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バイナリフォーマットでデータ送信します #5

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バイナリフォーマットでデータ送信します #5

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084c813
バイナリ出力形式に変更
mmaakkyyii Jun 15, 2026
c4a941b
加速度有効化
mmaakkyyii Jun 15, 2026
c0aabc8
加速度と角速度のフォーマットが違ったので修正
mmaakkyyii Jun 16, 2026
ccd3576
加速度のレンジを変更
mmaakkyyii Jun 16, 2026
06e7317
READMEにデータフォーマットを追加
mmaakkyyii Jun 19, 2026
f5f58c4
Arduino auto format
mmaakkyyii Jun 19, 2026
f2379be
README修正
mmaakkyyii Jun 19, 2026
ab409a0
加速度16gように修正
mmaakkyyii Jun 25, 2026
d3091a1
スケールを戻すACC_Saale2は1/4にする
mmaakkyyii Jun 25, 2026
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41 changes: 41 additions & 0 deletions README.md
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Expand Up @@ -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
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