Fatal Error with WT901 Program

[shivpat]

Hello,
So I am trying to run some code to get serial data out of my WT901 sensor, except when I try running the program, it shows "fatal error: REG.h: No such file or directory
#include <REG.h>
^~~~~~~
compilation terminated.
exit status 1

Compilation error: REG.h: No such file or directory"

It is interesting because I have the required header files in the desired program folder, yet it shows a fatal error. Can someone help me with this?

Here is my code:

#include <REG.h>
#include <wit_c_sdk.h>

/*
Test on MEGA 2560. use WT901CTTL sensor

WT901CTTL     MEGA 2560
    VCC <--->  5V/3.3V
    TX  <--->  19(TX1)
    RX  <--->  18(RX1)
    GND <--->  GND
*/

#define ACC_UPDATE		0x01
#define GYRO_UPDATE		0x02
#define ANGLE_UPDATE	0x04
#define MAG_UPDATE		0x08
#define READ_UPDATE		0x80
static volatile char s_cDataUpdate = 0, s_cCmd = 0xff; 

static void CmdProcess(void);
static void AutoScanSensor(void);
static void SensorUartSend(uint8_t *p_data, uint32_t uiSize);
static void SensorDataUpdata(uint32_t uiReg, uint32_t uiRegNum);
static void Delayms(uint16_t ucMs);
const uint32_t c_uiBaud[8] = {0,4800, 9600, 19200, 38400, 57600, 115200, 230400};

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
	WitInit(WIT_PROTOCOL_NORMAL, 0x50);
	WitSerialWriteRegister(SensorUartSend);
	WitRegisterCallBack(SensorDataUpdata);
  WitDelayMsRegister(Delayms);
	Serial.print("\r\n********************** wit-motion normal example  ************************\r\n");
	AutoScanSensor();
}
int i;
float fAcc[3], fGyro[3], fAngle[3];
void loop() {
    while (Serial1.available())
    {
      WitSerialDataIn(Serial1.read());
    }
    while (Serial.available()) 
    {
      CopeCmdData(Serial.read());
    }
		CmdProcess();
		if(s_cDataUpdate)
		{
			for(i = 0; i < 3; i++)
			{
				fAcc[i] = sReg[AX+i] / 32768.0f * 16.0f;
				fGyro[i] = sReg[GX+i] / 32768.0f * 2000.0f;
				fAngle[i] = sReg[Roll+i] / 32768.0f * 180.0f;
			}
			if(s_cDataUpdate & ACC_UPDATE)
			{
				Serial.print("acc:");
				Serial.print(fAcc[0], 3);
				Serial.print(" ");
				Serial.print(fAcc[1], 3);
				Serial.print(" ");
				Serial.print(fAcc[2], 3);
				Serial.print("\r\n");
				s_cDataUpdate &= ~ACC_UPDATE;
			}
			if(s_cDataUpdate & GYRO_UPDATE)
			{
				Serial.print("gyro:");
				Serial.print(fGyro[0], 1);
				Serial.print(" ");
				Serial.print(fGyro[1], 1);
				Serial.print(" ");
				Serial.print(fGyro[2], 1);
				Serial.print("\r\n");
				s_cDataUpdate &= ~GYRO_UPDATE;
			}
			if(s_cDataUpdate & ANGLE_UPDATE)
			{
				Serial.print("angle:");
				Serial.print(fAngle[0], 3);
				Serial.print(" ");
				Serial.print(fAngle[1], 3);
				Serial.print(" ");
				Serial.print(fAngle[2], 3);
				Serial.print("\r\n");
				s_cDataUpdate &= ~ANGLE_UPDATE;
			}
			if(s_cDataUpdate & MAG_UPDATE)
			{
				Serial.print("mag:");
				Serial.print(sReg[HX]);
				Serial.print(" ");
				Serial.print(sReg[HY]);
				Serial.print(" ");
				Serial.print(sReg[HZ]);
				Serial.print("\r\n");
				s_cDataUpdate &= ~MAG_UPDATE;
			}
      s_cDataUpdate = 0;
		}
}


