Protocol
Level: TTL level
Baud rate: 4800, 9600 (default), 19200 38400, 57600, 115200, 230400, 460800, 921600, stop bit and parity
0x55 | 0x50 | YY | MM | DD | hh | mm | ss | msL | msH | SUM |
YY：Year, 20YY Year
MM：Month
DD：Day
hh：hour
mm：minute
ss：Second
ms：Millisecond
Millisecond calculate formula：
ms=((msH<<8)|msL)
Sum=0x55+0x51+YY+MM+DD+hh+mm+ss+ms+TL
0x55 | 0x51 | AxL | AxH | AyL | AyH | AzL | AzH | TL | TH | SUM |
Calculate formula：
ax=((AxH<<8)|AxL)/32768*16g(g is Gravity acceleration, 9.8m/s2)
ay=((AyH<<8)|AyL)/32768*16g(g is Gravity acceleration, 9.8m/s2)
az=((AzH<<8)|AzL)/32768*16g(g is Gravity acceleration, 9.8m/s2)
Temperature calculated formula：
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.
0x55 | 0x52 | wxL | wxH | wyL | wyH | wzL | wzH | TL | TH | SUM |
Calculated formula：
wx=((wxH<<8)|wxL)/32768*2000(°/s)
wy=((wyH<<8)|wyL)/32768*2000(°/s)
wz=((wzH<<8)|wzL)/32768*2000(°/s)
Temperature calculated formula：
T=((TH<<8)|TL) /100 ℃
Checksum：
Sum=0x55+0x52+wxH+wxL+wyH+wyL+wzH+wzL+TH+TL
0x55 | 0x53 | RollL | RollH | PitchL | PitchH | YawL | YawH | VL | VH | SUM |
Calculated formula：
Roll(X axis)Roll=((RollH<<8)|RollL)/32768*180(°)
Pitch(Y axis)Pitch=((PitchH<<8)|PitchL)/32768*180(°)
Yaw(Z axis)Yaw=((YawH<<8)|YawL)/32768*180(°)
Version calculated formula：
Version=(VH<<8)|VL
Checksum：
Sum=0x55+0x53+RollH+RollL+PitchH+PitchL+YawH+YawL+VH+VL
Note：
- 1.The coordinate system used for attitude angle settlement is the northeast sky coordinate system. Place the module in the positive direction, as the figure shown in Chapter 3.3, direction right is the X-axis, the direction forward is the Y-axis, and direction upward is the Z-axis. Euler angle represents the rotation order of the coordinate system when the attitude is defined as Z-Y-X, that is, first turn around the Z-axis, then turn around the Y-axis, and then turn around the X-axis.
- 2.Although the range of the roll angle is ± 180 degrees, in fact, since the coordinate rotation sequence is Z-Y-X, when expressing the attitude, the range of the pitch angle (Y-axis) is only ± 90 degrees, and it will change to less than 90 after exceeding 90 degrees Degrees while making the X-axis angle greater than 180 degrees. For detailed principles, please Google Euler angle and posture-related information.
- 3.Since the three axes are coupled, they will show independent changes only at small angles, and the attitude angles will change at large angles. For example, when the Y-axis is close to 90 degrees, even if the attitude only rotates around the Y-axis, the angle of the axis will also change greatly, which is an inherent problem with Euler angles indicating attitude.
