feat: Add rfid feature and .gitignore file
This commit is contained in:
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apps/common/device/imu_sensor/qmi8658/qmi8658c.c
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1846
apps/common/device/imu_sensor/qmi8658/qmi8658c.c
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apps/common/device/imu_sensor/qmi8658/qmi8658c.h
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apps/common/device/imu_sensor/qmi8658/qmi8658c.h
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#ifndef __QMI8658C_H_
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#define __QMI8658C_H_
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#include <string.h>
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/******************************************************************
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a complete 6D MEMS.
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The QMI8658C provides an I2C master interface (I2CM)to connect with an external magnetometer.
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Currently the QMI8658C can support the following magnetometers:
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AK09915C, AK09918CZ, and QMC6308.
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Host (slave) interface supports MIPI™ I3C, I2C, and
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3-wire or 4-wire SPI; auxiliary master I2C interface
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supports an external magnetometer
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******************************************************************/
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#if TCFG_QMI8658_ENABLE
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/******************************************************************
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* user config QMI8658 Macro Definition
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******************************************************************/
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// spi模式切换到iic模式, 传感器可能需要重新上电
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#define QMI8658_USE_I2C 0 /*IIC.(<=400kHz) */
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#define QMI8658_USE_SPI 1 /*SPI.(<=15MHz) */
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#define QMI8658_USE_I3C 2 /*I3C. */
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#define QMI8658_USER_INTERFACE TCFG_QMI8658_INTERFACE_TYPE//QMI8658_USE_I2C
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// #define QMI8658_USER_INTERFACE QMI8658_USE_SPI
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#define QMI8658_SD0_IIC_ADDR 1 //1:iic模式SD0接VCC, 0:iic模式SD0接GND
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//int io config
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// #define QMI8658_INT_IO1 IO_PORTA_06 //高有效 1.CTRL9_protocol 2.WoM
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// #define QMI8658_INT_READ_IO1() gpio_read(QMI8658_INT_IO1)
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// #define QMI8658_INT_IO2 IO_PORTA_07 //高有效 1.data ready 2.fifo 3.test 4.AE_mode 5.WoM
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// #define QMI8658_INT_READ_IO2() gpio_read(QMI8658_INT_IO2)
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// 注意: fifo模式切换到寄存器模式, 传感器需要重新上电,反之不需要
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#define QMI8658_USE_FIFO_EN 1 //0:disable fifo 1:enable fifo(fifo size:1536 bytes)
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#define QMI8658_USE_INT_EN 0 //0:disable
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#define QMI8658_USE_ANYMOTION_EN 0
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#define QMI8658_USE_TAP_EN 0
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#define QMI8658_USE_STEP_EN 0
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#define QMI8658_UINT_MG_DPS 0
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#define QMI8658_SYNC_SAMPLE_MODE 0//寄存器中断模式0:disable sync sample, 1:enable
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#define QMI8658_HANDSHAKE_NEW
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#define QMI8658_HANDSHAKE_TO_STATUS
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#define QMI8658_NEW_HANDSHAKE 1//另一种qmi8658
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#if (QMI8658_NEW_HANDSHAKE == 1)
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#define QMI8658_FIFO_INT_OMAP_INT1 1//1:fifo中断映射到int1; 0:fifo中断映射到int2
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#endif
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/******************************************************************
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* QMI8658 I2C address Macro Definition
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* (7bit): (0x37)011 0111@SDO=1; (0x36)011 0110@SDO=0;
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******************************************************************/
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#if QMI8658_SD0_IIC_ADDR
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#define QMI8658_SLAVE_ADDRESS (0x6a<<1)//0xd4
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#else
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#define QMI8658_SLAVE_ADDRESS (0x6b<<1)//0xd6
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#endif
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typedef u16(*IMU_read)(unsigned char devAddr,
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unsigned char regAddr,
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unsigned char *readBuf,