void CopeCmdData(unsigned char ucData)
{
	static unsigned char s_ucData[50], s_ucRxCnt = 0;
	
	s_ucData[s_ucRxCnt++] = ucData;
	if(s_ucRxCnt<3)return;										//Less than three data returned
	if(s_ucRxCnt >= 50) s_ucRxCnt = 0;
	if(s_ucRxCnt >= 3)
	{
		if((s_ucData[1] == '\r') && (s_ucData[2] == '\n'))
		{
			s_cCmd = s_ucData[0];
			memset(s_ucData,0,50);
			s_ucRxCnt = 0;
		}
		else 
		{
			s_ucData[0] = s_ucData[1];
			s_ucData[1] = s_ucData[2];
			s_ucRxCnt = 2;
			
		}
	}
}
static void ShowHelp(void)
{
	Serial.print("\r\n************************	 WIT_SDK_DEMO	************************");
	Serial.print("\r\n************************          HELP           ************************\r\n");
	Serial.print("UART SEND:a\\r\\n   Acceleration calibration.\r\n");
	Serial.print("UART SEND:m\\r\\n   Magnetic field calibration,After calibration send:   e\\r\\n   to indicate the end\r\n");
	Serial.print("UART SEND:U\\r\\n   Bandwidth increase.\r\n");
	Serial.print("UART SEND:u\\r\\n   Bandwidth reduction.\r\n");
	Serial.print("UART SEND:B\\r\\n   Baud rate increased to 115200.\r\n");
	Serial.print("UART SEND:b\\r\\n   Baud rate reduction to 9600.\r\n");
	Serial.print("UART SEND:R\\r\\n   The return rate increases to 10Hz.\r\n");
  Serial.print("UART SEND:r\\r\\n   The return rate reduction to 1Hz.\r\n");
  Serial.print("UART SEND:C\\r\\n   Basic return content: acceleration, angular velocity, angle, magnetic field.\r\n");
  Serial.print("UART SEND:c\\r\\n   Return content: acceleration.\r\n");
  Serial.print("UART SEND:h\\r\\n   help.\r\n");
	Serial.print("******************************************************************************\r\n");
}

static void CmdProcess(void)
{
	switch(s_cCmd)
	{
		case 'a':	if(WitStartAccCali() != WIT_HAL_OK) Serial.print("\r\nSet AccCali Error\r\n");
			break;
		case 'm':	if(WitStartMagCali() != WIT_HAL_OK) Serial.print("\r\nSet MagCali Error\r\n");
			break;
		case 'e':	if(WitStopMagCali() != WIT_HAL_OK) Serial.print("\r\nSet MagCali Error\r\n");
			break;
		case 'u':	if(WitSetBandwidth(BANDWIDTH_5HZ) != WIT_HAL_OK) Serial.print("\r\nSet Bandwidth Error\r\n");
			break;
		case 'U':	if(WitSetBandwidth(BANDWIDTH_256HZ) != WIT_HAL_OK) Serial.print("\r\nSet Bandwidth Error\r\n");
			break;
		case 'B':	if(WitSetUartBaud(WIT_BAUD_115200) != WIT_HAL_OK) Serial.print("\r\nSet Baud Error\r\n");
              else 
              {
                Serial1.begin(c_uiBaud[WIT_BAUD_115200]);
                Serial.print(" 115200 Baud rate modified successfully\r\n");
              }
			break;
		case 'b':	if(WitSetUartBaud(WIT_BAUD_9600) != WIT_HAL_OK) Serial.print("\r\nSet Baud Error\r\n");
              else 
              {
                Serial1.begin(c_uiBaud[WIT_BAUD_9600]); 
                Serial.print(" 9600 Baud rate modified successfully\r\n");
              }
			break;
		case 'r': if(WitSetOutputRate(RRATE_1HZ) != WIT_HAL_OK)  Serial.print("\r\nSet Baud Error\r\n");
			        else Serial.print("\r\nSet Baud Success\r\n");
			break;
		case 'R':	if(WitSetOutputRate(RRATE_10HZ) != WIT_HAL_OK) Serial.print("\r\nSet Baud Error\r\n");
              else Serial.print("\r\nSet Baud Success\r\n");
			break;
    case 'C': if(WitSetContent(RSW_ACC|RSW_GYRO|RSW_ANGLE|RSW_MAG) != WIT_HAL_OK) Serial.print("\r\nSet RSW Error\r\n");
      break;
    case 'c': if(WitSetContent(RSW_ACC) != WIT_HAL_OK) Serial.print("\r\nSet RSW Error\r\n");
      break;
		case 'h':	ShowHelp();
			break;
		default :break;
	}
	s_cCmd = 0xff;
}
static void SensorUartSend(uint8_t *p_data, uint32_t uiSize)
{
  Serial1.write(p_data, uiSize);
  Serial1.flush();
}
static void Delayms(uint16_t ucMs)
{
  delay(ucMs);
}
static void SensorDataUpdata(uint32_t uiReg, uint32_t uiRegNum)
{
	int i;
    for(i = 0; i < uiRegNum; i++)
    {
        switch(uiReg)
        {
            case AZ:
				s_cDataUpdate |= ACC_UPDATE;
            break;
            case GZ:
				s_cDataUpdate |= GYRO_UPDATE;
            break;
            case HZ:
				s_cDataUpdate |= MAG_UPDATE;
            break;
            case Yaw:
				s_cDataUpdate |= ANGLE_UPDATE;
            break;
            default:
				s_cDataUpdate |= READ_UPDATE;
			break;
        }
		uiReg++;
    }
}

