CAN Protocol

CAN Protocol Instructions for use：

The serial port sending command must be completed within 10S, otherwise it will be

automatically locked. In order to avoid automatic locking, the following steps can be performed first.

1. Enter the unlock command

2. Enter the command that needs to modify or read the data

3. Save the command

Register table

AD DR (He x)	AD DR (De c)	REGISTE R NAME	FUNCTION	SER IAL I/F	Bit 15	Bit 14	Bit 13	Bit 12	Bit 11	Bit 10	Bit9	Bit8	Bit 7	Bit6	Bit5	Bit 4	Bit3	Bit2	Bit 1	Bit0
00	00	SAVE	save/reboot/ factory reset	R/W	SAVE[15:0]
01	01	CALSW	Calibration mode	R/W													CALSW[3:0]
02	02	RSW	output content	R/W						GS A	QUA TER	VELO CITY	G PS	PRE SS	PO RT	M AG	ANG LE	GY RO	A C C	TIME
03	03	RRATE	output rate	R/W													RRATE[3:0]
04	04	BAUD	Serial port baud rate	R/W													BAUD[3:0]
05	05	AXOFFSE T	Acceleration X Zero Bias	R/W	AXOFFSET[15:0]

06	06	AYOFFSE T	Acceleration Y Zero Bias	R/W	AYOFFSET[15:0]
07	07	AZOFFSE T	Acceleration Z Zero Bias	R/W	AZOFFSET[15:0]
08	08	GXOFFS ET	Angular velocity X zero bias	R/W	GXOFFSET[15:0]
09	09	GYOFFS ET	Angular velocity Y zero bias	R/W	GYOFFSET[15:0]
0A	10	GZOFFSE T	Angular velocity Z zero bias	R/W	GZOFFSET[15:0]
0B	11	HXOFFSE T	Magnetic Field X Zero Bias	R/W	HXOFFSET[15:0]
0C	12	HYOFFSE T	Magnetic Field Y Zero Bias	R/W	HYOFFSET[15:0]
0D	13	HZOFFSE T	Magnetic Field Z Zero Bias	R/W	HZOFFSET[15:0]
1A	26	IICADDR	Device address	R/W									IICADDR[7:0]
1B	27	LEDOFF	Turn off LED light	R/W																LED OFF
1C	28	MAGRAN GX	Magnetic Field X Calibration Range	R/W	MAGRANGX[15:0]
1D	29	MAGRAN	Magnetic	R/W	MAGRANGY[15:0]

		GY	Field Y Calibration Range
1E	30	MAGRAN GZ	Magnetic Field Z Calibration Range	R/W	MAGRANGZ[15:0]
1F	31	BANDWID TH	bandwidth	R/W													BANDWIDTH[3:0]
20	32	GYRORA NGE	Gyroscope range	R/W													GYRORANGE[3:0]
21	33	ACCRAN GE	Acceleration range	R/W													ACCRANGE[3:0]
22	34	SLEEP	sleep	R/W																SLEE P
23	35	ORIENT	Installation direction	R/W																ORIE NT
24	36	AXIS6	Algorithms	R/W																AXIS 6
25	37	FILTK	Dynamic filtering	R/W	FILTK[15:0]
27	39	READAD DR	Read registers	R/W									READADDR[7:0]
2A	42	ACCFILT	Acceleration filtering	R/W	ACCFILT[15:0]
2D	45	POWONS END	command start	R/W													POWONSEND[3:0 ]
2E	46	VERSION	version number	R	VERSION[15:0]
30	48	YYMM	year/mouth	R/W	MOUTH[15:8]	YEAR[7:0]

