C#_SDK Quick Start

C#_SDK quick start

Applicable Model

WT61

WT61P

WT901

WT901B

WT931

Routine download

Go to the link below to download the sample

https://github.com/WITMOTION/WitStandardProtocol_JY901

Noun introduction

Wit-motion private protocol: Wit-motion protocol for short, is the protocol used by Wit-motion sensors, usually TTL or 232 level sensors use Wit-motion protocol; the agreement stipulates that the sensor returns the data packet starting with 55, and the host computer sends the data packet starting with FF AA;

Routine introduction

This routine introduces how to use C# to develop the upper computer to connect to the Wit-motion protocol sensor, receive sensor data and communicate with the sensor;

Before viewing this routine, please read the relevant sensor manual to understand the protocol used by the sensor and the basic functions of the sensor

Routine directory

The routine project directory is as follows

Dll: The dependent files of the project, please import these dlls into your project before running the project.

Form1：There is only one Form window in the routine, all logic codes are in the Form window file, and there are no other files

Turn on the device

The JY901 object represents the JY901 device in the program, and you can communicate with the device through it; when opening the device, you need to specify the serial port number and baud rate of the sensor, and call the JY901.Open() method after specifying

/// <summary>
/// open device
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void openButton_Click(object sender, EventArgs e)
{
      // Get the serial port number and baud rate of the connection
      string portName;
      int baudrate;
      try
      {
            portName = (string)portComboBox.SelectedItem;
            baudrate = (int)baudComboBox.SelectedItem;
      }
      catch (Exception ex)
      {
            MessageBox.Show(ex.Message);
            return;
      }
      // Do not open repeatedly
      if (JY901.IsOpen())
      {
            return;
      }
      // turn on the device
      try
      {
            JY901.SetPortName(portName);
            JY901.SetBaudrate(baudrate);
            JY901.Open();
            // Implement logging data events
            JY901.OnRecord += JY901_OnRecord;
      }
      catch (Exception ex)
      {
            MessageBox.Show(ex.Message);
            return;
      }
}

turn off the device

Just call the JY901.Close() method to close the device
/// <summary>
/// turn off the device
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void closeButton_Click(object sender, EventArgs e)
{
      try
      {
            // Turn off the device if it is already on
            if (JY901.IsOpen())
            {
                  JY901.OnRecord -= JY901_OnRecord;
                  JY901.Close();
            }
      }
      catch (Exception ex)
      {
            MessageBox.Show(ex.Message);
            return;
      }
}

Receive sensor data

Get data

The JY901 object will automatically calculate the sensor data and save it on itself. The sensor data can be obtained through the JY901.GetDeviceData() method. JY901.GetDeviceData() needs to pass in a key to get sensor data. Please check the key that needs to be used in the routine, the key is stored in the WitSensorKey class

/// <summary>
/// Get device data
/// </summary>
private string GetDeviceData(WT901C485 WT901C485)
{
      StringBuilder builder = new StringBuilder();
      builder.Append(WT901C485.GetDeviceName()).Append("\n");
      
// acceleration builder.Append("AccX").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.AccX)).Append("g \t");
 builder.Append("AccY").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.AccY)).Append("g \t");
 builder.Append("AccZ").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.AccZ)).Append("g \n");

// angular velocity
builder.Append("GyroX").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.AsX)).Append("°/s \t");
 builder.Append("GyroY").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.AsY)).Append("°/s \t");
 builder.Append("GyroZ").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.AsZ)).Append("°/s \n");

// angle
builder.Append("AngleX").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.AngleX)).Append("° \t");
 builder.Append("AngleY").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.AngleY)).Append("° \t");
 builder.Append("AngleZ").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.AngleZ)).Append("° \n");

// magnetic field
builder.Append("MagX").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.HX)).Append("uT \t");
 builder.Append("MagY").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.HY)).Append("uT \t");
 builder.Append("MagZ").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.HZ)).Append("uT \n");

// latitude and longitude
builder.Append("Lon").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.Lon)).Append("′ \t");
 builder.Append("Lat").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.Lat)).Append("′ \n");