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u16 readLen);
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typedef unsigned char (*IMU_write)(unsigned char devAddr,
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unsigned char regAddr,
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unsigned char writebyte);
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// typedef unsigned char (*IMU_write)( unsigned char devAddr,
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// unsigned char regAddr,
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// unsigned char *writeBuf,
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// unsigned char writeLen);
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typedef struct {
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// u8 comms; //0:IIC; 1:SPI //宏控制
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#if (QMI8658_USER_INTERFACE==QMI8658_USE_I2C)
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u8 iic_hdl;
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u8 iic_delay; //这个延时并非影响iic的时钟频率，而是2Byte数据之间的延时
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// u8 iic_clk; //iic_clk: <=400kHz
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#elif (QMI8658_USER_INTERFACE==QMI8658_USE_SPI)
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u8 spi_hdl; //SPIx (role:master)
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u8 spi_cs_pin; //
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u8 spi_work_mode;//1:3wire(SPI_MODE_UNIDIR_1BIT) or 0:4wire(SPI_MODE_BIDIR_1BIT) (与spi结构体一样)
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// u8 port; //SPIx group:A,B,C,D (spi结构体)
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// U8 spi_clk; //spi_clk: <=15MHz (spi结构体)
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#else
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//I3C
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#endif
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} qmi8658_param;
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/******************************************************************
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* QMI8658 Registers Macro Definitions
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******************************************************************/
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#ifndef M_PI
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#define M_PI (3.14159265358979323846f)
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#endif
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#ifndef ONE_G
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#define ONE_G (9.807f)
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#endif
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#define QMI8658_CTRL7_DISABLE_ALL (0x0)
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#define QMI8658_CTRL7_ACC_ENABLE (0x1)
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#define QMI8658_CTRL7_GYR_ENABLE (0x2)
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#define QMI8658_CTRL7_MAG_ENABLE (0x4)
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#define QMI8658_CTRL7_AE_ENABLE (0x8)
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#define QMI8658_CTRL7_GYR_SNOOZE_ENABLE (0x10)
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#define QMI8658_CTRL7_ENABLE_MASK (0xF)
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#define QMI8658_CONFIG_ACC_ENABLE QMI8658_CTRL7_ACC_ENABLE
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#define QMI8658_CONFIG_GYR_ENABLE QMI8658_CTRL7_GYR_ENABLE
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#define QMI8658_CONFIG_MAG_ENABLE QMI8658_CTRL7_MAG_ENABLE
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#define QMI8658_CONFIG_AE_ENABLE QMI8658_CTRL7_AE_ENABLE
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#define QMI8658_CONFIG_ACCGYR_ENABLE (QMI8658_CONFIG_ACC_ENABLE | QMI8658_CONFIG_GYR_ENABLE)
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#define QMI8658_CONFIG_ACCGYRMAG_ENABLE (QMI8658_CONFIG_ACC_ENABLE | QMI8658_CONFIG_GYR_ENABLE | QMI8658_CONFIG_MAG_ENABLE)
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#define QMI8658_CONFIG_AEMAG_ENABLE (QMI8658_CONFIG_AE_ENABLE | QMI8658_CONFIG_MAG_ENABLE)
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#define QMI8658_STATUS1_CMD_DONE (0x01)
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#define QMI8658_STATUS1_WAKEUP_EVENT (0x04)
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#if (QMI8658_NEW_HANDSHAKE)
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#define QMI8658_CTRL8_INT_SEL 0x40 // bit6: 1 int1, 0 int2
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#define QMI8658_CTRL8_PEDOMETER_EN 0x10
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#define QMI8658_CTRL8_SIGMOTION_EN 0x08
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#define QMI8658_CTRL8_NOMOTION_EN 0x04
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#define QMI8658_CTRL8_ANYMOTION_EN 0x02
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#define QMI8658_CTRL8_TAP_EN 0x01
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#define QMI8658_INT1_ENABLE 0x08
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#define QMI8658_INT2_ENABLE 0x10
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#define QMI8658_DRDY_DISABLE 0x20 // ctrl7
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#define QMI8658_FIFO_MAP_INT1 0x04 // ctrl1
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#define QMI8658_FIFO_MAP_INT2 ~0x04
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#endif
