663 lines
19 KiB
Markdown
663 lines
19 KiB
Markdown
# QMI8658传感器驱动替换方案
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## 一、概述
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本文档提供了使用`qmi8658-master`目录下的C驱动替换现有`QMI8658A`C++类的完整方案，同时解决当前驱动读取数值不准确的问题。
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## 二、驱动对比分析
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### 1. 当前使用的`QMI8658A`类
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- 基于C++实现的面向对象设计
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- 继承自`I2cDevice`类
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- 提供丰富的功能：校准、FIFO、缓冲区管理、中断处理等
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- 接口复杂但完善
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- 存在数值读取不准确的问题
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### 2. `qmi8658-master`中的C驱动
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- 基于C语言实现的函数式设计
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- 实现了基本的传感器功能：初始化、配置、数据读取等
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- 包含FIFO、计步器、运动检测等功能
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- 提供校准功能
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- 代码简洁明了
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### 3. 替换优势
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- `qmi8658-master`驱动经过完整验证，与README文档描述一致
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- 包含适当的校准功能，有助于解决数值不准确问题
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- 接口简洁，易于集成和维护
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- 支持与现有`ImuSensorThing`类兼容的功能
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## 三、替换方案实现
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### 1. 创建C++包装类
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创建一个名为`QMI8658Wrapper`的C++类，它将使用`qmi8658-master`中的C驱动函数，但提供与现有`QMI8658A`类兼容的接口。
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```cpp
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// qmi8658_wrapper.h
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#ifndef QMI8658_WRAPPER_H
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#define QMI8658_WRAPPER_H
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#include "driver/i2c_master.h"
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#include "boards/movecall-moji-esp32s3/qmi8658-master/qmi8658.h"
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#include <cstdint>
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#include <cstring>
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#include <mutex>
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// 与QMI8658A类兼容的数据结构
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typedef struct {
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union {
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struct {
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float acc_x;
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float acc_y;
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float acc_z;
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};
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float accel[3];
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};
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union {
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struct {
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float gyro_x;
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float gyro_y;
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float gyro_z;
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};
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float gyro[3];
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};
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float temperature;
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uint64_t timestamp;
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bool valid;
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} qmi8658a_data_t;
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// 与QMI8658A类兼容的错误代码
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typedef enum {
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QMI8658A_OK = 0,
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QMI8658A_ERROR_INVALID_PARAM = -1,
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QMI8658A_ERROR_I2C_COMM = -2,
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QMI8658A_ERROR_CHIP_ID = -3,
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QMI8658A_ERROR_INIT_FAILED = -4,
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QMI8658A_ERROR_CONFIG_FAILED = -5,
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QMI8658A_ERROR_DATA_NOT_READY = -6,
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QMI8658A_ERROR_TIMEOUT = -7
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} qmi8658a_error_t;
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// 与QMI8658A类兼容的状态定义
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typedef enum {
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QMI8658A_STATE_UNINITIALIZED = 0,
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QMI8658A_STATE_INITIALIZING,
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QMI8658A_STATE_READY,
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QMI8658A_STATE_ERROR
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} qmi8658a_state_t;
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class QMI8658Wrapper {
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private:
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qmi8658a_state_t state_;
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qmi8658a_error_t last_error_;
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bool is_initialized_;
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std::mutex mutex_;
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float acc_offset_[3];
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float gyro_offset_[3];
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bool calibration_applied_;
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public:
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QMI8658Wrapper(i2c_master_bus_handle_t i2c_bus, uint8_t addr = 0x6A);
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~QMI8658Wrapper();
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// 初始化函数
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qmi8658a_error_t Initialize(void* config = nullptr);
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// 数据读取函数
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qmi8658a_error_t ReadSensorData(qmi8658a_data_t* data);
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qmi8658a_error_t ReadAccelData(float* acc_x, float* acc_y, float* acc_z);
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qmi8658a_error_t ReadGyroData(float* gyro_x, float* gyro_y, float* gyro_z);
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qmi8658a_error_t ReadTemperature(float* temperature);
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// 校准相关函数
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qmi8658a_error_t StartCalibration(uint32_t duration_ms = 5000);
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qmi8658a_error_t ApplyCalibration();
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qmi8658a_error_t SaveCalibrationToNVS();
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qmi8658a_error_t LoadCalibrationFromNVS();
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// 状态查询函数
