diff --git a/qtserialport.cpp b/qtserialport.cpp
deleted file mode 100644
index eac8f11..0000000
--- a/qtserialport.cpp
+++ /dev/null
@@ -1,59 +0,0 @@
-#include "qtserialport.h"
-
-int QtSerialport::OpenSerialPort(string portName)
-{
-    QList<QSerialPortInfo> infos = QSerialPortInfo::availablePorts();
-
-    //std::cout<<"number of availablePorts:"<<infos.size()<<std::endl;
-
-    //如果在构造函数中创建m_serial就会出现错误:
-    //QObject: Cannot create children for a parent that is in a different thread.
-    //(Parent is QSerialPort(0x2e31b20), parent's thread is QThread(0x2e2f130), current thread is QThread(0x2e31110)
-    m_serial = new QSerialPort();
-
-    if(m_serial->isOpen())//如果串口已经打开了 先给他关闭了
-    {
-        m_serial->clear();
-        m_serial->close();
-    }
-
-    m_serial->setPortName(QString::fromStdString(portName));
-    m_serial->open(QIODevice::ReadWrite);
-
-
-    bool x=SetBaudrate(9600);
-    if(x)
-    {
-        std::cout<<"波特率被成功设置为:"<<m_serial->baudRate()<<std::endl;
-        return 0;
-    }
-    else
-    {
-        std::cout<<"波特率设置失败!"<<std::endl;
-        return 1;
-    }
-}
-
-int QtSerialport::CloseSerialPort()
-{
-    m_serial->close();
-    return 0;
-}
-
-int QtSerialport::SetBaudrate(int baudrate)
-{
-    bool x=m_serial->setBaudRate(baudrate);
-    return 0;
-}
-
-int QtSerialport::SendData(const char chrMessage[], const unsigned short usLen)
-{
-    //QIODevice::write(const char *data, qint64 maxSize)
-    m_serial->write(chrMessage, usLen);
-    return 0;
-}
-
-int QtSerialport::ReadData()
-{
-    return 0;
-}
diff --git a/qtserialport.h b/qtserialport.h
deleted file mode 100644
index 49d946f..0000000
--- a/qtserialport.h
+++ /dev/null
@@ -1,31 +0,0 @@
-#ifndef QTSERIALPORT_H
-#define QTSERIALPORT_H
-
-#include "serialportbase.h"
-
-#include <QtSerialPort/QSerialPort>
-#include <QtSerialPort/QSerialPortInfo>
-
-
-class QtSerialport :public SerialPortBase
-{
-//    Q_OBJECT
-
-public:
-//    QtSerialport();
-//    ~QtSerialport();
-
-
-    int OpenSerialPort(string portName);
-    int CloseSerialPort();
-    int SetBaudrate(int baudrate);
-    int SendData(const char chrMessage[], const unsigned short usLen);
-    int ReadData();
-
-protected:
-private:
-    QSerialPort * m_serial;
-};
-
-
-#endif // QTSERIALPORT_H
diff --git a/qtserialport_copy.h b/qtserialport_copy.h
deleted file mode 100644
index 2be93b3..0000000
--- a/qtserialport_copy.h
+++ /dev/null
@@ -1,34 +0,0 @@
-#ifndef QTSERIALPORT_H
-#define QTSERIALPORT_H
-
-#include "serialportbase.h"
-
-#include <QtSerialPort/QSerialPort>
-#include <QtSerialPort/QSerialPortInfo>
-
-
-class QtSerialport :public SerialPortBase
-{
-//    Q_OBJECT
-
-public:
-    QtSerialport(double * nonlinearityCoeffs, int numberOfCoeffs);