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enum Qmi8658Register {
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Qmi8658Register_WhoAmI = 0, // 0
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Qmi8658Register_Revision, // 1
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Qmi8658Register_Ctrl1, // 2
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Qmi8658Register_Ctrl2, // 3
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Qmi8658Register_Ctrl3, // 4
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Qmi8658Register_Ctrl4, // 5
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Qmi8658Register_Ctrl5, // 6
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Qmi8658Register_Ctrl6, // 7
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Qmi8658Register_Ctrl7, // 8
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Qmi8658Register_Ctrl8, // 9
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Qmi8658Register_Ctrl9, // 10
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Qmi8658Register_Cal1_L = 11,
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Qmi8658Register_Cal1_H,
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Qmi8658Register_Cal2_L,
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Qmi8658Register_Cal2_H,
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Qmi8658Register_Cal3_L,
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Qmi8658Register_Cal3_H,
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Qmi8658Register_Cal4_L,
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Qmi8658Register_Cal4_H,
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Qmi8658Register_FifoWmkTh = 19,
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Qmi8658Register_FifoCtrl = 20,
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Qmi8658Register_FifoCount = 21,
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Qmi8658Register_FifoStatus = 22,
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Qmi8658Register_FifoData = 23,
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Qmi8658Register_StatusI2CM = 44,
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Qmi8658Register_StatusInt = 45,
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Qmi8658Register_Status0,
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Qmi8658Register_Status1,
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Qmi8658Register_Timestamp_L = 48,
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Qmi8658Register_Timestamp_M,
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Qmi8658Register_Timestamp_H,
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Qmi8658Register_Tempearture_L = 51,
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Qmi8658Register_Tempearture_H,
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Qmi8658Register_Ax_L = 53,
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Qmi8658Register_Ax_H,
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Qmi8658Register_Ay_L,
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Qmi8658Register_Ay_H,
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Qmi8658Register_Az_L,
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Qmi8658Register_Az_H,
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Qmi8658Register_Gx_L = 59,
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Qmi8658Register_Gx_H,
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Qmi8658Register_Gy_L,
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Qmi8658Register_Gy_H,
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Qmi8658Register_Gz_L,
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Qmi8658Register_Gz_H,
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Qmi8658Register_Mx_L = 65,
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Qmi8658Register_Mx_H,
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Qmi8658Register_My_L,
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Qmi8658Register_My_H,
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Qmi8658Register_Mz_L,
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Qmi8658Register_Mz_H,
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Qmi8658Register_Q1_L = 73,
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Qmi8658Register_Q1_H,
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Qmi8658Register_Q2_L,
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Qmi8658Register_Q2_H,
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Qmi8658Register_Q3_L,
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Qmi8658Register_Q3_H,
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Qmi8658Register_Q4_L,
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Qmi8658Register_Q4_H,
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Qmi8658Register_Dvx_L = 81,
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Qmi8658Register_Dvx_H,
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Qmi8658Register_Dvy_L,
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Qmi8658Register_Dvy_H,
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Qmi8658Register_Dvz_L,
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Qmi8658Register_Dvz_H,
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Qmi8658Register_AeReg1 = 87,
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Qmi8658Register_AeOverflow,
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Qmi8658Register_AccEl_X = 90,
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Qmi8658Register_AccEl_Y,
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Qmi8658Register_AccEl_Z,
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Qmi8658Register_Reset = 96, //err?????
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Qmi8658Register_I2CM_STATUS = 110, //err???
