Specification Sheet

WT901BLECL | Datasheet v20-0707 | http://wiki.wit-motion.com/english
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6.1.2.1 Magnetic Field Output
0x55
0x71
0x3A
0x00
HxL
HxH
HyL
HyH
HzL
HzH
......
Calculated formular：Unit: mG
Magnetic field (x axis) Hx=(( HxH<<8)| HxL)
Magnetic field (y axis) Hy=(( HyH <<8)| HyL)
Magnetic field (z axis) Hz =(( HzH<<8)| HzL)
For example: Send instruction to read magnetic field in APP: FF AA 27
3A 00 (Please refer to 6.1.2)
The module return data to APP: 55 71 3A 00 68 01 69 00 7A 00 00 00 00 00
00 00 00 00 00 00 Total: 20 bytes.
Calculate the no.5 to no.10 bytes as described above, magnetic field x=360,
y=105, z=122
6.1.2.2 Quaternion Output
0x55
0x71
0x51
0x00
Q0L
Q0H
Q1L
Q1H
Q2L
Q2H
Q3L
Q3H
Calculated formular：
Q0=((Q0H<<8)|Q0L)/32768
Q1=((Q1H<<8)|Q1L)/32768
Q2=((Q2H<<8)|Q2L)/32768
Q3=((Q3H<<8)|Q3L)/32768
Checksum：
Sum=0x55+0x59+Q0L+Q0H+Q1L +Q1H +Q2L+Q2H+Q3L+Q3H