CyberAtom X-200 User Manual
X-200 Product Page

Response Messages

Table 1. List of USB 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.
STATS 0xC0 Provides operational statistics.

SYS_INFO

Message ID: 0x81

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

Data Bytes: 32

Table 2. Structure of data bytes for SYS_INFO message on USB interface.
Byte Offset Data Type Descripion
0 null-terminated string Device type identifier.
8 null-terminated string Firmware release version in MAJOR.MINOR.PATCH format, optionally extended with other symbols.

QUAT_DATA

Message ID: 0x82

Description: Provides actual orientation data in quaternion representation.

Data Bytes: 16

Table 3. Structure of data bytes for QUAT_DATA message on USB interface.
Byte Offset Data Type Descripion
0 IEEE754 float q0 component
4 IEEE754 float q1 component
8 IEEE754 float q2 component
12 IEEE754 float q3 component

EULER_DATA

Message ID: 0x83

Description: Provides actual orientation data in Eulaer angles representation.

Data Bytes: 12

Table 4. Structure of data bytes for EULER_DATA message on USB interface.
Byte Offset Data Type Descripion
0 IEEE754 float Pitch angle in degrees.
4 IEEE754 float Roll angle in degrees.
8 IEEE754 float Yaw angle in degrees.

ROT_RATE_DATA

Message ID: 0x84

Description: Provides actual rotation rate data.

Data Bytes: 12

Table 5. Structure of data bytes for ROT_RATE_DATA message on USB interface.
Byte Offset Data Type Descripion
0 IEEE754 float Rotation rate over X axis in degrees/second.
4 IEEE754 float Rotation rate over Y axis in degrees/second.
8 IEEE754 float Rotation rate over Z axis in degrees/second.

ACC_CALIB_MAT

Message ID: 0x88

Description: Reports calbration matrix for the accelerometer sensor.

Data Bytes: 72

Table 6. Structure of data bytes for ACC_CALIB_MAT message on USB interface.
Byte Offset Data Type Descripion
0 IEEE754 float c11 matrix component
4 IEEE754 float c12 matrix component
8 IEEE754 float c13 matrix component
12 IEEE754 float c21 matrix component
16 IEEE754 float c22 matrix component
20 IEEE754 float c23 matrix component
24 IEEE754 float c31 matrix component
28 IEEE754 float c32 matrix component
32 IEEE754 float c33 matrix component
36 IEEE754 float t11 matrix component
40 IEEE754 float t12 matrix component
44 IEEE754 float t13 matrix component
48 IEEE754 float t21 matrix component
52 IEEE754 float t22 matrix component
56 IEEE754 float t23 matrix component
60 IEEE754 float t31 matrix component
64 IEEE754 float t32 matrix component
68 IEEE754 float t33 matrix component

MAG_CALIB_MAT

Message ID: 0x89

Description: Reports calbration matrix for the magnetometer sensor.

Data Bytes: 72

Table 7. Structure of data bytes for MAG_CALIB_MAT message on USB interface.
Byte Offset Data Type Descripion
0 IEEE754 float c11 matrix component
4 IEEE754 float c12 matrix component
8 IEEE754 float c13 matrix component
12 IEEE754 float c21 matrix component
16 IEEE754 float c22 matrix component
20 IEEE754 float c23 matrix component
24 IEEE754 float c31 matrix component
28 IEEE754 float c32 matrix component
32 IEEE754 float c33 matrix component
36 IEEE754 float t11 matrix component
40 IEEE754 float t12 matrix component
44 IEEE754 float t13 matrix component
48 IEEE754 float t21 matrix component
52 IEEE754 float t22 matrix component
56 IEEE754 float t23 matrix component
60 IEEE754 float t31 matrix component
64 IEEE754 float t32 matrix component
68 IEEE754 float t33 matrix component

GYR_CALIB_MAT

Message ID: 0x8A

Description: Reports calbration matrix for the gyrosope sensor.

Data Bytes: 72

Table 8. Structure of data bytes for GYR_CALIB_MAT message on USB interface.
Byte Offset Data Type Descripion
0 IEEE754 float c11 matrix component
4 IEEE754 float c12 matrix component
8 IEEE754 float c13 matrix component
12 IEEE754 float c21 matrix component
16 IEEE754 float c22 matrix component
20 IEEE754 float c23 matrix component
24 IEEE754 float c31 matrix component
28 IEEE754 float c32 matrix component
32 IEEE754 float c33 matrix component
36 IEEE754 float t11 matrix component
40 IEEE754 float t12 matrix component
44 IEEE754 float t13 matrix component
48 IEEE754 float t21 matrix component
52 IEEE754 float t22 matrix component
56 IEEE754 float t23 matrix component
60 IEEE754 float t31 matrix component
64 IEEE754 float t32 matrix component
68 IEEE754 float t33 matrix component

FILTER_MAG

Message ID: 0x8B

Description: Reports values of measurement filter magnetometer matrix.

Data Bytes: 12

Table 9. Structure of data bytes for FILTER_MAG message on USB interface.
Byte Offset Data Type Descripion
0 IEEE754 float h11 matrix component
4 IEEE754 float h22 matrix component
8 IEEE754 float h33 matrix component

FILTER_ACC

Message ID: 0x8C

Description: Reports values of measurement filter accelerometer matrix.