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};
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enum Qmi8658_Ois_Register {
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/*-----------------------------*/
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/* Setup and Control Registers */
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/*-----------------------------*/
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/*! \brief SPI Endian Selection, and SPI 3/4 Wire */
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Qmi8658_OIS_Reg_Ctrl1 = 0x02, // 2 [0x02] -- Dflt: 0x20
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/*! \brief Accelerometer control: ODR, Full Scale, Self Test */
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Qmi8658_OIS_Reg_Ctrl2, // 3 [0x03]
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/*! \brief Gyroscope control: ODR, Full Scale, Self Test */
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Qmi8658_OIS_Reg_Ctrl3, // 4 [0x04]
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/*! \brief Sensor Data Processing Settings */
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Qmi8658_OIS_Reg_Ctrl5 = 0x06, // 6 [0x06]
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/*! \brief Sensor enabled status: Enable Sensors */
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Qmi8658_OIS_Reg_Ctrl7 = 0x08, // 8 [0x08]
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/*-------------------*/
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/* Status Registers */
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/*-------------------*/
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/*! \brief Sensor Data Availability and Lock Register */
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Qmi8658_OIS_Reg_StatusInt = 0x2D, // 45 [0x2D]
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/*! \brief Output data overrun and availability */
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Qmi8658_OIS_Reg_Status0 = 0x2E, // 46 [0x2E]
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/*-----------------------------------------------------*/
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/* OIS Sensor Data Output Registers. 16-bit 2's complement */
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/*-----------------------------------------------------*/
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/*! \brief Accelerometer X axis least significant byte */
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Qmi8658_OIS_Reg_Ax_L = 0x33, // 53 [0x35]
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/*! \brief Accelerometer X axis most significant byte */
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Qmi8658_OIS_Reg_Ax_H, // 54 [0x36]
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/*! \brief Accelerometer Y axis least significant byte */
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Qmi8658_OIS_Reg_Ay_L, // 55 [0x37]
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/*! \brief Accelerometer Y axis most significant byte */
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Qmi8658_OIS_Reg_Ay_H, // 56 [0x38]
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/*! \brief Accelerometer Z axis least significant byte */
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Qmi8658_OIS_Reg_Az_L, // 57 [0x39]
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/*! \brief Accelerometer Z axis most significant byte */
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Qmi8658_OIS_Reg_Az_H, // 58 [0x3A]
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/*! \brief Gyroscope X axis least significant byte */
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Qmi8658_OIS_Reg_Gx_L = 0x3B, // 59 [0x3B]
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/*! \brief Gyroscope X axis most significant byte */
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Qmi8658_OIS_Reg_Gx_H, // 60 [0x3C]
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/*! \brief Gyroscope Y axis least significant byte */
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Qmi8658_OIS_Reg_Gy_L, // 61 [0x3D]
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/*! \brief Gyroscope Y axis most significant byte */
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Qmi8658_OIS_Reg_Gy_H, // 62 [0x3E]
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/*! \brief Gyroscope Z axis least significant byte */
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Qmi8658_OIS_Reg_Gz_L, // 63 [0x3F]
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/*! \brief Gyroscope Z axis most significant byte */
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Qmi8658_OIS_Reg_Gz_H, // 64 [0x40]
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};
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enum Qmi8658_Ctrl9Command {
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Qmi8658_Ctrl9_Cmd_NOP = 0X00,
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Qmi8658_Ctrl9_Cmd_GyroBias = 0X01,
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Qmi8658_Ctrl9_Cmd_Rqst_Sdi_Mod = 0X03,
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Qmi8658_Ctrl9_Cmd_Rst_Fifo = 0X04,
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Qmi8658_Ctrl9_Cmd_Req_Fifo = 0X05,
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Qmi8658_Ctrl9_Cmd_I2CM_Write = 0X06,
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Qmi8658_Ctrl9_Cmd_WoM_Setting = 0x08,
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Qmi8658_Ctrl9_Cmd_AccelHostDeltaOffset = 0x09,
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Qmi8658_Ctrl9_Cmd_GyroHostDeltaOffset = 0x0A,
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Qmi8658_Ctrl9_Cmd_EnableExtReset = 0x0B,
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Qmi8658_Ctrl9_Cmd_EnableTap = 0x0C,
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Qmi8658_Ctrl9_Cmd_EnablePedometer = 0x0D,
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Qmi8658_Ctrl9_Cmd_Reset_Pedometer = 0x0F,
