WIT Standard Communication Protocol

Instructions for Command：

Command
The serial port sending command must be completed within 10S, otherwise it will be
automatically locked. To avoid this situation, please do the following steps first.

1. Enter the unlock command（0XFF 0XAA 0X69 0X88 0XB5，0X means

hexadecimal ）

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

3. Save command（0XFF 0XAA 0X00 0X00 0X00）

Register
AD AD
DR DR SER
Bit Bit Bit Bit Bit Bit Bit Bit Bit
REGISTE FUNCTION IAL Bit9 Bit8 Bit6 Bit5 Bit3 Bit2 Bit0
15 14 13 12 11 10 7 4 1
(He (De R NAME
x) c) I/F

Save/Reboo
00 00 SAVE R/W SAVE[15:0]
t/Reset

Calibretion
01 01 CALSW R/W CALSW[3:0]
Mode

A
Output GS QUA VELO G PRE PO M ANG GY
02 02 RSW R/W C TIME
Content A TER CITY PS SS RT AG LE RO
C

03 03 RRATE Output rate R/W RRATE[3:0]

04 04 BAUD Baud rate R/W BAUD[3:0]

 AXOFFSE Acceleration
05 05 R/W AXOFFSET[15:0]
T X bias

AYOFFSE Acceleration
06 06 R/W AYOFFSET[15:0]
T Y bias

AZOFFSE Acceleration
07 07 R/W AZOFFSET[15:0]
T Z bias

Angular
GXOFFS
08 08 velocity X R/W GXOFFSET[15:0]
ET
bias

Angular
GYOFFS
09 09 velocity Y R/W GYOFFSET[15:0]
ET
bias

Angular
GZOFFSE
0A 10 velocity Z R/W GZOFFSET[15:0]
T
bias

HXOFFSE Magnetic
0B 11 R/W HXOFFSET[15:0]
T field X bias

HYOFFSE Magnetic
0C 12 R/W HYOFFSET[15:0]
T field Y bias

HZOFFSE Magnetic
0D 13 R/W HZOFFSET[15:0]
T field Z bias

D0 Pin
0E 14 D0MODE R/W D0MODE[3:0]
Mode

D1 Pin
0F 15 D1MODE R/W D1MODE[3:0]
Mode

D2 Pin
10 16 D2MODE R/W D2MODE[3:0]
Mode

D3 Pin
11 17 D3MODE R/W D3MODE[3:0]
Mode
 Device
1A 26 IICADDR R/W IICADDR[7:0]
address

Turn off LED

1B 27 LEDOFF R/W
LED light OFF

Magnetic
MAGRAN field X
1C 28 R/W MAGRANGX[15:0]
GX calibration
range

Magnetic
MAGRAN field Y
1D 29 R/W MAGRANGY[15:0]
GY calibration
range

Magnetic
MAGRAN field Z
1E 30 R/W MAGRANGZ[15:0]
GZ calibration
range

BANDWID
1F 31 Bandwidth R/W BANDWIDTH[3:0]
TH

GYRORA
20 32 Gyro range R/W GYRORANGE[3:0]
NGE

ACCRAN Acceleration
21 33 R/W ACCRANGE[3:0]
GE range

SLEE
22 34 SLEEP Sleep R/W
P

Installation ORIE
23 35 ORIENT R/W
direction NT

AXIS
24 36 AXIS6 Algorithm R/W
6

Dynamic
25 37 FILTK R/W FILTK[15:0]
filtering
 GPSBAU GPS Baud
26 38 R/W GPSBAUD[3:0]
D rate

READAD Read
27 39 R/W READADDR[7:0]
DR register

Acceleration
2A 42 ACCFILT R/W ACCFILT[15:0]
filtering

POWONS command POWONSEND[3:0

2D 45 R/W
END start ]

Version
2E 46 VERSION R VERSION[15:0]
number

30 48 YYMM Year/Mouth R/W MOUTH[15:8] YEAR[7:0]

31 49 DDHH Hour/Day R/W HOUR[15:8] DAY[7:0]

Minutes/Sec
32 50 MMSS R/W SECONDS[15:8] MINUTE[7:0]
onds

33 51 MS millisecond R/W MS[15:0]

Acceleration
34 52 AX R AX[15:0]
X

Acceleration
35 53 AY R AY[15:0]
Y

Acceleration
36 54 AZ R AZ[15:0]
Z

Angular
37 55 GX R GX[15:0]
velocity X

Angular
38 56 GY R GY[15:0]
velocity Y

Angular
39 57 GZ R GZ[15:0]
velocity Z
 Magnetic
3A 58 HX R HX[15:0]
field X

Magnetic
3B 59 HY R HY[15:0]
field Y

Magnetic
3C 60 HZ R HZ[15:0]
field Z

3D 61 Roll Roll R Roll[15:0]

3E 62 Pitch Pitch angle R Pitch[15:0]

3F 63 Yaw Heading R Yaw[15:0]

Temperatur
40 64 TEMP R TEMP[15:0]
e

41 65 D0Status D0 pin state R D0Status[15:0]

42 66 D1Status D1pin state R D1Status[15:0]

43 67 D2Status D2 pin state R D2Status[15:0]

44 68 D3Status D3 pin state R D3Status[15:0]

Air pressure
45 69 PressureL R PressureL[15:0]
low 16 bits

Air pressure
46 70 PressureH R PressureH[15:0]
high16 bits

Height lower
47 71 HeightL R HeightL[15:0]
16 bits

Height high
48 72 HeightH R HeightH[15:0]
16 bits

Longitude
49 73 LonL R LonL[15:0]
lower 16 bits

4A 74 LonH Longitude R LonH[15:0]

 high 16 bits

Latitude
4B 75 LatL R LatL[15:0]
lower 16 bits

Latitude
4C 76 LatH R LatH[15:0]
high 16 bits

GPSHeigh
4D 77 GPS Altitute R GPSHeight[15:0]
t

GPS
4E 78 GPSYAW R GPSYAW[15:0]
Heading

GPS round
4F 79 GPSVL speed low R GPSVL[15:0]
16 bits

GPS ground
50 80 GPSVH speed high R GPSVH[15:0]
16 bits

Quaternion
51 81 q0 R q0[15:0]
0

52 82 q1 Quaternion1 R q1[15:0]

53 83 q2 Quaternion2 R q2[15:0]

54 84 q3 Quaternion3 R q3[15:0]

Number of
55 85 SVNUM R SVNUM[15:0]
satellites

Position
56 86 PDOP R PDOP[15:0]
accuracy

Horizontal
57 87 HDOP R HDOP[15:0]
accuracy

Vertical
58 88 VDOP R VDOP[15:0]
accuracy
59 89 DELAYT Alarm delay R/W DELAYT[15:0]

X-axis angle
5A 90 XMIN R/W XMIN[15:0]
alarm min.