static void AutoScanSensor(void)
{
	int i, iRetry;
	
	for(i = 0; i < sizeof(c_uiBaud)/sizeof(c_uiBaud[0]); i++)
	{
		Serial1.begin(c_uiBaud[i]);
    Serial1.flush();
		iRetry = 2;
		s_cDataUpdate = 0;
		do
		{
			WitReadReg(AX, 3);
			delay(200);
      while (Serial1.available())
      {
        WitSerialDataIn(Serial1.read());
      }
			if(s_cDataUpdate != 0)
			{
				Serial.print(c_uiBaud[i]);
				Serial.print(" baud find sensor\r\n\r\n");
				ShowHelp();
				return ;
			}
			iRetry--;
		}while(iRetry);		
	}
	Serial.print("can not find sensor\r\n");
	Serial.print("please check your connection\r\n");
}

[Willem43]

@shivpat

#include <REG.h>
#include <wit_c_sdk.h>

I do not know what you mean by

.... required header files in the desired program folder ....

If you mean they are in your sketch folder then try

#include "REG.h"
#include "wit_c_sdk.h"

[shivpat]

@Willem43

#include "REG.h"
#include "wit_c_sdk.h"

Yeah I meant they are in my sketch folder. I tried what you suggested, except it gave me the same error.

"
fatal error: REG.h: No such file or directory
#include "REG.h"
^~~~~~~
compilation terminated.
exit status 1

Compilation error: REG.h: No such file or directory
"

[shivpat]

UPDATE:
I forgot to add the .c file for wit_c_sdk, but now I have a different issue. Although the program compiles, it is not printing anything in the serial monitor.

Here is the code I ran:

#include "REG.h"
#include "wit_c_sdk.h"

/*
Test on MEGA 2560. use WT901CTTL sensor

WT901CTTL     MEGA 2560
    VCC <--->  5V/3.3V
    TX  <--->  19(TX1)
    RX  <--->  18(RX1)
    GND <--->  GND
*/

#define ACC_UPDATE		0x01
#define GYRO_UPDATE		0x02
#define ANGLE_UPDATE	0x04
#define MAG_UPDATE		0x08
#define READ_UPDATE		0x80
static volatile char s_cDataUpdate = 0, s_cCmd = 0xff; 

