CyberAtom X-200 User Manual
X-200 Product Page

Response Messages

Table 1. List of UART response messages.
Message Message ID (hex) Description
SYS_INFO 0x81 Provides information on the device type and installed firmware version.
QUAT_DATA 0x82 Provides actual orientation data in quaternion representation.
EULER_DATA 0x83 Provides actual orientation data in Eulaer angles representation.
ROT_RATE_DATA 0x84 Provides actual rotation rate data.
ACC_CALIB_MAT 0x88 Reports calbration matrix for the accelerometer sensor.
MAG_CALIB_MAT 0x89 Reports calbration matrix for the magnetometer sensor.
GYR_CALIB_MAT 0x8A Reports calbration matrix for the gyrosope sensor.
FILTER_MAG 0x8B Reports values of measurement filter magnetometer matrix.
FILTER_ACC 0x8C Reports values of measurement filter accelerometer matrix.
FILTER_GYR 0x8D Reports values of measurement filter gyroscope matrix.
FILTER_PROCN 0x8E Reports values of filter process noise matrix.
TEMP 0x8F Contains current temperature reading.
BAUD_RATE 0x90 Reports currently set baud rate.
I2C_ADDR 0x91 Reports actual I2C slave address.
CONFIRM 0x92 Confirms successful settings change operation.
RAW_ACC 0xA0 Provides raw latest accelerometer measurements as x,y,z components.
RAW_MAG 0xA1 Provides raw latest magnetometer measurements as x,y,z components.
RAW_GYR 0xA2 Provides raw latest gyroscope measurements as x,y,z components.
NORM_ACC 0xA3 Provides latest normalized accelerometer measurements as x,y,z components.
NORM_MAG 0xA4 Provides latest normalized magnetometer measurements as x,y,z components.
NORM_GYR 0xA5 Provides latest normalized gyroscope measurements as x,y,z components.
CALIB_ACC 0xA6 Provides latest calibrated accelerometer measurements as x,y,z components.
CALIB_MAG 0xA7 Provides latest calibrated magnetometer measurements as x,y,z components.
CALIB_GYR 0xA8 Provides latest calibrated gyroscope measurements as x,y,z components.

SYS_INFO

Message ID: 0x81

Description: Provides information on the device type and installed firmware version.

Message size: 38 bytes

Table 2. Structure of complete SYS_INFO message on UART interface.
Byte Offset Data Type Value (hex) Descripion
0 8-bit unsigned 0x05 First header byte.
1 8-bit unsigned 0xD3 Second header byte.
2 8-bit unsigned 0x81 Message ID.
3 16-bit unsigned 0x020 Number of bytes in payload.
5 null-terminated string (varies) Device type identifier.
13 null-terminated string (varies) Firmware release version in MAJOR.MINOR.PATCH format, optionally extended with other symbols.
37 8-bit unsigned (varies) Checksum byte.

QUAT_DATA

Message ID: 0x82

Description: Provides actual orientation data in quaternion representation.

Message size: 22 bytes

Table 3. Structure of complete QUAT_DATA message on UART interface.
Byte Offset Data Type Value (hex) Descripion
0 8-bit unsigned 0x05 First header byte.
1 8-bit unsigned 0xD3 Second header byte.
2 8-bit unsigned 0x82 Message ID.
3 16-bit unsigned 0x010 Number of bytes in payload.
5 IEEE754 float (varies) q0 component
9 IEEE754 float (varies) q1 component
13 IEEE754 float (varies) q2 component
17 IEEE754 float (varies) q3 component
21 8-bit unsigned (varies) Checksum byte.

EULER_DATA

Message ID: 0x83

Description: Provides actual orientation data in Eulaer angles representation.

Message size: 18 bytes

Table 4. Structure of complete EULER_DATA message on UART interface.
Byte Offset Data Type Value (hex) Descripion
0 8-bit unsigned 0x05 First header byte.
1 8-bit unsigned 0xD3 Second header byte.
2 8-bit unsigned 0x83 Message ID.
3 16-bit unsigned 0x0C Number of bytes in payload.
5 IEEE754 float (varies) Pitch angle in degrees.
9 IEEE754 float (varies) Roll angle in degrees.
13 IEEE754 float (varies) Yaw angle in degrees.
17 8-bit unsigned (varies) Checksum byte.

ROT_RATE_DATA

Message ID: 0x84

Description: Provides actual rotation rate data.