X-axis angle
5B 91 XMAX R/W XMAX[15:0]
alarm max.

Supply
5C 92 BATVAL R BATVAL[15:0]
voltage

X-
ALARMPI Alarm Pin
5D 93 R/W ALARM[15:12 X+ALARM[11:8] Y-ALARM[7:4] Y+ALARM[3:0]
N Mapping
]

Y-axis alarm
5E 94 YMIN R/W YMIN[15:0]
min.

Y-axis alarm
5F 95 YMAX R/W YMAX[15:0]
max.

GYROCA Gyro Still

61 97 R/W GYROCALITHR[15:0]
LITHR Threshold

ALARMLE Angle alarm

62 98 R/W ALARMLEVEL[3:0]
VEL level

Gyro auto
GYROCA
63 99 calibration R/W GYROCALTIME[15:0]
LTIME
time

Alarm
TRIGTIM
68 104 continuous R/W TRIGTIME[15:0]
E
trigger time

69 105 KEY Unlock R/W KEY[15:0]

Gyro
6A 106 WERROR R WERROR[15:0]
change

TIMEZON GPSTimezo
6B 107 R/W TIMEZONE[7:0]
E ne
 Angular
velocity
6E 110 WZTIME R/W WZTIME[15:0]
continuous
rest time

Angular
WZSTATI velocity
6F 111 R/W WZSTATIC[15:0]
C integral
threshold

485 data
MODDEL
74 116 response R/W
AY
delay

Roll angle
XREFROL zero
79 121 R XREFROLL[15:0]
L reference
value

Pitch angle
YREFPIT zero
7A 122 R YREFPITCH[15:0]
CH reference
value

NUMBERI Device No1-

7F 127 R ID2[15:8] ID1[7:0]
D1 2

NUMBERI Device No3-

80 128 R ID4[15:8] ID3[7:0]
D2 4

NUMBERI Device No5-

81 129 R ID6[15:8] ID5[7:0]
D3 6

NUMBERI Device No7-

82 130 R ID8[15:8] ID7[7:0]
D4 8

NUMBERI Device No9-

83 131 R ID10[15:8] ID9[7:0]
D5 10

NUMBERI Device
84 132 R ID12[15:8] ID11[7:0]
D6 No11-12
Protocol Format

Read

 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 it can represent negative numbers.

Protoc
Data Data Data Data Data Data Data Data Data
ol SUMC
conte lower 8 higher 8 lower 8 higher 8 lower 8 higher 8 lower 8 higher 8
heade RC
nt bits bits bits bits bits bits bits bits
r

SUMC
TYPE DATA1L[ DATA1H[1 DATA2L[ DATA2H[1 DATA3L[ DATA3H[1 DATA4L[ DATA4H[1
0x55 RC
【1】 7:0] 5:8] 7:0] 5:8] 7:0] 5:8] 7:0] 5:8]
【2】

【1】TYPE(Data content):

TYPE Remark

0x50 Time

0x51 Acceleration

0x52 Angular velocity

0x53 Angle
 0x54 Magnetic field

0x55 Port

0x56 Barometric altitude

0x57 Latitude and Longitude

0x58 ground speed

0x59 Quaternion

0x5A GPS Location accuracy

0x5F Read

【2】SUMCRC(Data and calibration)：

SUMCRC=0x55+TYPE+DATA1L+DATA1H+DATA2L+DATA2H+DATA3L+DATA3H+
DATA4L+DATA4H

SUMCRC is a char type, taking the lower 8 bits of the checksum

Time Output

0x55 0x50 YY MM DD HH MN SS MSL MSH SUM

Name Describe Remark

YY Year

MM Mouth

DD Day

HH Hour

MN Minute

SS Seconds

MS lower 8
MSL
bits Millisecond calculation formula:

MS higher 8 milliseconds=((MSH<<8)|MSL)
MSH
bits

SUM Checksum SUM=0x55+0x50+YY+MM+DD+HH+MN+SS+MSL+MSH

Acceleration Output

0x55 0x51 AxL AxH AyL AyH AzL AzH TL TH SUM

Name Description Remark

Acceleration
AxL
X low 8 bits Acceleration X=((AxH<<8)|AxL)/32768*16g

Acceleration (g is the acceleration of gravity, preferably 9.8m/s2)

AxH
X high 8 bits

Acceleration
AyL
Y low 8 bits Acceleration Y=((AyH<<8)|AyL)/32768*16g

Acceleration (g is the acceleration of gravity, preferably 9.8m/s2)

AyH
Yhigh 8 bits

Acceleration
AzL
Z low 8 bits Acceleration Z=((AzH<<8)|AzL)/32768*16g

Acceleration (g is the acceleration of gravity, preferably 9.8m/s2)

AzH
Z high 8 bits

8-bit lower
TL
temperature Temperature calculation formula:

8-bit higher Temperature=((TH<<8)|TL) /100 ℃

TH
temperature

SUM Check sum SUM=0x55+0x51+AxL+AxH+AyL+AyH+AzL+AzH+TL+Th

Angular velocity output

0x5 0x5 Wx
WxH WyL WyH WzL WzH VolL VolH SUM
5 2 L

Nam
Description Remark
e

Angular
WxL velocity X
low 8 bits Angular velocity X=((WxH<<8)|WxL)/32768*2000°/s

