Request-Response Messages

Table 1. List of I2C request messages.
Message	Message ID (hex)	Description
GET_SYS_INFO	0x01	Requests sending back information on the device type and firmware version.
GET_QUAT_DATA	0x02	Requests sending back actual orientation in quaternion representation.
GET_EULER_DATA	0x03	Requests sending back actual orientation in Euler angles representation.
GET_ROT_RATE_DATA	0x04	Requests sending back actual rotation rates.
GET_TEMP	0x0F	Requests sending current temperature reading
SET_BAUD_RATE	0x10	Requests changing UART interface baud rate. Newly applied baud rate will be used after next power-on or reset of the device. To make sure they persist, WRITE_FLASH command should be used afterwards.
SET_I2C_ADDR	0x11	Requests changing I2C slave address. Newly applied I2C slave address will be after next power-on or reset of the device. To make sure they persist, WRITE_FLASH command should be used afterwards.
GET_RAW_ACC	0x20	Requests sending raw accelerometer measurement data.
GET_RAW_MAG	0x21	Requests sending raw magnetometer measurement data.
GET_RAW_GYR	0x22	Requests sending raw gyroscope measurement data.
GET_NORM_ACC	0x23	Requests sending normalized accelerometer measurement data.
GET_NORM_MAG	0x24	Requests sending normalized magnetometer measurement data.
GET_NORM_GYR	0x25	Requests sending normalized gyroscope measurement data.
GET_CALIB_ACC	0x26	Requests sending calibrated accelerometer measurement data.
GET_CALIB_MAG	0x27	Requests sending calibrated magnetometer measurement data.
GET_CALIB_GYR	0x28	Requests sending calibrated gyroscope measurement data.
GET_I2C_ADDR	0x30	Requests currently set I2C address.
GET_BAUD_RATE	0x31	Requests currently set baud rate.

GET_SYS_INFO

Message ID: 0x01

Description: Requests sending back information on the device type and firmware version.

Request Data Bytes: 0

Response data Bytes: 32

Table 2. Structure of response data bytes for GET_SYS_INFO message on I2C interface.
Byte Offset	Data Type	Value (hex)	Descripion
0	null-terminated string	(varies)	Device type identifier.
8	null-terminated string	(varies)	Firmware release version in MAJOR.MINOR.PATCH format, optionally extended with other symbols.

GET_QUAT_DATA

Message ID: 0x02

Description: Requests sending back actual orientation in quaternion representation.

Request Data Bytes: 0

Response data Bytes: 16

Table 3. Structure of response data bytes for GET_QUAT_DATA message on I2C interface.
Byte Offset	Data Type	Value (hex)	Descripion
0	IEEE754 float	(varies)	q0 component
4	IEEE754 float	(varies)	q1 component
8	IEEE754 float	(varies)	q2 component
12	IEEE754 float	(varies)	q3 component

GET_EULER_DATA

Message ID: 0x03

Description: Requests sending back actual orientation in Euler angles representation.

Request Data Bytes: 0

Response data Bytes: 12

Table 4. Structure of response data bytes for GET_EULER_DATA message on I2C interface.
Byte Offset	Data Type	Value (hex)	Descripion
0	IEEE754 float	(varies)	Pitch angle in degrees.
4	IEEE754 float	(varies)	Roll angle in degrees.
8	IEEE754 float	(varies)	Yaw angle in degrees.

GET_ROT_RATE_DATA

Message ID: 0x04

Description: Requests sending back actual rotation rates.

Request Data Bytes: 0

Response data Bytes: 12

Table 5. Structure of response data bytes for GET_ROT_RATE_DATA message on I2C interface.
Byte Offset	Data Type	Value (hex)	Descripion
0	IEEE754 float	(varies)	Rotation rate over X axis in degrees/second.
4	IEEE754 float	(varies)	Rotation rate over Y axis in degrees/second.
8	IEEE754 float	(varies)	Rotation rate over Z axis in degrees/second.

GET_TEMP

Message ID: 0x0F

Description: Requests sending current temperature reading

Request Data Bytes: 0

Response data Bytes: 4

Table 6. Structure of response data bytes for GET_TEMP message on I2C interface.
Byte Offset	Data Type	Value (hex)	Descripion
0	IEEE754 float	(varies)	Actual temperature value in Celsius degrees.

SET_BAUD_RATE

Message ID: 0x10

Description: Requests changing UART interface baud rate. Newly applied baud rate will be used after next power-on or reset of the device. To make sure they persist, WRITE_FLASH command should be used afterwards.

Request Data Bytes: 1

Table 7. Structure of request data bytes for SET_BAUD_RATE message on I2C interface.
Byte Offset	Data Type	Value (hex)	Descripion
0	8-bit unsigned	(varies)	New baud rate.

Response data Bytes: 1

Table 8. Structure of response data bytes for SET_BAUD_RATE message on I2C interface.
Byte Offset	Data Type	Value (hex)	Descripion
0	8-bit unsigned	(varies)	Current baud rate.

SET_I2C_ADDR

Message ID: 0x11

Description: Requests changing I2C slave address. Newly applied I2C slave address will be after next power-on or reset of the device. To make sure they persist, WRITE_FLASH command should be used afterwards.

Request Data Bytes: 1

Table 9. Structure of request data bytes for SET_I2C_ADDR message on I2C interface.
Byte Offset	Data Type	Value (hex)	Descripion
0	8-bit unsigned	(varies)	New 7-bit I2C slave address for the device.

