Firmware-820 Function-108
ORIENT5D (108, 6Ch)
The ORIENT5D function enables output of the Orient5D sensor data in both host and stand-alone modes using a number of methods. In host mode the sensor data is output as I2C DATA messages. In stand-alone mode the sensor data is output according to the stand-alone mode settings of the input number that equals the I2C port number. The following methods can be selected using the FUNCTION command’s method/parameter FP:
Orient5D v1.0
| FP | Data output in host mode | Data output in standalone mode | ||
|---|---|---|---|---|
| default | Quaternion W-axis [0..1]; a 32-bit IEEE-754 float value, representing [0..1], sent in 5 bytes (MSB .. LSB) | Quaternion W-axis [0..127] or [0..16383]; unsigned 7-bit or 14-bit value, representing [0..1], sent as one or two bytes (LSB, MSB) | ||
| Quaternion X-axis [-1..1]; a 32-bit IEEE-754 float value, representing [-1..1], sent in 5 bytes (MSB .. LSB) | Quaternion X-axis [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [-1..1], sent as one or two bytes (LSB, MSB) | |||
| Quaternion Y-axis [-1..1]; a 32-bit IEEE-754 float value, representing [-1..1], sent in 5 bytes (MSB .. LSB) | Quaternion Y-axis [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [-1..1], sent as one or two bytes (LSB, MSB) | |||
| Quaternion Z-axis [-1..1]; a 32-bit IEEE-754 float value, representing [-1..1], sent in 5 bytes (MSB .. LSB) | Quaternion Z-axis [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [-1..1], sent as one or two bytes (LSB, MSB) | |||
| 1 | Heading [-3.14..3.14]; a 32-bit IEEE-754 float value, representing [-3.14..3.14] radians ie. [-180..180] degrees, sent in 5 bytes (MSB .. LSB) | Heading [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [0..360] degrees, sent as one or two bytes (LSB, MSB) | ||
| Roll [-1.57..1.57]; a 32-bit IEEE-754 float value, representing [-1.57..1.57] radians ie. [-90..90] degrees, sent in 5 bytes (MSB .. LSB) | Roll [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [-90..90] degrees, sent as one or two bytes (LSB, MSB) | |||
| Pitch [-3.14..3.14]; a 32-bit IEEE-754 float value, representing [-3.14..3.14] radians ie. [-180..180] degrees, sent in 5 bytes (MSB .. LSB) | Pitch [0..127] or [0..16383]; an unsigned 7 bit or 14-bit value, representing [-180..180] degrees, sent as one or two bytes (LSB, MSB) | |||
| 2, 42 | Magnetic Field Strength X-axis [-512..512]; a 32-bit IEEE-754 float value, representing [-512..512] µT, sent in 5 bytes (MSB .. LSB) | Magnetic Field Strength X-axis [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [-512..512] µT, sent as one or two bytes (LSB, MSB) | ||
| Magnetic Field Strength Y-axis [-512..512]; a 32-bit IEEE-754 float value, representing [-512..512] µT, sent in 5 bytes (MSB .. LSB) | Magnetic Field Strength Y-axis [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [-512..512] µT, sent as one or two bytes (LSB, MSB) | |||
| Magnetic Field Strength Z-axis [-512..512]; a 32-bit IEEE-754 float value, representing [-512..512] µT, sent in 5 bytes (MSB .. LSB) | Magnetic Field Strength Z-axis [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [-512..512] µT, sent as one or two bytes (LSB, MSB) | |||
| 3, 43 | Acceleration X-axis [-78..78]; a 32-bit IEEE-754 float value, representing [-78..78] m/s2 ie. [-8..8] G, sent in 5 bytes (MSB .. LSB) | Acceleration X-axis [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [-8..8] G, sent as one or two bytes (LSB, MSB) | ||