Angular
WxH velocity X
high 8 bits

Angular
WyL velocity Y
low 8 bits Angular velocity Y=((WyH<<8)|WyL)/32768*2000°/s

Angular
WyH velocity Y
high 8 bits

Angular
WzL velocity Z
low 8 bits Angular velocity Z=((WzH<<8)|WzL)/32768*2000°/s

Angular
WzH velocity Z
high 8 bits

Voltage
VolL （Non-Bluetooth products, the data is invalid) Voltage
lower 8 bits
 calculation formula：
Voltage
VolH
higher 8 bits Voltage=((VolH<<8)|VolL) /100 ℃

SUM=0x55+0x52+WxL+WxH+WyL+WyH+WzL+WzH+VolH+Vol
SUM Check sum
L
Angular output

0x55 0x53 RollL RollH PitchL PitchH YawL YawH VL VH SUM

Descriptio
Name Remark
n

Roll angle
RollL X lower 8
bits Roll angle X=((RollH<<8)|RollL)/32768*180(°)

Roll angle
RollH X highter 8
bits

Pitch
PitchL angle Y
low 8 bits Pitch angleY=((PitchH<<8)|PitchL)/32768*180(°)

Pitch
Pitch
angle Y
H
high 8 bits

Yaw angle
YawL Z lower8
bits Yaw angleZ=((YawH<<8)|YawL)/32768*180(°)

Yaw angle
YawH Z higher 8
bits

Version
Version number calculation formula:
number
VL
lower 8 Version number=(VH<<8)|VL
bits
 Version
number
VH
higher 8
bits

Check SUM=0x55+0x53+RollH+RollL+PitchH+PitchL+YawH+YawL+VH
SUM
Sum +VL
Magnetic field output

0x55 0x54 HxL HxH HyL HyH HzL HzH TL TH SUM

Name Description Remark

Magnetic field
HxL
X lower 8 bits
Magnetic fieldX=((HxH<<8)|HxL)
Magnetic field
HxH X higher 8
bits

Magnetic field
HyL
Y lower 8 bits
Magnetic fieldY=((HyH <<8)|HyL)

Magnetic
HyH fieldY higher
8 bits

Magnetic field
HzL
Z lower 8 bits Magnetic fieldZ=((HzH<<8)|HzL)

Magnetic field
HzH
Z lower 8 bits

8-bit lower
TL
temperature Temperature calculation formula:

8-bit lhigher Temperature=((TH<<8)|TL) /100 ℃

TH
temperature

SUM Check Sum SUM=0x55+0x54+HxH+HxL+HyH+HyL+HzH+HzL+TH+TL

Port status output

0x55 0x55 D0L D0H D1L D1H D2L D2H D3L D3H SUM

Name Description Remark

D0 status
D0L
lower 8 bits D0 status=((D0H<<8)|D0L)

D0 status
D0H
higher 8 bits

D1 status
D1L
lower 8 bits D1status=((D1H<<8)|D1L)

D1 status
D1H
higher 8 bits

D2 status
D2L
lower 8 bits D2 status=((D2H<<8)|D2L)

D2 status
D2H
higher 8 bits

D3 status
D3L
lower 8 bits
D3 status=((D3H<<8)|D3L)
D3 status
D3H
higher 8 bits

SUM Check Sum SUM=0x55+0x54+D0L+D0H+D1L+D1H+D2L+D2H+D3L+D3H

explanation：
● When the port mode is set to analog input, the port status data represents the
analog voltage. The actual voltage is calculated according to the formula below:

U=DxStatus/1024*Uvcc

● Uvcc is the power supply voltage of the chip. Since there are LDOs on the chip, if
the power supply voltage of the module is greater than 3.5V, Uvcc is 3.3V. If the
module power supply voltage is less than 3.5V, Uvcc=pexplaower supply voltage -
0.2V.

● When the port mode is set to digital input, the port status data indicates the digital
level status of the port, high level is 1 and low level is 0.

● When the port mode is set to high-level output mode, the port status data is 1.

● When the port mode is set to low-level output mode, the port status data bit is 0.
Air pressure altitude output

0x55 0x56 P0 P1 P2 P3 H0 H1 H2 H3 SUM

Name Description Remark

P0 Air pressure[7:0]

P1 Air pressure[[15:8]

Air pressure[=(P3<<24)|(P2<<16)|(P1<<8)|P0(Pa)
Air
P2
pressure[[23:16]

Air
P3
pressure[31:24]

H0 Altitute[7:0]

H1 Altitute[15:8] Altitute=(H3<<24)|(H2<<16)|(H1<<8)|H0(cm)

H2 Altitute[23:16]

H3 Altitute[31:24]

SUM Check sum SUM=0x55+0x56+P0+P1+P2+P3+H0+H1+H2+H3

Latitude and longitude

0x5
0x57 Lon0 Lon1 Lon2 Lon3 Lat0 Lat1 Lat2 Lat3 SUM
5

Nam
Description Remark
e

Lon0 Longitude[7:0]

Lon1 Longitude[15:8]

Longitude=(Lon3<<24)|(Lon2<<16)|(Lon1<<8)|Lon0
Longitude[23:1
Lon2
6]

Longitude[31:2
Lon3
4]

Lat0 Latitude[7:0]

Lat1 Latitude[15:8] Latitude=(Lat3<<24)|(Lat2<<16)|(Lat1<<8)|Lat0

Lat2 Latitude[23:16]

Lat3 Latitude[31:24]

SUM=0x55+0x57+Lon0+Lon1+Lon2+Lon3+Lat0+Lat1+Lat2+
SUM Checksum
Lat3

Explanation:

The NMEA8013 standard stipulates that the longitude output format of GPS is dd
mm.mmmmm (dd is degrees, mm.mmmmm is minutes), and the decimal point is
removed from the output of longitude/latitude, so the degrees of longitude/latitude
can be calculated as follows:
dd=Lon [31:0]/10000000;

dd=Lat [31:0]/10000000;

