312 lines
9.9 KiB
C++
312 lines
9.9 KiB
C++
#ifndef QMI8658A_H
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#define QMI8658A_H
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#include "driver/i2c_master.h"
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#include "driver/gpio.h"
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#include "esp_log.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/semphr.h"
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#include "esp_timer.h"
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#include <cstdint>
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#include <inttypes.h>
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#include "i2c_device.h"
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// QMI8658A I2C地址定义
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#define QMI8658A_I2C_ADDRESS 0x6A // 修改为0x6A，适配新PCB板（SA0接VDD）
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// QMI8658A寄存器地址定义
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#define QMI8658A_WHO_AM_I 0x00
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#define QMI8658A_REVISION_ID 0x01
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#define QMI8658A_CTRL1 0x02
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#define QMI8658A_CTRL2 0x03
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#define QMI8658A_CTRL3 0x04
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#define QMI8658A_CTRL4 0x05
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#define QMI8658A_CTRL5 0x06
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#define QMI8658A_CTRL6 0x07
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#define QMI8658A_CTRL7 0x08
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#define QMI8658A_CTRL8 0x09
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#define QMI8658A_CTRL9 0x0A
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// 数据寄存器
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#define QMI8658A_TEMP_L 0x33
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#define QMI8658A_TEMP_H 0x34
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#define QMI8658A_AX_L 0x35
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#define QMI8658A_AX_H 0x36
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#define QMI8658A_AY_L 0x37
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#define QMI8658A_AY_H 0x38
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#define QMI8658A_AZ_L 0x39
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#define QMI8658A_AZ_H 0x3A
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#define QMI8658A_GX_L 0x3B
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#define QMI8658A_GX_H 0x3C
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#define QMI8658A_GY_L 0x3D
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#define QMI8658A_GY_H 0x3E
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#define QMI8658A_GZ_L 0x3F
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#define QMI8658A_GZ_H 0x40
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// 状态寄存器
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#define QMI8658A_STATUS0 0x2D
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#define QMI8658A_STATUS1 0x2E
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// 设备ID
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#define QMI8658A_CHIP_ID 0x05
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// 工作模式
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typedef enum {
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QMI8658A_MODE_DISABLE = 0x00,
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QMI8658A_MODE_ACC_ONLY = 0x01,
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QMI8658A_MODE_GYRO_ONLY = 0x02,
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QMI8658A_MODE_DUAL = 0x03
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} qmi8658a_mode_t;
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// 加速度计量程
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typedef enum {
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QMI8658A_ACC_RANGE_2G = 0x00,
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QMI8658A_ACC_RANGE_4G = 0x01,
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QMI8658A_ACC_RANGE_8G = 0x02,
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QMI8658A_ACC_RANGE_16G = 0x03
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} qmi8658a_acc_range_t;
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// 陀螺仪量程
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typedef enum {
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QMI8658A_GYRO_RANGE_16DPS = 0x00,
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QMI8658A_GYRO_RANGE_32DPS = 0x01,
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QMI8658A_GYRO_RANGE_64DPS = 0x02,
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QMI8658A_GYRO_RANGE_128DPS = 0x03,
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QMI8658A_GYRO_RANGE_256DPS = 0x04,
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QMI8658A_GYRO_RANGE_512DPS = 0x05,
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QMI8658A_GYRO_RANGE_1024DPS = 0x06,
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QMI8658A_GYRO_RANGE_2048DPS = 0x07
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} qmi8658a_gyro_range_t;
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// 输出数据率
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typedef enum {
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QMI8658A_ODR_8000HZ = 0x00,
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QMI8658A_ODR_4000HZ = 0x01,
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QMI8658A_ODR_2000HZ = 0x02,
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QMI8658A_ODR_1000HZ = 0x03,
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QMI8658A_ODR_500HZ = 0x04,
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QMI8658A_ODR_250HZ = 0x05,
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QMI8658A_ODR_125HZ = 0x06,
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QMI8658A_ODR_62_5HZ = 0x07,
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QMI8658A_ODR_31_25HZ = 0x08
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} qmi8658a_odr_t;
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// 传感器数据结构 - 优化版本，使用数组存储
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typedef struct {
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union {
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struct {
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float acc_x; // 加速度X轴 (g)
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float acc_y; // 加速度Y轴 (g)
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float acc_z; // 加速度Z轴 (g)
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};