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qmi8658a_state_t GetState() const { return state_; }
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qmi8658a_error_t GetLastError() const { return last_error_; }
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bool IsDataReady();
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// 芯片信息函数
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uint8_t GetChipId();
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// 重置函数
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qmi8658a_error_t SoftReset();
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};
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#endif // QMI8658_WRAPPER_H
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```
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```cpp
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// qmi8658_wrapper.cc
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#include "qmi8658_wrapper.h"
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#include "esp_log.h"
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#include "esp_timer.h"
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#include "nvs_flash.h"
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#include "nvs.h"
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#include <cmath>
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#define TAG "QMI8658Wrapper"
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#define CALIBRATION_NAMESPACE "qmi8658_cal"
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#define ACC_OFFSET_KEY "acc_offset"
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#define GYRO_OFFSET_KEY "gyro_offset"
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#define CALIBRATION_FLAG_KEY "calibrated"
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// 实现与qmi8658-master驱动的接口函数
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extern "C" {
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// 如果qmi8658-master驱动需要这些函数的自定义实现
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// 可以在这里提供
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}
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QMI8658Wrapper::QMI8658Wrapper(i2c_master_bus_handle_t i2c_bus, uint8_t addr) {
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state_ = QMI8658A_STATE_UNINITIALIZED;
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last_error_ = QMI8658A_OK;
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is_initialized_ = false;
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memset(acc_offset_, 0, sizeof(acc_offset_));
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memset(gyro_offset_, 0, sizeof(gyro_offset_));
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calibration_applied_ = false;
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}
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QMI8658Wrapper::~QMI8658Wrapper() {
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// 清理资源
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}
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qmi8658a_error_t QMI8658Wrapper::Initialize(void* config) {
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std::lock_guard<std::mutex> lock(mutex_);
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state_ = QMI8658A_STATE_INITIALIZING;
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// 初始化传感器
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if (qmi8658_init() != 1) {
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ESP_LOGE(TAG, "Sensor initialization failed");
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last_error_ = QMI8658A_ERROR_INIT_FAILED;
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state_ = QMI8658A_STATE_ERROR;
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return last_error_;
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}
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// 尝试加载保存的校准数据
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LoadCalibrationFromNVS();
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state_ = QMI8658A_STATE_READY;
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is_initialized_ = true;
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return QMI8658A_OK;
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}
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qmi8658a_error_t QMI8658Wrapper::ReadSensorData(qmi8658a_data_t* data) {
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std::lock_guard<std::mutex> lock(mutex_);
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if (!is_initialized_ || state_ != QMI8658A_STATE_READY) {
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last_error_ = QMI8658A_ERROR_INIT_FAILED;
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return last_error_;
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}
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float acc[3] = {0};
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float gyro[3] = {0};
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// 读取传感器数据
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qmi8658_read_sensor_data(acc, gyro);
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// 应用校准偏移
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if (calibration_applied_) {
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for (int i = 0; i < 3; i++) {
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acc[i] -= acc_offset_[i];
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gyro[i] -= gyro_offset_[i];
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}
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}
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// 填充数据结构
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data->acc_x = acc[0];
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data->acc_y = acc[1];
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data->acc_z = acc[2];
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data->gyro_x = gyro[0];
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data->gyro_y = gyro[1];
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data->gyro_z = gyro[2];
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data->temperature = qmi8658_readTemp();
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data->timestamp = esp_timer_get_time();
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data->valid = true;
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return QMI8658A_OK;
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}
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qmi8658a_error_t QMI8658Wrapper::ReadAccelData(float* acc_x, float* acc_y, float* acc_z) {
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std::lock_guard<std::mutex> lock(mutex_);
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if (!is_initialized_ || state_ != QMI8658A_STATE_READY) {
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last_error_ = QMI8658A_ERROR_INIT_FAILED;
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return last_error_;
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}
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float acc[3] = {0};
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float gyro[3] = {0};
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qmi8658_read_sensor_data(acc, gyro);
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// 应用校准偏移
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if (calibration_applied_) {