-    ~QtSerialport();
-
-
-    int OpenSerialPort(string portName);
-    int CloseSerialPort();
-    int SetBaudrate(int baudrate);
-    int SendData(const char chrMessage[], const unsigned short usLen);
-    int ReadData();
-
-protected:
-private:
-    QSerialPort * m_serial;
-
-    QString m_qPortName;
-
-};
-
-
-#endif // QTSERIALPORT_H
diff --git a/register.h b/register.h
index c1b1d2b..af3803e 100644
--- a/register.h
+++ b/register.h
@@ -30,6 +30,163 @@
 #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
+
+/* KEY */
+#define KEY_UNLOCK	0xB588
+
+/* SAVE */
+#define SAVE_PARAM	0x00
+#define SAVE_SWRST	0xFF
+
+/* algorithm */
+enum ALGROITHM_ENUM {
+    ALGROITHM9 = 0,
+    ALGROITHM6 = 1
+};
+
+/* ORIENT */
+enum ORIENT_ENUM {
+    ORIENT_HORIZONTAL = 0,
+    ORIENT_VERTICAL
+};
+
+/* ORIENT */
+enum POWONSEND_ENUM {
+    CLOSE = 0,
+    OPEN
+};
+
+/* CALSW */
+enum CAL_ENUM {
+    EXIT = 0,
+    GYROACC,
+    MAGNETIC,
+    ALTITUDE,
+    ALANGLEZ
+};
+
+#define EXITCAL         0x00
+#define CALGYROACC      0x01
+#define CALMAG          0x02
+#define CALALTITUDE     0x03
+#define CALANGLEZ       0x04
+
+/* time zone */
+enum TIMEZONE_ENUM {
+    UTC_N12 = 0,
+    UTC_N11,
+    UTC_N10,
+    UTC_N9,
+    UTC_N8,
+    UTC_N7,
+    UTC_N6,
+    UTC_N5,
+    UTC_N4,
+    UTC_N3,
+    UTC_N2,
+    UTC_N1,
+    UTC,
+    UTC_P1,
+    UTC_P2,
+    UTC_P3,
+    UTC_P4,
+    UTC_P5,
+    UTC_P6,
+    UTC_P7,
+    UTC_P8,//default
+    UTC_P9,
+    UTC_P10,
+    UTC_P11,
+    UTC_P12
+};
+
+/* RETURN CONTENT */
+#define SetBit(VAR, Place)    (VAR |= (1 << Place))
+#define ClrBit(VAR, Place)    (VAR &= ((1 << Place) ^ 255))
+
+enum RETURN_CONTENT_ENUM {
+    TIME = 0,
+    ACCELERATION,
+    ANGULAR_VELOCITY,
+    EULER_ANGLE,
+    MAGNETIC_FIELD,
+    PORT_STATUS,
+    ATMOSPHERIC_PRESSURE_ALTITUDE,
+    LATITUDE_LONGITUDE,
+
+    GROUND_VELOCITY,
+    QUATERNION,//四元数
+    SATELLITE_ACCURACY
+};
+
+/* BAUD */
+enum BAUD_ENUM {
+    WIT_BAUD_2400 = 0,
+    WIT_BAUD_4800,
+    WIT_BAUD_9600,//default
+    WIT_BAUD_19200,
+    WIT_BAUD_38400,
+    WIT_BAUD_57600,
+    WIT_BAUD_115200,
+    WIT_BAUD_230400,
+    WIT_BAUD_460800,
+    WIT_BAUD_921600
+};
+
+/**RRATE*****/
+enum RRATE_ENUM {
+    RRATE_01HZ = 1,
+    RRATE_05HZ,
+    RRATE_1HZ,
+    RRATE_2HZ,
+    RRATE_5HZ,
+    RRATE_10HZ,//default
+    RRATE_20HZ,
+    RRATE_50HZ,
+    RRATE_100HZ,
+    RRATE_NONE,//保留
+    RRATE_200HZ,
+    RRATE_ONCE
+};
+
+/* 端口模式 */
+enum MODEL_D0_D2_D3_ENUM {
+    AIN = 0,//default
+    DIN,
+    DOH,
+    DOL,
+    PWM
+};
+
+enum MODEL_D1_ENUM {
+    AIN_D1 = 0,//default
+    DIN_D1,
+    DOH_D1,
+    DOL_D1,
+    PWM_D1,
+    CLR_D1
+};
 