31	49	DDHH	day/hour	R/W	HOUR[15:8]	DAY[7:0]
32	50	MMSS	minute/seco nds	R/W	SECONDS[15:8]	MINUTE[7:0]
33	51	MS	millisecond	R/W	MS[15:0]
34	52	AX	Acceleration X	R	AX[15:0]
35	53	AY	Acceleration Y	R	AY[15:0]
36	54	AZ	Acceleration Z	R	AZ[15:0]
37	55	GX	Angular velocity X	R	GX[15:0]
38	56	GY	Angular velocity Y	R	GY[15:0]
39	57	GZ	Angular velocity Z	R	GZ[15:0]
3A	58	HX	Magnetic Field X	R	HX[15:0]
3B	59	HY	Magnetic field Y	R	HY[15:0]
3C	60	HZ	Magnetic field Z	R	HZ[15:0]
3D	61	Roll	Roll angle	R	Roll[15:0]
3E	62	Pitch	Pitch angle	R	Pitch[15:0]
3F	63	Yaw	Heading	R	Yaw[15:0]
40	64	TEMP	temperature	R	TEMP[15:0]

45	69	PressureL	Air pressure low 16 bits	R	PressureL[15:0]
46	70	PressureH	Air pressure high 16 bits	R	PressureH[15:0]
47	71	HeightL	Height lower 16 bits	R	HeightL[15:0]
48	72	HeightH	High low high 16 bits	R	HeightH[15:0]
51	81	q0	Quaternion 0	R	q0[15:0]
52	82	q1	Quaternion 1	R	q1[15:0]
53	83	q2	Quaternion 2	R	q2[15:0]
54	84	q3	Quaternion 3	R	q3[15:0]
61	97	GYROCA LITHR	Gyro Still Threshold	R/W	GYROCALITHR[15:0]
62	98	ALARMLE VEL	Angle alarm level	R/W													ALARMLEVEL[3:0]
63	99	GYROCA LTIME	Gyro auto calibration time	R/W	GYROCALTIME[15:0]
68	104	TRIGTIM E	Alarm continuous trigger time	R/W	TRIGTIME[15:0]
69	105	KEY	Unlock	R/W	KEY[15:0]
6A	106	WERROR	Gyroscope	R	WERROR[15:0]

			change value
6E	110	WZTIME	Angular velocity continuous rest time	R/W	WZTIME[15:0]
6F	111	WZSTATI C	Angular velocity integral threshold	R/W	WZSTATIC[15:0]
79	121	XREFROL L	Roll angle zero reference value	R	XREFROLL[15:0]
7A	122	YREFPIT CH	Pitch angle zero reference value	R	YREFPITCH[15:0]
7F	127	NUMBERI D1	Device No.1-2	R	ID2[15:8]	ID1[7:0]
80	128	NUMBERI D2	Device No. 3-4	R	ID4[15:8]	ID3[7:0]
81	129	NUMBERI D3	Device No. 5-6	R	ID6[15:8]	ID5[7:0]
82	130	NUMBERI D4	Device No. 7-8	R	ID8[15:8]	ID7[7:0]
83	131	NUMBERI D5	Device No. 9-10	R	ID10[15:8]	ID9[7:0]
84	132	NUMBERI D6	Device No. 11-12	R	ID12[15:8]	ID11[7:0]

Protol format

Active Output Format

• The data is sent in hexadecimal not ASCII。

• Each data is transmitted in sequence by low byte and high byte, and the two are combined into a signed short type of data. For example, for data DATA1, DATA1L is the low byte and DATA1H is the high byte. The conversion method is as follows: Suppose DATA1 is the actual data, DATA1H is its high-byte part, DATA1L is its low-byte part,

Then: DATA1=(short)((short)DATA1H<<8|DATA1L). It must be noted here that DATA1H needs to be coerced into a signed short type of data before shifting, and the data type of DATA1 is also a signed short type, so that negative numbers can be represented.