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for (int i = 0; i < 3; i++) {
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acc[i] -= acc_offset_[i];
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}
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}
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*acc_x = acc[0];
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*acc_y = acc[1];
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*acc_z = acc[2];
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return QMI8658A_OK;
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}
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qmi8658a_error_t QMI8658Wrapper::ReadGyroData(float* gyro_x, float* gyro_y, float* gyro_z) {
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std::lock_guard<std::mutex> lock(mutex_);
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if (!is_initialized_ || state_ != QMI8658A_STATE_READY) {
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last_error_ = QMI8658A_ERROR_INIT_FAILED;
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return last_error_;
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}
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float acc[3] = {0};
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float gyro[3] = {0};
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qmi8658_read_sensor_data(acc, gyro);
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// 应用校准偏移
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if (calibration_applied_) {
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for (int i = 0; i < 3; i++) {
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gyro[i] -= gyro_offset_[i];
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}
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}
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*gyro_x = gyro[0];
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*gyro_y = gyro[1];
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*gyro_z = gyro[2];
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return QMI8658A_OK;
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}
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qmi8658a_error_t QMI8658Wrapper::ReadTemperature(float* temperature) {
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std::lock_guard<std::mutex> lock(mutex_);
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if (!is_initialized_ || state_ != QMI8658A_STATE_READY) {
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last_error_ = QMI8658A_ERROR_INIT_FAILED;
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return last_error_;
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}
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*temperature = qmi8658_readTemp();
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return QMI8658A_OK;
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}
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qmi8658a_error_t QMI8658Wrapper::StartCalibration(uint32_t duration_ms) {
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std::lock_guard<std::mutex> lock(mutex_);
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if (!is_initialized_ || state_ != QMI8658A_STATE_READY) {
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last_error_ = QMI8658A_ERROR_INIT_FAILED;
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return last_error_;
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}
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ESP_LOGI(TAG, "Starting calibration for %lu ms", duration_ms);
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// 使用qmi8658驱动内置的校准功能
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qmi8658_send_ctl9cmd(qmi8658_Ctrl9_Cmd_On_Demand_Cali);
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// 等待校准完成
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vTaskDelay(duration_ms / portTICK_PERIOD_MS);
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// 应用校准
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return ApplyCalibration();
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}
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qmi8658a_error_t QMI8658Wrapper::ApplyCalibration() {
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std::lock_guard<std::mutex> lock(mutex_);
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// 在这里可以实现更复杂的校准逻辑
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// 目前使用默认的偏移值或从NVS加载的偏移值
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calibration_applied_ = true;
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ESP_LOGI(TAG, "Calibration applied");
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return QMI8658A_OK;
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}
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qmi8658a_error_t QMI8658Wrapper::SaveCalibrationToNVS() {
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std::lock_guard<std::mutex> lock(mutex_);
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nvs_handle_t nvs_handle;
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esp_err_t err = nvs_open(CALIBRATION_NAMESPACE, NVS_READWRITE, &nvs_handle);
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if (err != ESP_OK) {
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ESP_LOGE(TAG, "Failed to open NVS namespace: %s", esp_err_to_name(err));
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return QMI8658A_ERROR_I2C_COMM;
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}
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// 保存加速度计偏移
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err = nvs_set_blob(nvs_handle, ACC_OFFSET_KEY, acc_offset_, sizeof(acc_offset_));
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if (err != ESP_OK) {
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ESP_LOGE(TAG, "Failed to save accelerometer offset: %s", esp_err_to_name(err));
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nvs_close(nvs_handle);
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return QMI8658A_ERROR_I2C_COMM;
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}
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// 保存陀螺仪偏移
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err = nvs_set_blob(nvs_handle, GYRO_OFFSET_KEY, gyro_offset_, sizeof(gyro_offset_));
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if (err != ESP_OK) {
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ESP_LOGE(TAG, "Failed to save gyroscope offset: %s", esp_err_to_name(err));
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nvs_close(nvs_handle);
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return QMI8658A_ERROR_I2C_COMM;
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}
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// 保存校准标志
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err = nvs_set_u8(nvs_handle, CALIBRATION_FLAG_KEY, 1);
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if (err != ESP_OK) {
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ESP_LOGE(TAG, "Failed to save calibration flag: %s", esp_err_to_name(err));
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nvs_close(nvs_handle);
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return QMI8658A_ERROR_I2C_COMM;
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}
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err = nvs_commit(nvs_handle);
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nvs_close(nvs_handle);
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if (err != ESP_OK) {
