
0x81
= A
0x91
= AB
0x8F
= AGMO
….
0x00
= RAW packet type
0x4E
ORIENT_ALG
1
u8
Selects the algorithm to compute the orientation
0x00
= eCompass (only the accelerometer and the compass are used)
0x01
= Gyro (only the Gyroscope Integration is used )
0x02
= Kalman Filtering (data fusion between Accelerometer, Compass and
Gyroscope is used)