Protocol headers	Data Content	Data lower 8 bits	Data high 8 bits	Data lower 8 bits	Data high 8 bits	Data lower 8 bits	Data high 8 bits
0x55	TYPE 【1】	DATA1L[7:0]	DATA1H[15:8]	DATA2L[7:0]	DATA2H[15:8]	DATA3L[7:0]	DATA3H[15:8]

【1】TYPE(Data content):

TYPE	Remark
0x50	Time
0x51	Acceleration
0x52	Angular velocity
0x53	Angle
0x54	Magnetic field
0x5F	Read

0x55	0x50	YY	MM	DD	HH	MN	SS
Name	Description	Remark
YY	Year
MM	Mouth
DD	Day
HH	Hour
MN	Munite
SS	Seconds

0x55	0x51	AxL	AxH	AyL	AyH	AzL	AzH
Name	Descrption	Remark
AxL	Acceleration X low 8 bits	Acceleration X=((AxH<<8)|AxL)/32768*16g (g is the acceleration of gravity, preferably 9.8m/s2)
AxH	Acceleration X high 8 bits
AyL	Acceleration Y low 8 bits	Acceleration Y=((AyH<<8)|AyL)/32768*16g (g is the acceleration of gravity, preferably 9.8m/s2)
AyH	Acceleration Y high 8 bits
AzL	Acceleration Z low 8 bits	Acceleration Z=((AzH<<8)|AzL)/32768*16g (g is the acceleration of gravity, preferably 9.8m/s2)
AzH	Acceleration Z high 8 bits

0x55	0x52	WxL	WxH	WyL	WyH	WzL	WzH
Name	Description	Remark
WxL	Angular velocity X low 8 bits	Angular velocity X=((WxH<<8)|WxL)/32768*2000°/s
WxH	Angular velocity X high 8 bits
WyL	Angular velocity Y low 8 bits	Angular velocity Y=((WyH<<8)|WyL)/32768*2000°/s
WyH	Angular velocity Y high 8 bits
WzL	Angular velocity Z low 8 bits	Angular velocity Z=((WzH<<8)|WzL)/32768*2000°/s
WzH	Angular velocity Z high 8 bits

0x55	0x53	RollL	RollH	PitchL	PitchH	YawL	YawH
Name	Description	Remark
RollL	Roll angle X lower 8 bits	Roll angle X=((RollH<<8)|RollL)/32768*180(°)
RollH	Roll angle X high 8 bits
PitchL	Pitch angle Y low 8 bits	Pitch angle Y=((PitchH<<8)|PitchL)/32768*180(°)
PitchH	Pitch angle Y high 8 bits
YawL	Yaw angle Z low 8 bits	Heading angle Z=((YawH<<8)|YawL)/32768*180(°)
YawH	Yaw angle Z high 8 bits

0x55	0x54	HxL	HxH	HyL	HyH	HzL	HzH
Name	Description	Remark
HxL	Magnetic field X lower 8 bits	Magnetic field X=((HxH<<8)|HxL)
HxH	Magnetic field X high 8 bits
HyL	Magnetic field Y lower 8 bits	Magnetic field Y=((HyH <<8)|HyL)
HyH	Magnetic field Y high 8 bits
HzL	Magnetic field Z lower 8 bits	Magnetic field Z=((HzH<<8)|HzL)
HzH	Magnetic field Z high 8 bits

• Data is sent in hexadecimal, not ASCII.

• Each register address, the number of read registers, and the read data are represented by two bytes. The high and low bits of the register address are represented by ADDRH and ADDRL, the high and low bits of the number of registers to be read are represented by LENH and LENL, and the high and low bits of the read data are represented by DATA1H and DATA1L.

command send

protocol header	protocol header	register	Data lower 8 bits	Data high 8 bits
0xFF	0xAA	ADDR	DATAL[7:0]	DATAH[15:8]

data return

0x55	0x5F	REG1L	REG1H	REG2L	REG2H	REG3L	REG3H
Name	Description	Remark
REG1L	Register 1 lower 8 bits	REG1[15:0]=((REG1H<<8)|REG1L)
REG1H	Register 1 upper 8 bits
REG2L	Register 2 lower 8 bits	REG2[15:0]=((REG2H<<8)|REG2L)
REG2H	Register 2 upper 8 bits
REG3L	Register 3 lower 8	REG3[15:0]=((REG3H<<8)|REG3L)

	bits
REG3H	Register 3 upper 8 bits

• Data is sent in hexadecimal, not ASCII.