static void CmdProcess(void);
static void AutoScanSensor(void);
static void SensorUartSend(uint8_t *p_data, uint32_t uiSize);
static void SensorDataUpdata(uint32_t uiReg, uint32_t uiRegNum);
static void Delayms(uint16_t ucMs);
const uint32_t c_uiBaud[8] = {0,4800, 9600, 19200, 38400, 57600, 115200, 230400};

void setup() {
  // put your setup code here, to run once:
  Serial.begin(115200);
	WitInit(WIT_PROTOCOL_NORMAL, 0x50);
	WitSerialWriteRegister(SensorUartSend);
	WitRegisterCallBack(SensorDataUpdata);
  WitDelayMsRegister(Delayms);
	Serial.print("\r\n********************** wit-motion normal example  ************************\r\n");
	AutoScanSensor();
}
int i;
float fAcc[3], fGyro[3], fAngle[3];
void loop() {
    while (Serial1.available())
    {
      WitSerialDataIn(Serial1.read());
    }
    while (Serial.available()) 
    {
      CopeCmdData(Serial.read());
    }
		CmdProcess();
		if(s_cDataUpdate)
		{
			for(i = 0; i < 3; i++)
			{
				fAcc[i] = sReg[AX+i] / 32768.0f * 16.0f;
				fGyro[i] = sReg[GX+i] / 32768.0f * 2000.0f;
				fAngle[i] = sReg[Roll+i] / 32768.0f * 180.0f;
			}
			if(s_cDataUpdate & ACC_UPDATE)
			{
				Serial.print("acc:");
				Serial.print(fAcc[0], 3);
				Serial.print(" ");
				Serial.print(fAcc[1], 3);
				Serial.print(" ");
				Serial.print(fAcc[2], 3);
				Serial.print("\r\n");
				s_cDataUpdate &= ~ACC_UPDATE;
			}
			if(s_cDataUpdate & GYRO_UPDATE)
			{
				Serial.print("gyro:");
				Serial.print(fGyro[0], 1);
				Serial.print(" ");
				Serial.print(fGyro[1], 1);
				Serial.print(" ");
				Serial.print(fGyro[2], 1);
				Serial.print("\r\n");
				s_cDataUpdate &= ~GYRO_UPDATE;
			}
			if(s_cDataUpdate & ANGLE_UPDATE)
			{
				Serial.print("angle:");
				Serial.print(fAngle[0], 3);
				Serial.print(" ");
				Serial.print(fAngle[1], 3);
				Serial.print(" ");
				Serial.print(fAngle[2], 3);
				Serial.print("\r\n");
				s_cDataUpdate &= ~ANGLE_UPDATE;
			}
			if(s_cDataUpdate & MAG_UPDATE)
			{
				Serial.print("mag:");
				Serial.print(sReg[HX]);
				Serial.print(" ");
				Serial.print(sReg[HY]);
				Serial.print(" ");
				Serial.print(sReg[HZ]);
				Serial.print("\r\n");
				s_cDataUpdate &= ~MAG_UPDATE;
			}
      s_cDataUpdate = 0;
		}
}


void CopeCmdData(unsigned char ucData)
{
	static unsigned char s_ucData[50], s_ucRxCnt = 0;
	
	s_ucData[s_ucRxCnt++] = ucData;
	if(s_ucRxCnt<3)return;										//Less than three data returned
	if(s_ucRxCnt >= 50) s_ucRxCnt = 0;
	if(s_ucRxCnt >= 3)
	{
		if((s_ucData[1] == '\r') && (s_ucData[2] == '\n'))
		{
			s_cCmd = s_ucData[0];
			memset(s_ucData,0,50);
			s_ucRxCnt = 0;
		}
		else 
		{
			s_ucData[0] = s_ucData[1];
			s_ucData[1] = s_ucData[2];
			s_ucRxCnt = 2;
			