 #endif // REGISTER_H
diff --git a/serialportbase.h b/serialportbase.h
index cd3ec67..63237ff 100644
--- a/serialportbase.h
+++ b/serialportbase.h
@@ -12,10 +12,11 @@ public:
 //    SerialPortBase();
 //    ~SerialPortBase();
 
-    virtual int OpenSerialPort(string portName) = 0;
+    virtual int OpenSerialPort(string portName, int baudrate) = 0;
     virtual int CloseSerialPort() = 0;
     virtual int SetBaudrate(int baudrate) = 0;
-    virtual int SendData(const char chrMessage[], const unsigned short usLen) = 0;
+    virtual int SendData1(const char *data, const unsigned int len) = 0;
+    virtual int SendData(const char chrSendBuffer[],const unsigned short usLen) = 0;
     virtual int ReadData() = 0;
 protected:
 private:
diff --git a/witmotionDll.pro b/witmotionDll.pro
index e506e26..6c23056 100644
--- a/witmotionDll.pro
+++ b/witmotionDll.pro
@@ -7,8 +7,6 @@
 TARGET = witmotionDll
 TEMPLATE = lib
 
-QT += serialport
-
 DEFINES += WITMOTIONDLL_LIBRARY
 
 # The following define makes your compiler emit warnings if you use
@@ -23,14 +21,12 @@ DEFINES += QT_DEPRECATED_WARNINGS
 #DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
 
 SOURCES += \
-    witmotiondll.cpp \
-    qtserialport.cpp
+    witmotiondll.cpp
 
 HEADERS += \
         witmotiondll.h \
         witmotiondll_global.h \  
     serialportbase.h \
-    qtserialport.h \
     register.h
 
 unix {
diff --git a/witmotiondll.cpp b/witmotiondll.cpp
index 8d0bb4c..3964be9 100644
--- a/witmotiondll.cpp
+++ b/witmotiondll.cpp
@@ -1,42 +1,674 @@
 #include "witmotiondll.h"
 
-
 WitmotionDll::WitmotionDll(SerialPortBase * serialPort)
 {
     m_SerialPort = serialPort;
 }
 
-int WitmotionDll::algorithm(int algorithm)
+int WitmotionDll::unlockInstruction()
 {
+    using std::this_thread::sleep_for;
+
+    uint8_t unBuffer[8];
+    unBuffer[0]=0xFF;
+    unBuffer[1]=0xAA;
+    unBuffer[2]=KEY & 0xFF;
+    unBuffer[3]=KEY_UNLOCK & 0xff;
+    unBuffer[4]=KEY_UNLOCK >> 8;
+
+    int num = m_SerialPort->SendData1((char *)unBuffer,5);
+
+    std::cout<<"WitmotionDll::unlockInstruction: "<< num <<std::endl;
+
+    sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
+
     return 0;
 }
 
-int WitmotionDll::installationDirection(int direction)
+int WitmotionDll::saveInstruction()
 {
+    using std::this_thread::sleep_for;
+
+    uint8_t unBuffer[8];
+    unBuffer[0]=0xFF;
+    unBuffer[1]=0xAA;
+    unBuffer[2]=SAVE & 0xFF;
+    unBuffer[3]=SAVE_PARAM & 0xff;
+    unBuffer[4]=SAVE_PARAM >> 8;
+
+    int num = m_SerialPort->SendData1((char *)unBuffer,5);
+
+    std::cout<<"WitmotionDll::saveInstruction: "<< num <<std::endl;
+
+    sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
+
     return 0;
 }
 