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ESP_LOGE(TAG, "Failed to commit NVS: %s", esp_err_to_name(err));
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return QMI8658A_ERROR_I2C_COMM;
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}
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ESP_LOGI(TAG, "Calibration data saved to NVS");
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return QMI8658A_OK;
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}
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qmi8658a_error_t QMI8658Wrapper::LoadCalibrationFromNVS() {
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std::lock_guard<std::mutex> lock(mutex_);
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nvs_handle_t nvs_handle;
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esp_err_t err = nvs_open(CALIBRATION_NAMESPACE, NVS_READONLY, &nvs_handle);
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if (err != ESP_OK) {
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ESP_LOGW(TAG, "Failed to open NVS namespace: %s", esp_err_to_name(err));
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return QMI8658A_ERROR_I2C_COMM;
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}
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// 检查是否有校准数据
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uint8_t calibrated = 0;
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err = nvs_get_u8(nvs_handle, CALIBRATION_FLAG_KEY, &calibrated);
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if (err != ESP_OK || calibrated != 1) {
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ESP_LOGW(TAG, "No calibration data found in NVS");
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nvs_close(nvs_handle);
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return QMI8658A_ERROR_I2C_COMM;
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}
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// 加载加速度计偏移
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size_t size = sizeof(acc_offset_);
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err = nvs_get_blob(nvs_handle, ACC_OFFSET_KEY, acc_offset_, &size);
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if (err != ESP_OK) {
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ESP_LOGE(TAG, "Failed to load accelerometer offset: %s", esp_err_to_name(err));
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nvs_close(nvs_handle);
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return QMI8658A_ERROR_I2C_COMM;
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}
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// 加载陀螺仪偏移
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size = sizeof(gyro_offset_);
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err = nvs_get_blob(nvs_handle, GYRO_OFFSET_KEY, gyro_offset_, &size);
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if (err != ESP_OK) {
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ESP_LOGE(TAG, "Failed to load gyroscope offset: %s", esp_err_to_name(err));
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nvs_close(nvs_handle);
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return QMI8658A_ERROR_I2C_COMM;
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}
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nvs_close(nvs_handle);
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calibration_applied_ = true;
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ESP_LOGI(TAG, "Calibration data loaded from NVS");
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return QMI8658A_OK;
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}
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bool QMI8658Wrapper::IsDataReady() {
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std::lock_guard<std::mutex> lock(mutex_);
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if (!is_initialized_ || state_ != QMI8658A_STATE_READY) {
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return false;
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}
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// 检查传感器数据是否就绪
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unsigned char status = qmi8658_readStatus0();
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return (status & 0x03) == 0x03; // 假设位0和位1表示加速度计和陀螺仪数据就绪
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}
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uint8_t QMI8658Wrapper::GetChipId() {
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std::lock_guard<std::mutex> lock(mutex_);
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return qmi8658_get_id();
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}
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qmi8658a_error_t QMI8658Wrapper::SoftReset() {
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std::lock_guard<std::mutex> lock(mutex_);
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// 发送重置命令
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qmi8658_send_ctl9cmd(qmi8658_Ctrl9_Cmd_EnableExtReset);
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vTaskDelay(100 / portTICK_PERIOD_MS); // 等待重置完成
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// 重新初始化
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return Initialize(nullptr);
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}
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```
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### 2. 修改ImuSensorThing类
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修改`ImuSensorThing`类的头文件和实现文件，使其可以接受`QMI8658Wrapper`类的实例。
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```cpp
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// imu_sensor_thing.h 修改后的版本
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#ifndef IMU_SENSOR_THING_H
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#define IMU_SENSOR_THING_H
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#include "iot/thing.h"
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#include "qmi8658_wrapper.h" // 使用新的包装类
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namespace iot {
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class ImuSensorThing : public Thing {
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private:
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QMI8658Wrapper* imu_sensor_;
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qmi8658a_data_t latest_data_;
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bool motion_detected_;
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float motion_threshold_;
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||
|
||
public:
|
||
ImuSensorThing(QMI8658Wrapper* sensor);
|
||
virtual ~ImuSensorThing() = default;
|
||
|
||
void UpdateData(const qmi8658a_data_t& data);
|
||
void SetMotionDetected(bool detected);
|
||
};
|
||
|
||
} // namespace iot
|
||
|
||
#endif // IMU_SENSOR_THING_H
|
||
```
|
||
|
||
```cpp
|
||
// imu_sensor_thing.cc 基本保持不变，但构造函数参数类型改变
|
||
#include "imu_sensor_thing.h"
|
||
#include "esp_log.h"
|
||
#include <cmath>
|
||
#include <cstring>
|
||
|
||
#define TAG "ImuSensorThing"
|
||
|
||
namespace iot {
|
||
|
||
ImuSensorThing::ImuSensorThing(QMI8658Wrapper* sensor)
|
||
: Thing("ImuSensor", "姿态传感器"),
|
||
imu_sensor_(sensor),
|
||
motion_detected_(false),
|
||
motion_threshold_(1.5f) {
|
||
|
||
// 初始化数据
|
||
memset(&latest_data_, 0, sizeof(latest_data_));
|
||
|
||
// 其他代码保持不变...
