Data Sheet

Serial mode
Communication settings
The Serial mode operates over a link with a default baud rate of 9600 bps (no parity, 2 stop bits) and 3.3v-5v
signal levels. This is not RS232. Do not connect RS232 to the module, the high RS232 voltages will irreversibly
damage the module.
Commands for Serial
Command Name Bytes returned Returned data description
0x11 GET VERSION 1 Software version
0x12 GET BEARING 8 BIT 1 Bearing as a single byte 0-255
0x13 GET BEARING 16 BIT 2
Bearing (16 bit), high byte first
0-3599
0x14 GET PITCH 1 Pitch angle +/- 0-90°
0x15 GET ROLL 1 Roll angle +/- 0-90°
0x19 GET MAG RAW 6
Raw magnetic data, 16 bit
signed: X high, X low, Y high, Y
low, Z high, Z low
0x20 GET ACCEL RAW 6
Raw accelerometer data, 16 bit
signed: X high, X low, Y high, Y
low, Z high, Z low
0x21 GET GYRO RAW 6
Raw gyro data, 16 bit signed: X
high, X low, Y high, Y low, Z
high, Z low
0x23 GET ALL 4
Angle high, angle low (0-3599),
pitch (+/- 0-90), roll (+/- 0-90)
0x24 GET CALIBRATION STATE 1
Bits 0 and 1 reflect the
calibration status (0 un-
calibrated, 3 fully calibrated)
0x26 GET ROLL 180 2
roll angle (16 bit) high bytes
first +/- 0-180°
0x98 CHANGE CALIBRATION CONFIG BYTE 1 1 Returns ok (0x55)
0x95 CHANGE CALIBRATION CONFIG BYTE 2 1 Returns ok (0x55)
0x99 CHANGE CALIBRATION CONFIG BYTE 3 1 Returns ok (0x55)
0xF0 STORE CALIBRATION BYTE 1 1 Returns ok (0x55)
0xF5 STORE CALIBRATION BYTE 2 1 Returns ok (0x55)
0xF6 STORE CALIBRATION BYTE 3 1 Returns ok (0x55)
0xE0 DELETE CALIBRATION BYTE 1 1 Returns ok (0x55)
0xE5 DELETE CALIBRATION BYTE 2 1 Returns ok (0x55)
0xE2 DELETE CALIBRATION BYTE 3 1 Returns ok (0x55)
0xA0 BAUD 19200 1 Returns ok (0x55)
0xA1 BAUD 38400 1 Returns ok (0x55)