285 lines
6.2 KiB
C
285 lines
6.2 KiB
C
#ifndef __AHRSREG_H
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#define __AHRSREG_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#define REGSIZE 0x90
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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 CCBW 0x2f
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#define YYMM 0x30
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#define DDHH 0x31
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#define MMSS 0x32
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#define MS 0x33
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#define AX 0x34
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#define AY 0x35
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#define AZ 0x36
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#define GX 0x37
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#define GY 0x38
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#define GZ 0x39
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#define HX 0x3a
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#define HY 0x3b
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#define HZ 0x3c
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#define Roll 0x3d
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#define Pitch 0x3e
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#define Yaw 0x3f
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#define TEMP 0x40
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#define D0Status 0x41
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#define D1Status 0x42
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#define D2Status 0x43
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#define D3Status 0x44
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#define PressureL 0x45
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#define PressureH 0x46
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#define HeightL 0x47
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#define HeightH 0x48
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#define LonL 0x49
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#define LonH 0x4a
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#define LatL 0x4b
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#define LatH 0x4c
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#define GPSHeight 0x4d
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#define GPSYAW 0x4e
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#define GPSVL 0x4f
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#define GPSVH 0x50
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#define q0 0x51
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#define q1 0x52
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#define q2 0x53
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#define q3 0x54
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#define SVNUM 0x55
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#define PDOP 0x56
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#define HDOP 0x57
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#define VDOP 0x58
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#define DELAYT 0x59
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#define XMIN 0x5a
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#define XMAX 0x5b
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#define BATVAL 0x5c
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#define ALARMPIN 0x5d
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#define YMIN 0x5e
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#define YMAX 0x5f
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#define GYROZSCALE 0x60
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#define GYROCALITHR 0x61
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#define ALARMLEVEL 0x62
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#define GYROCALTIME 0x63
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#define REFROLL 0x64
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#define REFPITCH 0x65
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#define REFYAW 0x66
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#define GPSTYPE 0x67
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#define TRIGTIME 0x68
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#define KEY 0x69
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#define WERROR 0x6a
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#define TIMEZONE 0x6b
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#define CALICNT 0x6c
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#define WZCNT 0x6d
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#define WZTIME 0x6e
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#define WZSTATIC 0x6f
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#define ACCSENSOR 0x70
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#define GYROSENSOR 0x71
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#define MAGSENSOR 0x72
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#define PRESSENSOR 0x73
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#define MODDELAY 0x74
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#define ANGLEAXIS 0x75
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#define XRSCALE 0x76
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#define YRSCALE 0x77
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#define ZRSCALE 0x78
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#define XREFROLL 0x79
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#define YREFPITCH 0x7a
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#define ZREFYAW 0x7b
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#define ANGXOFFSET 0x7c
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#define ANGYOFFSET 0x7d
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#define ANGZOFFSET 0x7e
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#define NUMBERID1 0x7f
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#define NUMBERID2 0x80
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#define NUMBERID3 0x81
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#define NUMBERID4 0x82
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#define NUMBERID5 0x83
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#define NUMBERID6 0x84
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#define XA85PSCALE 0x85
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#define XA85NSCALE 0x86
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#define YA85PSCALE 0x87
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#define YA85NSCALE 0x88
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#define XA30PSCALE 0x89
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#define XA30NSCALE 0x8a
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#define YA30PSCALE 0x8b
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#define YA30NSCALE 0x8c
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#define CHIPIDL 0x8D
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#define CHIPIDH 0x8E
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#define REGINITFLAG REGSIZE-1
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/* AXIS6 */
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#define ALGRITHM9 0
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#define ALGRITHM6 1
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/************CALSW**************/
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#define NORMAL 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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#define CALACCL 0x05
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#define CALACCR 0x06
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#define CALMAGMM 0x07
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#define CALREFANGLE 0x08
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#define CALMAG2STEP 0x09
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//#define CALACCX 0x09
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//#define ACC45PRX 0x0A
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//#define ACC45NRX 0x0B
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//#define CALACCY 0x0C
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//#define ACC45PRY 0x0D
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//#define ACC45NRY 0x0E
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//#define CALREFANGLER 0x0F
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//#define CALACCINIT 0x10
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//#define CALREFANGLEINIT 0x11
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#define CALHEXAHEDRON 0x12
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/************OUTPUTHEAD**************/
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#define WIT_TIME 0x50
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#define WIT_ACC 0x51
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#define WIT_GYRO 0x52
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#define WIT_ANGLE 0x53
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#define WIT_MAGNETIC 0x54
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#define WIT_DPORT 0x55
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#define WIT_PRESS 0x56
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#define WIT_GPS 0x57
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#define WIT_VELOCITY 0x58
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#define WIT_QUATER 0x59
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#define WIT_GSA 0x5A
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#define WIT_REGVALUE 0x5F
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/************RSW**************/
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#define RSW_TIME 0x01
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#define RSW_ACC 0x02
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#define RSW_GYRO 0x04
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#define RSW_ANGLE 0x08
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#define RSW_MAG 0x10
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#define RSW_PORT 0x20
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#define RSW_PRESS 0x40
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#define RSW_GPS 0x80
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#define RSW_V 0x100
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#define RSW_Q 0x200
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#define RSW_GSA 0x400
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#define RSW_MASK 0xfff
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/**RRATE*****/
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#define RRATE_NONE 0x0d
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#define RRATE_02HZ 0x01
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#define RRATE_05HZ 0x02
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#define RRATE_1HZ 0x03
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#define RRATE_2HZ 0x04
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#define RRATE_5HZ 0x05
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#define RRATE_10HZ 0x06
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#define RRATE_20HZ 0x07
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#define RRATE_50HZ 0x08
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#define RRATE_100HZ 0x09
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#define RRATE_125HZ 0x0a //only WT931
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#define RRATE_200HZ 0x0b
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#define RRATE_ONCE 0x0c
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/* BAUD */
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#define WIT_BAUD_4800 1
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#define WIT_BAUD_9600 2
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#define WIT_BAUD_19200 3
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#define WIT_BAUD_38400 4
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#define WIT_BAUD_57600 5
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#define WIT_BAUD_115200 6
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#define WIT_BAUD_230400 7
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#define WIT_BAUD_460800 8
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#define WIT_BAUD_921600 9
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/*CAN BAUD*/
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#define CAN_BAUD_1000000 0
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#define CAN_BAUD_800000 1
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#define CAN_BAUD_500000 2
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#define CAN_BAUD_400000 3
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#define CAN_BAUD_250000 4
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#define CAN_BAUD_200000 5
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#define CAN_BAUD_125000 6
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#define CAN_BAUD_100000 7
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#define CAN_BAUD_80000 8
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#define CAN_BAUD_50000 9
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#define CAN_BAUD_40000 10
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#define CAN_BAUD_20000 11
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#define CAN_BAUD_10000 12
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#define CAN_BAUD_5000 13
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#define CAN_BAUD_3000 14
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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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/* ORIENT */
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#define ORIENT_HERIZONE 0
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#define ORIENT_VERTICLE 1
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/* BANDWIDTH */
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#define BANDWIDTH_256HZ 0
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#define BANDWIDTH_184HZ 1
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#define BANDWIDTH_94HZ 2
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#define BANDWIDTH_44HZ 3
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#define BANDWIDTH_21HZ 4
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#define BANDWIDTH_10HZ 5
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#define BANDWIDTH_5HZ 6
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#ifdef __cplusplus
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}
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#endif
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#endif
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