		}
	}
}
static void ShowHelp(void)
{
	Serial.print("\r\n************************	 WIT_SDK_DEMO	************************");
	Serial.print("\r\n************************          HELP           ************************\r\n");
	Serial.print("UART SEND:a\\r\\n   Acceleration calibration.\r\n");
	Serial.print("UART SEND:m\\r\\n   Magnetic field calibration,After calibration send:   e\\r\\n   to indicate the end\r\n");
	Serial.print("UART SEND:U\\r\\n   Bandwidth increase.\r\n");
	Serial.print("UART SEND:u\\r\\n   Bandwidth reduction.\r\n");
	Serial.print("UART SEND:B\\r\\n   Baud rate increased to 115200.\r\n");
	Serial.print("UART SEND:b\\r\\n   Baud rate reduction to 9600.\r\n");
	Serial.print("UART SEND:R\\r\\n   The return rate increases to 10Hz.\r\n");
  Serial.print("UART SEND:r\\r\\n   The return rate reduction to 1Hz.\r\n");
  Serial.print("UART SEND:C\\r\\n   Basic return content: acceleration, angular velocity, angle, magnetic field.\r\n");
  Serial.print("UART SEND:c\\r\\n   Return content: acceleration.\r\n");
  Serial.print("UART SEND:h\\r\\n   help.\r\n");
	Serial.print("******************************************************************************\r\n");
}

static void CmdProcess(void)
{
	switch(s_cCmd)
	{
		case 'a':	if(WitStartAccCali() != WIT_HAL_OK) Serial.print("\r\nSet AccCali Error\r\n");
			break;
		case 'm':	if(WitStartMagCali() != WIT_HAL_OK) Serial.print("\r\nSet MagCali Error\r\n");
			break;
		case 'e':	if(WitStopMagCali() != WIT_HAL_OK) Serial.print("\r\nSet MagCali Error\r\n");
			break;
		case 'u':	if(WitSetBandwidth(BANDWIDTH_5HZ) != WIT_HAL_OK) Serial.print("\r\nSet Bandwidth Error\r\n");
			break;
		case 'U':	if(WitSetBandwidth(BANDWIDTH_256HZ) != WIT_HAL_OK) Serial.print("\r\nSet Bandwidth Error\r\n");
			break;
		case 'B':	if(WitSetUartBaud(WIT_BAUD_115200) != WIT_HAL_OK) Serial.print("\r\nSet Baud Error\r\n");
              else 
              {
                Serial1.begin(c_uiBaud[WIT_BAUD_115200]);
                Serial.print(" 115200 Baud rate modified successfully\r\n");
              }
			break;
		case 'b':	if(WitSetUartBaud(WIT_BAUD_9600) != WIT_HAL_OK) Serial.print("\r\nSet Baud Error\r\n");
              else 
              {
                Serial1.begin(c_uiBaud[WIT_BAUD_9600]); 
                Serial.print(" 9600 Baud rate modified successfully\r\n");
              }
			break;
		case 'r': if(WitSetOutputRate(RRATE_1HZ) != WIT_HAL_OK)  Serial.print("\r\nSet Baud Error\r\n");
			        else Serial.print("\r\nSet Baud Success\r\n");
			break;
		case 'R':	if(WitSetOutputRate(RRATE_10HZ) != WIT_HAL_OK) Serial.print("\r\nSet Baud Error\r\n");
              else Serial.print("\r\nSet Baud Success\r\n");
			break;
    case 'C': if(WitSetContent(RSW_ACC|RSW_GYRO|RSW_ANGLE|RSW_MAG) != WIT_HAL_OK) Serial.print("\r\nSet RSW Error\r\n");
      break;
    case 'c': if(WitSetContent(RSW_ACC) != WIT_HAL_OK) Serial.print("\r\nSet RSW Error\r\n");
      break;
		case 'h':	ShowHelp();
			break;
		default :break;
	}
	s_cCmd = 0xff;
}
static void SensorUartSend(uint8_t *p_data, uint32_t uiSize)
{
  Serial1.write(p_data, uiSize);
  Serial1.flush();
}
static void Delayms(uint16_t ucMs)
{
  delay(ucMs);
}
static void SensorDataUpdata(uint32_t uiReg, uint32_t uiRegNum)
{
	int i;
    for(i = 0; i < uiRegNum; i++)
    {
        switch(uiReg)
        {
            case AZ:
				s_cDataUpdate |= ACC_UPDATE;
            break;
            case GZ:
				s_cDataUpdate |= GYRO_UPDATE;
            break;
            case HZ:
				s_cDataUpdate |= MAG_UPDATE;
            break;
            case Yaw:
				s_cDataUpdate |= ANGLE_UPDATE;
            break;
            default:
				s_cDataUpdate |= READ_UPDATE;
			break;
        }
		uiReg++;
    }
}

