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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6.2 IIC Read the Module
IIC read the module, the format is as follow
IICAddr<<1
RegAddr
(IICAddr<<1)|1
Data1L
Data1H
Data2L
Data2H
……
First IIC host sends a Start signal to WT901 module,then write IICAddr to
register address, then IIC host sends a read signal(IICAddr<<1)|1) to WT901
module, if the IIC address is 0x50(default),then the host send 0xa0
Thereafter the module will export the data follow the rule: low byte first, high
byte Sequentially. The host will make SDA bus low after receiving each byte,
and sends a response signal to the module .After the specified number of data
has been received completely, the host stop sending response signal back to the
module, then the module will stop export data.The host send a stop signal to
end this operation.
For example:
Read the Angle of the module,
RedAddr: 0x3d,read 6 bytes continuously, the logic analyzer captures
waveforms as shown below:
Start reading out data from 0x3d,the data is 0x9C, 0x82,0x28,0xFF, 0xE6,0x24.
That means X-axis angle is 0x829C, Y-axis angle is 0xFF28, Z-axis angle is
0x24E6. According to section 5.1.4, X axis angle is -176.33 °, Y-axis angle is
-1.19 °, Z-axis angle is 51.89°