实现了任工需要设置的所有参数
This commit is contained in:
tangchao
@ -1,59 +0,0 @@
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#include "qtserialport.h"
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int QtSerialport::OpenSerialPort(string portName)
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{
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QList<QSerialPortInfo> infos = QSerialPortInfo::availablePorts();
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//std::cout<<"number of availablePorts:"<<infos.size()<<std::endl;
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//如果在构造函数中创建m_serial就会出现错误:
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//QObject: Cannot create children for a parent that is in a different thread.
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//(Parent is QSerialPort(0x2e31b20), parent's thread is QThread(0x2e2f130), current thread is QThread(0x2e31110)
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m_serial = new QSerialPort();
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if(m_serial->isOpen())//如果串口已经打开了 先给他关闭了
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{
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m_serial->clear();
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m_serial->close();
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}
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m_serial->setPortName(QString::fromStdString(portName));
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m_serial->open(QIODevice::ReadWrite);
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bool x=SetBaudrate(9600);
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if(x)
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{
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std::cout<<"波特率被成功设置为:"<<m_serial->baudRate()<<std::endl;
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return 0;
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}
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else
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{
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std::cout<<"波特率设置失败!"<<std::endl;
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return 1;
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}
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}
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int QtSerialport::CloseSerialPort()
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{
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m_serial->close();
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return 0;
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}
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int QtSerialport::SetBaudrate(int baudrate)
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{
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bool x=m_serial->setBaudRate(baudrate);
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return 0;
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}
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int QtSerialport::SendData(const char chrMessage[], const unsigned short usLen)
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{
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//QIODevice::write(const char *data, qint64 maxSize)
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m_serial->write(chrMessage, usLen);
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return 0;
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}
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int QtSerialport::ReadData()
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{
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return 0;
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}
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@ -1,31 +0,0 @@
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#ifndef QTSERIALPORT_H
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#define QTSERIALPORT_H
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#include "serialportbase.h"
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#include <QtSerialPort/QSerialPort>
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#include <QtSerialPort/QSerialPortInfo>
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class QtSerialport :public SerialPortBase
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{
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// Q_OBJECT
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public:
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// QtSerialport();
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// ~QtSerialport();
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int OpenSerialPort(string portName);
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int CloseSerialPort();
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int SetBaudrate(int baudrate);
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int SendData(const char chrMessage[], const unsigned short usLen);
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int ReadData();
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protected:
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private:
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QSerialPort * m_serial;
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};
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#endif // QTSERIALPORT_H
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@ -1,34 +0,0 @@
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#ifndef QTSERIALPORT_H
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#define QTSERIALPORT_H
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#include "serialportbase.h"
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#include <QtSerialPort/QSerialPort>
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#include <QtSerialPort/QSerialPortInfo>
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class QtSerialport :public SerialPortBase
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{
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// Q_OBJECT
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public:
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QtSerialport(double * nonlinearityCoeffs, int numberOfCoeffs);
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~QtSerialport();
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int OpenSerialPort(string portName);
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int CloseSerialPort();
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int SetBaudrate(int baudrate);
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int SendData(const char chrMessage[], const unsigned short usLen);
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int ReadData();
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protected:
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private:
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QSerialPort * m_serial;
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QString m_qPortName;
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};
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#endif // QTSERIALPORT_H
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157
register.h
157
register.h
@ -30,6 +30,163 @@
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#define IICADDR 0x1a
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#define LEDOFF 0x1b
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#define MAGRANGX 0x1c
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#define MAGRANGY 0x1d
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#define MAGRANGZ 0x1e
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#define BANDWIDTH 0x1f
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#define GYRORANGE 0x20
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#define ACCRANGE 0x21
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#define SLEEP 0x22
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#define ORIENT 0x23
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#define AXIS6 0x24
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#define FILTK 0x25
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#define GPSBAUD 0x26
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#define READADDR 0x27
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#define BWSCALE 0x28
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#define MOVETHR 0x28
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#define MOVESTA 0x29
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#define ACCFILT 0x2A
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#define GYROFILT 0x2b
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#define MAGFILT 0x2c
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#define POWONSEND 0x2d
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#define VERSION 0x2e
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#define KEY 0x69
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#define TIMEZONE 0x6B
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/* KEY */
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#define KEY_UNLOCK 0xB588
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/* SAVE */
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#define SAVE_PARAM 0x00
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#define SAVE_SWRST 0xFF
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/* algorithm */
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enum ALGROITHM_ENUM {
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ALGROITHM9 = 0,
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ALGROITHM6 = 1
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};
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/* ORIENT */
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enum ORIENT_ENUM {
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ORIENT_HORIZONTAL = 0,
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ORIENT_VERTICAL
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};
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/* ORIENT */
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enum POWONSEND_ENUM {
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CLOSE = 0,
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OPEN
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};
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/* CALSW */
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enum CAL_ENUM {
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EXIT = 0,