static void AutoScanSensor(void)
{
	int i, iRetry;
	
	for(i = 0; i < sizeof(c_uiBaud)/sizeof(c_uiBaud[0]); i++)
	{
		Serial1.begin(c_uiBaud[i]);
    Serial1.flush();
		iRetry = 2;
		s_cDataUpdate = 0;
		do
		{
			WitReadReg(AX, 3);
			delay(200);
      while (Serial1.available())
      {
        WitSerialDataIn(Serial1.read());
      }
			if(s_cDataUpdate != 0)
			{
				Serial.print(c_uiBaud[i]);
				Serial.print(" baud find sensor\r\n\r\n");
				ShowHelp();
				return ;
			}
			iRetry--;
		}while(iRetry);		
	}
	Serial.print("can not find sensor\r\n");
	Serial.print("please check your connection\r\n");
}

I am using a GIGA R1 so I don't know if that is why it is not working. Wiring might be the issue because I wired as I2C when I noticed the code requires RX and TX. Can someone confirm this?

[sterretje]

@shivpat

while (Serial1.available())

This implies that you need a Serial1.begin(...) in setup() which serms to be missing unless one of the wit functions sets that up.

[shivpat]

I noticed as well. My serial monitor prints after changing the wiring, but now it says that it can not detect the sensor

[sterretje]

I did not mention to change the wiring. The suggestion is to add a Serial1.begin() with the required baudrate in setup() and see if that helps or to check the libraries involved to see if that line is somewhere in the library.

[shivpat]

Oh I know you didn't suggest to change the wiring, I made that mistake in the first place. I put it on I2C but this program takes RX and TX. But yea, I will look into Serial and setup

[shivpat]

Hey!

I recently purchased a sensor, known as the "WT901", and I want to find some programs and codes to help me measure the angles collected from the WT901 using Arduino. I tried looking around the internet, but there are just resources that result in "404 Not Found" or "Your connection may not be private" and it's getting frustrating consistently getting outdated or non-functional links. Can someone send some codes or projects that involve returning WT901 data for gyro, accelerometer, and magnetometer readings?

Thanks,
ShivPat

[gilshultz]

Hint, before purchasing something be sure the documentation is available. Try this Link:
https://images-na.ssl-images-amazon.com/images/I/B11fVGszLsS.pdf I do not think you looked very hard, this is the first thing that came up in my search engine.

[shivpat]

Hi.

I actually looked through the documentation, but it did not provide anything about Arduino. I followed the documentation's configuration and calibration steps about 2 weeks ago, but it didn't give any steps after configuration.

[gilshultz]

It is possible it was never designed to work with the Arduino but there is no reason I can see that it would not work. All the information to interface to it is there. It appears you do not understand the information or how to use a search engine. Maybe you simply want somebody to do it for you.

@shivpat

I followed the documentation's configuration and calibration steps about 2 weeks ago, but it didn't give any steps after configuration.

How did you manage that?

Best to post an annotated schematic showing exactly how you connected it. Include all power sources and links to technical information on the parts.

[shivpat]

To answer your first statement, I saw a github folder that the creator of the device made and it defintiely had arduino in it. I don't want to display "laziness" by making someone do it for me as I am new to Arduino and I am still learning how to use it, so getting all the help I need would be great. To get back on your statement, yes I need somebody's help to do it for me or at least teach me how to do it. I have to politely disagree with your statement where "I don't know how to use a search engine". I've done my best looking at youtube, google, discord, even amazon reviews to find how people used the WT901 and all of them seem to be somewhat lost but have some sort of understanding with the resources provided to them

[cedarlakeinstruments]

The WT901 just puts out serial data. I don't know if there are any libraries for it, but it's really just a matter of parsing a serial data stream.
Here's my code. It's completely unsupported and not the best quality but I know it works.