Longitude/latitude fraction calculation:

mm.mmmmm= (Lon [31:0] %10000000)/100000(% indicates the remainder

operation)

mm.mmmmm= (Lat [31:0] %10000000)/100000(% indicates the remainder operation)

GPS data output

GPS GPS GPS GPS

0x5 0x5
GPSV0 GPSV1 GPSV2 GPSV3 SUM
5 8 HeightL HeightH YawL YawH

Nam Descript
Remark
e ion

GPS GPS

Heig altitude[
htL 7:0] GPS altitude=((GPSHeightH<<8)|GPSHeightL)/10(m)

GPS GPS

Heig altitude[
htH 15:8]

GPS GPS

Yaw heading
[7:0]
L
GPS heading =((GPSYawH<<8)|GPSYawL)/100(°)
GPS GPShea

Yaw ding
[15:8]
H

GPS
GPS Ground
GPS Ground Speed =
V0 Speed[7
((GPSV3<<24)|(GPSV2<<16)|(GPSV1<<8)|GPSV0)/1000(km/h)
:0]

GPS GPS
V1 Ground
 Speed[1
5:8]

GPS
GPS Ground
V2 Speed[2
3:16]

GPS
GPS Ground
V3 Speed[3
1:24]

Check SUM=0x55+0x58+GPSHeightL+GPSHeightH+GPSYawL+GPSYaw
SUM
sum H+GPSV0+GPSV1+GPSV2+GPSV3
Quaternion output

0x55 0x59 Q0L Q0H Q1L Q1H Q2L Q2H Q3L Q3H SUM

Name Description Remark

Q0L Q0 lower 8 bits q0=((Q0H<<8) |Q0L)/32768

Q0H Q0 high 8 bits

Q1L Q1 lower 8 bits q1=((Q1H<<8) |Q1L)/32768

Q1H Q1 high 8 bits

Q2L Q2 lower 8 bits q2=((Q2H<<8) |Q2L)/32768

Q2H Q2 high 8 bits

Q3L Q3 lower 8 bits

q3=((Q3H<<8)|Q3L)/32768
Q3H Q3 high 8 bits

SUM=0x55+0x59+Q0L+Q0H+Q1L +Q1H
SUM Checksum
+Q2L+Q2H+Q3L+Q3H
GPS Positioning accuracy output

VDOP
0x55 0x5A SNL SNH PDOPL PDOPH HDOPL HDOPH VDOPL SUM
H

Descripti
Name Remark
on

Satellite
number
SNL
low 8
bits GPSSatellite number=((SNH<<8) |SNL)

Satellite
number
SNH
high 8
bits

Position
PDOP accurac
L y low 8
bits Position accuracy=((PDOPH<<8) |PDOPL)/100

Position
PDOP accurac
H y high 8
bits

Horizont
al Horizontal precision=((HDOPH<<8) |HDOPL)/100
HDO
precisio
PL
n low 8
bits
 Horizont
al
HDO
precisio
PH
n high 8
bits

Vertical
VDOP precisio
L n low 8
bits
Vertical precision =((VDOPH<<8)|VDOPL)/100
Vertical
VDOP precisio
H n high 8
bits

Checksu SUM=0x55+0x5A+SNL+SNH+PDOPL+PDOPH+HDOPL+HDOPH+
SUM
m VDOPL+VDOPH
Read the return value of the register

 Read the value of the register specified by the user, read REG1, then return the
value of the 4 registers of REG1~REG4, the protocol must return 4 registers.

REG4 REG4
0x55 0x5F REG1L REG1H REG2L REG2H REG3L REG3H SUM
L H

Nam Descript
Remark
e ion

Register
REG
1 low 8
1L
bits REG1[15:0]=((REG1H<<8)|REG1L)

Register
REG
1 high 8
1H
bits

Register
REG
2 low 8
2L
bits REG2[15:0]=((REG2H<<8)|REG2L)

Register
REG
2 high 8
2H
bits

Register
REG
3 low 8
3L
bits REG3[15:0]=((REG3H<<8)|REG3L)

Register
REG
3 high 8
3H
bits
 Register
REG
4 low 8
4L
bits
REG4[15:0]=((REG4H<<8)|REG4L)
Register
REG
4 high 8
5H
bits

Checks SUM=0x55+0x5F+REG1L+REG1H+REG2L+REG2H+REG3L+REG
SUM
um 3H+REG4L+REG4H

Example:

Read register "AXOFFSET", return：0x55 0x5F AXOFFSET [7:0] AXOFFSET [15:8]

AYOFFSET [7:0] AYOFFSET [15:8] AZOFFSET [7:0] AZOFFSET [15:8] GXOFFSET [7:0]
GXOFFSET [15:8] SUM
Write Format

 The following data are all Hex codes in hexadecimal

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

Head Head Register Data lower 8 bits Data high 8 bits

0xFF 0xAA ADDR DATAL[7:0] DATAH[15:8]

 The data is sent in hexadecimal not ASCII.

 Each data is divided into low byte and high byte and transmitted in turn, and the
two are combined into a signed short data.

For example, DATA, DATAL is the low byte, DATAH is the high byte.

Conversion method: Assuming that DATA is the actual data, DATAH is its high-byte
part, and DATAL is its low-byte part, then:DATA=(short)((short)DATAH<<8|DATAL)

DATAH must be cast to a signed short type before shifting, and the data type of
DATA is also a signed short type, so that negative numbers can be represented.

Note:

There are three steps to perform the command write operation.

Step1. Unlock 0xFF 0XAA 0X69 0X88 0XB5

Step2. Send the command to be modified

Step3. Save 0xFF 0XAA 0X00 0X00 0X00

The flow chart is below.The data is sent in hexadecimal not ASCII.

Each data is divided into low byte and high byte and transmitted in turn, and the two
are combined into a signed short data.

For example, DATA, DATAL is the low byte, DATAH is the high byte.
Conversion method: Assuming that DATA is the actual data, DATAH is its high-byte
part, and DATAL is its low-byte part, then:DATA=(short)((short)DATAH<<8|DATAL)

DATAH must be cast to a signed short type before shifting, and the data type of
DATA is also a signed short type, so that negative numbers can be represented.