| Acceleration Y-axis [-78..78]; a 32-bit IEEE-754 float value, representing [-78..78] m/s2 ie. [-8..8] G, sent in 5 bytes (MSB .. LSB) | Acceleration Y-axis [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [-8..8] G, sent as one or two bytes (LSB, MSB) | |||
| Acceleration Z-axis [-78..78]; a 32-bit IEEE-754 float value, representing [-78..78] m/s2 ie. [-8..8] G, sent in 5 bytes (MSB .. LSB) | Acceleration Z-axis [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [-8..8] G, sent as one or two bytes (LSB, MSB) | |||
| 4, 44 | Gyro X-axis [-35..35]; a 32-bit IEEE-754 float value, representing [-35..35] rad/s ie. [-2000..2000] º/s, sent in 5 bytes (MSB .. LSB) | Gyro X-axis [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [-2000..2000] º/s, sent as one or two bytes (LSB, MSB) | ||
| Gyro Y-axis [-35..35]; a 32-bit IEEE-754 float value, representing [-35..35] rad/s ie. [-2000..2000] º/s, sent in 5 bytes (MSB .. LSB) | Gyro Y-axis [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [-2000..2000] º/s, sent as one or two bytes (LSB, MSB) | |||
| Gyro Z-axis [-35..35]; a 32-bit IEEE-754 float value, representing [-35..35] rad/s ie. [-2000..2000] º/s, sent in 5 bytes (MSB .. LSB) | Gyro Z-axis [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [-2000..2000] º/s, sent as one or two bytes (LSB, MSB) | |||
| 6, 46 | Linear Acceleration X-axis [-78..78]; a 32-bit IEEE-754 float value, representing [-78..78] m/s2 ie. [-8..8] G, sent in 5 bytes (MSB .. LSB) | Linear Acceleration X-axis [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [-8..8] G, sent as one or two bytes (LSB, MSB) | ||
| Linear Acceleration Y-axis [-78..78]; a 32-bit IEEE-754 float value, representing [-78..78] m/s2 ie. [-8..8] G, sent in 5 bytes (MSB .. LSB) | Linear Acceleration Y-axis [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [-8..8] G, sent as one or two bytes (LSB, MSB) | |||
| Linear Acceleration Z-axis [-78..78]; a 32-bit IEEE-754 float value, representing [-78..78] m/s2 ie. [-8..8] G, sent in 5 bytes (MSB .. LSB) | Linear Acceleration Z-axis [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [-8..8] G, sent as one or two bytes (LSB, MSB) | |||
| 7, 47 | Gravity X-axis [0..9.8]; a 32-bit IEEE-754 float value, representing [0..9.8] m/s2 ie. [0..1] G, sent in 5 bytes (MSB .. LSB) | Gravity X-axis [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [0..1] G, sent as one or two bytes (LSB, MSB) | ||
| Gravity Y-axis [0..9.8]; a 32-bit IEEE-754 float value, representing [0..9.8] m/s2 ie. [0..1] G, sent in 5 bytes (MSB .. LSB) | Gravity Y-axis [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [0..1] G, sent as one or two bytes (LSB, MSB) | |||
| Gravity Z-axis [0..9.8]; a 32-bit IEEE-754 float value, representing [0..9.8] m/s2 ie. [0..1] G, sent in 5 bytes (MSB .. LSB) | Gravity Z-axis [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [0..1] G, sent as one or two bytes (LSB, MSB) | |||
| 9, 49 | Magnetic Field Strength X-axis [-512..512]; a 32-bit IEEE-754 float value, representing [-512..512] µT, sent in 5 bytes (MSB .. LSB) | See default | ||
| Magnetic Field Strength Y-axis [-512..512]; a 32-bit IEEE-754 float value, representing [-512..512] µT, sent in 5 bytes (MSB .. LSB) | ||||
| Magnetic Field Strength Z-axis [-512..512]; a 32-bit IEEE-754 float value, representing [-512..512] µT, sent in 5 bytes (MSB .. LSB) | ||||
| Acceleration X-axis [-78..78]; a 32-bit IEEE-754 float value, representing [-78..78] m/s2 ie. [-8..8] G, sent in 5 bytes (MSB .. LSB) | ||||