• All settings need to operate the unlock register (KEY) first.

• For each register address, the write data is represented by two bytes. The high and low bits of the register address are represented by ADDRH and ADDRL, and the high and low bits of the written data are represented by DATAH and DATAL.

protocol header	protocol header	register	Data lower 8 bits	Data high 8 bits
0xFF	0xAA	ADDR	DATAL[7:0]	DATAH[15:8]

SAVE

Register Name: SAVE Register Address: 0 (0x00) Read and write direction: R/W Default: 0x0000
Bit	NAME	FUNCTION
15:0	SAVE[15:0]	Save: 0x0000 Reboot: 0x00FF Factory reset: 0x0001
Example: FF AA 00 FF 00 (reboot)

CALSW

Register Name: CALSW Register Address: 1 (0x01) Read and write direction: R/W Default: 0x0000
Bit	NAME	FUNCTION
15:4
3:0	CAL[3:0]	Set calibration mode: 0000(0x00): normal working mode 0001(0x01): Auto adder calibration 0011(0x03): height reset 0100(0x04): Set the heading angle to zero 0111(0x07): Magnetic Field Calibration (Spherical Fitting) 1000(0x08): set angle reference 1001(0x09): Magnetic Field Calibration (Dual Plane Mode)
Example: FF AA 01 04 00 (course angle set to zero)

Register Name: RSW Register Address: 2 (0x02) Read and write direction: R/W Default: 0x001E
Bit	NAME	FUNCTION
15:11
10	GSA (0x5A)	0: off 1: on
9	QUATER (0x59)	0: off 1: on
8	VELOCITY (0x58)	0: off 1: on
7	GPS (0x57)	0: off 1: on
6	PRESS (0x56)	0: off 1: on
5	PORT (0x55)	0: off 1: on
4	MAG (0x54)	0: off 1: on
3	ANGLE (0x53)	0: off 1: on
2	GYRO (0x52)	0: off 1: on
1	ACC (0x51)	0: off 1: on
0	TIME (0x50)	0: off 1: on
Example: FF AA 02 3E 00 (set to output only acceleration, angular velocity, angle, magnetic field, port status)

Register Name: RRATE Register Address: 3 (0x03) Read and write direction: R/W Default: 0x0006
Bit	NAME	FUNCTION
15:4
		Set output rate
		0001(0x01): 0.2Hz
		0010(0x02): 0.5Hz
		0011(0x03): 1Hz
		0100(0x04): 2Hz
		0101(0x05): 5Hz
3:0	RRATE[3:0]	0110(0x06): 10Hz
		0111(0x07): 20Hz
		1000(0x08): 50Hz
		1001(0x09): 100Hz
		1011(0x0B): 200Hz
		1011(0x0C): single return
		1100(0x0D): No return
Example：FF AA 03 03 00（set 1Hz output）

BAUD

Register Name: BAUD Register Address: 4 (0x04) Read and write direction: R/W Default: 0x0002
Bit	NAME	FUNCTION
15:4
3:0	BAUD[3:0]	Set the serial port baud rate: 0000(0x00): 1000000bps 0001(0x01): 800000bps 0010(0x02): 500000bps 0011(0x03): 400000bps 0100(0x04): 250000bps 0101(0x05): 200000bps 0110(0x06): 125000bps 0111(0x07): 100000bps 1000(0x08): 80000bps 1001(0x09): 50000bps 1010(0x0A): 40000bps 1011(0x0B): 20000bps

		1100(0x0C): 10000bps 1101(0x0D): 5000bps 1110(0x0E): 3000bps
Example: FF AA 04 02 00 (set serial port baud rate 500000)