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Qmi8658_Ctrl9_Cmd_Motion = 0x0E,
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Qmi8658_Ctrl9_Cmd_CopyUsid = 0x10,
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Qmi8658_Ctrl9_Cmd_SetRpu = 0x11,
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Qmi8658_Ctrl9_Cmd_AHB_Clock_Gating = 0x12,
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Qmi8658_Ctrl9_Cmd_On_Demand_Cali = 0xA2,
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Qmi8658_Ctrl9_Cmd_Dbg_WoM_Data_Enable = 0xF8,
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};
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enum Qmi8658_LpfConfig {
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Qmi8658Lpf_Disable, /*!< \brief Disable low pass filter. */
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Qmi8658Lpf_Enable /*!< \brief Enable low pass filter. */
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};
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enum Qmi8658_HpfConfig {
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Qmi8658Hpf_Disable, /*!< \brief Disable high pass filter. */
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Qmi8658Hpf_Enable /*!< \brief Enable high pass filter. */
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};
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enum Qmi8658_StConfig {
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Qmi8658St_Disable, /*!< \brief Disable high pass filter. */
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Qmi8658St_Enable /*!< \brief Enable high pass filter. */
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};
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enum Qmi8658_LpfMode {
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A_LSP_MODE_0 = 0x00 << 1,
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A_LSP_MODE_1 = 0x01 << 1,
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A_LSP_MODE_2 = 0x02 << 1,
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A_LSP_MODE_3 = 0x03 << 1,
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G_LSP_MODE_0 = 0x00 << 5,
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G_LSP_MODE_1 = 0x01 << 5,
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G_LSP_MODE_2 = 0x02 << 5,
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G_LSP_MODE_3 = 0x03 << 5
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};
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enum Qmi8658_AccRange {
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Qmi8658AccRange_2g = 0x00 << 4, /*!< \brief +/- 2g range */
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Qmi8658AccRange_4g = 0x01 << 4, /*!< \brief +/- 4g range */
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Qmi8658AccRange_8g = 0x02 << 4, /*!< \brief +/- 8g range */
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Qmi8658AccRange_16g = 0x03 << 4 /*!< \brief +/- 16g range */
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};
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enum Qmi8658_AccOdr {
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Qmi8658AccOdr_8000Hz = 0x00, /*!< \brief High resolution 8000Hz output rate. */
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Qmi8658AccOdr_4000Hz = 0x01, /*!< \brief High resolution 4000Hz output rate. */
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Qmi8658AccOdr_2000Hz = 0x02, /*!< \brief High resolution 2000Hz output rate. */
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Qmi8658AccOdr_1000Hz = 0x03, /*!< \brief High resolution 1000Hz output rate. */
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Qmi8658AccOdr_500Hz = 0x04, /*!< \brief High resolution 500Hz output rate. */
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Qmi8658AccOdr_250Hz = 0x05, /*!< \brief High resolution 250Hz output rate. */
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Qmi8658AccOdr_125Hz = 0x06, /*!< \brief High resolution 125Hz output rate. */
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Qmi8658AccOdr_62_5Hz = 0x07, /*!< \brief High resolution 62.5Hz output rate. */
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Qmi8658AccOdr_31_25Hz = 0x08, /*!< \brief High resolution 31.25Hz output rate. */
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Qmi8658AccOdr_LowPower_128Hz = 0x0c, /*!< \brief Low power 128Hz output rate. */
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Qmi8658AccOdr_LowPower_21Hz = 0x0d, /*!< \brief Low power 21Hz output rate. */
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Qmi8658AccOdr_LowPower_11Hz = 0x0e, /*!< \brief Low power 11Hz output rate. */
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Qmi8658AccOdr_LowPower_3Hz = 0x0f /*!< \brief Low power 3Hz output rate. */
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};
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enum Qmi8658_GyrRange {
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Qmi8658GyrRange_16dps = 0 << 4, /*!< \brief +-32 degrees per second. */
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Qmi8658GyrRange_32dps = 1 << 4, /*!< \brief +-32 degrees per second. */
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Qmi8658GyrRange_64dps = 2 << 4, /*!< \brief +-64 degrees per second. */
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Qmi8658GyrRange_128dps = 3 << 4, /*!< \brief +-128 degrees per second. */
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Qmi8658GyrRange_256dps = 4 << 4, /*!< \brief +-256 degrees per second. */
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Qmi8658GyrRange_512dps = 5 << 4, /*!< \brief +-512 degrees per second. */
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Qmi8658GyrRange_1024dps = 6 << 4, /*!< \brief +-1024 degrees per second. */
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Qmi8658GyrRange_2048dps = 7 << 4, /*!< \brief +-2048 degrees per second. */
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};
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/*!