Message size: 18 bytes

Table 5. Structure of complete ROT_RATE_DATA message on UART interface.
Byte Offset Data Type Value (hex) Descripion
0 8-bit unsigned 0x05 First header byte.
1 8-bit unsigned 0xD3 Second header byte.
2 8-bit unsigned 0x84 Message ID.
3 16-bit unsigned 0x0C Number of bytes in payload.
5 IEEE754 float (varies) Rotation rate over X axis in degrees/second.
9 IEEE754 float (varies) Rotation rate over Y axis in degrees/second.
13 IEEE754 float (varies) Rotation rate over Z axis in degrees/second.
17 8-bit unsigned (varies) Checksum byte.

ACC_CALIB_MAT

Message ID: 0x88

Description: Reports calbration matrix for the accelerometer sensor.

Message size: 78 bytes

Table 6. Structure of complete ACC_CALIB_MAT message on UART interface.
Byte Offset Data Type Value (hex) Descripion
0 8-bit unsigned 0x05 First header byte.
1 8-bit unsigned 0xD3 Second header byte.
2 8-bit unsigned 0x88 Message ID.
3 16-bit unsigned 0x048 Number of bytes in payload.
5 IEEE754 float (varies) c11 matrix component
9 IEEE754 float (varies) c12 matrix component
13 IEEE754 float (varies) c13 matrix component
17 IEEE754 float (varies) c21 matrix component
21 IEEE754 float (varies) c22 matrix component
25 IEEE754 float (varies) c23 matrix component
29 IEEE754 float (varies) c31 matrix component
33 IEEE754 float (varies) c32 matrix component
37 IEEE754 float (varies) c33 matrix component
41 IEEE754 float (varies) t11 matrix component
45 IEEE754 float (varies) t12 matrix component
49 IEEE754 float (varies) t13 matrix component
53 IEEE754 float (varies) t21 matrix component
57 IEEE754 float (varies) t22 matrix component
61 IEEE754 float (varies) t23 matrix component
65 IEEE754 float (varies) t31 matrix component
69 IEEE754 float (varies) t32 matrix component
73 IEEE754 float (varies) t33 matrix component
77 8-bit unsigned (varies) Checksum byte.

MAG_CALIB_MAT

Message ID: 0x89

Description: Reports calbration matrix for the magnetometer sensor.

Message size: 78 bytes

Table 7. Structure of complete MAG_CALIB_MAT message on UART interface.
Byte Offset Data Type Value (hex) Descripion
0 8-bit unsigned 0x05 First header byte.
1 8-bit unsigned 0xD3 Second header byte.
2 8-bit unsigned 0x89 Message ID.
3 16-bit unsigned 0x048 Number of bytes in payload.
5 IEEE754 float (varies) c11 matrix component
9 IEEE754 float (varies) c12 matrix component
13 IEEE754 float (varies) c13 matrix component
17 IEEE754 float (varies) c21 matrix component
21 IEEE754 float (varies) c22 matrix component
25 IEEE754 float (varies) c23 matrix component
29 IEEE754 float (varies) c31 matrix component
33 IEEE754 float (varies) c32 matrix component
37 IEEE754 float (varies) c33 matrix component
41 IEEE754 float (varies) t11 matrix component
45 IEEE754 float (varies) t12 matrix component
49 IEEE754 float (varies) t13 matrix component
53 IEEE754 float (varies) t21 matrix component
57 IEEE754 float (varies) t22 matrix component
61 IEEE754 float (varies) t23 matrix component
65 IEEE754 float (varies) t31 matrix component
69 IEEE754 float (varies) t32 matrix component
73 IEEE754 float (varies) t33 matrix component
77 8-bit unsigned (varies) Checksum byte.

GYR_CALIB_MAT

Message ID: 0x8A

Description: Reports calbration matrix for the gyrosope sensor.