Response data Bytes: 1

Table 10. Structure of response data bytes for SET_I2C_ADDR message on I2C interface.
Byte Offset	Data Type	Value (hex)	Descripion
0	8-bit unsigned	(varies)	7-bit I2C slave device address.

GET_RAW_ACC

Message ID: 0x20

Description: Requests sending raw accelerometer measurement data.

Request Data Bytes: 0

Response data Bytes: 6

Table 11. Structure of response data bytes for GET_RAW_ACC message on I2C interface.
Byte Offset	Data Type	Value (hex)	Descripion
0	16-bit signed, two's complement	(varies)	x component of acclerometer measurement
2	16-bit signed, two's complement	(varies)	y component of acclerometer measurement
4	16-bit signed, two's complement	(varies)	z component of acclerometer measurement

GET_RAW_MAG

Message ID: 0x21

Description: Requests sending raw magnetometer measurement data.

Request Data Bytes: 0

Response data Bytes: 6

Table 12. Structure of response data bytes for GET_RAW_MAG message on I2C interface.
Byte Offset	Data Type	Value (hex)	Descripion
0	16-bit signed, two's complement	(varies)	x component of magnetometer measurement
2	16-bit signed, two's complement	(varies)	y component of magnetometer measurement
4	16-bit signed, two's complement	(varies)	z component of magnetometer measurement

GET_RAW_GYR

Message ID: 0x22

Description: Requests sending raw gyroscope measurement data.

Request Data Bytes: 0

Response data Bytes: 6

Table 13. Structure of response data bytes for GET_RAW_GYR message on I2C interface.
Byte Offset	Data Type	Value (hex)	Descripion
0	16-bit signed, two's complement	(varies)	x component of gyroscope measurement
2	16-bit signed, two's complement	(varies)	y component of gyroscope measurement
4	16-bit signed, two's complement	(varies)	z component of gyroscope measurement

GET_NORM_ACC

Message ID: 0x23

Description: Requests sending normalized accelerometer measurement data.

Request Data Bytes: 0

Response data Bytes: 12

Table 14. Structure of response data bytes for GET_NORM_ACC message on I2C interface.
Byte Offset	Data Type	Value (hex)	Descripion
0	IEEE754 float	(varies)	x component of acclerometer measurement
4	IEEE754 float	(varies)	y component of acclerometer measurement
8	IEEE754 float	(varies)	z component of acclerometer measurement

GET_NORM_MAG

Message ID: 0x24

Description: Requests sending normalized magnetometer measurement data.

Request Data Bytes: 0

Response data Bytes: 12

Table 15. Structure of response data bytes for GET_NORM_MAG message on I2C interface.
Byte Offset	Data Type	Value (hex)	Descripion
0	IEEE754 float	(varies)	x component of magnetometer measurement
4	IEEE754 float	(varies)	y component of magnetometer measurement
8	IEEE754 float	(varies)	z component of magnetometer measurement

GET_NORM_GYR

Message ID: 0x25

Description: Requests sending normalized gyroscope measurement data.

Request Data Bytes: 0

Response data Bytes: 12

Table 16. Structure of response data bytes for GET_NORM_GYR message on I2C interface.
Byte Offset	Data Type	Value (hex)	Descripion
0	IEEE754 float	(varies)	x component of gyroscope measurement
4	IEEE754 float	(varies)	y component of gyroscope measurement
8	IEEE754 float	(varies)	z component of gyroscope measurement

GET_CALIB_ACC

Message ID: 0x26

Description: Requests sending calibrated accelerometer measurement data.

Request Data Bytes: 0

Response data Bytes: 12

Table 17. Structure of response data bytes for GET_CALIB_ACC message on I2C interface.
Byte Offset	Data Type	Value (hex)	Descripion
0	IEEE754 float	(varies)	x component of acclerometer measurement
4	IEEE754 float	(varies)	y component of acclerometer measurement
8	IEEE754 float	(varies)	z component of acclerometer measurement

GET_CALIB_MAG

Message ID: 0x27

Description: Requests sending calibrated magnetometer measurement data.

Request Data Bytes: 0

Response data Bytes: 12

Table 18. Structure of response data bytes for GET_CALIB_MAG message on I2C interface.
Byte Offset	Data Type	Value (hex)	Descripion
0	IEEE754 float	(varies)	x component of magnetometer measurement
4	IEEE754 float	(varies)	y component of magnetometer measurement
8	IEEE754 float	(varies)	z component of magnetometer measurement

GET_CALIB_GYR

Message ID: 0x28

Description: Requests sending calibrated gyroscope measurement data.

Request Data Bytes: 0

Response data Bytes: 12

Table 19. Structure of response data bytes for GET_CALIB_GYR message on I2C interface.
Byte Offset	Data Type	Value (hex)	Descripion
0	IEEE754 float	(varies)	x component of gyroscope measurement
4	IEEE754 float	(varies)	y component of gyroscope measurement
8	IEEE754 float	(varies)	z component of gyroscope measurement

GET_I2C_ADDR

Message ID: 0x30

Description: Requests currently set I2C address.

Request Data Bytes: 0

Response data Bytes: 1

Table 20. Structure of response data bytes for GET_I2C_ADDR message on I2C interface.
Byte Offset	Data Type	Value (hex)	Descripion
0	8-bit unsigned	(varies)	7-bit I2C slave device address.

GET_BAUD_RATE

Message ID: 0x31

Description: Requests currently set baud rate.

Request Data Bytes: 0

Response data Bytes: 1

Table 21. Structure of response data bytes for GET_BAUD_RATE message on I2C interface.
Byte Offset	Data Type	Value (hex)	Descripion
0	8-bit unsigned	(varies)	Current baud rate.