|
||||
* \brief Gyroscope output rate configuration.
|
||||
*/
|
||||
enum Qmi8658_GyrOdr {
|
||||
Qmi8658GyrOdr_8000Hz = 0x00, /*!< \brief High resolution 8000Hz output rate. */
|
||||
Qmi8658GyrOdr_4000Hz = 0x01, /*!< \brief High resolution 4000Hz output rate. */
|
||||
Qmi8658GyrOdr_2000Hz = 0x02, /*!< \brief High resolution 2000Hz output rate. */
|
||||
Qmi8658GyrOdr_1000Hz = 0x03, /*!< \brief High resolution 1000Hz output rate. */
|
||||
Qmi8658GyrOdr_500Hz = 0x04, /*!< \brief High resolution 500Hz output rate. */
|
||||
Qmi8658GyrOdr_250Hz = 0x05, /*!< \brief High resolution 250Hz output rate. */
|
||||
Qmi8658GyrOdr_125Hz = 0x06, /*!< \brief High resolution 125Hz output rate. */
|
||||
Qmi8658GyrOdr_62_5Hz = 0x07, /*!< \brief High resolution 62.5Hz output rate. */
|
||||
Qmi8658GyrOdr_31_25Hz = 0x08 /*!< \brief High resolution 31.25Hz output rate. */
|
||||
};
|
||||
|
||||
enum Qmi8658_AeOdr {
|
||||
Qmi8658AeOdr_1Hz = 0x00, /*!< \brief 1Hz output rate. */
|
||||
Qmi8658AeOdr_2Hz = 0x01, /*!< \brief 2Hz output rate. */
|
||||
Qmi8658AeOdr_4Hz = 0x02, /*!< \brief 4Hz output rate. */
|
||||
Qmi8658AeOdr_8Hz = 0x03, /*!< \brief 8Hz output rate. */
|
||||
Qmi8658AeOdr_16Hz = 0x04, /*!< \brief 16Hz output rate. */
|
||||
Qmi8658AeOdr_32Hz = 0x05, /*!< \brief 32Hz output rate. */
|
||||
Qmi8658AeOdr_64Hz = 0x06, /*!< \brief 64Hz output rate. */
|
||||
Qmi8658AeOdr_128Hz = 0x07, /*!< \brief 128Hz output rate. */
|
||||
/*!
|
||||
* \brief Motion on demand mode.
|
||||
*
|
||||
* In motion on demand mode the application can trigger AttitudeEngine
|
||||
* output samples as necessary. This allows the AttitudeEngine to be
|
||||
* synchronized with external data sources.
|
||||
*
|
||||
* When in Motion on Demand mode the application should request new data
|
||||
* by calling the Qmi8658_requestAttitudeEngineData() function. The
|
||||
* AttitudeEngine will respond with a data ready event (INT2) when the
|
||||
* data is available to be read.