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GYROACC,
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MAGNETIC,
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ALTITUDE,
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ALANGLEZ
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};
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#define EXITCAL 0x00
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#define CALGYROACC 0x01
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#define CALMAG 0x02
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#define CALALTITUDE 0x03
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#define CALANGLEZ 0x04
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/* time zone */
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enum TIMEZONE_ENUM {
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UTC_N12 = 0,
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UTC_N11,
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UTC_N10,
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UTC_N9,
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UTC_N8,
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UTC_N7,
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UTC_N6,
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UTC_N5,
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UTC_N4,
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UTC_N3,
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UTC_N2,
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UTC_N1,
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UTC,
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UTC_P1,
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UTC_P2,
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UTC_P3,
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UTC_P4,
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UTC_P5,
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UTC_P6,
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UTC_P7,
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UTC_P8,//default
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UTC_P9,
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UTC_P10,
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UTC_P11,
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UTC_P12
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};
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/* RETURN CONTENT */
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#define SetBit(VAR, Place) (VAR |= (1 << Place))
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#define ClrBit(VAR, Place) (VAR &= ((1 << Place) ^ 255))
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enum RETURN_CONTENT_ENUM {
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TIME = 0,
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ACCELERATION,
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ANGULAR_VELOCITY,
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EULER_ANGLE,
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MAGNETIC_FIELD,
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PORT_STATUS,
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ATMOSPHERIC_PRESSURE_ALTITUDE,
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LATITUDE_LONGITUDE,
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GROUND_VELOCITY,
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QUATERNION,//四元数
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SATELLITE_ACCURACY
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};
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/* BAUD */
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enum BAUD_ENUM {
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WIT_BAUD_2400 = 0,
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WIT_BAUD_4800,
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WIT_BAUD_9600,//default
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WIT_BAUD_19200,
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WIT_BAUD_38400,
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WIT_BAUD_57600,
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WIT_BAUD_115200,
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WIT_BAUD_230400,
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WIT_BAUD_460800,
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WIT_BAUD_921600
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};
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/**RRATE*****/
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enum RRATE_ENUM {
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RRATE_01HZ = 1,
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RRATE_05HZ,
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RRATE_1HZ,
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RRATE_2HZ,
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RRATE_5HZ,
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RRATE_10HZ,//default
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RRATE_20HZ,
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RRATE_50HZ,
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RRATE_100HZ,
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RRATE_NONE,//保留
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RRATE_200HZ,
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RRATE_ONCE
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};
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/* 端口模式 */
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enum MODEL_D0_D2_D3_ENUM {
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AIN = 0,//default
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DIN,
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DOH,
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DOL,
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PWM
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};
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enum MODEL_D1_ENUM {
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AIN_D1 = 0,//default
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DIN_D1,
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DOH_D1,
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DOL_D1,
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PWM_D1,
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CLR_D1
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};
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#endif // REGISTER_H
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@ -12,10 +12,11 @@ public:
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// SerialPortBase();
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// ~SerialPortBase();
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virtual int OpenSerialPort(string portName) = 0;
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virtual int OpenSerialPort(string portName, int baudrate) = 0;
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virtual int CloseSerialPort() = 0;
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virtual int SetBaudrate(int baudrate) = 0;
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virtual int SendData(const char chrMessage[], const unsigned short usLen) = 0;
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virtual int SendData1(const char *data, const unsigned int len) = 0;
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virtual int SendData(const char chrSendBuffer[],const unsigned short usLen) = 0;
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virtual int ReadData() = 0;
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protected:
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private:
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@ -7,8 +7,6 @@
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TARGET = witmotionDll
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TEMPLATE = lib
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QT += serialport
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DEFINES += WITMOTIONDLL_LIBRARY
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# The following define makes your compiler emit warnings if you use
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@ -23,14 +21,12 @@ DEFINES += QT_DEPRECATED_WARNINGS
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#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000 # disables all the APIs deprecated before Qt 6.0.0
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SOURCES += \
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witmotiondll.cpp \
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qtserialport.cpp
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witmotiondll.cpp
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HEADERS += \
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witmotiondll.h \
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witmotiondll_global.h \
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serialportbase.h \
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qtserialport.h \
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register.h
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unix {
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644
witmotiondll.cpp
644
witmotiondll.cpp
@ -1,42 +1,674 @@
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#include "witmotiondll.h"
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WitmotionDll::WitmotionDll(SerialPortBase * serialPort)
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{
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m_SerialPort = serialPort;
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}
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int WitmotionDll::algorithm(int algorithm)
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int WitmotionDll::unlockInstruction()
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{
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using std::this_thread::sleep_for;
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uint8_t unBuffer[8];
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unBuffer[0]=0xFF;
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unBuffer[1]=0xAA;
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unBuffer[2]=KEY & 0xFF;
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unBuffer[3]=KEY_UNLOCK & 0xff;
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unBuffer[4]=KEY_UNLOCK >> 8;
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int num = m_SerialPort->SendData1((char *)unBuffer,5);