-int WitmotionDll::instructStart()
+int WitmotionDll::algorithm(ALGROITHM_ENUM algorithm)
 {
+    using std::this_thread::sleep_for;
+
+    unlockInstruction();
+
+    uint8_t unBuffer[8];
+    unBuffer[0]=0xFF;
+    unBuffer[1]=0xAA;
+
+    switch (algorithm)
+    {
+    case ALGROITHM6:
+    {
+        unBuffer[2]=AXIS6 & 0xFF;
+        unBuffer[3]=ALGROITHM6 & 0xff;
+        unBuffer[4]=ALGROITHM6 >> 8;
+
+        break;
+    }
+    case ALGROITHM9:
+    {
+        unBuffer[2]=AXIS6 & 0xFF;
+        unBuffer[3]=ALGROITHM9 & 0xff;
+        unBuffer[4]=ALGROITHM9 >> 8;
+
+        break;
+    }
+    default:
+        break;
+    }
+
+    int num = m_SerialPort->SendData1((char *)unBuffer,5);
+
+    sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
+
+    saveInstruction();
+
+    return 0;
+}
+
+int WitmotionDll::installationOrientation(ORIENT_ENUM orient)
+{
+    using std::this_thread::sleep_for;
+
+    unlockInstruction();
+
+    uint8_t unBuffer[8];
+    unBuffer[0]=0xFF;
+    unBuffer[1]=0xAA;
+    unBuffer[2]=ORIENT & 0xFF;
+    unBuffer[3]=orient & 0xff;
+    unBuffer[4]=orient >> 8;
+
+    int num = m_SerialPort->SendData1((char *)unBuffer,5);
+
+    std::cout<<"WitmotionDll::installationDirection: "<< num <<std::endl;
+
+    sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
+
+    saveInstruction();
+    return 0;
+}
+
+int WitmotionDll::instructStart(POWONSEND_ENUM command)
+{
+    using std::this_thread::sleep_for;
+
+    unlockInstruction();
+
+    uint8_t unBuffer[8];
+    unBuffer[0]=0xFF;
+    unBuffer[1]=0xAA;
+    unBuffer[2]=POWONSEND & 0xFF;
+    unBuffer[3]=command & 0xff;
+    unBuffer[4]=command >> 8;
+
+    int num = m_SerialPort->SendData1((char *)unBuffer,5);
+
+    std::cout<<"WitmotionDll::installationDirection: "<< num <<std::endl;
+
+    sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
+
+    saveInstruction();
+    return 0;
+}
+
+int WitmotionDll::exitCalibration()
+{
+    using std::this_thread::sleep_for;
+
+    unlockInstruction();
+
+    uint8_t unBuffer[8];
+    unBuffer[0]=0xFF;
+    unBuffer[1]=0xAA;
+    unBuffer[2]=CALSW & 0xFF;
+    unBuffer[3]=EXITCAL & 0xff;
+    unBuffer[4]=EXITCAL >> 8;
+
+    int num = m_SerialPort->SendData1((char *)unBuffer,5);
+
+    sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
+
+    saveInstruction();
     return 0;
 }
 
 int WitmotionDll::magneticCalibration()
 {
+    using std::this_thread::sleep_for;
+
+    unlockInstruction();
+
+    uint8_t unBuffer[8];
+    unBuffer[0]=0xFF;
+    unBuffer[1]=0xAA;
+    unBuffer[2]=CALSW & 0xFF;
+    unBuffer[3]=CALMAG & 0xff;
+    unBuffer[4]=CALMAG >> 8;
+
+    int num = m_SerialPort->SendData1((char *)unBuffer,5);
+
+    sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
+
+    saveInstruction();
+
     return 0;
 }
 
-int WitmotionDll::heightCalibration()
+int WitmotionDll::setHeightToZero()
 {
+    using std::this_thread::sleep_for;
+
+    unlockInstruction();
+
+    uint8_t unBuffer[8];
+    unBuffer[0]=0xFF;
+    unBuffer[1]=0xAA;
+    unBuffer[2]=CALSW & 0xFF;
+    unBuffer[3]=CALALTITUDE & 0xff;
+    unBuffer[4]=CALALTITUDE >> 8;
+
+    int num = m_SerialPort->SendData1((char *)unBuffer,5);
+
+    sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
+
+    saveInstruction();
+
     return 0;
 }
 