Note:

There are three steps to perform the command write operation.

Step1. Unlock 0xFF 0XAA 0X69 0X88 0XB5

Step2. Send the command to be modified

Step3. Save 0xFF 0XAA 0X00 0X00 0X00

The flow chart is below.

SAVE(Save/restart/reset)

Register Name: SAVE

Register Address: 0 (0x00)

Read and write direction: R/W

Default: 0x0000

Bit NAME FUNCTION

Save: 0x0000

15:0 SAVE[15:0] Restart: 0x00FF

Factory reset: 0x0001

Example：FF AA 00 FF 00（Restart）
CALSW（Calibration mode）

Register Name: CALSW

Register Address: 1 (0x01)

Read and write direction: R/W

Default: 0x0000

Bit NAME FUNCTION

15:4

Set calibration mode:

0000(0x00): Normal working mode

0001(0x01): Automatic accelerometer calibration

0011(0x03): Height reset

3:0 CAL[3:0] 0100(0x04): Set the heading angle to zero

0111(0x07): Magnetic Field Calibration (Spherical Fitting)

1000 (0x08): Set the angle reference

1001(0x09): Magnetic Field Calibration (Dual Plane

Mode)

Example：FF AA 01 04 00（Set heading angle to zero）

RSW（Output content）

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 only output acceleration, angular velocity, angle, magnetic

field, port state)
RRATE (Output rate)

Register Name: RRATE

Register Address: 3 (0x03)

Read and write direction: R/W

Default: 0x0006

Bit NAME FUNCTION

15:4

Set the 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)

Note: HWT906, WT931 can output 500Hz, 1000Hz

FF AA 03 0C 00: 500HzFF AA 03 0D 00: 1000Hz

FF AA 03 10 00 : single return
BAUD（Serial baud rate）

Register Name: BAUD

Register Address: 4 (0x04)

Read and write direction: R/W

Default: 0x0002

Bit NAME FUNCTION

15:4

Set the serial port baud rate:

0001(0x01): 4800bps

0010(0x02): 9600bps

0011(0x03): 19200bps

0100(0x04): 38400bps

0101(0x05): 57600bps
3:0 BAUD[3:0]
0110(0x06): 115200bps

0111(0x07): 230400bps

1000(0x08): 460800bps（Only
supportsWT931/JY931/HWT606/HWT906）

1001(0x09): 921600bps（Only
supportsWT931/JY931/HWT606/HWT906）

Example：FF AA 04 06 00（Set serial port baud rate115200）

AXOFFSET~HZOFFSET（Zero bias setting）

Register Name: AXOFFSET~HZOFFSET

Register Address: 5~13 (0x05~0x0D)

Read and write direction: R/W

Default: 0x0000

Bit NAME FUNCTION

Acceleration X-axis zero offset,

15:0 AXOFFSET[15:0]
actualvalue=AXOFFSET[15:0]/10000(g)

Acceleration Y-axis zero offset,

15:0 AYOFFSET[15:0]
actualvalue=AYOFFSET[15:0]/10000(g)

Acceleration Z-axis zero offset,

15:0 AZOFFSET[15:0]
actualvalue=AZOFFSET[15:0]/10000(g)

Angular velocity X-axis zero offset, actual

15:0 GXOFFSET[15:0]
value=GXOFFSET[15:0]/10000(°/s)

Angular velocity Y-axis zero offset, actual

15:0 GYOFFSET[15:0]
value=GYOFFSET[15:0]/10000(°/s)

Angular velocity Z-axis zero offset, actual

15:0 GZOFFSET[15:0]
value=GZOFFSET[15:0]/10000(°/s)

15:0 HXOFFSET[15:0] Magnetic field X-axiszero offset

15:0 HYOFFSET[15:0] Magnetic field Y-axiszero offset

15:0 HZOFFSET[15:0] Magnetic field Z-axiszero offset

Example: FF AA 05 E8 03 (set acceleration X-axis offset 0.1g),0x03E8=1000，
1000/10000=0.1(g)

D0MODE~D3MODE（Port Mode Settings）

Register Name: D0MODE~D3MODE

Register Address: 14~17 (0x0E~0x11)

Read and write direction: R/W

Default: 0x0000

Bit NAME FUNCTION

Set D0 port mode

0000(0x00): Analog input (default)

3:0 D0MODE[3:0] 0001 (0x01): Digital input

0010 (0x02): Output digital high level

0011(0x03): Output digital low level

Set D1 port mode

0000(0x00): Analog input (default)

0001(0x01): Digital input

3:0 D1MODE[3:0]
0010(0x02): Output digital high level

0011(0x03): Output digital low level

0101(0x05): Set relative pose

3:0 D2MODE[3:0] Set D2 port mode

 0000(0x00): Analog input (default)

0001(0x01): Digital input

0010(0x02): Output digital high level

0011(0x03): Output digital low level

Set D3 port mode

0000(0x00): Analog input (default)

3:0 D3MODE[3:0] 0001(0x01): Digital input

0010(0x02): Output digital high level

0011(0x03): Output digital low level

Example: FF AA 0E 03 00 (set D0 as the output digital low level mode)

IICADDR（Device address）

Register Name: IICADDR

Register Address: 26 (0x1A)

Read and write direction: R/W

Default: 0x0050

Bit NAME FUNCTION

15:8

Set the device address for I2C and Modbus

communication
7:0 IICADDR[7:0]

0x01~0x7F

Example：FF AA 1A 02 00（set the device address to 0x02）

LEDOFF

Register Name: LEDOFF

Register address: 27 (0x1B)

Read and write direction: R/W

Default value: 0x0000

Bit NAME FUNCTION

15:1

1: Turn off the LED light

0 LEDOFF
0: Turn on the LED light

Example: FF AA 1B 01 00 (turn off the LED light)

MAGRANGX~MAGRANGZ

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 calibration X-axis range to 500)