|
||
}
|
||
|
||
// 其他方法保持不变...
|
||
|
||
} // namespace iot
|
||
```
|
||
|
||
### 3. 创建测试模式初始化代码
|
||
|
||
```cpp
|
||
// test_mode_init.cc
|
||
#include "esp_log.h"
|
||
#include "driver/i2c_master.h"
|
||
#include "qmi8658_wrapper.h"
|
||
#include "imu_sensor_thing.h"
|
||
|
||
#define TAG "TestModeInit"
|
||
|
||
// I2C配置
|
||
#define I2C_MASTER_SCL_IO 19 /*!< GPIO number used for I2C master clock */
|
||
#define I2C_MASTER_SDA_IO 18 /*!< GPIO number used for I2C master data */
|
||
#define I2C_MASTER_NUM I2C_NUM_0 /*!< I2C master i2c port number, the number of i2c peripheral interfaces available will depend on the chip */
|
||
#define I2C_MASTER_FREQ_HZ 400000 /*!< I2C master clock frequency */
|
||
#define I2C_MASTER_TX_BUF_DISABLE 0 /*!< I2C master doesn't need buffer */
|
||
#define I2C_MASTER_RX_BUF_DISABLE 0 /*!< I2C master doesn't need buffer */
|
||
|
||
iot::ImuSensorThing* initialize_imu_in_test_mode() {
|
||
ESP_LOGI(TAG, "Initializing IMU sensor in test mode");
|
||
|
||
// 配置I2C控制器
|
||
i2c_master_bus_config_t i2c_bus_config = {
|
||
.clk_source = I2C_CLK_SRC_DEFAULT,
|
||
.i2c_port = I2C_MASTER_NUM,
|
||
.scl_io_num = I2C_MASTER_SCL_IO,
|
||
.sda_io_num = I2C_MASTER_SDA_IO,
|
||
.glitch_ignore_cnt = 7,
|
||
.flags.enable_internal_pullup = true,
|
||
};
|
||
|
||
i2c_master_bus_handle_t i2c_bus = NULL;
|
||
esp_err_t err = i2c_new_master_bus(&i2c_bus_config, &i2c_bus);
|
||
if (err != ESP_OK) {
|
||
ESP_LOGE(TAG, "Failed to create I2C bus: %s", esp_err_to_name(err));
|
||
return nullptr;
|
||
}
|
||
|
||
// 创建QMI8658Wrapper实例
|
||
QMI8658Wrapper* imu_sensor = new QMI8658Wrapper(i2c_bus);
|
||
|
||
// 初始化传感器
|
||
if (imu_sensor->Initialize() != QMI8658A_OK) {
|
||
ESP_LOGE(TAG, "Failed to initialize IMU sensor");
|
||
delete imu_sensor;
|
||
return nullptr;
|
||
}
|
||
|
||
// 创建ImuSensorThing实例
|
||
iot::ImuSensorThing* imu_thing = new iot::ImuSensorThing(imu_sensor);
|
||
|
||
ESP_LOGI(TAG, "IMU sensor initialized successfully in test mode");
|
||
return imu_thing;
|
||
}
|
||
|
||
void perform_imu_test() {
|
||
ESP_LOGI(TAG, "Performing IMU sensor test");
|
||
|
||
// 获取ImuSensorThing实例
|
||
iot::ImuSensorThing* imu_thing = initialize_imu_in_test_mode();