Data Bytes: 12

Table 10. Structure of data bytes for FILTER_ACC message on USB interface.
Byte Offset Data Type Descripion
0 IEEE754 float h11 matrix component
4 IEEE754 float h22 matrix component
8 IEEE754 float h33 matrix component

FILTER_GYR

Message ID: 0x8D

Description: Reports values of measurement filter gyroscope matrix.

Data Bytes: 12

Table 11. Structure of data bytes for FILTER_GYR message on USB interface.
Byte Offset Data Type Descripion
0 IEEE754 float h11 matrix component
4 IEEE754 float h22 matrix component
8 IEEE754 float h33 matrix component

FILTER_PROCN

Message ID: 0x8E

Description: Reports values of filter process noise matrix.

Data Bytes: 28

Table 12. Structure of data bytes for FILTER_PROCN message on USB interface.
Byte Offset Data Type Descripion
0 IEEE754 float q11 matrix component
4 IEEE754 float q22 matrix component
8 IEEE754 float q33 matrix component
12 IEEE754 float q44 matrix component
16 IEEE754 float q55 matrix component
20 IEEE754 float q66 matrix component
24 IEEE754 float q77 matrix component

TEMP

Message ID: 0x8F

Description: Contains current temperature reading.

Data Bytes: 4

Table 13. Structure of data bytes for TEMP message on USB interface.
Byte Offset Data Type Descripion
0 IEEE754 float Actual temperature value in Celsius degrees.

BAUD_RATE

Message ID: 0x90

Description: Reports currently set baud rate.

Data Bytes: 1

Table 14. Structure of data bytes for BAUD_RATE message on USB interface.
Byte Offset Data Type Descripion
0 8-bit unsigned Current baud rate.

I2C_ADDR

Message ID: 0x91

Description: Reports actual I2C slave address.

Data Bytes: 1

Table 15. Structure of data bytes for I2C_ADDR message on USB interface.
Byte Offset Data Type Descripion
0 8-bit unsigned 7-bit I2C slave device address.

CONFIRM

Message ID: 0x92

Description: Confirms successful settings change operation.

Data Bytes: 0

RAW_ACC

Message ID: 0xA0

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

Data Bytes: 6

Table 16. Structure of data bytes for RAW_ACC message on USB interface.
Byte Offset Data Type Descripion
0 16-bit signed, two's complement x component of acclerometer measurement
2 16-bit signed, two's complement y component of acclerometer measurement
4 16-bit signed, two's complement z component of acclerometer measurement

RAW_MAG

Message ID: 0xA1

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

Data Bytes: 6

Table 17. Structure of data bytes for RAW_MAG message on USB interface.
Byte Offset Data Type Descripion
0 16-bit signed, two's complement x component of magnetometer measurement
2 16-bit signed, two's complement y component of magnetometer measurement
4 16-bit signed, two's complement z component of magnetometer measurement

RAW_GYR

Message ID: 0xA2

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

Data Bytes: 6

Table 18. Structure of data bytes for RAW_GYR message on USB interface.
Byte Offset Data Type Descripion
0 16-bit signed, two's complement x component of gyroscope measurement
2 16-bit signed, two's complement y component of gyroscope measurement
4 16-bit signed, two's complement z component of gyroscope measurement

NORM_ACC

Message ID: 0xA3

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

Data Bytes: 12

Table 19. Structure of data bytes for NORM_ACC message on USB interface.
Byte Offset Data Type Descripion
0 IEEE754 float x component of acclerometer measurement
4 IEEE754 float y component of acclerometer measurement
8 IEEE754 float z component of acclerometer measurement

NORM_MAG

Message ID: 0xA4

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

Data Bytes: 12

Table 20. Structure of data bytes for NORM_MAG message on USB interface.
Byte Offset Data Type Descripion
0 IEEE754 float x component of magnetometer measurement
4 IEEE754 float y component of magnetometer measurement
8 IEEE754 float z component of magnetometer measurement

NORM_GYR

Message ID: 0xA5

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

Data Bytes: 12

Table 21. Structure of data bytes for NORM_GYR message on USB interface.
Byte Offset Data Type Descripion
0 IEEE754 float x component of gyroscope measurement
4 IEEE754 float y component of gyroscope measurement
8 IEEE754 float z component of gyroscope measurement

CALIB_ACC

Message ID: 0xA6

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

Data Bytes: 12

Table 22. Structure of data bytes for CALIB_ACC message on USB interface.
Byte Offset Data Type Descripion
0 IEEE754 float x component of acclerometer measurement
4 IEEE754 float y component of acclerometer measurement
8 IEEE754 float z component of acclerometer measurement

CALIB_MAG

Message ID: 0xA7

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

Data Bytes: 12

Table 23. Structure of data bytes for CALIB_MAG message on USB interface.
Byte Offset Data Type Descripion
0 IEEE754 float x component of magnetometer measurement
4 IEEE754 float y component of magnetometer measurement
8 IEEE754 float z component of magnetometer measurement

CALIB_GYR

Message ID: 0xA8

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

Data Bytes: 12

Table 24. Structure of data bytes for CALIB_GYR message on USB interface.
Byte Offset Data Type Descripion
0 IEEE754 float x component of gyroscope measurement
4 IEEE754 float y component of gyroscope measurement
8 IEEE754 float z component of gyroscope measurement

STATS

Message ID: 0xC0

Description: Provides operational statistics.

Data Bytes: 8

Table 25. Structure of data bytes for STATS message on USB interface.
Byte Offset Data Type Descripion
0 IEEE754 float sensors update rate
4 IEEE754 float orientation update rate