106 lines
3.0 KiB
C++
106 lines
3.0 KiB
C++
/*
|
||
* @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]);
|
||
bool read_mag(int16_t *mag_x, int16_t *mag_y, int16_t *mag_z);
|
||
void enable_magnetometer();
|
||
uint8_t read_debug_reg(uint8_t reg);
|
||
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
|