Message size: 78 bytes

Table 8. Structure of complete GYR_CALIB_MAT message on UART interface.
Byte Offset Data Type Value (hex) Descripion
0 8-bit unsigned 0x05 First header byte.
1 8-bit unsigned 0xD3 Second header byte.
2 8-bit unsigned 0x8A Message ID.
3 16-bit unsigned 0x048 Number of bytes in payload.
5 IEEE754 float (varies) c11 matrix component
9 IEEE754 float (varies) c12 matrix component
13 IEEE754 float (varies) c13 matrix component
17 IEEE754 float (varies) c21 matrix component
21 IEEE754 float (varies) c22 matrix component
25 IEEE754 float (varies) c23 matrix component
29 IEEE754 float (varies) c31 matrix component
33 IEEE754 float (varies) c32 matrix component
37 IEEE754 float (varies) c33 matrix component
41 IEEE754 float (varies) t11 matrix component
45 IEEE754 float (varies) t12 matrix component
49 IEEE754 float (varies) t13 matrix component
53 IEEE754 float (varies) t21 matrix component
57 IEEE754 float (varies) t22 matrix component
61 IEEE754 float (varies) t23 matrix component
65 IEEE754 float (varies) t31 matrix component
69 IEEE754 float (varies) t32 matrix component
73 IEEE754 float (varies) t33 matrix component
77 8-bit unsigned (varies) Checksum byte.

FILTER_MAG

Message ID: 0x8B

Description: Reports values of measurement filter magnetometer matrix.

Message size: 18 bytes

Table 9. Structure of complete FILTER_MAG message on UART interface.
Byte Offset Data Type Value (hex) Descripion
0 8-bit unsigned 0x05 First header byte.
1 8-bit unsigned 0xD3 Second header byte.
2 8-bit unsigned 0x8B Message ID.
3 16-bit unsigned 0x0C Number of bytes in payload.
5 IEEE754 float (varies) h11 matrix component
9 IEEE754 float (varies) h22 matrix component
13 IEEE754 float (varies) h33 matrix component
17 8-bit unsigned (varies) Checksum byte.

FILTER_ACC

Message ID: 0x8C

Description: Reports values of measurement filter accelerometer matrix.

Message size: 18 bytes

Table 10. Structure of complete FILTER_ACC message on UART interface.
Byte Offset Data Type Value (hex) Descripion
0 8-bit unsigned 0x05 First header byte.
1 8-bit unsigned 0xD3 Second header byte.
2 8-bit unsigned 0x8C Message ID.
3 16-bit unsigned 0x0C Number of bytes in payload.
5 IEEE754 float (varies) h11 matrix component
9 IEEE754 float (varies) h22 matrix component
13 IEEE754 float (varies) h33 matrix component
17 8-bit unsigned (varies) Checksum byte.

FILTER_GYR

Message ID: 0x8D

Description: Reports values of measurement filter gyroscope matrix.

Message size: 18 bytes

Table 11. Structure of complete FILTER_GYR message on UART interface.
Byte Offset Data Type Value (hex) Descripion
0 8-bit unsigned 0x05 First header byte.
1 8-bit unsigned 0xD3 Second header byte.
2 8-bit unsigned 0x8D Message ID.
3 16-bit unsigned 0x0C Number of bytes in payload.
5 IEEE754 float (varies) h11 matrix component
9 IEEE754 float (varies) h22 matrix component
13 IEEE754 float (varies) h33 matrix component
17 8-bit unsigned (varies) Checksum byte.

FILTER_PROCN

Message ID: 0x8E

Description: Reports values of filter process noise matrix.

Message size: 34 bytes

Table 12. Structure of complete FILTER_PROCN message on UART interface.
Byte Offset Data Type Value (hex) Descripion
0 8-bit unsigned 0x05 First header byte.
1 8-bit unsigned 0xD3 Second header byte.
2 8-bit unsigned 0x8E Message ID.
3 16-bit unsigned 0x01C Number of bytes in payload.
5 IEEE754 float (varies) q11 matrix component
9 IEEE754 float (varies) q22 matrix component
13 IEEE754 float (varies) q33 matrix component
17 IEEE754 float (varies) q44 matrix component
21 IEEE754 float (varies) q55 matrix component
25 IEEE754 float (varies) q66 matrix component
29 IEEE754 float (varies) q77 matrix component
33 8-bit unsigned (varies) Checksum byte.

TEMP

Message ID: 0x8F

Description: Contains current temperature reading.

Message size: 10 bytes

Table 13. Structure of complete TEMP message on UART interface.
Byte Offset Data Type Value (hex) Descripion
0 8-bit unsigned 0x05 First header byte.
1 8-bit unsigned 0xD3 Second header byte.
2 8-bit unsigned 0x8F Message ID.
3 16-bit unsigned 0x04 Number of bytes in payload.
5 IEEE754 float (varies) Actual temperature value in Celsius degrees.
9 8-bit unsigned (varies) Checksum byte.

