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5.1 PC program to Module
Note：
1. Default settings using the serial port, baud rate 115200, return rate 100Hz. configurations
can be powered down save, so only configured once on the line.
2. Format
Content
0xFF 0xAA 0x52
Angle initialization
0xFF 0xAA 0x61
Using serial port, disable I2C
0xFF 0xAA 0x62
Disable serial port, using I2C interface
0xFF 0xAA 0x63
Baud rate115200，Frame rate 100Hz
0xFF 0xAA 0x64
Baud rate 9600，Frame rate 20Hz
Note：
1.After the module is powered up, the MCU will be automatically calibrated at first to
eliminate the gyro zero drift, and Z axis will be re initialized to 0.
2.The default baud rate is 115200,return rate 100Hz, Configuration can be configured by PC
program, suggest to use the PC program to set the JY-61 module.
5.2 Module to PC program:
The module sends the data to the host computer into 3 data packets, acceleration packet,
angular velocity packet and the angle packet, and the 3 packet are sent in sequence .
5.2.1
Acceleration output：
0x55
0x51
AxL
Calculate formula：
a
=((AxH<<8)|AxL)/32768*16g(g is Gravity acceleration，9.8m/s
x
a
=((AyH<<8)|AyL)/32768*16g(g is Gravity acceleration，9.8m/s
y
a
=((AzH<<8)|AzL)/32768*16g(g is Gravity acceleration，9.8m/s
z
Temperature calculated formular：
T=((TH<<8)|TL) /340+36.53 ℃
Checksum：
Sum=0x55+0x51+AxH+AxL+AyH+AyL+AzH+AzL+TH+TL
Note：
1、 the data is transmitted in accordance with the 16 hexadecimal, not ASCII code
2、 Each data is transmitted in a low byte and a high byte, and the two is combined into
a short type of symbol. Such as X axis acceleration data Ax, where AxL is the low
byte, AxH is high byte.
The conversion method is as follows:
Assuming Data is the actual data, DataH for its high byte, DataL for its low byte part,
then: Data= ((short) DataH<<8) |DataL. Here we must pay attention to that force the
DataH to be converted into a symbol of the short type of data and then after shift 8
0xFF
0xAA
Function
AxH
AyL
AyH
http://www.aliexpress.com/store/1836321
Command
Description
Z axis angle to zero
Power down saved
Power down saved
Power down saved
Power down saved
AzL
AzH
TL
2
)
2
)
2
)
TH
SUM
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