Specification Sheet

WT901SDCL | Datasheet v20-0605 | http://wiki.wit-motion.com/english
- 14 -
6.1.2 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 formular：
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.
6.1.3 Angular Velocity Output
0x55
0x52
wxL
wxH
wyL
wyH
wzL
wzH
TL
TH
SUM
Calculated formular：
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 formular：
T=((TH<<8)|TL) /100 ℃
Checksum：
Sum=0x55+0x52+wxH+wxL+wyH+wyL+wzH+wzL+TH+TL