BAUD_RATE

Message ID: 0x90

Description: Reports currently set baud rate.

Message size: 7 bytes

Table 14. Structure of complete BAUD_RATE message on UART interface.
Byte Offset Data Type Value (hex) Descripion
0 8-bit unsigned 0x05 First header byte.
1 8-bit unsigned 0xD3 Second header byte.
2 8-bit unsigned 0x90 Message ID.
3 16-bit unsigned 0x01 Number of bytes in payload.
5 8-bit unsigned (varies) Current baud rate. One of the following values:

0x01 - 2400 bauds

0x02 - 4800 bauds

0x03 - 9600 bauds

0x04 - 19200 bauds

0x05 - 38400 bauds

0x06 - 57600 bauds

0x07 - 115200 bauds

0x08 - 230400 bauds

0x09 - 576000 bauds

0x0A - 921600 bauds
6 8-bit unsigned (varies) Checksum byte.

I2C_ADDR

Message ID: 0x91

Description: Reports actual I2C slave address.

Message size: 7 bytes

Table 15. Structure of complete I2C_ADDR message on UART interface.
Byte Offset Data Type Value (hex) Descripion
0 8-bit unsigned 0x05 First header byte.
1 8-bit unsigned 0xD3 Second header byte.
2 8-bit unsigned 0x91 Message ID.
3 16-bit unsigned 0x01 Number of bytes in payload.
5 8-bit unsigned (varies) 7-bit I2C slave device address.
6 8-bit unsigned (varies) Checksum byte.

CONFIRM

Message ID: 0x92

Description: Confirms successful settings change operation.

Message size: 6 bytes

Table 16. Structure of complete CONFIRM message on UART interface.
Byte Offset Data Type Value (hex) Descripion
0 8-bit unsigned 0x05 First header byte.
1 8-bit unsigned 0xD3 Second header byte.
2 8-bit unsigned 0x92 Message ID.
3 16-bit unsigned 0x00 Number of bytes in payload.
5 8-bit unsigned 0x06A Checksum byte.

RAW_ACC

Message ID: 0xA0

Description: Provides raw latest accelerometer measurements as x,y,z components.

Message size: 12 bytes

Table 17. Structure of complete RAW_ACC message on UART interface.
Byte Offset Data Type Value (hex) Descripion
0 8-bit unsigned 0x05 First header byte.
1 8-bit unsigned 0xD3 Second header byte.
2 8-bit unsigned 0xA0 Message ID.
3 16-bit unsigned 0x06 Number of bytes in payload.
5 16-bit signed, two's complement (varies) x component of acclerometer measurement
7 16-bit signed, two's complement (varies) y component of acclerometer measurement
9 16-bit signed, two's complement (varies) z component of acclerometer measurement
11 8-bit unsigned (varies) Checksum byte.

RAW_MAG

Message ID: 0xA1

Description: Provides raw latest magnetometer measurements as x,y,z components.

Message size: 12 bytes

Table 18. Structure of complete RAW_MAG message on UART interface.
Byte Offset Data Type Value (hex) Descripion
0 8-bit unsigned 0x05 First header byte.
1 8-bit unsigned 0xD3 Second header byte.
2 8-bit unsigned 0xA1 Message ID.
3 16-bit unsigned 0x06 Number of bytes in payload.
5 16-bit signed, two's complement (varies) x component of magnetometer measurement
7 16-bit signed, two's complement (varies) y component of magnetometer measurement
9 16-bit signed, two's complement (varies) z component of magnetometer measurement
11 8-bit unsigned (varies) Checksum byte.

RAW_GYR

Message ID: 0xA2

Description: Provides raw latest gyroscope measurements as x,y,z components.

Message size: 12 bytes

Table 19. Structure of complete RAW_GYR message on UART interface.
Byte Offset Data Type Value (hex) Descripion
0 8-bit unsigned 0x05 First header byte.
1 8-bit unsigned 0xD3 Second header byte.
2 8-bit unsigned 0xA2 Message ID.
3 16-bit unsigned 0x06 Number of bytes in payload.
5 16-bit signed, two's complement (varies) x component of gyroscope measurement
7 16-bit signed, two's complement (varies) y component of gyroscope measurement
9 16-bit signed, two's complement (varies) z component of gyroscope measurement
11 8-bit unsigned (varies) Checksum byte.

NORM_ACC

Message ID: 0xA3

Description: Provides latest normalized accelerometer measurements as x,y,z components.