AXOFFSET~HZOFFSET

Register Name: AXOFFSET~HZOFFSET Register Address: 5~13 (0x05~0x0D) Read and write direction: R/W Default: 0x0000
Bit	NAME	FUNCTION
15:0	AXOFFSET[15:0]	Acceleration X-axis bias, actual acceleration offset=AXOFFSET[15:0]/10000(g)
15:0	AYOFFSET[15:0]	Acceleration Y-axis bias, actual acceleration offset=AYOFFSET[15:0]/10000(g)
15:0	AZOFFSET[15:0]	Acceleration Z-axis bias, actual acceleration offset=AZOFFSET[15:0]/10000(g)
15:0	GXOFFSET[15:0]	Angular velocity X-axis bias, actual angular velocity offset=GXOFFSET[15:0]/10000(°/s)
15:0	GYOFFSET[15:0]	Angular velocity Y-axis bias, actual angular velocity offset=GYOFFSET[15:0]/10000(°/s)
15:0	GZOFFSET[15:0]	Angular velocity Z-axis bias, actual angular velocity offset=GZOFFSET[15:0]/10000(°/s)
15:0	HXOFFSET[15:0]	Magnetic field X-axis zero bias
15:0	HYOFFSET[15:0]	Magnetic field Y axis zero bias
15:0	HZOFFSET[15:0]	Magnetic field Z axis zero bias
Example: FF AA 05 E8 03 (set acceleration X-axis zero offset 0.1g), 0x03E8=1000, 1000/10000=0.1(g)

IICADDR

Register Name: IICADDR Register Address: 26 (0x1A) Read and write direction: R/W Default: 0x0050
Bit	NAME	FUNCTION
15:8
7:0	IICADDR[7:0]	Set the device address for I2C and Modbus communication 0x01~0x7F
Example: FF AA 1A 02 00 (set the device address to 0x02)

Register Name: LEDOFF Register Address: 27 (0x1B) Read and write direction: R/W Default: 0x0000
Bit	NAME	FUNCTION
15:1
0	LEDOFF	1: Turn off the LED light 0: Turn on the LED light
Example: FF AA 1B 01 00 (turn off the LED light)

Register Name: MAGRANGX~MAGRANGZ Register Address: 28~30 (0x1C~0x1E) Read and write direction: R/W Default: 0x01F4
Bit	NAME	FUNCTION
15:0	MAGRANGX[15:0]	Magnetic field calibration X-axis range
15:0	MAGRANGY[15:0]	Magnetic Field Calibration Y-axis Range
15:0	MAGRANGZ[15:0]	Magnetic field calibration Z-axis range
Example: FF AA 1C F4 01 (set the magnetic field calibration X-axis range to 500)

Register Name: BANDWIDTH Register Address: 31 (0x1F) Read and write direction: R/W Default: 0x0004
Bit	NAME	FUNCTION
15:4
3:0	BANDWIDTH[3:0]	Set bandwidth 0000(0x00): 256Hz 0001(0x01): 188Hz 0010(0x02): 98Hz 0011(0x03): 42Hz 0100(0x04): 20Hz 0101(0x05): 10Hz 0110(0x06): 5Hz
Example：FF AA 1F 01 00（set bandwidth is188Hz）

Register Name: GYRORANGE Register Address: 32 (0x20) Read and write direction: R/W Default: 0x0003
Bit	NAME	FUNCTION
15:4
3:0	GYRORANGE[3:0]	Set the gyro range 0011(0x03): 2000°/s The default is 2000°/s, fixed and cannot be set
Example: FF AA 20 03 00 (set the gyro range to 2000°/s)

Register Name: ACCRANGE Register Address: 33 (0x21) Read and write direction: R/W Default: 0x0000
Bit	NAME	FUNCTION
15:4
3:0	ACCRANGE[3:0]	Set the accelerometer range 0000(0x00): ±2g 0011(0x03): ±16g This parameter cannot be set. The internal adaptive acceleration range of the product will automatically switch to 16g when the acceleration exceeds 2g.
Example: FF AA 21 00 00 (set the accelerometer range to 16g)

