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
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6 IIC Protocol
WT901 module can be fully accessed through IIC, the maximum IIC
communication speed support 400khz, slave module address is 7bit, default
address is 0x50, you can change the command through the serial port or the
methods of IIC writing address ways. Many modules can be connect to IIC bus
at the same time, The precondition is that the module has the different IIC
address.
IIC protocol module using the register address accessible way. The
length of each address are 16bits, two bytes. The register address is defined in
the following table:
RegAddr
Symbol
Meaning
0x00
SAVE
Save
0x01
CALSW
Calibration
0x02
RSW
Return data content
0x03
RATE
Return data Speed
0x04
BAUD
Baud rate
0x05
AXOFFSET
X axis Acceleration bias
0x06
AYOFFSET
Y axis Acceleration bias
0x07
AZOFFSET
Z axis Acceleration bias
0x08
GXOFFSET
X axis angular velocity bias
0x09
GYOFFSET
Y axis angular velocity bias
0x0a
GZOFFSET
Z axis angular velocity bias
0x0b
HXOFFSET
X axis Magnetic bias
0x0c
HYOFFSET
Y axis Magnetic bias
0x0d
HZOFFSET
Z axis Magnetic bias
0x0e
D0MODE
D0 mode
0x0f
D1MODE
D1 mode
0x10
D2MODE
D2 mode
0x11
D3MODE
D3 mode
0x12
D0PWMH
D0PWM High-level width
0x13
D1PWMH
D1PWM High-level width
0x14
D2PWMH
D2PWM High-level width
0x15
D3PWMH
D3PWM High-level width
0x16
D0PWMT
D0PWM Period
0x17
D1PWMT
D1PWM Period
0x18
D2PWMT
D2PWM Period
0x19
D3PWMT
D3PWM Period