Message size: 18 bytes

Table 20. Structure of complete NORM_ACC message on UART interface.
Byte Offset Data Type Value (hex) Descripion
0 8-bit unsigned 0x05 First header byte.
1 8-bit unsigned 0xD3 Second header byte.
2 8-bit unsigned 0xA3 Message ID.
3 16-bit unsigned 0x0C Number of bytes in payload.
5 IEEE754 float (varies) x component of acclerometer measurement
9 IEEE754 float (varies) y component of acclerometer measurement
13 IEEE754 float (varies) z component of acclerometer measurement
17 8-bit unsigned (varies) Checksum byte.

NORM_MAG

Message ID: 0xA4

Description: Provides latest normalized magnetometer measurements as x,y,z components.

Message size: 18 bytes

Table 21. Structure of complete NORM_MAG message on UART interface.
Byte Offset Data Type Value (hex) Descripion
0 8-bit unsigned 0x05 First header byte.
1 8-bit unsigned 0xD3 Second header byte.
2 8-bit unsigned 0xA4 Message ID.
3 16-bit unsigned 0x0C Number of bytes in payload.
5 IEEE754 float (varies) x component of magnetometer measurement
9 IEEE754 float (varies) y component of magnetometer measurement
13 IEEE754 float (varies) z component of magnetometer measurement
17 8-bit unsigned (varies) Checksum byte.

NORM_GYR

Message ID: 0xA5

Description: Provides latest normalized gyroscope measurements as x,y,z components.

Message size: 18 bytes

Table 22. Structure of complete NORM_GYR message on UART interface.
Byte Offset Data Type Value (hex) Descripion
0 8-bit unsigned 0x05 First header byte.
1 8-bit unsigned 0xD3 Second header byte.
2 8-bit unsigned 0xA5 Message ID.
3 16-bit unsigned 0x0C Number of bytes in payload.
5 IEEE754 float (varies) x component of gyroscope measurement
9 IEEE754 float (varies) y component of gyroscope measurement
13 IEEE754 float (varies) z component of gyroscope measurement
17 8-bit unsigned (varies) Checksum byte.

CALIB_ACC

Message ID: 0xA6

Description: Provides latest calibrated accelerometer measurements as x,y,z components.

Message size: 18 bytes

Table 23. Structure of complete CALIB_ACC message on UART interface.
Byte Offset Data Type Value (hex) Descripion
0 8-bit unsigned 0x05 First header byte.
1 8-bit unsigned 0xD3 Second header byte.
2 8-bit unsigned 0xA6 Message ID.
3 16-bit unsigned 0x0C Number of bytes in payload.
5 IEEE754 float (varies) x component of acclerometer measurement
9 IEEE754 float (varies) y component of acclerometer measurement
13 IEEE754 float (varies) z component of acclerometer measurement
17 8-bit unsigned (varies) Checksum byte.

CALIB_MAG

Message ID: 0xA7

Description: Provides latest calibrated magnetometer measurements as x,y,z components.

Message size: 18 bytes

Table 24. Structure of complete CALIB_MAG message on UART interface.
Byte Offset Data Type Value (hex) Descripion
0 8-bit unsigned 0x05 First header byte.
1 8-bit unsigned 0xD3 Second header byte.
2 8-bit unsigned 0xA7 Message ID.
3 16-bit unsigned 0x0C Number of bytes in payload.
5 IEEE754 float (varies) x component of magnetometer measurement
9 IEEE754 float (varies) y component of magnetometer measurement
13 IEEE754 float (varies) z component of magnetometer measurement
17 8-bit unsigned (varies) Checksum byte.

CALIB_GYR

Message ID: 0xA8

Description: Provides latest calibrated gyroscope measurements as x,y,z components.

Message size: 18 bytes

Table 25. Structure of complete CALIB_GYR message on UART interface.
Byte Offset Data Type Value (hex) Descripion
0 8-bit unsigned 0x05 First header byte.
1 8-bit unsigned 0xD3 Second header byte.
2 8-bit unsigned 0xA8 Message ID.
3 16-bit unsigned 0x0C Number of bytes in payload.
5 IEEE754 float (varies) x component of gyroscope measurement
9 IEEE754 float (varies) y component of gyroscope measurement
13 IEEE754 float (varies) z component of gyroscope measurement
17 8-bit unsigned (varies) Checksum byte.