Specification Sheet
Table Of Contents
- Tutorial Link
- Contact
- Application
- Contents
- 1 Overview
- 2 Features
- 3 Specification
- 4 Pin Definition
- 5 Communication Protocol
- 5.2 Config Commands
- 5.2.1 Register Address
- 5.2.2 Save Configuration
- 5.2.3 Calibrate
- 5.2.4 Installation Direction
- 5.2.5 Sleep/ Wake up
- 5.2.6 Algorithm Transition
- 5.2.7 Gyroscope Automatic Calibration
- 5.2.8 Return Content
- 5.2.9 Return Rate
- 5.2.10 Baud Rate
- 5.2.11 Set X Axis Acceleration Bias
- 5.2.12 Set Y Axis Acceleration Bias
- 5.2.13 Set Z Axis Acceleration Bias
- 5.2.14 Set X Axis Angular Velocity Bias
- 5.2.15 Set Y Axis Angular Velocity Bias
- 5.2.16 Set Z Axis Angular Velocity Bias
- 5.2.17 Set X Axis Magnetic Bias
- 5.2.18 Set Y Axis Magnetic Bias
- 5.2.19 Set Z Axis Magnetic Bias
- 5.2.20 Set port D0 mode
- 5.2.21 Set port D1 mode
- 5.2.22 Set port D2 mode
- 5.2.23 Set port D3 mode
- 5.2.24 Set the PWM width of Port D0
- 5.2.25 Set the PWM width of Port D1
- 5.2.26 Set the PWM width of Port D2
- 5.2.27 Set the PWM width of Port D3
- 5.2.28 Set period of Port D0
- 5.2.29 Set period of Port D1
- 5.2.30 Set period of Port D2
- 5.2.31 Set period of Port D3
- 5.2.32 Set IIC Address
- 5.2.33 LED
- 5.2.34 Set GPS baud
- 5.2.35Set alarm of module
- 6 IIC Protocol
WT901 | Datasheet v20-0702 | http://wiki.wit-motion.com/english
- 11 -
5.1.2 Acceleration Output
0x55
0x51
AxL
AxH
AyL
AyH
AzL
AzH
TL
TH
SUM
Calculate formula：
a
x
=((AxH<<8)|AxL)/32768*16g(g is Gravity acceleration, 9.8m/s
2
)
a
y
=((AyH<<8)|AyL)/32768*16g(g is Gravity acceleration, 9.8m/s
2
)
a
z
=((AzH<<8)|AzL)/32768*16g(g is Gravity acceleration, 9.8m/s
2
)
Temperature calculated formula：
T=((TH<<8)|TL)/100 ℃
Checksum：
Sum=0x55+0x51+AxH+AxL+AyH+AyL+AzH+AzL+TH+TL
Note：
1. The data is sent in hexadecimal, not ASCII code.
Each data is transmitted in turn of low byte and high byte, and the two are
combined into a signed short type data.
For example, X-axis acceleration data Ax, where AxL is low byte and AxH is
high byte. The conversion method is as follows:
Assuming that Data is actual data, DataH is its high byte, and DataL is its
low byte, then: Data = (short) (DataH << 8 | DataL).
It must be noted that DataH needs to be coerced into a signed short data
and then shifted, and the data type of Data is also a signed short type, so
that it can represent negative numbers.
5.1.3 Angular Velocity Output
0x55
0x52
wxL
wxH
wyL
wyH
wzL
wzH
TL
TH
SUM
Calculated formula：
w
x
=((wxH<<8)|wxL)/32768*2000(°/s)
w
y
=((wyH<<8)|wyL)/32768*2000(°/s)
w
z
=((wzH<<8)|wzL)/32768*2000(°/s)
Temperature calculated formula：
T=((TH<<8)|TL) /100 ℃
Checksum：
Sum=0x55+0x52+wxH+wxL+wyH+wyL+wzH+wzL+TH+TL