| Acceleration Y-axis [-78..78]; a 32-bit IEEE-754 float value, representing [-78..78] m/s2 ie. [-8..8] G, sent in 5 bytes (MSB .. LSB) | ||||
| Acceleration Z-axis [-78..78]; a 32-bit IEEE-754 float value, representing [-78..78] m/s2 ie. [-8..8] G, sent in 5 bytes (MSB .. LSB) | ||||
| Gyro X-axis [-35..35]; a 32-bit IEEE-754 float value, representing [-35..35] rad/s ie. [-2000..2000] º/s, sent in 5 bytes (MSB .. LSB) | ||||
| Gyro Y-axis [-35..35]; a 32-bit IEEE-754 float value, representing [-35..35] rad/s ie. [-2000..2000] º/s, sent in 5 bytes (MSB .. LSB) | ||||
| Gyro Z-axis [-35..35]; a 32-bit IEEE-754 float value, representing [-35..35] rad/s ie. [-2000..2000] º/s, sent in 5 bytes (MSB .. LSB) | ||||
| 12 | Quaternion W-axis [0..1]; a 32-bit IEEE-754 float value, representing [0..1], sent in 5 bytes (MSB .. LSB) | See default | ||
| Quaternion X-axis [-1..1]; a 32-bit IEEE-754 float value, representing [-1..1], sent in 5 bytes (MSB .. LSB) | ||||
| Quaternion Y-axis [-1..1]; a 32-bit IEEE-754 float value, representing [-1..1], sent in 5 bytes (MSB .. LSB) | ||||
| Quaternion Z-axis [-1..1]; a 32-bit IEEE-754 float value, representing [-1..1], sent in 5 bytes (MSB .. LSB) | ||||
| Magnetic Field Strength X-axis [-512..512]; a 32-bit IEEE-754 float value, representing [-512..512] µT, sent in 5 bytes (MSB .. LSB) | ||||
| Magnetic Field Strength Y-axis [-512..512]; a 32-bit IEEE-754 float value, representing [-512..512] µT, sent in 5 bytes (MSB .. LSB) | ||||
| Magnetic Field Strength Z-axis [-512..512]; a 32-bit IEEE-754 float value, representing [-512..512] µT, sent in 5 bytes (MSB .. LSB) | ||||
| 13 | Quaternion W-axis [0..1]; a 32-bit IEEE-754 float value, representing [0..1], sent in 5 bytes (MSB .. LSB) | See default | ||
| Quaternion X-axis [-1..1]; a 32-bit IEEE-754 float value, representing [-1..1], sent in 5 bytes (MSB .. LSB) | ||||
| Quaternion Y-axis [-1..1]; a 32-bit IEEE-754 float value, representing [-1..1], sent in 5 bytes (MSB .. LSB) | ||||
| Quaternion Z-axis [-1..1]; a 32-bit IEEE-754 float value, representing [-1..1], sent in 5 bytes (MSB .. LSB) | ||||
| Acceleration X-axis [-78..78]; a 32-bit IEEE-754 float value, representing [-78..78] m/s2 ie. [-8..8] G, sent in 5 bytes (MSB .. LSB) | ||||
| Acceleration Y-axis [-78..78]; a 32-bit IEEE-754 float value, representing [-78..78] m/s2 ie. [-8..8] G, sent in 5 bytes (MSB .. LSB) | ||||
| Acceleration Z-axis [-78..78]; a 32-bit IEEE-754 float value, representing [-78..78] m/s2 ie. [-8..8] G, sent in 5 bytes (MSB .. LSB) | ||||
| 14 | Quaternion W-axis [0..1]; a 32-bit IEEE-754 float value, representing [0..1], sent in 5 bytes (MSB .. LSB) | See default | ||
| Quaternion X-axis [-1..1]; a 32-bit IEEE-754 float value, representing [-1..1], sent in 5 bytes (MSB .. LSB) | ||||
| Quaternion Y-axis [-1..1]; a 32-bit IEEE-754 float value, representing [-1..1], sent in 5 bytes (MSB .. LSB) | ||||
| Quaternion Z-axis [-1..1]; a 32-bit IEEE-754 float value, representing [-1..1], sent in 5 bytes (MSB .. LSB) | ||||
| Gyro X-axis [-35..35]; a 32-bit IEEE-754 float value, representing [-35..35] rad/s ie. [-2000..2000] º/s, sent in 5 bytes (MSB .. LSB) | ||||
| Gyro Y-axis [-35..35]; a 32-bit IEEE-754 float value, representing [-35..35] rad/s ie. [-2000..2000] º/s, sent in 5 bytes (MSB .. LSB) | ||||
| Gyro Z-axis [-35..35]; a 32-bit IEEE-754 float value, representing [-35..35] rad/s ie. [-2000..2000] º/s, sent in 5 bytes (MSB .. LSB) | ||||
