86 lines
2.5 KiB
C++
86 lines
2.5 KiB
C++
#ifndef WITMOTIONDLL_H
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#define WITMOTIONDLL_H
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#include <iostream>
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#include <string>
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#include <thread>
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#include "serialportbase.h"
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#include "register.h"
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#include "witcommand.h"
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typedef void (*delay)(uint32_t millisecond);
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typedef void (*witPrintf)(const char* text);
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class WitmotionDll
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{
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public:
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WitmotionDll(SerialPortBase * serialPort);
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int delayMsRegister(delay delayFunction);
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int printfRegister(witPrintf printfFunction);
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void setDelayTimeMs(uint32_t millisecond);
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int constructAndSendInstruction(int registerAddress, int registerContent);
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int unlockInstruction();
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int saveInstruction();
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void recordData();
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//系统
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int algorithm(ALGROITHM_ENUM algorithm);
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int installationOrientation(ORIENT_ENUM orient);
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int instructStart(POWONSEND_ENUM command);//是否上电输出数据，可以防止鼠标乱跳
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//校准：完成后，需要退出校准模式（ 调用exitCalibration）
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int exitCalibration();//退出校准模式
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int magneticCalibration();
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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
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int setZAxisAngleToZero();//Z轴角度归零，只在切换成 6 轴算法下才能成功置零;
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int setAngleReference();//询问技术支持，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
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//范围
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int setTimeZone(TIMEZONE_ENUM timeZone);
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//设置回传内容
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int setContent(RETURN_CONTENT_STRUCT content);
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int clearContent(RETURN_CONTENT_STRUCT content);
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//通讯
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int SetBaudrate(BAUD_ENUM baudrate);
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int SetReturnRate(RRATE_ENUM returnRate);
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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)
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//接口
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int setD0Model(MODEL_D0_D2_D3_ENUM model);
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int setD1Model(MODEL_D1_ENUM model);
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int setD2Model(MODEL_D0_D2_D3_ENUM model);
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int setD3Model(MODEL_D0_D2_D3_ENUM model);
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int setD0HighLevelPulseWidth(int PWMH);
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int setD1HighLevelPulseWidth(int PWMH);
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int setD2HighLevelPulseWidth(int PWMH);
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int setD3HighLevelPulseWidth(int PWMH);
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int setD0Period(int period);
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int setD1Period(int period);
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int setD2Period(int period);
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int setD3Period(int period);
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private:
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SerialPortBase * m_SerialPort;
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uint32_t TIME_TO_SLEEP = 500;//毫秒
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delay m_delayFunction;
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witPrintf m_witPrintf;
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};
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#endif // WITMOTIONDLL_H
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