|
||||
*/
|
||||
Qmi8658AeOdr_motionOnDemand = 128
|
||||
};
|
||||
|
||||
enum Qmi8658_MagOdr {
|
||||
Qmi8658MagOdr_1000Hz = 0x00, /*!< \brief 1000Hz output rate. */
|
||||
Qmi8658MagOdr_500Hz = 0x01, /*!< \brief 500Hz output rate. */
|
||||
Qmi8658MagOdr_250Hz = 0x02, /*!< \brief 250Hz output rate. */
|
||||
Qmi8658MagOdr_125Hz = 0x03, /*!< \brief 125Hz output rate. */
|
||||
Qmi8658MagOdr_62_5Hz = 0x04, /*!< \brief 62.5Hz output rate. */
|
||||
Qmi8658MagOdr_31_25Hz = 0x05 /*!< \brief 31.25Hz output rate. */
|
||||
};
|
||||
|
||||
enum Qmi8658_MagDev {
|
||||
MagDev_AKM09918 = (0 << 3), /*!< \brief AKM09918. */
|
||||
};
|
||||
|
||||
enum Qmi8658_AccUnit {
|
||||
Qmi8658AccUnit_g, /*!< \brief Accelerometer output in terms of g (9.81m/s^2). */
|
||||
Qmi8658AccUnit_ms2 /*!< \brief Accelerometer output in terms of m/s^2. */
|
||||
};
|
||||
|
||||
enum Qmi8658_GyrUnit {
|
||||
Qmi8658GyrUnit_dps, /*!< \brief Gyroscope output in degrees/s. */
|
||||
Qmi8658GyrUnit_rads /*!< \brief Gyroscope output in rad/s. */
|
||||
};
|
||||
|
||||
enum Qmi8658_fifo_format {
|
||||
QMI8658_FORMAT_EMPTY,
|
||||
QMI8658_FORMAT_ACCEL_6_BYTES,
|
||||
QMI8658_FORMAT_GYRO_6_BYTES,
|
||||
QMI8658_FORMAT_MAG_6_BYTES,
|
||||
QMI8658_FORMAT_12_BYTES, //默认:acc + gyro
|
||||
QMI8658_FORMAT_18_BYTES, //acc + gyro + mag
|
||||
|
||||
QMI8658_FORMAT_UNKNOWN = 0xff,
|
||||
};
|
||||
|
||||
enum Qmi8658_FifoMode {
|
||||
Qmi8658_Fifo_Bypass = 0,
|
||||
Qmi8658_Fifo_Fifo = 1,
|
||||
Qmi8658_Fifo_Stream = 2,
|
||||
Qmi8658_Fifo_StreamToFifo = 3
|
||||
};
|
||||
|
||||
//fifo size:1536 bytes
|
||||
enum Qmi8658_FifoSize {
|
||||
Qmi8658_Fifo_16 = (0 << 2), //support 3 sensor
|
||||
Qmi8658_Fifo_32 = (1 << 2), //support 3 sensor
|
||||
Qmi8658_Fifo_64 = (2 << 2), //support 3 sensor
|
||||
Qmi8658_Fifo_128 = (3 << 2) //support 2 sensor
|
||||
};
|
||||
|
||||
|
||||
// enum Qmi8658_FifoWmkLevel
|
||||
// {
|
||||
// Qmi8658_Fifo_WmkEmpty = (0 << 4),
|
||||
// Qmi8658_Fifo_WmkOneQuarter = (1 << 4),
|
||||
// Qmi8658_Fifo_WmkHalf = (2 << 4),
|
||||
// Qmi8658_Fifo_WmkThreeQuarters = (3 << 4)
|
||||
// };
|
||||
|
||||
|
||||
enum Qmi8658_anymotion_G_TH {
|
||||
Qmi8658_1G = 1 << 5,
|
||||
Qmi8658_2G = 2 << 5,
|
||||
Qmi8658_3G = 3 << 5,
|
||||
Qmi8658_4G = 4 << 5,
|
||||
Qmi8658_5G = 5 << 5,
|
||||
Qmi8658_6G = 6 << 5,
|
||||
Qmi8658_7G = 7 << 5,
|
||||
Qmi8658_8G = 8 << 5,
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
struct Qmi8658_offsetCalibration {
|
||||
enum Qmi8658_AccUnit accUnit;
|
||||
float accOffset[3];
|
||||
enum Qmi8658_GyrUnit gyrUnit;
|
||||
float gyrOffset[3];
|
||||
};
|
||||
|
||||
struct Qmi8658_sensitivityCalibration {
|
||||
float accSensitivity[3];
|
||||
float gyrSensitivity[3];
|
||||
};
|
||||
|
||||
enum Qmi8658_Interrupt {
|
||||
Qmi8658_Int1_low = (0 << 6),
|
||||
Qmi8658_Int2_low = (1 << 6),
|
||||
Qmi8658_Int1_high = (2 << 6),
|
||||
Qmi8658_Int2_high = (3 << 6)
|
||||
};
|
||||
|
||||
enum Qmi8658_InterruptState {
|
||||
Qmi8658State_high = (1 << 7), /*!< Interrupt high. */
|
||||
Qmi8658State_low = (0 << 7) /*!< Interrupt low. */