.h file

#include <Arduino.h>

// https://wit-motion.gitbook.io/witmotion-sdk/wit-standard-protocol/wit-standard-communication-protocol
class InclinometerParser
{
public:
    bool valid = false;

    float xAngle;
    float yAngle;
    float zAngle;

    void addData(uint8_t v);
private:
    //  8 data bytes,1 Checksum
    static const int BUFFER_LEN = 9;
    static const int DATA_START = 2;
    enum {HEADER = 0x55, ANGLE = 0x53};
    uint8_t buffer[BUFFER_LEN];
    uint8_t pos;
    void parse();
};

.cpp file

#include "inclinometer.h"

void InclinometerParser::parse()
{
    // Verify checksum
    // SUMCRC=0x55+TYPE+DATA1L+DATA1H+DATA2L+DATA2H+DATA3L+DATA3H+DATA4L+DATA4H
    uint8_t checksum = HEADER + ANGLE;
    for (int i = 0; i < BUFFER_LEN-1; i++)
    {
        checksum += buffer[i];
    }
    if (checksum != buffer[BUFFER_LEN - 1])
    {
        return;
    }

    // Extract 16 bit data
    // DATA1=(short)((short)DATA1H<<8|DATA1L)
    int16_t raw = (int16_t)((int16_t)buffer[1] * 256 + buffer[0]);
    xAngle = (float)raw /32768.0 * 180.0;

    raw = (int16_t)((int16_t)buffer[3] * 256 + buffer[2]);
    yAngle = (float)raw / 32768.0 * 180.0;

    raw = (int16_t)((int16_t)buffer[5] * 256 + buffer[4]);
    zAngle = (float)raw / 32768.0 * 180.0;
}

void InclinometerParser::addData(uint8_t v)
{
    static int parseState = 0;
    switch (parseState)
    {
    case 0:
        if (v == HEADER)
        {
            parseState = 1;
        }
        break;
    case 1:
        parseState = (v == ANGLE) ? 2 : 0;
        break;
    case 2:
        buffer[pos++] = v;
        if (pos == BUFFER_LEN)
        {
            parse();
            pos = 0;
            parseState = 0;
        }
        break;
    }
}

[shivpat]

Thank you so much. I really appreciate your help :)))

[Coding_Badly]

@shivpat, do not cross-post. Threads merged.

[gilshultz]

@shivpat

I've done my best looking at youtube, google, discord, even amazon reviews

It is amazing, I found the data sheet, code to operate several of those etc in both searches it was on the first page returned, one was the first the second the third. I even gave you the search terms what did that give you? What would you think if you were me? Maybe it is my fault, I use DuckDuckGo in place of google operating under Firefox on Linux.

If you found some of the stuff why did you not post the links.

[shivpat]

I thought it wouldn't be as much of a use. Some of my sources weren't as helpful. I wanted resources that people thought were effective from personal experience instead of using deleted or resources that I don't know how to utilize from the internet. I get that you found the datasheet, but I'm still getting used to arduino and sensors, so I don't know it as well as you do to be honest. Sorry for any misunderstanding or confusions I've caused, I am really new to this thing.

[mukpatel]

Gentlemen, my son is struggling to get WT901 working using the libraries he got. None of the library works, he is able to connect device through USB to TTL dongle for configuration, but none of the library is able to detect device when connected to Arduino. He tried both UART and I2C. Also, he tried on both Arduino giga and due board. Arduino due has same architecture as Mega so basically both giga and mega not working for us. I would really appreciate if someone can send me pointers to the library which works and which Arduino boards you guys are using. Thanks a lot !

[cedarlakeinstruments]

The WT901 streams data continuously once powered up, at least via UART. If you're not seeing it, then you're doing something wrong in how the serial port is being opened.