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std::cout<<"WitmotionDll::unlockInstruction: "<< num <<std::endl;
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sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
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return 0;
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}
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int WitmotionDll::installationDirection(int direction)
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int WitmotionDll::saveInstruction()
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{
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using std::this_thread::sleep_for;
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uint8_t unBuffer[8];
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unBuffer[0]=0xFF;
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unBuffer[1]=0xAA;
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unBuffer[2]=SAVE & 0xFF;
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unBuffer[3]=SAVE_PARAM & 0xff;
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unBuffer[4]=SAVE_PARAM >> 8;
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int num = m_SerialPort->SendData1((char *)unBuffer,5);
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std::cout<<"WitmotionDll::saveInstruction: "<< num <<std::endl;
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sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
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return 0;
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}
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int WitmotionDll::instructStart()
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int WitmotionDll::algorithm(ALGROITHM_ENUM algorithm)
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{
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using std::this_thread::sleep_for;
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unlockInstruction();
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uint8_t unBuffer[8];
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unBuffer[0]=0xFF;
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unBuffer[1]=0xAA;
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switch (algorithm)
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{
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case ALGROITHM6:
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{
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unBuffer[2]=AXIS6 & 0xFF;
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unBuffer[3]=ALGROITHM6 & 0xff;
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unBuffer[4]=ALGROITHM6 >> 8;
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break;
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}
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case ALGROITHM9:
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{
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unBuffer[2]=AXIS6 & 0xFF;
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unBuffer[3]=ALGROITHM9 & 0xff;
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unBuffer[4]=ALGROITHM9 >> 8;
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break;
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}
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default:
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break;
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}
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int num = m_SerialPort->SendData1((char *)unBuffer,5);
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sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
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saveInstruction();
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return 0;
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}
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int WitmotionDll::installationOrientation(ORIENT_ENUM orient)
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{
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using std::this_thread::sleep_for;
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unlockInstruction();
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uint8_t unBuffer[8];
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unBuffer[0]=0xFF;
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unBuffer[1]=0xAA;
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unBuffer[2]=ORIENT & 0xFF;
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unBuffer[3]=orient & 0xff;
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unBuffer[4]=orient >> 8;
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int num = m_SerialPort->SendData1((char *)unBuffer,5);
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std::cout<<"WitmotionDll::installationDirection: "<< num <<std::endl;
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sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
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saveInstruction();
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return 0;
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}
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int WitmotionDll::instructStart(POWONSEND_ENUM command)
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{
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using std::this_thread::sleep_for;
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unlockInstruction();
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uint8_t unBuffer[8];
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unBuffer[0]=0xFF;
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unBuffer[1]=0xAA;
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unBuffer[2]=POWONSEND & 0xFF;
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unBuffer[3]=command & 0xff;
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unBuffer[4]=command >> 8;
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int num = m_SerialPort->SendData1((char *)unBuffer,5);
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std::cout<<"WitmotionDll::installationDirection: "<< num <<std::endl;
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sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
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saveInstruction();
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return 0;
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}
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int WitmotionDll::exitCalibration()
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{
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using std::this_thread::sleep_for;
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unlockInstruction();
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uint8_t unBuffer[8];
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unBuffer[0]=0xFF;
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unBuffer[1]=0xAA;
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unBuffer[2]=CALSW & 0xFF;
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unBuffer[3]=EXITCAL & 0xff;
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unBuffer[4]=EXITCAL >> 8;
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int num = m_SerialPort->SendData1((char *)unBuffer,5);
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sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
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saveInstruction();
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return 0;
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}
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int WitmotionDll::magneticCalibration()
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{
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using std::this_thread::sleep_for;
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unlockInstruction();
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|
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uint8_t unBuffer[8];
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unBuffer[0]=0xFF;
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unBuffer[1]=0xAA;
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unBuffer[2]=CALSW & 0xFF;
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unBuffer[3]=CALMAG & 0xff;
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unBuffer[4]=CALMAG >> 8;
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int num = m_SerialPort->SendData1((char *)unBuffer,5);
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sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
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saveInstruction();
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return 0;
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}
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int WitmotionDll::heightCalibration()
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int WitmotionDll::setHeightToZero()
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{
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using std::this_thread::sleep_for;
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unlockInstruction();
|
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uint8_t unBuffer[8];
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unBuffer[0]=0xFF;
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unBuffer[1]=0xAA;
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unBuffer[2]=CALSW & 0xFF;
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unBuffer[3]=CALALTITUDE & 0xff;
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unBuffer[4]=CALALTITUDE >> 8;
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int num = m_SerialPort->SendData1((char *)unBuffer,5);
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sleep_for(std::chrono::milliseconds(TIME_TO_SLEEP));
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||||
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saveInstruction();
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return 0;
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}
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||||
int WitmotionDll::zAxisAngleCalibration()
|
||||
int WitmotionDll::setZAxisAngleToZero()
|
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{
|
||||
//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;
|
||||
}
|
||||
|
||||
@ -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
|
||||
|
||||
};
|
||||
|
||||
|
||||
Reference in New Issue
Block a user