Merge pull request #5 from rt-net/feature/binary_format

バイナリフォーマットでデータ送信します

Author: mmaakkyyii

README.md

@@ -5,6 +5,47 @@ This software is a sample program for the [RT-USB-9axisIMU3](https://www.rt-shop
 
 The file RT-9DOF-IMU-V3-Quat.ino is forked from the [SparkFun_ICM-20948_ArduinoLibrary examples](https://github.com/sparkfun/SparkFun_ICM-20948_ArduinoLibrary/tree/main/examples).
 
+## Data format
+Baud rate: 2000000 bps  
+Transmission frequency: 1 kHz
+
+|Byte | Content | Description | 
+|-- | -- | -- | 
+|0 | 0xff | Header | 
+|1 | 0xff | Header | 
+|2 | 0x52 | ASCII code "R" | 
+|3 | 0x54 | ASCII code "T" | 
+|4 | 0x40 | Lower Bits of Product Identifier | 
+|5 | 0x41 | Upper Bits of Product Identifier | 
+|6 | 0x01 | FW version | 
+|7 | 0x00~0xff | Timestamp - incremented with each data transmission, wraps to 0x00 after 0xff | 
+|8 | ACC_X_L | ax=(ACC_X_L\|ACC_X_H<<8)/2048*9.8 [m/s] | 
+|9 | ACC_X_H |  | 
+|10 | ACC_Y_L |  | 
+|11 | ACC_Y_H |  | 
+|12 | ACC_Z_L |  | 
+|13 | ACC_Z_H |  | 
+|14 | GYRO_X_L | gx=(GYRO_X_L\|GYRO_X_H<<8)/(32767/2000)*PI/180 [rad/s] | 
+|15 | GYRO_X_H |  | 
+|16 | GYRO_Y_L |  | 
+|17 | GYRO_Y_H |  | 
+|18 | GYRO_Z_L |  | 
+|19 | GYRO_Z_H |  | 
+|20 | Q1_1 | Q1 multiplied by (2^30). q1=(Q1_1 \| Q1_2<<8 \| Q1_3<<16 \| Q1_4<<24 )/(2^30) | 
+|21 | Q1_2 |  | 
+|22 | Q1_3 |  | 
+|23 | Q1_4 |  | 
+|24 | Q2_1 |  | 
+|25 | Q2_2 |  | 
+|26 | Q2_3 |  | 
+|27 | Q2_4 |  | 
+|28 | Q3_1 |  | 
+|29 | Q3_2 |  | 
+|30 | Q3_3 |  | 
+|31 | Q3_4 |  | 
+|32 | Checksum | Lower 8 bits of the sum of all bytes | 
+
+
 ## Flashing from the Arduino IDE
 
 ### Setting Up Dependencies