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709961ec8c
- uses the FIFO and SPI DMA to transfer full raw data (8 kHz gyro, 4 kHz accel)
- new sensor messages for better visibility
- sensor_{accel, gyro}_fifo: full raw data for optional logging and analysis
- sensor_{accel, gyro}_status: metadata, clipping, etc
- currently not enabled by default
16 lines
314 B
Plaintext
16 lines
314 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint32 device_id # unique device ID for the sensor that does not change between power cycles
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uint64 error_count
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float32 temperature
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uint8 rotation
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uint64[3] clipping # clipping per axis
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uint16 measure_rate
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uint16 sample_rate
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float32 full_scale_range
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