0x55 | 0x54 | HxL | HxH | HyL | HyH | HzL | HzH | TL | TH | SUM |
Calculated formula：
Magnetic(x axis)Hx=(( HxH<<8)| HxL)
Magnetic(y axis)Hy=(( HyH <<8)| HyL)
Magnetic(z axis)Hz =(( HzH<<8)| HzL)
Temperature calculated formula：
T=((TH<<8)|TL) /100℃
Checksum：
Sum=0x55+0x53+HxH+HxL+HyH+HyL+HzH+HzL+TH+TL
0x55 | 0x59 | Q0L | Q0H | Q1L | Q1H | Q2L | Q2H | Q3L | Q3H | SUM |
Calculated formula：
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
Reminder:
- 1.Data format
0xFF | 0xAA | Address | DataL | DataH |
Address | Symbol | Meaning |
0x00 | SAVE | Save |
0x01 | CALSW | Calibration |
0x02 | RSW | Return data content |
0x03 | RATE | Return data Speed |
0x04 | BAUD | Baud rate |
0x05 | AXOFFSET | X axis Acceleration bias |
0x06 | AYOFFSET | Y axis Acceleration bias |
0x07 | AZOFFSET | Z axis Acceleration bias |
0x08 | GXOFFSET | X axis angular velocity bias |
0x09 | GYOFFSET | Y axis angular velocity bias |
0x0a | GZOFFSET | Z axis angular velocity bias |
0x0b | HXOFFSET | X axis Magnetic bias |
0x0c | HYOFFSET | Y axis Magnetic bias |
0x0d | HZOFFSET | Z axis Magnetic bias |
0x30 | MMYY | Month , Year |
0x31 | HHDD | Hour , Day |
0x32 | SSMM | Second , Minute |
0x33 | MS | Millisecond |
0x34 | AX | X axis Acceleration |
0x35 | AY | Y axis Acceleration |
0x36 | AZ | Z axis Acceleration |
0x37 | GX | X axis angular velocity |
0x38 | GY | Y axis angular velocity |
0x39 | GZ | Z axis angular velocity |
0x3a | HX | X axis Magnetic |
0x3b | HY | Y axis Magnetic |
0x3c | HZ | Z axis Magnetic |
0x3d | Roll | X axis Angle |
0x3e | Pitch | Y axis Angle |
0x3f | Yaw | Z axis Angle |
0x40 | TEMP | Temperature |
0x51 | Q0 | Quaternion Q0 |
0x52 | Q1 | Quaternion Q1 |
0x53 | Q2 | Quaternion Q2 |
0x54 | Q3 | Quaternion Q3 |
0xFF | 0xAA | 0x00 | SAVE | 0x00 |
SAVE：Save
0：Save current configuration
1：set to default setting
0xFF | 0xAA | 0x01 | CALSW | 0x00 |
CALSW：Set calibration mode
0：Exit calibration mode
1：Enter Gyroscope and Accelerometer calibration mode
2：Enter magnetic calibration mode
0xFF | 0xAA | 0x23 | DIRECTION | 0x00 |
DIRECTION：set installation direction
0：set to horizontal installation
1：set to vertical installation
0xFF | 0xAA | 0x22 | 0x01 | 0x00 |
After sending the command, the module enters the sleep (standby) state, and once again, the module enters the working state from the standby state.
0xFF | 0xAA | 0x24 | ALG | 0x00 |
ALG：6-axis/ 9-axis algorithm transition
0：switch to 9-axis algorithm
1：switch to 6-axis algorithm
0xFF | 0xAA | 0x63 | GYRO | 0x00 |
GYRO：gyroscope automatic calibration
0：set to gyroscope automatic calibration
1：removed to gyroscope automatic calibration
0xFF | 0xAA | 0x02 | RSWL | RSWH |
RSWL byte definition
byte | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
Name | 0x57 pack | 0x56 pack | 0x55 pack | 0x54 pack | 0x53 pack | 0x52 pack | 0x51 pack | 0x50 pack |
default | 0 | 0 | 0 | 1 | 1 | 1 | 1 | 0 |
RSWH byte definition
byte | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
Name | X | X | X | X | X | 0x5A pack | 0x59 pack | 0x58 pack |
default | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
X is an undefined value.
0x50 pack：time pack
0：Not output 0X50 pack
1：Output 0X50 pack
0x51 pack：Acceleration pack
0：Not output 0x51 pack
1：Output 0x51 pack
0x52 pack：Angular velocity pack
0：Not output 0x52 packet
1：Output 0x52 pack
0x53 pack：Angle Pack
0：Not output 0x53 pack
1：Output 0x53 pack
0x54 pack：Magnetic Pack
0：Not output 0x54 pack
1：Output 0x54 pack
0x59 pack：Quaternion Pack
0：Not output 0x59 pack
1：Output 0x59 pack
0xFF | 0xAA | 0x03 | RATE | 0x00 |
RATE：return rate
0x01 :0.2Hz
0x02：0.5Hz
0x03：1Hz
0x04：2Hz
0x05：5Hz
0x06：10Hz(default)
0x07：20Hz
0x08：50Hz
0x09：100Hz
0x0a：125Hz
0x0b：200Hz
0x0c：Single
0x0d: Not output
After the setup is complete, need to click save, and re-power the module to take effect.
