构建新的cmakelist工程

修改了  delay_tc函数
修返回频率为20hz
修改波特率修改后先重新设置通讯波特率在保存

source/register.h

@@ -0,0 +1,58 @@
+#ifndef REGISTER_H
+#define REGISTER_H
+
+#define SAVE 		0x00
+#define CALSW 		0x01
+#define RSW 		0x02
+#define RRATE		0x03
+#define BAUD 		0x04
+#define AXOFFSET	0x05
+#define AYOFFSET	0x06
+#define AZOFFSET	0x07
+#define GXOFFSET	0x08
+#define GYOFFSET	0x09
+#define GZOFFSET	0x0a
+#define HXOFFSET	0x0b
+#define HYOFFSET	0x0c
+#define HZOFFSET	0x0d
+#define D0MODE		0x0e
+#define D1MODE		0x0f
+#define D2MODE		0x10
+#define D3MODE		0x11
+#define D0PWMH		0x12
+#define D1PWMH		0x13
+#define D2PWMH		0x14
+#define D3PWMH		0x15
+#define D0PWMT		0x16
+#define D1PWMT		0x17
+#define D2PWMT		0x18
+#define D3PWMT		0x19
+#define IICADDR		0x1a
+#define LEDOFF 		0x1b
+#define MAGRANGX	0x1c
+#define MAGRANGY	0x1d
+#define MAGRANGZ	0x1e
+#define BANDWIDTH	0x1f
+#define GYRORANGE	0x20
+#define ACCRANGE	0x21
+#define SLEEP       0x22
+#define ORIENT		0x23
+#define AXIS6       0x24
+#define FILTK       0x25
+#define GPSBAUD		0x26
+#define READADDR	0x27
+#define BWSCALE		0x28
+#define MOVETHR		0x28
+#define MOVESTA		0x29
+#define ACCFILT		0x2A
+#define GYROFILT	0x2b
+#define MAGFILT		0x2c
+#define POWONSEND	0x2d
+#define VERSION		0x2e
+
+#define KEY         0x69
+#define TIMEZONE    0x6B
+
+
+
+#endif // REGISTER_H