Register Name: SLEEP Register Address: 34 (0x22) Read and write direction: R/W Default: 0x0000
Bit	NAME	FUNCTION
15:1
0	SLEEP	set hibernate 1(0x01): sleep Any serial port data, can wake up
Example: FF AA 22 01 00 (go to sleep)

Register Name: ORIENT Register Address: 35 (0x23) Read and write direction: R/W Default: 0x0000
Bit	NAME	FUNCTION
15:1
0	ORIENT	Set the installation direction 0 (0x00): horizontal installation 1(0x01): vertical installation (the Y-axis arrow of the coordinate axis must be upward)
Example: FF AA 23 01 00 (set vertical installation)

Register Name: AXIS6 Register Address: 36 (0x24) Read and write direction: R/W Default: 0x0000
Bit	NAME	FUNCTION
15:1
0	AXIS6	set algorithm 0(0x00): 9-axis algorithm (magnetic field solution navigation angle, absolute heading angle) 1(0x01): 6-axis algorithm (integral solution navigation angle, relative heading angle)
Example: FF AA 24 01 00 (set 6-axis algorithm mode)

Register Name: FILTK Register Address: 37 (0x25) Read and write direction: R/W Default: 0x001E
Bit	NAME	FUNCTION
15:0	FILTK[15:0]	Range: 1~10000, the default is 30 (it is not recommended to modify, once modified, if the angle does not meet the requirements for use, please modify it to 30) The smaller the FILTK[15:0], the stronger the seismic performance and the weaker the real-time performance. The larger the FILTK[15:0], the weaker the seismic performance and the stronger the real-time performance.
Example: FF AA 25 1E 00 (set K value filter to 30)

Register Name: READADDR Register Address: 39 (0x27) Read and write direction: R/W Default: 0x00FF
Bit	NAME	FUNCTION
15:8
7:0	READADDR[7:0]	Read register range: Please refer to "Register Table"
Example: Send: FF AA 27 34 00 (read acceleration X axis 0x34) Return: 55 5F AXL AXH AYL AYH AZL AZH GXL GXH SUM For details, please refer to "Read Register Return Value" in the "Read Format" chapter

Register Name: ACCFILT Register Address: 42 (0x2A) Read and write direction: R/W Default: 0x01F4
Bit	NAME	FUNCTION
15:0	ACCFILT[15:0]	Range: 1~10000, the default is 500 (it is not recommended to modify, once modified, if the angle does not meet the requirements for use, please modify it to 500) The smaller the ACCFILT[15:0], the stronger the seismic performance and the weaker the real-time performance. The larger the ACCFILT[15:0], the weaker the seismic performance and the stronger the real-time performance. This parameter is an empirical value, which needs to be debugged according to different environments. In the tractor environment, ACCFILT[15:0] can be adjusted to 100, because the vibration of the tractor is serious and the anti-vibration performance needs to be improved
Example: FF AA 2A F4 01 (set acceleration filter 500)

Register Name: POWONSEND Register Address: 45 (0x2D) Read and write direction: R/W Default: 0x0001
Bit	NAME	FUNCTION
15:4
3:0	POWONSEND[3:0]	Set the command to start: 0000(0x00): Turn off power-on data output 0001(0x01): Turn on power-on data output
Example: FF AA 2D 00 00 (turn on power-on data output)

Register Name: VERSION Register Address: 46 (0x2E) Read and write direction: R Default: none
Bit	NAME	FUNCTION
15:0	VERSION[15:0]	Different products, different version numbers
Example: Send: FF AA 27 2E 00 (read version number, 0x27 means read, 0x2E is version number register) Return: 55 5F VL VH XX XX XX XX XX XX SUM VERSION[15:0]=(short)(((short)VH<<8)|VL)