-int WitmotionDll::zAxisAngleCalibration()
+int WitmotionDll::setZAxisAngleToZero()
 {
+    //需要读取参数，确保处于算法ALGROITHM6下
+
+
+
+    using std::this_thread::sleep_for;
+
+    unlockInstruction();
+
+    uint8_t unBuffer[8];
+    unBuffer[0]=0xFF;
+    unBuffer[1]=0xAA;
+    unBuffer[2]=CALSW & 0xFF;
+    unBuffer[3]=CALANGLEZ & 0xff;
+    unBuffer[4]=CALANGLEZ >> 8;
+
+    int num = m_SerialPort->SendData1((char *)unBuffer,5);
+
+    sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
+
+    saveInstruction();
+
     return 0;
 }
 
 int WitmotionDll::setAngleReference()
 {
+    using std::this_thread::sleep_for;
+
+    unlockInstruction();
+
+    uint8_t unBuffer[8];
+    unBuffer[0]=0xFF;
+    unBuffer[1]=0xAA;
+    unBuffer[2]=CALSW & 0xFF;
+    unBuffer[3]=0x08;
+    unBuffer[4]=0x00;
+
+    int num = m_SerialPort->SendData1((char *)unBuffer,5);
+
+    sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
+
+    saveInstruction();
+
+    return 0;
+}
+
+void WitmotionDll::recordData()
+{
+    m_SerialPort->ReadData();
+}
+
+int WitmotionDll::setTimeZone(TIMEZONE_ENUM timeZone)
+{
+    using std::this_thread::sleep_for;
+
+    unlockInstruction();
+
+    uint8_t unBuffer[8];
+    unBuffer[0]=0xFF;
+    unBuffer[1]=0xAA;
+    unBuffer[2]=TIMEZONE & 0xFF;
+    unBuffer[3]=timeZone & 0xff;
+    unBuffer[4]=timeZone >> 8;
+
+    int num = m_SerialPort->SendData1((char *)unBuffer,5);
+
+    std::cout<<"WitmotionDll::installationDirection: "<< num <<std::endl;
+
+    sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
+
+    saveInstruction();
+    return 0;
+}
+
+int WitmotionDll::latitudeLongitude()
+{
+    using std::this_thread::sleep_for;
+
+    unlockInstruction();
+
+    uint8_t unBuffer[8];
+    unBuffer[0]=0xFF;
+    unBuffer[1]=0xAA;
+    unBuffer[2]=RSW & 0xFF;
+
+    //设置回传内容
+    uint8_t RSWL = 0;
+    uint8_t RSWH = 0;
+
+    SetBit(RSWL, LATITUDE_LONGITUDE);
+
+    unBuffer[3] = RSWL;
+    unBuffer[4] = RSWH;
+
+    int num = m_SerialPort->SendData1((char *)unBuffer,5);
+
+    sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
+
+    saveInstruction();
+
+    exitCalibration();
+    return 0;
+}
+
+int WitmotionDll::eulerAngle()
+{
+    using std::this_thread::sleep_for;
+
+    unlockInstruction();
+
+    uint8_t unBuffer[8];
+    unBuffer[0]=0xFF;
+    unBuffer[1]=0xAA;
+    unBuffer[2]=RSW & 0xFF;
+
+    //设置回传内容
+    uint8_t RSWL = 0;
+    uint8_t RSWH = 0;
+
+    SetBit(RSWL, EULER_ANGLE);
+
+    unBuffer[3] = RSWL;
+    unBuffer[4] = RSWH;
+
+    int num = m_SerialPort->SendData1((char *)unBuffer,5);
+
+    sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
+
+    saveInstruction();
+
+    exitCalibration();
+    return 0;
+}
+
+int WitmotionDll::setContent(RETURN_CONTENT_ENUM content)
+{
+    return 0;
+}
+
+int WitmotionDll::clearContent(RETURN_CONTENT_ENUM content)
+{
+    return 0;
+}
+
+int WitmotionDll::SetBaudrate(BAUD_ENUM baudrate)
+{
+    using std::this_thread::sleep_for;
+
+    unlockInstruction();
+
+    uint8_t unBuffer[8];
+    unBuffer[0]=0xFF;
+    unBuffer[1]=0xAA;
+    unBuffer[2]=BAUD & 0xFF;
+    unBuffer[3]=baudrate & 0xff;
+    unBuffer[4]=baudrate >> 8;
+
+    int num = m_SerialPort->SendData1((char *)unBuffer,5);
+
+    sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
+
+    saveInstruction();
+