BANDWIDTH

Register Name: BANDWIDTH

Register Address: 31 (0x1F)

Read and write direction: R/W

Default: 0x0004

Bit NAME FUNCTION

15:4

Set bandwidth

0000(0x00): 256Hz

0001(0x01): 188Hz

0010(0x02): 98Hz
3:0 BANDWIDTH[3:0]
0011(0x03): 42Hz

0100(0x04): 20Hz

0101(0x05): 10Hz

0110(0x06): 5Hz

Example: FF AA 1F 01 00 (set the bandwidth to 188Hz)

GYRORANGE

Register Name: GYRORANGE

Register Address: 32 (0x20)

Read and write direction: R/W

Default: 0x0003

Bit NAME FUNCTION

15:4

Set the gyro range

3:0 GYRORANGE[3:0] 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)

ACCRANGE

Register Name: ACCRANGE

Register Address: 33 (0x21)

Read and write direction: R/W

Default: 0x0000

Bit NAME FUNCTION

15:4

Set the accelerometer range

0000(0x00): ±2g

0011(0x03): ±16g
3:0 ACCRANGE[3:0]
This parameter cannot be set. The product's
internal adaptive acceleration range will
automatically switch to 16g when the acceleration
exceeds 2g.

Example: FF AA 21 00 00 (set the accelerometer range to 16g)

SLEEP

Register Name: SLEEP

Register Address: 34 (0x22)

Read and write direction: R/W

Default: 0x0000

Bit NAME FUNCTION

15:1

set hibernate

0 SLEEP 1(0x01): sleep

Any serial data to wake up

Example: FF AA 22 01 00 (go to sleep)

ORIENT（Installation direction）

Register Name: ORIENT

Register Address: 35 (0x23)

Read and write direction: R/W

Default: 0x0000

Bit NAME FUNCTION

15:1

Set the installation direction

0 (0x00): horizontal installation

0 ORIENT
1(0x01): Vertical installation (the Y-axis arrow of the
coordinate axis must be upwards)

Example: FF AA 23 01 00 (set vertical installation)

AXIS6（Algorithm)

Register Name: AXIS6

Register Address: 36 (0x24)

Read and write direction: R/W

Default: 0x0000

Bit NAME FUNCTION

15:1

set algorithm

0(0x00): 9-axis algorithm (magnetic field solution

0 AXIS6 heading angle, absolute heading angle)

1 (0x01): 6-axis algorithm (integral solution heading

angle, relative heading angle)

Example: FF AA 24 01 00 (set 6-axis algorithm mode)

FILTK（K-value filtering）

Register Name: FILTK

Register Address: 37 (0x25)

Read and write direction: R/W

Default: 0x001E

Bit NAME FUNCTION

Range: 1~10000, default 30 (modification is not

recommended)

The smaller the FILTK [15:0], the stronger the seismic

15:0 FILTK[15:0]
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)

GPSBAUD（GPS Baud Rate）

Register Name: GPSBAUD

Register Address: 38 (0x26)

Read and write direction: R/W

Default: 0x0002

Bit NAME FUNCTION

15:4

Set GPS baud rate：

0001(0x01): 4800bps

0010(0x02): 9600bps

0011(0x03): 19200bps
3:0 GPSBAUD[3:0]
0100(0x04): 38400bps

0101(0x05): 57600bps

0110(0x06): 115200bps

0111(0x07): 230400bps

Example: FF AA 26 02 00 (set GPS baud rate 9600)

READADDR（Read registers）

Register Name: READADDR

Register Address: 39 (0x27)

Read and write direction: R/W

Default: 0x00FF

Bit NAME FUNCTION

15:8

Read register range: Please refer to "Register

7:0 READADDR[7:0]
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
ACCFILT（Acceleration filtering）

Register Name: ACCFILT

Register Address: 42 (0x2A)

Read and write direction: R/W

Default: 0x01F4

Bit NAME FUNCTION

Range: 1~10000, default 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
15:0 ACCFILT[15:0]
performance.

This parameter is an empirical value and needs to

be debugged according to different environments.

For example, in a tractor environment:

ACCFILT[15:0] can be adjusted to 100, the vibration

of the tractor is serious, and the seismic
performance needs to be improved.

Example: FF AA 2A F4 01 (set acceleration filter 500)

POWONSEND（Power-on output）

Register Name: POWONSEND

Register Address: 45 (0x2D)

Read and write direction: R/W

Default: 0x0001

Bit NAME FUNCTION

15:4

Set the command to start:

3:0 POWONSEND[3:0] 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)

VERSION（Version number）

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)
YYMM~MS（Chip time）

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] Month

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 hour 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)
Return：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

AX~AZ（Acceleration）

Register Name: AX~AZ

Register address: 52~54 (0x34~0x36)

Read and write direction: R

Default: 0x0000

Bit NAME FUNCTION

Acceleration X=AX[15:0]/32768*16g (g is the acceleration of

15:0 AX[15:0]
gravity, preferably 9.8m/s2)

Acceleration Y=AY[15:0]/32768*16g (g is the acceleration of

15:0 AY[15:0]
gravity, preferably 9.8m/s2)

Acceleration Z=AZ[15:0]/32768*16g (g is the acceleration of

15:0 AZ[15:0]
gravity, preferably 9.8m/s2)

Read 3-axis acceleration: 50 03 00 34

GX~GZ（Angular velocity）

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

HX~HZ（Magnetic field）

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 field Z=HZ[15:0] (unit: LSB)

Roll~Yaw（Angle）

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 X=Roll[15:0]/32768*180°

15:0 Pitch[15:0] Pitch Y=Pitch[15:0]/32768*180°

15:0 Yaw[15:0] Heading Z=Yaw[15:0]/32768*180°

TEMP（Temperature）

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℃

D0Status~D3Status（Port status）

Register Name: D0Status~D3Status

Register address: 65~68 (0x41~0x44)