|
||
if (!imu_thing) {
|
||
ESP_LOGE(TAG, "Failed to get IMU thing instance");
|
||
return;
|
||
}
|
||
|
||
// 在这里可以添加测试逻辑，比如读取传感器数据并进行验证
|
||
|
||
// 示例：读取几次传感器数据
|
||
QMI8658Wrapper* imu_sensor = /* 获取传感器实例的方式 */;
|
||
qmi8658a_data_t data;
|
||
|
||
for (int i = 0; i < 10; i++) {
|
||
if (imu_sensor->ReadSensorData(&data) == QMI8658A_OK) {
|
||
ESP_LOGI(TAG, "IMU Data - Accel: (%.2f, %.2f, %.2f)g, Gyro: (%.2f, %.2f, %.2f)dps",
|
||
data.acc_x, data.acc_y, data.acc_z,
|
||
data.gyro_x, data.gyro_y, data.gyro_z);
|
||
|
||
// 更新ImuSensorThing的数据
|
||
imu_thing->UpdateData(data);
|
||
}
|
||
vTaskDelay(100 / portTICK_PERIOD_MS);
|
||
}
|
||
|
||
// 测试完成后清理资源
|
||
// 注意：实际应用中可能需要更复杂的资源管理
|
||
}
|
||
```
|
||
|
||
### 4. 编译和链接配置
|
||
|
||
修改项目的CMakeLists.txt文件，确保正确包含qmi8658-master驱动和新的包装类。
|
||
|
||
```cmake
|
||
# CMakeLists.txt 片段
|
||
|
||
# 添加qmi8658-master驱动
|
||
set(QMI8658_DRIVER_DIR ${CMAKE_CURRENT_LIST_DIR}/boards/movecall-moji-esp32s3/qmi8658-master)
|
||
file(GLOB QMI8658_DRIVER_SOURCES ${QMI8658_DRIVER_DIR}/*.c)
|
||
|
||
# 添加新的包装类
|
||
set(WRAPPER_SOURCES
|
||
${CMAKE_CURRENT_LIST_DIR}/qmi8658_wrapper.cc
|
||
${CMAKE_CURRENT_LIST_DIR}/test_mode_init.cc
|
||
)
|
||
|
||
# 添加到主应用程序
|
||
idf_component_register(
|
||
SRCS ${MAIN_SOURCES} ${QMI8658_DRIVER_SOURCES} ${WRAPPER_SOURCES}
|
||
INCLUDE_DIRS
|
||
${CMAKE_CURRENT_LIST_DIR}
|
||
${QMI8658_DRIVER_DIR}
|
||
# 其他包含目录...
|
||
)
|
||
```
|
||
|
||
## 四、解决数值不准确问题的策略
|
||
|
||
### 1. 硬件检查
|
||
|
||
- 确保传感器VDD和VDDIO电压稳定在1.71-3.6V范围内
|
||
- 检查I2C通信线的连接质量，确保SCL和SDA信号良好
|
||
- 验证I2C地址设置正确（通常为0x6A或0x6B，取决于SA0引脚连接）
|
||
|
||
### 2. 校准优化
|
||
|
||
- 使用`qmi8658-master`驱动的内置校准功能
|
||
- 添加启动时自动加载保存的校准数据
|
||
- 在设备静止状态下执行校准
|
||
|
||
### 3. 数据处理优化
|
||
|
||
- 添加数据滤波以减少噪声
|
||
- 实现异常值检测和处理
|
||
- 对加速度计数据进行重力补偿
|
||
|
||
### 4. 时序和稳定性优化
|
||
|
||
- 确保I2C通信的可靠性，添加适当的重试机制
|
||
- 使用FIFO模式批量读取数据，减少通信开销
|
||
- 实现电源管理策略，确保传感器稳定供电
|
||
|
||
## 五、实现步骤
|
||
|
||
1. 创建`QMI8658Wrapper`类的头文件和实现文件
|
||
2. 修改`ImuSensorThing`类以使用新的包装类
|
||
3. 创建测试模式初始化代码
|
||
4. 更新编译和链接配置
|
||
5. 编译和测试应用程序
|
||
|
||
## 六、注意事项
|
||
|
||
- 在使用新驱动之前，确保备份现有代码
|
||
- 替换过程中保持与现有接口的兼容性
|
||
- 实现适当的错误处理和资源管理
|
||
- 在测试模式中初始化传感器时，确保其他系统组件已就绪
|
||
- 考虑添加日志记录，以便于调试和问题分析
|