Data Sheet

ManualsBrandsSYD Dynamics ManualsInertia Measurement UnitsTransducerM TM100 Motion Sensor

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

typedef struct{

uint8 cmdRequest; // the command requested

uint8 notUsed[3]; // the padding at the end of the structure

} Ep_Request;

Example of EasyProtocol

In-depth Case Study

TransducerM uses Little Endian conversion when mapping data to the memory.

For example, if the Host Computer receives a complete data package stream (hexadecimal format) from TransducerM:

aa551423ec4100a0f53813afb6043f6d5200bff380994192b9

where 0xaa is the first byte received, and 0xb9 is the last byte.

From section 'Overview of EasyProtocol' on page 26 we know that,

The orange part '14' represents the Package Length. In this case 0x14 = 20(decimal), which means the content followed by

0x14 consists of 20 bytes, i.e. '23ec4100a0f53813afb6043f6d5200bff3809941' which are in total 20 bytes.

The purple section '23ec4100' represents the Payload Information, which is interpreted by bit fields. By converting

hexadecimal '23ec4100' into binary format, we get:

Hexadecimal 0x23 0xec 0x41 0x00

Binary Format

Bit endianness: Big-endian

This is what we are used to when hand writing, however,

this is not how it is stored in the machines' memory.

00100011

MSB→ LSB

Bit offset 0→7

11101100 01000001 00000000

Binary Format

Bit endianness: Little-endian.

We are using this format.

11000100

LSB→ MSB

Bit offset 0→7

00110111 10000010 00000000

Recall section 'Overview of EasyProtocol', we can now divide the bits into four bit fields:

Payload Information bit fields Bits

Binary

(Little-endian)

Convert to Big-endian Meaning

Object Identifier

(Data and Command Type, CMD)

7 1100010

0100011 (Binary) = 23 (Hex) =

35 (Decimal)

The Object contained in the

Payload Content is roll-pitch-yaw

data. Refer to descriptions on 'Roll,

Pitch, Yaw' on page 28.

Reserved 3 000 000

This field should always be zero,

otherwise ignore the data stream.

Source device ID of the package

(FROM_ID)

11 11011110000

00001111011 (Binary) = 123

(Decimal)

The roll-pitch-yaw data is sent from

TransducerM with Node ID 123

Destination device ID of the package

(TO_ID)

11 01000000000

00000000010 (Binary) = 2

(Decimal)

The roll-pitch-data is sent to the

Host computer. The Host computer

always has a ID number of 2.

The grey part 'a0f53813afb6043f6d5200bff3809941' represents the Payload Content. Now we put these bytes into a table shown

as below.

Memory offset

per byte

+0 +1 +2 +3 +4 +5 +6 +7 ... +12 +13 +14 +15

Content 0xa0 0xf5 0x38 0x13 0xaf 0xb6 0x04 0x3f ... 0xf3 0x80 0x99 0x41