Data Sheet

ManualsBrandsSYD Dynamics ManualsInertia Measurement UnitsTransducerM TM100 Motion Sensor

Gravity

Object Identifier: 36 (decimal)

Bytes

Message Data Type Unit Description

0-3 Time Stamp

32-bit

unsigned

integer

Micro-seconds (uS)

Time stamp since TransducerM start.

Caution about over-flow every 1.19 hours.

When overflow occurs, the time stamp is reset

to zero and then accumulates from there on.

4-7 Gravity in X-Axes 32-bit float g

Represents the vector of Earth Gravity relative

to the TransducerM frame (sensor frame).

8-11 Gravity in Y-Axes 32-bit float g

12-15 Gravity in Z-Axes 32-bit float g

For C-Style programming, the Gravity Object is defined as below

typedef struct{

uint32 timeStamp; // Timestamp when the Gravity Vector is calculated (Unit: uS)

float32 g[3]; // (g[0],g[1],g[2])represents the vector of Earth Gravity in the sensor frame(Unit: g)

} Ep_Gravity;

Status

Object Identifier: 22 (decimal)

Bytes

Message Data Type Unit Description

0-3 Time Stamp

32-bit

unsigned integer

Micro-

seconds (uS)

Time stamp since TransducerM start.

Caution about over-flow every 1.19 hours.

When overflow occurs, the time stamp is reset to zero and then

accumulates from there on.

4-7 Temperature

32-bit

float

Celsius

Temperature measured inside the main sensor chip. The

temperature is influenced by environmental temperature, however,

it does not represent the environmental temperature itself (usually

higher than the actual environmental temperature due the heat

generated during run-time.)

8-9

Internal

Update Rate

16-bit

unsigned integer

Hz TransducerM internal update rate for sensor fusion.

10-11

System Status

bit fields

16-bit

unsigned integer

Indicates more details of the internal running status of

TransducerM. This message should be interpreted by bit fields.

This feature is only for TransducerM with firmware version V4.7.5

(3) or higher; earlier versions will always return zero.

Byte 1 QoS[0] QoS[1] QoS[2] 0 0 0 0 0

Byte 2 0 0 0 0 0 0 0 0

bit endianness: Little-endian

QoS[2..0] tells the Quality-of-Service of the system, which is an

indication of how much performance the TransducerM delivers.

Possible values of QoS[2..0] are

QoS[2..0] Meaning

0 Service unavailable due to booting or restarting.

1 Service unavailable due to System Fault.

2 Limited Service – Some functions are not available.

Performance limited.

(e.g. Right after Dynamic Boot)

3 Basic Service – All functions available and provides

basic performance.

(e.g. Right after Static Boot)

4 Fine Service – All functions available and provide