实现了任工需要设置的所有参数

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