Firmware of IMUModule_STM32_PCB
- STM32CubeIde 1.14.0
- SPI (Clock polarity: Low, Clock phase: 1edge)
After reading 12 bytes, convert according to the following
| byte index | 0 | 1 | 2 | 3 | 4 | 5 |
|---|---|---|---|---|---|---|
| description | gyro.x (low) | gyro.x (high) | gyro.y (low) | gyro.y (high) | gyro.z (low) | gyro.z (high) |
| byte index | 6 | 7 | 8 | 9 | 10 | 11 |
|---|---|---|---|---|---|---|
| description | acc.x (low) | acc.x (high) | acc.y (low) | acc.y (high) | acc.z (low) | acc.z (high) |
Linear acceleration sensitivity: 0.061mg/LSB
Angular rate sensitivity: 35mdps/LSB