// port number
builder.Append("D0").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.D0)).Append("\t");
 builder.Append("D1").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.D1)).Append("\t");
 builder.Append("D2").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.D2)).Append("\t");
 builder.Append("D3").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.D3)).Append("\n");

// Quaternion
 builder.Append("Q0").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.Q0)).Append("\t");
 builder.Append("Q1").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.Q1)).Append("\t");
 builder.Append("Q2").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.Q2)).Append("\t");
 builder.Append("Q3").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.Q3)).Append("\n");

// barometric pressure
builder.Append("P").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.Q1)).Append("Pa \t");
 builder.Append("H").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.Q2)).Append("m \t");

// temperature
builder.Append("T").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.T)).Append("℃ \n");

// GPS
builder.Append("GPSHeight").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.GPSHeight)).Append(" m \t");
 builder.Append("GPSYaw").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.GPSYaw)).Append("° \t");
 builder.Append("GPSV").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.GPSV)).Append("km/h \n");

// positioning accuracy
builder.Append("PDOP").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.PDOP)).Append("\t");
 builder.Append("VDOP").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.VDOP)).Append("\t");
 builder.Append("HDOP").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.HDOP)).Append("\n");

// version number
builder.Append("VersionNumber").Append(":").Append(WT901C485.GetDeviceData(WitSensorKey.VersionNumber)).Append("\n");

      return builder.ToString();
}

Record data

The data of the sensor can be obtained through the JY901 object, but usually the upper computer needs to record the data of the sensor. JY901 has an OnRecord event that will notify you when to record the data, and the OnRecord event can be realized when the device is turned on; and then through cooperation with JY901.GetDeviceData( ) method to record the data

/// <summary>
/// turn on the device
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void openButton_Click(object sender, EventArgs e)
{
      // Get the serial port number and baud rate of the connection
      string portName;
      int baudrate;
      try
      {
            portName = (string)portComboBox.SelectedItem;
            baudrate = (int)baudComboBox.SelectedItem;
      }
      catch (Exception ex)
      {
            MessageBox.Show(ex.Message);
            return;
      }
      // Do not open repeatedly
      if (JY901.IsOpen())
      {
            return;
      }
      // turn on the device
      try
      {
            JY901.SetPortName(portName);
            JY901.SetBaudrate(baudrate);
            JY901.Open();
            // Implement logging data events
            JY901.OnRecord += JY901_OnRecord;
      }
      catch (Exception ex)
      {
            MessageBox.Show(ex.Message);
            return;
      }
}
/// <summary>
/// This is called when the sensor data is refreshed, you can log the data here
/// </summary>
/// <param name="jY901"></param>
private void JY901_OnRecord(JY901 jY901)
{
      string text = GetDeviceData(JY901);
      Debug.WriteLine(text);
}

set sensor

The sensor can be operated by the method of JY901

JY901.UnlockReg() Send unlock register command

JY901.AppliedCalibration() Send meter calibration command

JY901.StartFieldCalibration() Send start magnetic field calibration command

JY901.EndFieldCalibration() Send end magnetic field calibration command

JY901.SendProtocolData() Send other commands

Accelerometer Calibration

Apply accumulative calibration to the sensor by calling the JY901.AppliedCalibration() method

/// <summary>
/// Accelerometer Calibration
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void appliedCalibrationButton_Click(object sender, EventArgs e)
{
      if (JY901.IsOpen() == false)
      {
            return;
      }
      try
      {
            // Unlock registers and send commands
            JY901.UnlockReg();
            JY901.AppliedCalibration();
            // The following two lines are equivalent to the above, it is recommended to use the above
            //JY901.SendProtocolData(new byte[] { 0xff, 0xaa, 0x69, 0x88, 0xb5 });
            //JY901.SendProtocolData(new byte[] { 0xff, 0xaa, 0x01, 0x01, 0x00 });
      }
      catch (Exception ex)
      {
            MessageBox.Show(ex.Message);
      }
}

Magnetic Field Calibration

Calibrate the magnetic field of the sensor by calling the JY901.StartFieldCalibration() method and the JY901.EndFieldCalibration() method