| 16 | Quaternion W-axis [0..1]; a 32-bit IEEE-754 float value, representing [0..1], sent in 5 bytes (MSB .. LSB) | See default | ||
| Quaternion X-axis [-1..1]; a 32-bit IEEE-754 float value, representing [-1..1], sent in 5 bytes (MSB .. LSB) | ||||
| Quaternion Y-axis [-1..1]; a 32-bit IEEE-754 float value, representing [-1..1], sent in 5 bytes (MSB .. LSB) | ||||
| Quaternion Z-axis [-1..1]; a 32-bit IEEE-754 float value, representing [-1..1], sent in 5 bytes (MSB .. LSB) | ||||
| Linear Acceleration X-axis [-78..78]; a 32-bit IEEE-754 float value, representing [-78..78] m/s2 ie. [-8..8] G, sent in 5 bytes (MSB .. LSB) | ||||
| Linear Acceleration Y-axis [-78..78]; a 32-bit IEEE-754 float value, representing [-78..78] m/s2 ie. [-8..8] G, sent in 5 bytes (MSB .. LSB) | ||||
| Linear Acceleration Z-axis [-78..78]; a 32-bit IEEE-754 float value, representing [-78..78] m/s2 ie. [-8..8] G, sent in 5 bytes (MSB .. LSB) | ||||
| 17 | Quaternion W-axis [0..1]; a 32-bit IEEE-754 float value, representing [0..1], sent in 5 bytes (MSB .. LSB) | See default | ||
| Quaternion X-axis [-1..1]; a 32-bit IEEE-754 float value, representing [-1..1], sent in 5 bytes (MSB .. LSB) | ||||
| Quaternion Y-axis [-1..1]; a 32-bit IEEE-754 float value, representing [-1..1], sent in 5 bytes (MSB .. LSB) | ||||
| Quaternion Z-axis [-1..1]; a 32-bit IEEE-754 float value, representing [-1..1], sent in 5 bytes (MSB .. LSB) | ||||
| Gravity X-axis [0..9.8]; a 32-bit IEEE-754 float value, representing [0..9.8] m/s2 ie. [0..1] G, sent in 5 bytes (MSB .. LSB) | ||||
| Gravity Y-axis [0..9.8]; a 32-bit IEEE-754 float value, representing [0..9.8] m/s2 ie. [0..1] G, sent in 5 bytes (MSB .. LSB) | ||||
| Gravity Z-axis [0..9.8]; a 32-bit IEEE-754 float value, representing [0..9.8] m/s2 ie. [0..1] G, sent in 5 bytes (MSB .. LSB) | ||||
| 19 | Quaternion W-axis [0..1]; a 32-bit IEEE-754 float value, representing [0..1], sent in 5 bytes (MSB .. LSB) | See default | ||
| Quaternion X-axis [-1..1]; a 32-bit IEEE-754 float value, representing [-1..1], sent in 5 bytes (MSB .. LSB) | ||||
| Quaternion Y-axis [-1..1]; a 32-bit IEEE-754 float value, representing [-1..1], sent in 5 bytes (MSB .. LSB) | ||||
| Quaternion Z-axis [-1..1]; a 32-bit IEEE-754 float value, representing [-1..1], sent in 5 bytes (MSB .. LSB) | ||||
| Magnetic Field Strength X-axis [-512..512]; a 32-bit IEEE-754 float value, representing [-512..512] µT, sent in 5 bytes (MSB .. LSB) | ||||
| Magnetic Field Strength Y-axis [-512..512]; a 32-bit IEEE-754 float value, representing [-512..512] µT, sent in 5 bytes (MSB .. LSB) | ||||
| Magnetic Field Strength Z-axis [-512..512]; a 32-bit IEEE-754 float value, representing [-512..512] µT, sent in 5 bytes (MSB .. LSB) | ||||
| Acceleration X-axis [-78..78]; a 32-bit IEEE-754 float value, representing [-78..78] m/s2 ie. [-8..8] G, sent in 5 bytes (MSB .. LSB) | ||||
| Acceleration Y-axis [-78..78]; a 32-bit IEEE-754 float value, representing [-78..78] m/s2 ie. [-8..8] G, sent in 5 bytes (MSB .. LSB) | ||||
| Acceleration Z-axis [-78..78]; a 32-bit IEEE-754 float value, representing [-78..78] m/s2 ie. [-8..8] G, sent in 5 bytes (MSB .. LSB) | ||||
| Gyro X-axis [-35..35]; a 32-bit IEEE-754 float value, representing [-35..35] rad/s ie. [-2000..2000] º/s, sent in 5 bytes (MSB .. LSB) | ||||
| Gyro Y-axis [-35..35]; a 32-bit IEEE-754 float value, representing [-35..35] rad/s ie. [-2000..2000] º/s, sent in 5 bytes (MSB .. LSB) | ||||