Register Name: YYMM~MS Register address: 48~51 (0x30~0x33) Read and write direction: R/W Default: 0x0000
Bit	NAME	FUNCTION
15:8	YYMM[15:8]	mouth
7:0	YYMM[7:0]	year
15:8	DDHH[15:8]	hour
7:0	DDHH[7:0]	day
15:8	MMSS[15:8]	seconds
7:0	MMSS[7:0]	minute
15:0	MS[15:0]	millisecond
Example: FF AA 30 16 03 (set year 22-03) FF AA 31 0C 09 (set date 12-09) FF AA 32 1E 3A (set minute seconds 30:58) FF AA 33 F4 01 (set ms 500) Example: Send: FF AA 27 30 00 (read version number, 0x27 means read, 0x30 is year month

register)

Returns: 55 5F YYMM[7:0] YYMM[15:8] DDHH[7:0] DDHH[15:8] MMSS[7:0] MMSS[15:8] MS[7:0] MS[15: 8] SUM

Register Name: AX~AZ Register address: 52~54 (0x34~0x36) Read and write direction: R Default: 0x0000
Bit	NAME	FUNCTION
15:0	AX[15:0]	Acceleration X=AX[15:0]/32768*16g (g is the acceleration of gravity, preferably 9.8m/s2)
15:0	AY[15:0]	Acceleration Y=AY[15:0]/32768*16g (g is the acceleration of gravity, preferably 9.8m/s2)
15:0	AZ[15:0]	Acceleration Z=AZ[15:0]/32768*16g (g is the acceleration of gravity, preferably 9.8m/s2)

Register Name: GX~GZ Register address: 55~57 (0x37~0x39) Read and write direction: R Default: 0x0000
Bit	NAME	FUNCTION
15:0	GX[15:0]	Angular velocity X=GX[15:0]/32768*2000°/s
15:0	GY[15:0]	Angular velocity Y=GY[15:0]/32768*2000°/s
15:0	GZ[15:0]	Angular velocity Z=GZ[15:0]/32768*2000°/s

Register name: HX~HZ Register Address: 58~60 (0x3A~0x3C) Read and write direction: R Default: 0x0000
Bit	NAME	FUNCTION
15:0	HX[15:0]	Magnetic field X=HX[15:0] (unit：LSB)
15:0	HY[15:0]	Magnetic field Y=HY[15:0] (unit：LSB)
15:0	HZ[15:0]	Magnetic fieldZ=HZ[15:0] (unit：LSB)

Register Name: Roll~Yaw Register address: 61~63 (0x3D~0x3F) Read and write direction: R Default: 0x0000
Bit	NAME	FUNCTION
15:0	Roll[15:0]	roll angleX=Roll[15:0]/32768*180°
15:0	Pitch[15:0]	picth angleY=Pitch[15:0]/32768*180°
15:0	Yaw[15:0]	heading angleZ=Yaw[15:0]/32768*180°

Register Name: TEMP Register Address: 64 (0x40) Read and write direction: R Default: 0x0000
Bit	NAME	FUNCTION
15:0	TEMP[15:0]	temperature=TEMP[15:0]/100℃

Register Name: PressureL~HeightH Register address: 69~72 (0x45~0x48) Read and write direction: R Default: 0x0000
Bit	NAME	FUNCTION
15:0	PressureL[15:0]	air pressure=((int)PressureH[15:0]<<16)|PressureL[15:0](Pa)
15:0	PressureH[15:0]
15:0	HeightL[15:0]	altitute=((int)HeightH[15:0]<<16)|HeightL[15:0](cm)
15:0	HeightH[15:0]

Register name: q0~q3 Register address: 81~84 (0x51~0x54) Read and write direction: R Default: 0x0000
Bit	NAME	FUNCTION
15:0	q0[15:0]	Quaternion0=q0[15:0]/32768
15:0	q1[15:0]	Quaternion1=q1[15:0]/32768
15:0	q2[15:0]	Quaternion=q2[15:0]/32768
15:0	q3[15:0]	Quaternion3=q3[15:0]/32768