+    return 0;
+}
+
+int WitmotionDll::SetReturnRate(RRATE_ENUM returnRate)
+{
+    using std::this_thread::sleep_for;
+
+    unlockInstruction();
+
+    uint8_t unBuffer[8];
+    unBuffer[0]=0xFF;
+    unBuffer[1]=0xAA;
+    unBuffer[2]=RRATE & 0xFF;
+    unBuffer[3]=returnRate & 0xff;
+    unBuffer[4]=returnRate >> 8;
+
+    int num = m_SerialPort->SendData1((char *)unBuffer,5);
+
+    sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
+
+    saveInstruction();
+
+    return 0;
+}
+
+int WitmotionDll::SetDeviceAddress(int deviceAddress)
+{
+    using std::this_thread::sleep_for;
+
+    unlockInstruction();
+
+    uint8_t unBuffer[8];
+    unBuffer[0]=0xFF;
+    unBuffer[1]=0xAA;
+    unBuffer[2]=IICADDR & 0xFF;
+    unBuffer[3]=deviceAddress & 0xff;
+    unBuffer[4]=deviceAddress >> 8;
+
+    int num = m_SerialPort->SendData1((char *)unBuffer,5);
+
+    sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
+
+    saveInstruction();
+
+    return 0;
+}
+
+int WitmotionDll::setD0Model(MODEL_D0_D2_D3_ENUM model)
+{
+    using std::this_thread::sleep_for;
+
+    unlockInstruction();
+
+    uint8_t unBuffer[8];
+    unBuffer[0]=0xFF;
+    unBuffer[1]=0xAA;
+    unBuffer[2]=D0MODE & 0xFF;
+    unBuffer[3]=model & 0xff;
+    unBuffer[4]=model >> 8;
+
+    int num = m_SerialPort->SendData1((char *)unBuffer,5);
+
+    sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
+
+    saveInstruction();
+
+    return 0;
+}
+
+int WitmotionDll::setD1Model(MODEL_D1_ENUM model)
+{
+    using std::this_thread::sleep_for;
+
+    unlockInstruction();
+
+    uint8_t unBuffer[8];
+    unBuffer[0]=0xFF;
+    unBuffer[1]=0xAA;
+    unBuffer[2]=D1MODE & 0xFF;
+    unBuffer[3]=model & 0xff;
+    unBuffer[4]=model >> 8;
+
+    int num = m_SerialPort->SendData1((char *)unBuffer,5);
+
+    sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
+
+    saveInstruction();
+
+    return 0;
+}
+
+int WitmotionDll::setD2Model(MODEL_D0_D2_D3_ENUM model)
+{
+    using std::this_thread::sleep_for;
+
+    unlockInstruction();
+
+    uint8_t unBuffer[8];
+    unBuffer[0]=0xFF;
+    unBuffer[1]=0xAA;
+    unBuffer[2]=D2MODE & 0xFF;
+    unBuffer[3]=model & 0xff;
+    unBuffer[4]=model >> 8;
+
+    int num = m_SerialPort->SendData1((char *)unBuffer,5);
+
+    sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
+
+    saveInstruction();
+
+    return 0;
+}
+
+int WitmotionDll::setD3Model(MODEL_D0_D2_D3_ENUM model)
+{
+    using std::this_thread::sleep_for;
+
+    unlockInstruction();
+
+    uint8_t unBuffer[8];
+    unBuffer[0]=0xFF;
+    unBuffer[1]=0xAA;
+    unBuffer[2]=D3MODE & 0xFF;
+    unBuffer[3]=model & 0xff;
+    unBuffer[4]=model >> 8;
+
+    int num = m_SerialPort->SendData1((char *)unBuffer,5);
+
+    sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
+
+    saveInstruction();
+
+    return 0;
+}
+
+int WitmotionDll::setD0HighLevelPulseWidth(int PWMH)
+{
+    using std::this_thread::sleep_for;
+
+    unlockInstruction();
+
+    uint8_t unBuffer[8];
+    unBuffer[0]=0xFF;
+    unBuffer[1]=0xAA;
+    unBuffer[2]=D0PWMH & 0xFF;
+    unBuffer[3]=PWMH & 0xff;
+    unBuffer[4]=PWMH >> 8;
+
+    int num = m_SerialPort->SendData1((char *)unBuffer,5);
+
+    sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
+
+    saveInstruction();
+
+    return 0;
+}
+
