IMU Gyro Sensor: value & command reference

This value can itself be −32768 (top bit set, e.g. 0x8000), the same as MBC_NONE for no answer, so do not test for −32768: use mbcReadMany(0x6A, 0x01, 1, &headingGyro3D) instead; only a false return means no answer.

int16_t headingGyro3D = mbcRead(0x6A, 0x01);   // gyro 3D heading：-32768~32767 °

This value can itself be −32768 (top bit set, e.g. 0x8000), the same as MBC_NONE for no answer, so do not test for −32768: use mbcReadMany(0x6A, 0x02, 1, &headingFused) instead; only a false return means no answer.

int16_t headingFused = mbcRead(0x6A, 0x02);   // fused heading：-32768~32767 °

This value can itself be −32768 (top bit set, e.g. 0x8000), the same as MBC_NONE for no answer, so do not test for −32768: use mbcReadMany(0x6A, 0x03, 1, &headingGyro1D) instead; only a false return means no answer.

int16_t headingGyro1D = mbcRead(0x6A, 0x03);   // gyro 1D heading：-32768~32767 °

This value can itself be −32768 (top bit set, e.g. 0x8000), the same as MBC_NONE for no answer, so do not test for −32768: use mbcReadMany(0x6A, 0x04, 1, &headingMag) instead; only a false return means no answer.

int16_t headingMag = mbcRead(0x6A, 0x04);   // magnetic heading：-32768~32767 °

This value can itself be −32768 (top bit set, e.g. 0x8000), the same as MBC_NONE for no answer, so do not test for −32768: use mbcReadMany(0x6A, 0x05, 1, &yawRate) instead; only a false return means no answer.

int16_t yawRate = mbcRead(0x6A, 0x05);   // yaw rate：-32768~32767 0.1 dps

Returns MBC_NONE (−32768) when the module does not answer.

int16_t pitch = mbcRead(0x6A, 0x06);   // pitch angle：-90~+90 °

This value can itself be −32768 (top bit set, e.g. 0x8000), the same as MBC_NONE for no answer, so do not test for −32768: use mbcReadMany(0x6A, 0x07, 1, &pitchRate) instead; only a false return means no answer.

int16_t pitchRate = mbcRead(0x6A, 0x07);   // pitch rate：-32768~32767 0.1 dps

Returns MBC_NONE (−32768) when the module does not answer.

int16_t magTrust = mbcRead(0x6A, 0x08);   // magnetometer trust：0~255

Returns MBC_NONE (−32768) when the module does not answer.

int16_t magDisturb = mbcRead(0x6A, 0x09);   // magnetic disturbance：0~255 0.01°

Returns MBC_NONE (−32768) when the module does not answer.

int16_t upFace = mbcRead(0x6A, 0x0A);   // face up：0~5

Ids 0x10~0x12 are consecutive: one mbcReadMany call returns them from the same 10 ms snapshot.

int16_t gyro[3];
mbcReadMany(0x6A, 0x10, 3, gyro);   // gyro axis 1~3：-32768~32767 0.1 dps
for (uint8_t i = 0; i < 3; i++) { Serial.print(gyro[i]); Serial.print(' '); }
Serial.println();

Ids 0x13~0x15 are consecutive: one mbcReadMany call returns them from the same 10 ms snapshot.

int16_t accel[3];
mbcReadMany(0x6A, 0x13, 3, accel);   // accel axis 1~3：-32768~32767 mg
for (uint8_t i = 0; i < 3; i++) { Serial.print(accel[i]); Serial.print(' '); }
Serial.println();

Ids 0x16~0x18 are consecutive: one mbcReadMany call returns them from the same 10 ms snapshot.

int16_t mag[3];
mbcReadMany(0x6A, 0x16, 3, mag);   // mag axis 1~3：-32768~32767 mG
for (uint8_t i = 0; i < 3; i++) { Serial.print(mag[i]); Serial.print(' '); }
Serial.println();

Returns MBC_NONE (−32768) when the module does not answer.

int16_t cmdStatus = mbcRead(0x6A, 0x0B);   // command status：0~0xEF03

int16_t st = mbcRead(0x6A, 0xF3);
bool ready = st & (1 << 0);   // ready
bool still = st & (1 << 1);   // stationary
bool axisCaptured = st & (1 << 2);   // mount axis captured
bool mountTilted = st & (1 << 3);   // mount too tilted
bool accelCalibrating = st & (1 << 4);   // accel calibrating
bool magCalibrating = st & (1 << 5);   // mag calibrating
bool fusionInit = st & (1 << 6);   // fusion initialised
bool magAutoCalDone = st & (1 << 7);   // mag auto-cal converged