WiT WT901BLECL 5.0, Руководство пользователя

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FF AA 27 XX 00
--XX is register number. The register number please refer to 7.3. Example as below:
Function
Instruction
Read magnetic field FF AA 27 3A 00
Read port status FF AA 27 41 00
Read quaternion FF AA 27 51 00
Read temperature FF AA 27 40 00
After send instruction, the module turn back a data packet 0x55 0x71. There are register
address and 7 registers data (Fixed upload 8 registers). Return data format as below:
Start register(2 byte) + register data(16 byte, 8 registers)
Note: 0xNN is a accurate value, low byte first, high byte last.
1. Magnetic field output
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)
EX: Send instruction to read magnetic field in APP: FF AA 27 3A 00 (Please refer
to 7.2.8) 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
2. Port status data output
0x55 0x71 0x41 0x00 D0L D0H D1L D1H D2L D2H D3L D3H
.
.....
Calculated formular
：
D0 = (D0H<<8)| D0L
D1 = (D1H<<8)| D1L
D2 = (D2H<<8)| D2L
D3 = (D3H<<8)| D3L
Packet
header Sign
Start
register
low
byte Start
register
high
byte Start(No.1)
register
data low
byte Start(No.1)
register
data high
byte .
....
.
No.8
register
data low
byte No.8
register
data high
byte
0x55 0x71 RegL RegH 0xNN 0xNN .
....
.
0xNN 0xNN