193 lines
3.1 KiB
C
193 lines
3.1 KiB
C
#ifndef REGISTER_H
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#define REGISTER_H
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#define SAVE 0x00
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#define CALSW 0x01
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#define RSW 0x02
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#define RRATE 0x03
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#define BAUD 0x04
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#define AXOFFSET 0x05
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#define AYOFFSET 0x06
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#define AZOFFSET 0x07
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#define GXOFFSET 0x08
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#define GYOFFSET 0x09
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#define GZOFFSET 0x0a
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#define HXOFFSET 0x0b
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#define HYOFFSET 0x0c
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#define HZOFFSET 0x0d
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#define D0MODE 0x0e
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#define D1MODE 0x0f
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#define D2MODE 0x10
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#define D3MODE 0x11
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#define D0PWMH 0x12
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#define D1PWMH 0x13
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#define D2PWMH 0x14
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#define D3PWMH 0x15
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#define D0PWMT 0x16
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#define D1PWMT 0x17
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#define D2PWMT 0x18
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#define D3PWMT 0x19
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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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