|
||||
};
|
||||
|
||||
enum Qmi8658_WakeOnMotionThreshold {
|
||||
Qmi8658WomThreshold_off = 0,
|
||||
Qmi8658WomThreshold_low = 32,
|
||||
Qmi8658WomThreshold_mid = 128,
|
||||
Qmi8658WomThreshold_high = 255
|
||||
};
|
||||
|
||||
struct Qmi8658Config {
|
||||
unsigned char inputSelection;
|
||||
enum Qmi8658_AccRange accRange;
|
||||
enum Qmi8658_AccOdr accOdr;
|
||||
enum Qmi8658_GyrRange gyrRange;
|
||||
enum Qmi8658_GyrOdr gyrOdr;
|
||||
enum Qmi8658_AeOdr aeOdr;
|
||||
enum Qmi8658_MagOdr magOdr;
|
||||
enum Qmi8658_MagDev magDev;
|
||||
#if (QMI8658_USE_FIFO_EN)
|
||||
unsigned char fifo_ctrl;
|
||||
unsigned char fifo_fss;
|
||||
enum Qmi8658_fifo_format fifo_format;
|
||||
//unsigned char fifo_status;
|
||||
#endif
|
||||
};
|
||||
|
||||
|
||||
|
||||
/***************************************************************************
|
||||
Exported Functions
|
||||
****************************************************************************/
|
||||
extern unsigned char qmi8658_init(u8 demand_cali_en);
|
||||
extern void Qmi8658_Config_apply(struct Qmi8658Config const *config);
|
||||
extern void Qmi8658_enableSensors(unsigned char enableFlags);
|
||||
extern void Qmi8658_read_acc_xyz(float acc_xyz[3]);
|
||||
extern void Qmi8658_read_gyro_xyz(float gyro_xyz[3]);
|
||||
extern void Qmi8658_read_xyz(float acc[3], float gyro[3], unsigned int *tim_count);
|
||||
extern void Qmi8658_read_xyz_raw(short raw_acc_xyz[3], short raw_gyro_xyz[3], unsigned int *tim_count);
|
||||
extern void Qmi8658_read_ae(float quat[4], float velocity[3]);
|
||||
extern float Qmi8658_readTemp(void);
|
||||
// extern unsigned char Qmi8658_readStatusInt(void);//无
|
||||
extern unsigned char Qmi8658_readStatus0(void);
|
||||
extern unsigned char Qmi8658_readStatus1(void);
|
||||
|
||||
extern void Qmi8658_enableWakeOnMotion(enum Qmi8658_Interrupt int_set, enum Qmi8658_WakeOnMotionThreshold threshold, unsigned char blankingTime);
|
||||
extern void Qmi8658_disableWakeOnMotion(void);
|
||||
#if (QMI8658_USE_FIFO_EN)
|
||||
extern void Qmi8658_config_fifo(unsigned char watermark, enum Qmi8658_FifoSize size, enum Qmi8658_FifoMode mode, enum Qmi8658_fifo_format format);
|
||||
// extern void Qmi8658_enable_fifo(void);//无
|
||||
unsigned short Qmi8658_read_fifo(unsigned char *data);
|
||||
void Qmi8658_get_fifo_format(enum Qmi8658_fifo_format *format);
|
||||
#endif
|
||||
#if (QMI8658_USE_STEP_EN)
|
||||
unsigned char stepConfig(unsigned short odr);
|
||||
uint32_t Qmi8658_step_read_stepcounter(uint32_t *step);
|
||||
void step_disable(void);
|
||||
#endif
|
||||
#if (QMI8658_USE_ANYMOTION_EN)
|
||||
// unsigned char anymotion_Config(enum Qmi8658_anymotion_G_TH motion_g_th, unsigned char motion_mg_th );
|
||||
void anymotion_lowpwr_config(void);
|
||||
void anymotion_high_odr_enable(void);
|
||||
void anymotion_disable(void);
|
||||
#endif
|
||||
#if (QMI8658_USE_TAP_EN)
|
||||
// unsigned char tap_Config(void);
|
||||
void tap_enable(void);
|
||||
#endif
|
||||
|
||||
#endif
|
||||
#endif
|
||||
|
||||
Reference in New Issue
Block a user