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float accel[3]; // 加速度数组 [x, y, z] (g)
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};
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union {
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struct {
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float gyro_x; // 陀螺仪X轴 (dps)
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float gyro_y; // 陀螺仪Y轴 (dps)
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float gyro_z; // 陀螺仪Z轴 (dps)
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};
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float gyro[3]; // 陀螺仪数组 [x, y, z] (dps)
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};
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float temperature; // 温度 (°C)
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uint64_t timestamp; // 时间戳 (微秒)
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bool valid; // 数据有效性标志
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} qmi8658a_data_t;
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// 错误代码定义
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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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// 传感器状态
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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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// 配置结构体
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typedef struct {
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qmi8658a_acc_range_t acc_range;
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qmi8658a_gyro_range_t gyro_range;
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qmi8658a_odr_t acc_odr;
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qmi8658a_odr_t gyro_odr;
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qmi8658a_mode_t mode;
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bool enable_interrupt; // 是否启用中断
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uint8_t interrupt_pin; // 中断引脚
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bool auto_calibration; // 是否启用自动校准
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float acc_offset[3]; // 加速度计偏移校准
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float gyro_offset[3]; // 陀螺仪偏移校准
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} qmi8658a_config_t;
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// 校准数据结构
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typedef struct {
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float acc_bias[3]; // 加速度计偏置
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float gyro_bias[3]; // 陀螺仪偏置
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float acc_scale[3]; // 加速度计缩放因子
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float gyro_scale[3]; // 陀螺仪缩放因子
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bool is_calibrated; // 是否已校准
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uint32_t calibration_time; // 校准时间戳
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} qmi8658a_calibration_t;
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// 数据缓冲配置
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#define QMI8658A_BUFFER_SIZE 32
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#define QMI8658A_FIFO_SIZE 16
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// 中断配置
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typedef enum {
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QMI8658A_INT_DISABLE = 0,
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QMI8658A_INT_DATA_READY = 1,
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QMI8658A_INT_FIFO_WATERMARK = 2,
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QMI8658A_INT_FIFO_FULL = 3,
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QMI8658A_INT_MOTION_DETECT = 4
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} qmi8658a_interrupt_t;
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// 数据缓冲结构
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typedef struct {
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qmi8658a_data_t data[QMI8658A_BUFFER_SIZE];
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uint32_t head;
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uint32_t tail;
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uint32_t count;
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bool overflow;
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SemaphoreHandle_t mutex;
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} qmi8658a_buffer_t;
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// FIFO配置结构
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typedef struct {
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bool enable;
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uint8_t watermark;
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qmi8658a_interrupt_t interrupt_type;
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gpio_num_t interrupt_pin;
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} qmi8658a_fifo_config_t;
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class QMI8658A : public I2cDevice {
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public:
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QMI8658A(i2c_master_bus_handle_t i2c_bus, uint8_t addr = QMI8658A_I2C_ADDRESS);
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~QMI8658A();
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// 初始化和配置
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qmi8658a_error_t Initialize(const qmi8658a_config_t* config = nullptr);
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qmi8658a_error_t UpdateConfiguration(const qmi8658a_config_t* new_config);
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qmi8658a_error_t ValidateConfiguration(const qmi8658a_config_t* config);
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qmi8658a_error_t GetConfiguration(qmi8658a_config_t* config);
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// 运行时配置修改
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qmi8658a_error_t SetAccelRange(qmi8658a_acc_range_t range);
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qmi8658a_error_t SetGyroRange(qmi8658a_gyro_range_t range);
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qmi8658a_error_t SetAccelODR(qmi8658a_odr_t odr);
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qmi8658a_error_t SetGyroODR(qmi8658a_odr_t odr);
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qmi8658a_error_t SetOperationMode(qmi8658a_mode_t mode);
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// 中断和FIFO配置
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qmi8658a_error_t ConfigureInterrupt(qmi8658a_interrupt_t int_type, gpio_num_t pin);