| Gyro Z-axis [-35..35]; a 32-bit IEEE-754 float value, representing [-35..35] rad/s ie. [-2000..2000] º/s, sent in 5 bytes (MSB .. LSB) | ||||
| 52 | Magnetic Field Strength Magnitude [0..512]; a 32-bit IEEE-754 float value, representing [0..512] µT, sent in 5 bytes (MSB .. LSB) | Magnetic Field Strength Magnitude [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [0..512] µT, sent as one or two bytes (LSB, MSB) | ||
| Magnetic Field Strength Magnitude Angle relative to Z-axis [0..180]; a 32-bit IEEE-754 float value, representing [0..180] degrees, sent in 5 bytes (MSB .. LSB) | Magnetic Field Strength Magnitude Angle relative to Z-axis [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [0..180] degrees, sent as one or two bytes (LSB, MSB) | |||
| Magnetic Field Strength Magnitude Angle relative to X-axis [0..180]; a 32-bit IEEE-754 float value, representing [0..180] degrees, sent in 5 bytes (MSB .. LSB) | Magnetic Field Strength Magnitude Angle relative to X-axis [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [0..180] degrees, sent as one or two bytes (LSB, MSB) | |||
| 53 | Acceleration Magnitude [0..78]; a 32-bit IEEE-754 float value, representing [0..78] m/s2 ie. [0..8] G, sent in 5 bytes (MSB .. LSB) | Acceleration Magnitude [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [0..78] m/s2 ie. [0..8] G, sent as one or two bytes (LSB, MSB) | ||
| Acceleration Magnitude Angle relative to Z-axis [0..180]; a 32-bit IEEE-754 float value, representing [0..180] degrees, sent in 5 bytes (MSB .. LSB) | Acceleration Magnitude Angle relative to Z-axis [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [0..180] degrees, sent as one or two bytes (LSB, MSB) | |||
| Acceleration Magnitude Angle relative to X-axis [0..180]; a 32-bit IEEE-754 float value, representing [0..180] degrees, sent in 5 bytes (MSB .. LSB) | Acceleration Magnitude Angle relative to X-axis [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [0..180] degrees, sent as one or two bytes (LSB, MSB) | |||
| 54 | Gyro Magnitude [0..35]; a 32-bit IEEE-754 float value, representing [0..35] rad/s ie. [0..2000] º/s, sent in 5 bytes (MSB .. LSB) | Gyro Magnitude [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [0..35] rad/s ie. [0..2000] º/s, sent as one or two bytes (LSB, MSB) | ||
| Gyro Magnitude Angle relative to Z-axis [0..180]; a 32-bit IEEE-754 float value, representing [0..180] degrees, sent in 5 bytes (MSB .. LSB) | Gyro Magnitude Angle relative to Z-axis [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [0..180] degrees, sent as one or two bytes (LSB, MSB) | |||
| Gyro Magnitude Angle relative to X-axis [0..180]; a 32-bit IEEE-754 float value, representing [0..180] degrees, sent in 5 bytes (MSB .. LSB) | Gyro Magnitude Angle relative to X-axis [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [0..180] degrees, sent as one or two bytes (LSB, MSB) | |||
| 56 | Linear Acceleration Magnitude [0..78]; a 32-bit IEEE-754 float value, representing [0..78] m/s2 ie. [0..8] G, sent in 5 bytes (MSB .. LSB) | Linear Acceleration Magnitude [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [0..78] m/s2 ie. [0..8] G, sent as one or two bytes (LSB, MSB) | ||
| Linear Acceleration Magnitude Angle relative to Z-axis [0..180]; a 32-bit IEEE-754 float value, representing [0..180] degrees, sent in 5 bytes (MSB .. LSB) | Linear Acceleration Magnitude Angle relative to Z-axis [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [0..180] degrees, sent as one or two bytes (LSB, MSB) | |||
