Initial import of WAVE_ROVER_V1.0

QMI8658.h

@@ -0,0 +1,102 @@
+/*
+ * @Description: QMI8658
+ * @Author: zjw
+ * @Date: 2022-10-24
+ * @LastEditTime: 2022-10-24
+ * @LastEditors: zjw
+ */
+
+#ifndef _QMI8658_H_
+#define _QMI8658_H_
+
+#include <Arduino.h>
+#include "QMI8658reg.h"
+
+typedef struct
+{
+	float roll;
+  float pitch;
+  float yaw ;
+} EulerAngles;
+
+typedef struct
+{
+  float X_Off_Err;
+  float Y_Off_Err;
+  float Z_Off_Err;
+}QMI8658_TypeDef_Off;
+
+class QMI8658
+{
+  uint8_t last_status; // status of last I2C transmission
+  uint8_t read_reg(uint8_t reg);
+
+  void write_reg(uint8_t reg,uint8_t value);
+
+public:
+  uint16_t readWord_reg(uint8_t reg);
+  // bool init(void);
+  // bool GetEulerAngles(float *pitch,float *roll, float *yaw,float acc[3],float gyro[3]);
+
+  void config_acc(enum qmi8658_AccRange range, enum qmi8658_AccOdr odr,
+                      enum qmi8658_LpfConfig lpfEnable, enum qmi8658_StConfig stEnable);
+  void config_gyro(enum qmi8658_GyrRange range, enum qmi8658_GyrOdr odr,
+                      enum qmi8658_LpfConfig lpfEnable, enum qmi8658_StConfig stEnable);
+
+  void read_sensor_data(float acc[3], float gyro[3]);
+  void read_acc(float acc[3]);
+  void read_gyro(float gyro[3]);
+  float read_temperature();
+  void read_xyz(float acc[3], float gyro[3]);
+  void axis_convert(float data_a[3], float data_g[3], int layout);
+  void config_reg(unsigned char low_power);
+  void enableSensors(unsigned char enableFlags);
+  unsigned char get_id(void);
+  unsigned char begin(void);
+  void dump_reg(void);
+  void qmi8658_on_demand_cali(void);
+  void autoOffsets(void);
+
+public:
+  int16_t ax, ay, az, gx, gy, gz;
+  float pith, roll, yaw;
+  unsigned long now, lastTime = 0;
+  float dt;      //微分时间
+  float agz = 0; //角度变量
+  long gzo = 0;  //陀螺仪偏移量
+  QMI8658_TypeDef_Off TempAcc = {0};//校准值
+  QMI8658_TypeDef_Off TempGyr = {0};
+};
+
+/*----------------------------------------------------------------------------------------------
+  QMI8658C UI Sensor Configuration Settings and Output Data
+*/
+///<Configuration Registers>
+#define QMI8658_ADDR 0X6B  //device address
+#define WHO_AM_I 0X00 //Device identifier
+#define CTRL1 0x02    //Serial Interface and Sensor Enable
+#define CTRL2 0x03    //Accelerometer Settings
+#define CTRL3 0x04    //Gyroscope Settings
+#define CTRL4 0X05    //Magnetometer Settings
+#define CTRL5 0X06    //Sensor Data Processing Settings
+#define CTRL7 0x08    //Enable Sensors and Configure Data Reads
+#define CTRL8 0X09    //Reserved – Special Settings
+
+///<Sensor Data Output Registers>
+#define AccX_L 0x35
+#define AccX_H 0x36
+#define AccY_L 0x37
+#define AccY_H 0x38
+#define AccZ_L 0x39
+#define AccZ_H 0x3A
+#define TEMP_L 0x33
+
+#define GyrX_L 0x3B
+#define GyrX_H 0x3C
+#define GyrY_L 0x3D
+#define GyrY_H 0x3E
+#define GyrZ_L 0x3F
+#define GyrZ_H 0x40
+// int16_t QMI8658C_readBytes(unsigned char tmp);
+//extern QMI8658C _QMI8658C;
+#endif