+int WitmotionDll::setD1HighLevelPulseWidth(int PWMH)
+{
+    using std::this_thread::sleep_for;
+
+    unlockInstruction();
+
+    uint8_t unBuffer[8];
+    unBuffer[0]=0xFF;
+    unBuffer[1]=0xAA;
+    unBuffer[2]=D1PWMH & 0xFF;
+    unBuffer[3]=PWMH & 0xff;
+    unBuffer[4]=PWMH >> 8;
+
+    int num = m_SerialPort->SendData1((char *)unBuffer,5);
+
+    sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
+
+    saveInstruction();
+
+    return 0;
+}
+
+int WitmotionDll::setD2HighLevelPulseWidth(int PWMH)
+{
+    using std::this_thread::sleep_for;
+
+    unlockInstruction();
+
+    uint8_t unBuffer[8];
+    unBuffer[0]=0xFF;
+    unBuffer[1]=0xAA;
+    unBuffer[2]=D2PWMH & 0xFF;
+    unBuffer[3]=PWMH & 0xff;
+    unBuffer[4]=PWMH >> 8;
+
+    int num = m_SerialPort->SendData1((char *)unBuffer,5);
+
+    sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
+
+    saveInstruction();
+
+    return 0;
+}
+
+int WitmotionDll::setD3HighLevelPulseWidth(int PWMH)
+{
+    using std::this_thread::sleep_for;
+
+    unlockInstruction();
+
+    uint8_t unBuffer[8];
+    unBuffer[0]=0xFF;
+    unBuffer[1]=0xAA;
+    unBuffer[2]=D3PWMH & 0xFF;
+    unBuffer[3]=PWMH & 0xff;
+    unBuffer[4]=PWMH >> 8;
+
+    int num = m_SerialPort->SendData1((char *)unBuffer,5);
+
+    sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
+
+    saveInstruction();
+
+    return 0;
+}
+
+int WitmotionDll::setD0Period(int period)
+{
+    using std::this_thread::sleep_for;
+
+    unlockInstruction();
+
+    uint8_t unBuffer[8];
+    unBuffer[0]=0xFF;
+    unBuffer[1]=0xAA;
+    unBuffer[2]=D0PWMT & 0xFF;
+    unBuffer[3]=period & 0xff;
+    unBuffer[4]=period >> 8;
+
+    int num = m_SerialPort->SendData1((char *)unBuffer,5);
+
+    sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
+
+    saveInstruction();
+
+    return 0;
+}
+
+int WitmotionDll::setD1Period(int period)
+{
+    using std::this_thread::sleep_for;
+
+    unlockInstruction();
+
+    uint8_t unBuffer[8];
+    unBuffer[0]=0xFF;
+    unBuffer[1]=0xAA;
+    unBuffer[2]=D1PWMT & 0xFF;
+    unBuffer[3]=period & 0xff;
+    unBuffer[4]=period >> 8;
+
+    int num = m_SerialPort->SendData1((char *)unBuffer,5);
+
+    sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
+
+    saveInstruction();
+
+    return 0;
+}
+
+int WitmotionDll::setD2Period(int period)
+{
+    using std::this_thread::sleep_for;
+
+    unlockInstruction();
+
+    uint8_t unBuffer[8];
+    unBuffer[0]=0xFF;
+    unBuffer[1]=0xAA;
+    unBuffer[2]=D2PWMT & 0xFF;
+    unBuffer[3]=period & 0xff;
+    unBuffer[4]=period >> 8;
+
+    int num = m_SerialPort->SendData1((char *)unBuffer,5);
+
+    sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
+
+    saveInstruction();
+
+    return 0;
+}
+
+int WitmotionDll::setD3Period(int period)
+{
+    using std::this_thread::sleep_for;
+
+    unlockInstruction();
+
+    uint8_t unBuffer[8];
+    unBuffer[0]=0xFF;
+    unBuffer[1]=0xAA;
+    unBuffer[2]=D3PWMT & 0xFF;
+    unBuffer[3]=period & 0xff;
+    unBuffer[4]=period >> 8;
+
+    int num = m_SerialPort->SendData1((char *)unBuffer,5);
+
+    sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
+
+    saveInstruction();
+
     return 0;
 }
diff --git a/witmotiondll.h b/witmotiondll.h
index fa905a6..eba81c3 100644
--- a/witmotiondll.h
+++ b/witmotiondll.h
@@ -5,8 +5,10 @@
 