Register Name: GYROCALITHR Register Address: 97 (0x61) Read and write direction: R/W Default: 0x0000
Bit	NAME	FUNCTION
15:0	GYROCALITHR[15:0]	Set the gyroscope inactivity threshold: Gyro static threshold=GYROCALITHR[15:0]/1000(°/s)
Example: Setting the Gyro Rest Threshold to 0.05°/s FFAA 61 32 00 When the angular velocity change is less than 0.05°/s and lasts for the time of "GYROCALTIME", the sensor recognizes it as stationary and automatically resets the angular velocity less than 0.05°/s to zero The setting rule of the static threshold of the gyroscope can be determined by reading the value of the "WERROR" register. The general setting rule is: GYROCALITHR=WERROR*1.2, unit: °/s This register needs to be used in conjunction with the GYROCALTIME register

Register Name: GYROCALTIME Register Address: 99 (0x63) Read and write direction: R/W Default: 0x03E8
Bit	NAME	FUNCTION
15:0	GYROCALTIME[15:0]	Set gyroscope auto-calibration time
Example: Set gyroscope auto-calibration time to 500ms FF AA 63 F4 01 When the angular velocity change is less than "GYROCALITHR" and lasts for 500ms, the sensor recognizes that it is stationary and automatically resets the angular velocity less than 0.05°/s to zero This register needs to be used in conjunction with the GYROCALITHR register

Register Name: KEY Register Address: 105 (0x69) Read and write direction: R/W Default: 0x0000
Bit	NAME	FUNCTION
15:0	KEY[15:0]	Unlock register: When performing a write operation, you need to set this register first
Example: Unlock, write 0xB588 to this register (other values are invalid) FFAA 69 88 B5

Register Name: WERROR Register Address: 106 (0x6A) Read and write direction: R Default: 0x0000
Bit	NAME	FUNCTION
15:0	WERROR[15:0]	Gyroscope change value=WERROR[15:0]/1000*180/3.1415926(°/s) When the sensor is stationary, the "GYROCALITHR" register can be set by changing this register

Register Name: WZTIME Register Address: 110 (0x6E) Read and write direction: R/W Default: 0x01F4
Bit	NAME	FUNCTION
15:0	WZTIME[15:0]	Angular velocity continuous rest time
Example: Set the angular velocity continuous static time to 500ms FFAA 6E F4 01 When the angular velocity is less than "WZSTATIC" for 500ms, the angular velocity output is 0, and the Z-axis heading angle is not integrated This register needs to be used in conjunction with the "WZSTATIC" register

Register Name: WZSTATIC Register Address: 111 (0x6F) Read and write direction: R/W Default: 0x012C
Bit	NAME	FUNCTION
15:0	WZSTATIC[15:0]	Angular velocity integration threshold=WZSTATIC[15:0]/1000(°/s)
Example: Set the angular velocity integration threshold to 0.5°/s FF AA 6F F4 01 When the angular velocity is greater than 0.5°/s, the Z-axis heading angle starts to integrate the acceleration When the angular velocity is less than 0.5°/s, and the duration set by the register "WZTIME", the angular velocity output is 0, and the Z-axis heading angle is not integrated This register needs to be used in conjunction with the "WZTIME" register

Register Name: XREFROLL~YREFPITCH Register address: 121~122 (0x79~0x7A) Read and write direction: R/W Default: 0x00000
Bit	NAME	FUNCTION
15:0	XREFROLL[15:0]	Roll angle zero reference value=XREFROLL[15:0]/32768*180(°)
15:0	YREFPITCH[15:0]	Pitch angle zero reference value=YREFPITCH[15:0]/32768*180(°)
Example: The current roll angle is 2°, set the roll angle zero, subtract 2°, then XREFROLL[15:0]=2*32768/180=364=0x016C FFAA 79 6C 01

Register Name: NUMBERID1~NUMBERID6 Register address: 127~132 (0x7F~0x84) Read and write direction: R Default: none
Bit	NAME	FUNCTION
15:0	NUMBERID1[15:0]
15:0	NUMBERID2[15:0]
15:0	NUMBERID3[15:0]
15:0	NUMBERID4[15:0]
15:0	NUMBERID5[15:0]
15:0	NUMBERID6[15:0]
Device label：WT4200000001