For the first prototype of a quadruped, I used the same IMU as given in ODRI. At that time I was using the master board to get IMU data.

Now For a second prototype, I am planning to use the same IMU with my one STM 32 code[Champ, CAN, LWIP and other stacks running]. I was hoping to take a reference from Master Board firmware. I require some information regarding some variables.

This is the Uart_imu code, I am refering.

- I would like to know what is DQ16N and where it is used?
- I also would like to know what each member in the stuck represents?

```
struct strcut_imu_data
{
union float_int acc_x;
union float_int acc_y;
union float_int acc_z;
union float_int gyr_x;
union float_int gyr_y;
union float_int gyr_z;
union float_int roll;
union float_int pitch;
union float_int yaw;
union float_int linacc_x;
union float_int linacc_y;
union float_int linacc_z;
};
```