Note: The data field contains 9 bytes, which are the X-axis, Y-axis and reserved bit angle values. The compressed
BCD code is a group of every three bytes. For example, the return command is 77 0D 00 84 10 26 80 00 33 65 00
00 00 DF, where X is 10 26 80 and Y is 00 33 65. For each angle return value of three bytes, the format is SX XX
YY, S is the sign bit (0 positive, 1 negative)XXX is a three-digit integer value and YY is a decimal value. The
corresponding three angle readings for this example are: -26.8°, 33.65°, 0°.
Command parsing:
Send command: 77 04 00 04 08
04 indicates the length of the
byte, 04, 00, 04, 08 total 4 bytes
default address of the product,
which can be modified
For the checksum, add the sum in hexadecimal
(only the last two digits) 08=04+00+04
Function code for reading
the three-axis angle
77 04 00 04 08
Receiving resolution：
77 0D 00 84 00 DF 10 26 80 00 33 65 00 00
Identifier
Byte length
default address of the product,
which can be modified
84 indicates function code for
reading the three-axis angle
00 33 65 indicates
roll angle+33.65° 03 13 71 indicates
azimuth+313.71°
Df is the checksum, and the cumulative
sum in hexadecimal (only the last two
digits) DF=0D+00+84+ 10+26+80+00+33
+65+00+00+00=1DF(take the last 2 digits)
10 26 80 indicates pitch angle -26.8°
2.3 Read angle of X,Y axis Command：77 04 00 04 08
0x77 0x04
Command response：
0x77 0x84
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（0byte） Checksum
（1byte）
Frame Length
（1byte）
Address Code
（1byte）
Command
（1byte）
Data
（9byte） Checksum
（1byte）
0x04
0x0D SXXX.YY
0x08
Identifier
(1byte)
Identifier
(1byte)
LIS344
Voltage Dual-Axis Inclination Switch
Identifier
fixed as 77
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