| Linear Acceleration Magnitude Angle relative to X-axis [0..180]; a 32-bit IEEE-754 float value, representing [0..180] degrees, sent in 5 bytes (MSB .. LSB) | Linear Acceleration Magnitude Angle relative to X-axis [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [0..180] degrees, sent as one or two bytes (LSB, MSB) | |||
| 57 | Gravity Magnitude [0..9.8]; a 32-bit IEEE-754 float value, representing [0..9.8] m/s2 ie. [0..1] G, sent in 5 bytes (MSB .. LSB) | Gravity Magnitude [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [0..9.8] m/s2 ie. [0..1] G, sent as one or two bytes (LSB, MSB) | ||
| Gravity Magnitude Angle relative to Z-axis [0..180]; a 32-bit IEEE-754 float value, representing [0..180] degrees, sent in 5 bytes (MSB .. LSB) | Gravity Magnitude Angle relative to Z-axis [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [0..180] degrees, sent as one or two bytes (LSB, MSB) | |||
| Gravity Magnitude Angle relative to X-axis [0..180]; a 32-bit IEEE-754 float value, representing [0..180] degrees, sent in 5 bytes (MSB .. LSB) | Gravity Magnitude Angle relative to X-axis [0..127] or [0..16383]; an unsigned 7-bit or 14-bit value, representing [0..180] degrees, sent as one or two bytes (LSB, MSB) | |||
| 59 | Magnetic Field Strength Magnitude [0..512]; a 32-bit IEEE-754 float value, representing [0..512] µT, sent in 5 bytes (MSB .. LSB) | See default | ||
| Magnetic Field Strength Magnitude Angle relative to Z-axis [0..180]; a 32-bit IEEE-754 float value, representing [0..180] degrees, sent in 5 bytes (MSB .. LSB) | ||||
| Magnetic Field Strength Magnitude Angle relative to X-axis [0..180]; a 32-bit IEEE-754 float value, representing [0..180] degrees, sent in 5 bytes (MSB .. LSB) | ||||
| Acceleration Magnitude [0..78]; a 32-bit IEEE-754 float value, representing [0..78] m/s2 ie. [0..8] G, sent in 5 bytes (MSB .. LSB) | ||||
| Acceleration Magnitude Angle relative to Z-axis [0..180]; a 32-bit IEEE-754 float value, representing [0..180] degrees, sent in 5 bytes (MSB .. LSB) | ||||
| Acceleration Magnitude Angle relative to X-axis [0..180]; a 32-bit IEEE-754 float value, representing [0..180] degrees, sent in 5 bytes (MSB .. LSB) | ||||
| Gyro Magnitude [0..35]; a 32-bit IEEE-754 float value, representing [0..35] rad/s ie. [0..2000] º/s, sent in 5 bytes (MSB .. LSB) | ||||
| Gyro Magnitude Angle relative to Z-axis [0..180]; a 32-bit IEEE-754 float value, representing [0..180] degrees, sent in 5 bytes (MSB .. LSB) | ||||
| Gyro Magnitude Angle relative to X-axis [0..180]; a 32-bit IEEE-754 float value, representing [0..180] degrees, sent in 5 bytes (MSB .. LSB) | ||||
| 90 | Most Likely Activity [0..8]; an unsigned 8-bit value, representing [0: Unknown, 1: In vehicle, 2: On bicycle, 3: On foot, 4: Still, 5: Tilting, 6: Walking, 7: Running, 8: On stairs], sent as nibbles in two bytes (MSB .. LSB) | Most Likely Activity Confidence [1..127] or [1..16383]; an unsigned 7-bit or 14-bit value, representing [1..100] %, measured by one of 8 virtual inputs which represent the sensor motion as [1: In vehicle, 2: On bicycle, 3: On foot, 4: Still, 5: Tilting, 6: Walking, 7: Running, 8: On stairs] activity, sent as one or two bytes (LSB, MSB) | ||
| Most Likely Activity Confidence [0..100]; an unsigned 8-bit value, representing [0..100] %, sent as nibbles in two bytes (MSB .. LSB) | ||||
