WT61 Communication protocol
WT61 Communication protocol
WT61 Communication protocol
Instructions for use：
Enter commands that need to modify settings or read data
Read Format
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 ise also a signed short type, so that negative numbers can be represented.
Protocol header | Data content | Data lower 8 bits | Data higher 8 bits | Data lower 8 bits | Data higher 8 bits | Data lower 8 bits | Data higher 8 bits | Data lower 8 bits | Data higher 8 bits | SUMCRC |
0x55 | TYPE【1】 | DATA1L[7:0] | DATA1H[15:8] | DATA2L[7:0] | DATA2H[15:8] | DATA3L[7:0] | DATA3H[15:8] | DATA4L[7:0] | DATA4H[15:8] | SUMCRC【2】 |
【1】TYPE(Data content):
TYPE | Remark |
0x51 | Acceleration |
0x52 | Angular velocity |
0x53 | Angle |
【2】SUMCRC (Data and Checksum):
SUMCRC=0x55+TYPE+DATA1L+DATA1H+DATA2L+DATA2H+DATA3L+DATA3H+DATA4L+DATA4H
SUMCRC is a char type, taking the lower 8 bits of the checksum
Acceleration output
0x55 | 0x51 | AxL | AxH | AyL | AyH | AzL | AzH | TL | TH | SUM |
Name | Description | 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=((AyH<<8)|AyL)/32768*16g (g is the acceleration of gravity, preferably 9.8m/s2) | ||||||||
AzH | Acceleration Z high 8 bits | |||||||||
TL | 8-bit lower temperature | Temperature calculation formula: temperature=((TH<<8)|TL) / 32768 * 96.38 + 36.53 | ||||||||
TH | 8-bit high temperature | |||||||||
SUM | Checksum | SUM=0x55+0x51+AxL+AxH+AyL+AyH+AzL+AzH+TL+Th |
Angular velocity output
0x55 | 0x52 | WxL | WxH | WyL | WyH | WzL | WzH | VolL | VolH | SUM |
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 | |||||||||
VolL | Voltage lower 8 bits | (For non-Bluetooth products, this data is invalid) Voltage calculation formula: Voltage=((VolH<<8)|VolL) /100 ℃ | ||||||||
VolH | Voltage high 8 bits | |||||||||
SUM | Check sum | SUM=0x55+0x52+WxL+WxH+WyL+WyH+WzL+WzH+VolH+VolL |
Angle output
0x55 | 0x53 | RollL | RollH | PitchL | PitchH | YawL | YawH | VL | VH | SUM |
Name | Description | Remarks | ||||||||
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 | Yaw angle Z=((YawH<<8)|YawL)/32768*180(°) | ||||||||
YawH | Yaw angle Z high 8 bits | |||||||||
VL | The lower 8 bits of the version number | Version number calculation formula: (Note: no version number data) | ||||||||
VH | Version number high 8 bits | |||||||||
SUM | checksum | SUM=0x55+0x53+RollH+RollL+PitchH+PitchL+YawH+YawL+VH+VL |
Write format
The following data, all use Hex code hexadecimal
protocol header | protocol header | command |
0xFF 0xAA CMD | 0xFF 0xAA CMD | 0xFF 0xAA CMD |
The Data is sent in hexadecimal, not ASCII.
Z-axis angle to zero
Instruction | 0xFF | 0xAA | 0x52 |
Remark | Z axis angle to zero | ||
Example | FF AA 52（Z axis angle to zero） |
Addition calibration
Instruction | 0xFF | 0xAA | 0x67 |
Remark | Acceleration calibration | ||
Example | FF AA 67（Acceleration calibration） |
Sleep and Unsleep
Instruction | 0xFF | 0xAA | 0x60 |
Remark | Switch sleep mode and work mode | ||
Example | Currently in working mode, send FF AA 60 to enter sleep mode, currently in sleep mode, send FF AA 60 to enter working mode |
Serial port mode
Instruction | 0xFF | 0xAA | 0x61 |
Remark | Use serial port, disable IIC | ||
Example | FF AA 61（Use serial port） |
IIC Mode
Instruction | 0xFF | 0xAA | 0x62 |
Remark | Using IIC, disable serial port | ||
Example | FF AA 62（IIC mode） |
Baud rate115200
Instruction | 0xFF | 0xAA | 0x63 |
Remark | The serial port baud rate is 115200, and the return rate is 100Hz | ||
Example | FF AA 63（Baud rate为115200，return rate为100Hz） |
Baud rate9600
Instruction | 0xFF | 0xAA | 0x64 |
Remark | The serial port baud rate is 9600, and the return rate is 20Hz | ||
Example | FF AA 64（Baud rate is 9600，return rate is 20Hz） |
Horizontal installation
Instruction | 0xFF | 0xAA | 0x65 |
Remark | Modules are placed horizontally | ||
Example | FF AA 65（Horizontal installation） |
Vertical installation
Instruction | 0xFF | 0xAA | 0x66 |
Remark | Modules are placed vertically | ||
Example | FF AA 66（vertical installation） |
Last updated