#ifndef __QMI8658C_H_ #define __QMI8658C_H_ #include /****************************************************************** a complete 6D MEMS. The QMI8658C provides an I2C master interface (I2CM)to connect with an external magnetometer. Currently the QMI8658C can support the following magnetometers: AK09915C, AK09918CZ, and QMC6308. Host (slave) interface supports MIPI™ I3C, I2C, and 3-wire or 4-wire SPI; auxiliary master I2C interface supports an external magnetometer ******************************************************************/ #if TCFG_QMI8658_ENABLE /****************************************************************** * user config QMI8658 Macro Definition ******************************************************************/ // spi模式切换到iic模式, 传感器可能需要重新上电 #define QMI8658_USE_I2C 0 /*IIC.(<=400kHz) */ #define QMI8658_USE_SPI 1 /*SPI.(<=15MHz) */ #define QMI8658_USE_I3C 2 /*I3C. */ #define QMI8658_USER_INTERFACE TCFG_QMI8658_INTERFACE_TYPE//QMI8658_USE_I2C // #define QMI8658_USER_INTERFACE QMI8658_USE_SPI #define QMI8658_SD0_IIC_ADDR 1 //1:iic模式SD0接VCC, 0:iic模式SD0接GND //int io config // #define QMI8658_INT_IO1 IO_PORTA_06 //高有效 1.CTRL9_protocol 2.WoM // #define QMI8658_INT_READ_IO1() gpio_read(QMI8658_INT_IO1) // #define QMI8658_INT_IO2 IO_PORTA_07 //高有效 1.data ready 2.fifo 3.test 4.AE_mode 5.WoM // #define QMI8658_INT_READ_IO2() gpio_read(QMI8658_INT_IO2) // 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 #define QMI8658_USE_FIFO_EN 1 //0:disable fifo 1:enable fifo(fifo size:1536 bytes) #define QMI8658_USE_INT_EN 0 //0:disable #define QMI8658_USE_ANYMOTION_EN 0 #define QMI8658_USE_TAP_EN 0 #define QMI8658_USE_STEP_EN 0 #define QMI8658_UINT_MG_DPS 0 #define QMI8658_SYNC_SAMPLE_MODE 0//寄存器中断模式0:disable sync sample, 1:enable #define QMI8658_HANDSHAKE_NEW #define QMI8658_HANDSHAKE_TO_STATUS #define QMI8658_NEW_HANDSHAKE 1//另一种qmi8658 #if (QMI8658_NEW_HANDSHAKE == 1) #define QMI8658_FIFO_INT_OMAP_INT1 1//1:fifo中断映射到int1; 0:fifo中断映射到int2 #endif /****************************************************************** * QMI8658 I2C address Macro Definition * (7bit): (0x37)011 0111@SDO=1; (0x36)011 0110@SDO=0; ******************************************************************/ #if QMI8658_SD0_IIC_ADDR #define QMI8658_SLAVE_ADDRESS (0x6a<<1)//0xd4 #else #define QMI8658_SLAVE_ADDRESS (0x6b<<1)//0xd6 #endif typedef u16(*IMU_read)(unsigned char devAddr, unsigned char regAddr, unsigned char *readBuf, u16 readLen); typedef unsigned char (*IMU_write)(unsigned char devAddr, unsigned char regAddr, unsigned char writebyte); // typedef unsigned char (*IMU_write)( unsigned char devAddr, // unsigned char regAddr, // unsigned char *writeBuf, // unsigned char writeLen); typedef