 #include <iostream>
 #include <string.h>
+#include <thread>
 
 #include "serialportbase.h"
+#include "register.h"
 
 class WITMOTIONDLLSHARED_EXPORT WitmotionDll
 {
@@ -14,18 +16,60 @@ class WITMOTIONDLLSHARED_EXPORT WitmotionDll
 public:
     WitmotionDll(SerialPortBase * serialPort);
 
-    int algorithm(int algorithm);
-    int installationDirection(int direction);
-    int instructStart();//文档中的通讯协议没有相关的设置？？？？？？？？？？？？？
+    int unlockInstruction();
+    int saveInstruction();
 
+    void recordData();
+
+    //系统
+    int algorithm(ALGROITHM_ENUM algorithm);
+    int installationOrientation(ORIENT_ENUM orient);
+    int instructStart(POWONSEND_ENUM command);//是否上电输出数据
+
+
+    //校准：完成后，需要退出校准模式（ 调用exitCalibration）
+    int exitCalibration();//退出校准模式
 
     int magneticCalibration();
-    int heightCalibration();
-    int zAxisAngleCalibration();
-    int setAngleReference();
+    int setHeightToZero();//需要JY901B带有高度数据输出的模块才能进行高度校准，此为相对高度，短时间内有效
+    int setZAxisAngleToZero();//Z轴角度归零，只在切换成 6 轴算法下才能成功置零;
+    int setAngleReference();//问的技术支持，文档没有，不建议使用，设置后只能在静态下运动，即原点旋转单轴，其他方式旋转出来会有比较大的误差
+
+
+    //范围
+    int setTimeZone(TIMEZONE_ENUM timeZone);
+
+    //设置回传内容：操作位？？？？？？？？？？？？？？？？？？？？？？
+    int latitudeLongitude();
+    int eulerAngle();
+    int setContent(RETURN_CONTENT_ENUM content);
+    int clearContent(RETURN_CONTENT_ENUM content);
+
+    //通讯
+    int SetBaudrate(BAUD_ENUM baudrate);
+    int SetReturnRate(RRATE_ENUM returnRate);
+    int SetDeviceAddress(int deviceAddress);//（1）只用于IIC协议，串口不用（2）设置、保存后，重新上电生效（3）最大为0x7f(124)
+
+    //接口
+    int setD0Model(MODEL_D0_D2_D3_ENUM model);
+    int setD1Model(MODEL_D1_ENUM model);
+    int setD2Model(MODEL_D0_D2_D3_ENUM model);
+    int setD3Model(MODEL_D0_D2_D3_ENUM model);
+
+    int setD0HighLevelPulseWidth(int PWMH);
+    int setD1HighLevelPulseWidth(int PWMH);
+    int setD2HighLevelPulseWidth(int PWMH);
+    int setD3HighLevelPulseWidth(int PWMH);
+
+    int setD0Period(int period);
+    int setD1Period(int period);
+    int setD2Period(int period);
+    int setD3Period(int period);
+
 
 private:
     SerialPortBase * m_SerialPort;
+    int TIME_TO_SLEEP = 500;//毫秒
 
 };