| 91 | Stability [0..4]; an unsigned 8-bit value, representing [0: unknown, 1: on table, 2: stationary, 3: held but stable, 4: motion], sent as one byte | Stability [16..64] or [2048..8192]; an unsigned 7-bit or 14-bit value, representing [16 or 2048: on table, 32 or 4096: stationary, 48 or 6144: held but stable, 64 or 8192: motion], sent as one or two bytes (LSB, MSB) | ||
| 92 | Tap Detected [0..127]; an unsigned 8-bit value, representing [bits 0..7: X-axis tap, X-axis direction, Y-axis tap, Y-axis direction, Z-axis tap, Z-axis direction, double tap], sent as one byte | Tap Detected [32..64] or [4096..8192]; an unsigned 7-bit or 14-bit value, representing [32 or 4096: tap detected, 64 or 8192: tap detected in positive axis direction], by one of 3 virtual inputs representing in turn motion in the [1: X, 2: Y, 3: Z] axis, sent as one or two bytes (LSB, MSB) | ||
| Double Tap Detected [64] or [8192]; an unsigned 7-bit or 14-bit value, representing that a double tap was detected, by virtual input 4, sent as one or two bytes (LSB, MSB) | ||||
| 93 | Shake Detected [0..7]; an unsigned 8-bit value, representing [bits 0..2: X-axis triple shake, Y-axis triple shake, Z-axis triple shake], sent as one byte | Shake Detected [127] or [16383]; an unsigned 7-bit or 14-bit value, representing that a triple shake was detected, by one of 3 virtual inputs representing in turn motion in the [1: X, 2: Y, 3: Z] axis, sent as one or two bytes (LSB, MSB) | ||
| 94 | Step Count [0..65535]; an unsigned 16-bit value, representing [0..65535] steps, sent as nibbles in 4 bytes (MSB .. LSB) | Step Count LSB [0..16383]; an unsigned 7-bit or 14-bit value, representing [0..16383] steps, sent as one or two bytes (LSB, MSB) | ||
| Step Detection Latency [0..4294967296]; an unsigned 32-bit value, representing [0..4294967296] microseconds, sent in 5 bytes (MSB .. LSB) | Step Count MSB [0..16383]; an unsigned 7-bit or 14-bit value, representing [0..65535] steps, sent as one or two bytes (LSB, MSB) | |||
| 127 | BNO085 rotation vector version; an unsigned 32-bit value, sent in 5 bytes (MSB .. LSB) | See default | ||
| BNO085 software part number; an unsigned 32-bit value, sent in 5 bytes (MSB .. LSB) | ||||
| BNO085 software build number; an unsigned 32-bit value, sent in 5 bytes (MSB .. LSB) | ||||
| BNO085 software version patch; an unsigned 16-bit value, sent in 5 bytes (MSB .. LSB) |
Example:
In order to enable the ORIENT5D function to get the heading, pitch and roll data from an Orient5D sensor with I2C device address 41 (default Orient5D I2C device address) connected to the 1st I2C port, the following message is sent (see also the FUNCTION command):
- 240, 125, 0 {DEV}, 8 {FUNCTION}, 0 {port}, 75 {device address}, 108 {ORIENT5D function}, 1 {heading/roll/pitch}, 247 (F0h, 7Dh, 00h, 08h, 00h, 4Bh, 6Ch, 01h, F7h)
In host mode raw sensor data will be output immediately in I2C DATA messages.
In stand-alone mode a suitable configuration has to be set using the EDIT CONFIG command before any MIDI messages will be output. For example to output the Orient5D heading as MIDI controller 64 messages, the following message is sent:
- 240, 125, 0 {DEV}, 106 {EDIT CONFIG}, 1 {configuration number}, 0 {input}, 48 {control-change message}, 64 {controller number}, 1 {continuous signal processing}, 0 {threshold}, 127 {top}, 0 {noise gate}, 0 {time window}, 247 (F0h, 7Dh, 00h, 6Ah, 01h, 00h, 30h, 40h, 01h, 00h, 7Fh, 00h, 00h, F7h)
Other settings of the Orient5D sensor can be effectuated by using I2C commands such as I2C WRITE and I2C READ, which can be sent in both host and stand-alone mode. See also the datasheet linked from the Orient5D webpage.