Read and write direction: R

Default: 0x0000

Bit NAME FUNCTION

15:0 D0Status[15:0] D0 state value

15:0 D1Status[15:0] D1 status value

15:0 D2Status[15:0] D2 state value

15:0 D3Status[15:0] D3 state value

PressureL~HeightH（Air pressure altitude）

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]
Altitude=((int)HeightH[15:0]<<16)|HeightL[15:0](cm)
15:0 HeightH[15:0]
LonL~LatH（Longitude and latitude）

Register Name: LonL~LatH

Register address: 73~76 (0x49~0x4C)

Read and write direction: R

Default: 0x0000

Bit NAME FUNCTION

15:0 LonL[15:0]
Lon[31:0]=((int)LonH[15:0]<<16)|LonL[15:0](Pa)
15:0 LonH[15:0]

15:0 LatL[15:0]
Lat[31:0]=((int)LatH[15:0]<<16)|LatL[15:0](cm)
15:0 LatH[15:0]

The NMEA8013 standard stipulates that the longitude output format of GPS is dd mm.
mmmmm (dd is degrees, mm. mmmmm is minutes), and the decimal point is removed from
the longitude/latitude output, so the degrees of longitude/latitude can be calculated as
follows:

dd=Lon [31:0]/10000000;

dd=Let [31:0]/10000000;

Longitude/latitude fraction calculation:

mm.mmmmm= (Lon [31:0] %10000000)/100000； (% means remainder operation)

mm.mmmmm=(Lat[31:0]%10000000)/100000；(% means remainder operation)

GPSHeight~GPSVH（GPS Data）

Register Name: GPSHeight~GPSVH

Register address: 77~80 (0x4D~0x50)

Read and write direction: R

Default: 0x0000

Bit NAME FUNCTION

15:0 GPSHeight[15:0] GPS Altitude=GPSHeight[15:0]/10(m)

15:0 GPSYAW[15:0] GPS heading=GPSYAW[15:0]/100(°)

15:0 GPSVL[15:0]
GPS ground
speed=(((int)GPSVH[15:0]<<16)|GPSVL[15:0])/1000(km/h)
15:0 GPSVH[15:0]

q0~q3（Quaternion）

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] Quaternion2=q2[15:0]/32768

15:0 q3[15:0] Quaternion3=q3[15:0]/32768

SVNUM~VDOP（GPS Location Accuracy）

Register Name: SVNUM~VDOP

Register address: 85~88 (0x55~0x58)

Read and write direction: R

Default: 0x0000

Bit NAME FUNCTION

15:0 SVNUM[15:0] GPS satellites=SVNUM[15:0]

15:0 PDOP[15:0] Location longitude=PDOP[15:0]/100

15:0 HDOP[15:0] Horizontal positioning longitude=HDOP[15:0]/100

15:0 VDOP[15:0] Longitude of vertical positioning=VDOP[15:0]/100

DELAYT（Alarm signal delay）

Register Name: DELAYT

Register Address: 89 (0x59)

Read and write direction: R/W

Default: 0x0000

Bit NAME FUNCTION

Unit: ms

After the angle alarm occurs, the port will generate

15:0 DELAYT[15:0] the corresponding alarm signal. When the alarm is
removed, the alarm signal will continue to
DELAYT[15:0] and then disappear

Example: FF AA 59 E8 03 (set alarm signal delay 1000ms)

XMIN~XMAX（X-axis angle alarm threshold)

Register Name: XMIN~XMAX

Register address: 90~91 (0x5A~0x5B)

Read and write direction: R/W

Default: 0x0000

Bit NAME FUNCTION

Set the X-axis angle alarm minimum value

15:0 XMIN[15:0]
X-axis min=XMIN[15:0]*180/32768(°)

Set the X-axis angle alarm maximum value

15:0 XMAX[15:0]
X-axis max=XMAX[15:0]*180/32768(°)

Example:

FF AA 5A 72 FC (set -5 degrees), 0xFC72=-910, -910*180/32768=-5

FF AA 5B 8E 03 (set 5 degrees), 0x038E=910, 910*180/32768=5

The X axis will not alarm between -5°~5°, once it exceeds this range, an alarm will
occur
BATVAL（Voltage）

Register Name: BATVAL

Register Address: 92 (0x5C)

Read and write direction: R

Default: 0x0000

Bit NAME FUNCTION

15:0 BATVAL[15:0] Voltage=BATVAL[15:0]/100 ℃

ALARMPIN（Alarm pin mapping）

Register Name: ALARMPIN

Register Address: 93 (0x5D)

Read and write direction: R/W

Default: 0x4365

Bit NAME FUNCTION

0001(0x01): D0

0010(0x02): D1

0011(0x03): D2
15:12 X-ALARM[15:12]
0100(0x04): D3

0101(0x05): SCL

0110(0x06): SDA

0001(0x01): D0

0010(0x02): D1

0011(0x03): D2
11:8 X+ALARM[11:8]
0100(0x04): D3

0101(0x05): SCL

0110(0x06): SDA

0001(0x01): D0

7:4 Y-ALARM[7:4] 0010(0x02): D1

0011(0x03): D2
 0100(0x04): D3

0101(0x05): SCL

0110(0x06): SDA

0001(0x01): D0

0010(0x02): D1

0011(0x03): D2
3:0 Y+ALARM[3:0]
0100(0x04): D3

0101(0x05): SCL

0110(0x06): SDA

Example:

Set X-alarm signal to output on D3 port

Set the X+ alarm signal to output at port D1

Set the Y-alarm signal to output on the SCL port

Set the Y+ alarm signal to output at the SCL port

Send: FF AA 5D 55 42
YMIN~YMAX（Y-axis angle alarm threshold）

Register Name: YMIN~YMAX

Register address: 94~95 (0x5E~0x5F)

Read and write direction: R/W

Default: 0x0000

Bit NAME FUNCTION

Set the Y-axis angle alarm minimum value

15:0 YMIN[15:0]
Y axis angle alarm minimum value=YMIN[15:0]*180/32768(°)

Set the Y-axis angle alarm maximum value

15:0 YMAX[15:0]
Y-axis angle alarm maximum
value=YMAX[15:0]*180/32768(°)