/// <summary>
/// Start Magnetic Field Calibration
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void startFieldCalibrationButton_Click(object sender, EventArgs e)
{
      if (JY901.IsOpen() == false)
      {
            return;
      }
      try
      {
            // Unlock registers and send commands
            JY901.UnlockReg();
            JY901.StartFieldCalibration();
            // The following two lines are equivalent to the above, it is recommended to use the above
            //JY901.SendProtocolData(new byte[] { 0xff, 0xaa, 0x69, 0x88, 0xb5 });
            //JY901.SendProtocolData(new byte[] { 0xff, 0xaa, 0x01, 0x07, 0x00 });
            MessageBox.Show("To start the magnetic field calibration, please turn around the sensor's XYZ three axes, and click [End Magnetic Field Calibration] after turning】");
      }
      catch (Exception ex)
      {
            MessageBox.Show(ex.Message);
      }
}
/// <summary>
/// End magnetic field calibration
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void endFieldCalibrationButton_Click(object sender, EventArgs e)
{
      if (JY901.IsOpen() == false)
      {
            return;
      }
      try
      {
            // Unlock registers and send commands
            JY901.UnlockReg();
            JY901.EndFieldCalibration();
            // The following two lines are equivalent to the above, it is recommended to use the above
            //JY901.SendProtocolData(new byte[] { 0xff, 0xaa, 0x69, 0x88, 0xb5 });
            //JY901.SendProtocolData(new byte[] { 0xff, 0xaa, 0x01, 0x00, 0x00 });
      }
      catch (Exception ex)
      {
            MessageBox.Show(ex.Message);
      }
}

More

For other operations, please refer to the sensor manual

read sensor register

The register of the sensor can be read through the JY901.SendReadReg() method, or the JY901.SendProtocolData() method can be used

After sending the read command, the register value will be saved in JY901, you need to get the register data through JY901.GetDeviceData()

/// <summary>
/// Read 03 register
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void readReg03Button_Click(object sender, EventArgs e)
{
      if (JY901.IsOpen() == false)
      {
            return;
      }
      try
      {
            // waiting time
            int waitTime = 150;
            // Send a read command and wait for the sensor to return data. If it is not read, you can extend the waitTime, or read it several times
            JY901.SendReadReg(0x03, waitTime);
            // The following line is equivalent to the above. It is recommended to use the above
            //JY901.SendProtocolData(new byte[] { 0xff, 0xaa, 0x27, 0x03, 0x00 }, waitTime);
            string reg03Value = JY901.GetDeviceData("03");
            MessageBox.Show($"Register 03 value is : {reg03Value}");
      }
      catch (Exception ex)
      {
            MessageBox.Show(ex.Message);
      }
}

JY901 API

Method	illustrate	Parameter introduction	Return value
void SetPortName(string portName)	Set the serial port to open	PortName: serial port number	void
void SetBaudrate(int baudRate)	Specify the baud rate to open	BaudRate: baud rate	void
void Open()	Turn on the device	None	void
bool IsOpen()	Is the device turned on	None	Return whether to open open: true close: false
void Close()	turn off the device	无	void
void SendData(byte[] data, out byte[] returnData, bool isWaitReturn, int waitTime , int repetition)	send data	data: the data to be sent returnData: the data returned by the sensor isWaitReturn: Whether the sensor needs to return data waitTime: wait for the sensor to return data time, unit ms, default 100ms repetition: the number of times to repeat sending	void
void SendProtocolData(byte[] data)	send protocol data	data: the data to be sent	void
void SendProtocolData(byte[] data, int waitTime)	Send data with protocol, and specify the waiting time	data: the data to be sent waitTime: waiting time	void
void SendReadReg(byte reg, int waitTime)	Send the command to read the register	reg: command to be sent waitTime: waiting time	void
void UnlockReg()	unlock register	none	void
void SaveReg()	save register	none	void
void AppliedCalibration()	Calibration	none	void
void StartFieldCalibration()	Start Magnetic Field Calibration	none	void
void EndFieldCalibration()	End magnetic field calibration	none	void
void SetReturnRate(byte rate)	set return rate	rate: the return rate to be set	void
string GetDeviceName()	get device name	none	return device name
string GetDeviceData(string key)	Get Key value data	key: data key value	return data value

English description

📎WITMOTION Protocol SDK Quick Guide.pdf