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qmi8658a_error_t EnableFIFO(const qmi8658a_fifo_config_t* fifo_config);
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qmi8658a_error_t DisableFIFO();
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qmi8658a_error_t ReadFIFO(qmi8658a_data_t* data_array, uint8_t max_count, uint8_t* actual_count);
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// 数据缓冲管理
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qmi8658a_error_t InitializeBuffer();
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qmi8658a_error_t StartBufferedReading(uint32_t interval_ms);
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qmi8658a_error_t StopBufferedReading();
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qmi8658a_error_t GetBufferedData(qmi8658a_data_t* data, uint32_t max_count, uint32_t* actual_count);
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qmi8658a_error_t ClearBuffer();
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uint32_t GetBufferCount();
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bool IsBufferOverflow();
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// 校准功能
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qmi8658a_error_t StartCalibration(uint32_t duration_ms = 5000);
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qmi8658a_error_t GetCalibrationStatus(bool* is_calibrating, float* progress);
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qmi8658a_error_t ApplyCalibration(const qmi8658a_calibration_t* calibration);
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qmi8658a_error_t GetCalibrationData(qmi8658a_calibration_t* calibration);
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qmi8658a_error_t SaveCalibrationToNVS();
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qmi8658a_error_t LoadCalibrationFromNVS();
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// 原有方法保持不变
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qmi8658a_error_t SoftReset();
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qmi8658a_error_t SetMode(qmi8658a_mode_t mode);
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qmi8658a_error_t SetAccelConfig(qmi8658a_acc_range_t range, qmi8658a_odr_t odr);
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qmi8658a_error_t SetGyroConfig(qmi8658a_gyro_range_t range, qmi8658a_odr_t odr);
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// 数据读取
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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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// 状态和诊断方法
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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
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uint8_t GetChipId();
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uint8_t GetRevisionId();
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// 静态连接检测方法（用于生产测试）
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static bool CheckConnection(i2c_master_bus_handle_t i2c_bus, uint8_t* detected_address = nullptr);
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private:
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qmi8658a_config_t config_;
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qmi8658a_calibration_t calibration_;
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qmi8658a_state_t state_;
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qmi8658a_error_t last_error_;
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float acc_scale_;
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float gyro_scale_;
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// 校准相关
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bool is_calibrating_;
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uint32_t calibration_start_time_;
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uint32_t calibration_duration_;
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float calibration_acc_sum_[3];
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float calibration_gyro_sum_[3];
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uint32_t calibration_sample_count_;
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// 缓冲区相关
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qmi8658a_buffer_t data_buffer_;
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TaskHandle_t buffer_task_handle_;
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bool buffer_enabled_;
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uint32_t buffer_interval_ms_;
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// 中断相关
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gpio_num_t interrupt_pin_;
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qmi8658a_interrupt_t interrupt_type_;
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bool interrupt_enabled_;
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// FIFO相关
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qmi8658a_fifo_config_t fifo_config_;
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bool fifo_enabled_;
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// 错误处理和验证函数
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qmi8658a_error_t SetError(qmi8658a_error_t error);
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void CalculateScaleFactors();
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void UpdateScaleFactors();
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qmi8658a_error_t ApplyConfigurationChanges();
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// 新增：寄存器验证和重试机制
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qmi8658a_error_t WriteRegWithVerification(uint8_t reg, uint8_t value, uint8_t max_retries = 3);
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qmi8658a_error_t VerifyRegisterValue(uint8_t reg, uint8_t expected_value, const char* reg_name);
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qmi8658a_error_t WaitForDataReady(uint32_t timeout_ms = 1000);
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qmi8658a_error_t PerformSelfTest();
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// 缓冲区和中断处理
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static void BufferTask(void* parameter);
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static void IRAM_ATTR InterruptHandler(void* arg);
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qmi8658a_error_t AddToBuffer(const qmi8658a_data_t* data);
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qmi8658a_error_t GetFromBuffer(qmi8658a_data_t* data);
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// 工具函数
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int16_t ReadInt16(uint8_t reg);
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};
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#endif // QMI8658A_H
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