Example: FF AA 5E 72 FC (set -5 degrees) ，0xFC72=-910，-910*180/32768=-5

FF AA 5F 8E 03(set 5 degrees) ，0x038E=910，910*180/32768=5

The Y axis does not alarm between -5°~5°, and an alarm occurs once it exceeds the range
GYROCALITHR（Gyro static threshold)

Register Name: GYROCALITHR

Register Address: 97 (0x61)

Read and write direction: R/W

Default: 0x0000

Bit NAME FUNCTION

Set the gyroscope static threshold:

15:0 GYROCALITHR[15:0]
Gyro static threshold=GYROCALITHR[15:0]/1000(°/s)

Example：Set the gyroscope static threshold to 0.05°/s

FF AA 61 32 00

When the angular velocity change is less than 0.05°/s and lasts for the time of
"GYROCALTIME", the sensor recognizes that it is 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 combination with the GYROCALTIME register

ALARMLEVEL（Angle alarm level）

Register Name: ALARMLEVEL

Register Address: 98 (0x62)

Read and write direction: R/W

Default: 0x0000

Bit NAME FUNCTION

15:4

To set the alarm level:

0000(0x00): Low level alarm (high level when not

3:0 ALARMLEVEL[3:0] alarming, low level when alarming)

0001(0x01): High level alarm (low level when not

alarming, high level when alarming)

Example: Setting a high level alarm

FF AA 62 01 00
GYROCALTIME（Gyro auto calibration time）

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 combination with the GYROCALTIME register

TRIGTIME（Alarm continuous trigger time）

Register Name: TRIGTIME

Register Address: 104 (0x68)

Read and write direction: R/W

Default: 0x0000

Bit NAME FUNCTION

15:0 TRIGTIME[15:0] Set the alarm continuous trigger time

Example: Set the alarm continuous trigger time to 500ms

FF AA 68 F4 01

When the angle alarm occurs, the alarm signal will not be output immediately, and it will
only be output when it needs to last for 500ms

The register is used to filter out alarms caused by malfunctions

KEY（Unlock）

Register Name: KEY

Register Address: 105 (0x69)

Read and write direction: R/W

Default: 0x0000

Bit NAME FUNCTION

Unlock register: When performing a write operation, you

15:0 KEY[15:0]
need to set this register first

Example: Unlock, write 0xB588 to this register (other values are invalid)

FF AA 69 88 B5

WERROR（Gyroscope change value）

Register Name: WERROR

Register Address: 106 (0x6A)

Read and write direction: R

Default: 0x0000

Bit NAME FUNCTION

Gyroscope change
value=WERROR[15:0]/1000*180/3.1415926(°/s)
15:0 WERROR[15:0]
When the sensor is stationary, the "GYROCALITHR"
register can be set by changing this register.
TIMEZONE（GPS time zone）

Register Name: TIMEZONE

Register Address: 107 (0x6B)

Read and write direction: R/W

Default: 0x0014

Bit NAME FUNCTION

15:8

Set GPS time zone:

00000000(0x0000): UTC-12

00000001(0x0001): UTC-11

00000010(0x0002): UTC-10

00000011(0x0003): UTC-9

00000100(0x0004): UTC-8

7:0 TIMEZONE[7:0] 00000101(0x0005): UTC-7

00000110(0x0006): UTC-6

00000111(0x0007): UTC-5

00001000(0x0008): UTC-4

00001001(0x0009): UTC-3

00001010(0x000A): UTC-2

00001011(0x000B): UTC-1
 00001100(0x000C): UTC

00001101(0x000D): UTC+1

00001110(0x000E): UTC+2

00001111(0x000F): UTC+3

00010000(0x0010): UTC+4

00010001(0x0011): UTC+5

00010010(0x0012): UTC+6

00010011(0x0013): UTC+7

00010100(0x0014): UTC+8（Default east 8th

district）

00010101(0x0015): UTC+9

00010110(0x0016): UTC+10

00010111(0x0017): UTC+11

00011000(0x0018): UTC+12

Example: FF AA 6B 15 00 (set GPS time zone to East 9)

WZTIME（Angular velocity continuous stationary time）

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

FF AA 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 combination with the "WZSTATIC" register.

WZSTATIC（Angular velocity integration threshold）

Register Name: WZSTATIC

Register Address: 111 (0x6F)

Read and write direction: R/W

Default: 0x012C

Bit NAME FUNCTION

Angular velocity integral

15:0 WZSTATIC[15:0]
threshold=WZSTATIC[15:0]/1000(°/s)

Example: Set the angular velocity integral 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 begins to
integrate the acceleration

When the angular velocity is less than 0.5°/s, and the duration set by the register
"WZTIME" is continued, then the angular velocity output is 0, and the Z-axis
heading angle is not integrated

This register needs to be used in combination with the "WZTIME" register

MODDELAY（485 Data reply delay）

Register Name: MODDELAY

Register Address: 116 (0x74)

Read and write direction: R/W

Default: 0x0BB8

Bit NAME FUNCTION

15:0 MODDELAY[15:0] Set 485 data response delay, default 3000, unit: us

Example: Set 485 data response delay to 1000us

FFAA 74 E8 03

When the sensor receives the Mod bus read command, the sensor delays 1000us
and returns the data

This register only supports Modbus version sensors

XREFROLL~YREFPITCH（Angle zero reference）

Register Name: XREFROLL~YREFPITCH

Register address: 121~122 (0x79~0x7A)

Read and write direction: R/W

Default: 0x00000

Bit NAME FUNCTION

Roll angle zero reference

15:0 XREFROLL[15:0]
=XREFROLL[15:0]/32768*180(°)

Pitch angle zero reference

15:0 YREFPITCH[15:0]
=YREFPITCH[15:0]/32768*180(°)

Example: The current roll angle is 2°, set the zero position of the roll angle, and
subtract 2°, then

XREFROLL [15:0] =2*32768/180=364=0x016C

FF AA 79 6C 01
NUMBERID1~NUMBERID6（Device No.）

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 number：WT4200000001