0xFF | 0xAA | 0x04 | BAUD | 0x00 |
BAUD：
0x01：4800
0x02：9600(default)
0x03：19200
0x04：38400
0x05：57600
0x06：115200
0x07：230400
0x08：460800
0x09：921600
0xFF | 0xAA | 0x05 | AXOFFSETL | AXOFFSETH |
AXOFFSETL：X axis Acceleration bias low byte
AXOFFSETH：X axis Acceleration bias high byte
AXOFFSET= (AXOFFSETH <<8) | AXOFFSETL
Note：After setting the acceleration bias, the output value of the acceleration is the sensor measured value minus the bias value.
0xFF | 0xAA | 0x06 | AYOFFSETL | AYOFFSETH |
AYOFFSETL：Y axis Acceleration bias low byte
AYOFFSETH：Y axis Acceleration bias high byte
AYOFFSET= (AYOFFSETH <<8) | AYOFFSETL
Note：After setting the acceleration bias, the output value of the acceleration is the sensor measured value minus the bias value.
0xFF | 0xAA | 0x07 | AZOFFSETL | AZOFFSETH |
AZOFFSETL：Z axis Acceleration bias low byte
AZOFFSETH：Z axis Acceleration bias high byte
AZOFFSET= (AZOFFSETH <<8) | AZOFFSETL
Note：After setting the acceleration bias, the output value of the acceleration is the sensor measured value minus the bias value.
0xFF | 0xAA | 0x08 | GXOFFSETL | GXOFFSETH |
GXOFFSETL：Set X axis Angular velocity bias low byte
GXOFFSETH：Set Y axis Angular velocity bias high byte
GXOFFSET= (GXOFFSETH <<8) | GXOFFSETL
Note：After setting the angular velocity zero deviation, the output value of the angular velocity is the sensor measurement value minus the zero deviation value.
0xFF | 0xAA | 0x09 | GYOFFSETL | GYOFFSETH |
GYOFFSETL：Set X axis Angular velocity bias low byte
GYOFFSETH：Set X axis Angular velocity bias high byte
GYOFFSET= (GYOFFSETH <<8) | GYOFFSETL
Note：After setting the angular velocity zero deviation, the output value of the angular velocity is the sensor measurement value minus the zero deviation value.
0xFF | 0xAA | 0x0a | GXOFFSETL | GXOFFSETH |
GZOFFSETL：Set Z axis Angular velocity bias low byte
GZOFFSETH：Set Z axis Angular velocity bias low byte
GZOFFSET= (GZOFFSETH <<8) | GZOFFSETL
Note：After setting the angular velocity zero deviation, the output value of the angular velocity is the sensor measurement value minus the zero deviation value.
0xFF | 0xAA | 0x0b | HXOFFSETL | HXOFFSETH |
HXOFFSETL：Set X axis magnetic bias low byte
HXOFFSETH：Set X axis magnetic bias high byte
HXOFFSET= (HXOFFSETH <<8) | HXOFFSETL
Note：After setting the magnetic field bias, the output value of the magnetic field is the sensor measured value minus the zero bias value.
0xFF | 0xAA | 0x0c | HXOFFSETL | HXOFFSETH |
HXOFFSETL：Set Y axis magnetic bias low byte
HXOFFSETH：Set Y axis magnetic bias high byte
HXOFFSET= (HXOFFSETH <<8) | HXOFFSETL
Note：After setting the magnetic field bias, the output value of the magnetic field is the sensor measured value minus the zero bias value.
0xFF | 0xAA | 0x0d | HXOFFSETL | HXOFFSETH |
HXOFFSETL：Set Y axis magnetic bias low byte
HXOFFSETH：Set Z axis magnetic bias high byte
HXOFFSET= (HXOFFSETH <<8) | HXOFFSETL
Note：After setting the magnetic field bias, the output value of the magnetic field is the sensor measured value minus the zero bias value.
Last modified 10mo ago