struct { // u8 comms; //0:IIC; 1:SPI //宏控制 #if (QMI8658_USER_INTERFACE==QMI8658_USE_I2C) u8 iic_hdl; 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 // u8 iic_clk; //iic_clk: <=400kHz #elif (QMI8658_USER_INTERFACE==QMI8658_USE_SPI) u8 spi_hdl; //SPIx (role:master) u8 spi_cs_pin; // u8 spi_work_mode;//1:3wire(SPI_MODE_UNIDIR_1BIT) or 0:4wire(SPI_MODE_BIDIR_1BIT) (与spi结构体一样) // u8 port; //SPIx group:A,B,C,D (spi结构体) // U8 spi_clk; //spi_clk: <=15MHz (spi结构体) #else //I3C #endif } qmi8658_param; /****************************************************************** * QMI8658 Registers Macro Definitions ******************************************************************/ #ifndef M_PI #define M_PI (3.14159265358979323846f) #endif #ifndef ONE_G #define ONE_G (9.807f) #endif #define QMI8658_CTRL7_DISABLE_ALL (0x0) #define QMI8658_CTRL7_ACC_ENABLE (0x1) #define QMI8658_CTRL7_GYR_ENABLE (0x2) #define QMI8658_CTRL7_MAG_ENABLE (0x4) #define QMI8658_CTRL7_AE_ENABLE (0x8) #define QMI8658_CTRL7_GYR_SNOOZE_ENABLE (0x10) #define QMI8658_CTRL7_ENABLE_MASK (0xF) #define QMI8658_CONFIG_ACC_ENABLE QMI8658_CTRL7_ACC_ENABLE #define QMI8658_CONFIG_GYR_ENABLE QMI8658_CTRL7_GYR_ENABLE #define QMI8658_CONFIG_MAG_ENABLE QMI8658_CTRL7_MAG_ENABLE #define QMI8658_CONFIG_AE_ENABLE QMI8658_CTRL7_AE_ENABLE #define QMI8658_CONFIG_ACCGYR_ENABLE (QMI8658_CONFIG_ACC_ENABLE | QMI8658_CONFIG_GYR_ENABLE) #define QMI8658_CONFIG_ACCGYRMAG_ENABLE (QMI8658_CONFIG_ACC_ENABLE | QMI8658_CONFIG_GYR_ENABLE | QMI8658_CONFIG_MAG_ENABLE) #define QMI8658_CONFIG_AEMAG_ENABLE (QMI8658_CONFIG_AE_ENABLE | QMI8658_CONFIG_MAG_ENABLE) #define QMI8658_STATUS1_CMD_DONE (0x01) #define QMI8658_STATUS1_WAKEUP_EVENT (0x04) #if (QMI8658_NEW_HANDSHAKE) #define QMI8658_CTRL8_INT_SEL 0x40 // bit6: 1 int1, 0 int2 #define QMI8658_CTRL8_PEDOMETER_EN 0x10 #define QMI8658_CTRL8_SIGMOTION_EN 0x08 #define QMI8658_CTRL8_NOMOTION_EN 0x04 #define QMI8658_CTRL8_ANYMOTION_EN 0x02 #define QMI8658_CTRL8_TAP_EN 0x01 #define QMI8658_INT1_ENABLE 0x08 #define QMI8658_INT2_ENABLE 0x10 #define QMI8658_DRDY_DISABLE 0x20 // ctrl7 #define QMI8658_FIFO_MAP_INT1 0x04 // ctrl1 #define QMI8658_FIFO_MAP_INT2 ~0x04 #endif enum Qmi8658Register { Qmi8658Register_WhoAmI = 0, // 0 Qmi8658Register_Revision, // 1 Qmi8658Register_Ctrl1, // 2 Qmi8658Register_Ctrl2, // 3 Qmi8658Register_Ctrl3, // 4 Qmi8658Register_Ctrl4, // 5 Qmi8658Register_Ctrl5, // 6 Qmi8658Register_Ctrl6, // 7 Qmi8658Register_Ctrl7, // 8 Qmi8658Register_Ctrl8, // 9 Qmi8658Register_Ctrl9, // 10 Qmi8658Register_Cal1_L = 11, Qmi8658Register_Cal1_H, Qmi8658Register_Cal2_L, Qmi8658Register_Cal2_H, Qmi8658Register_Cal3_L, Qmi8658Register_Cal3_H, Qmi8658Register_Cal4_L, Qmi8658Register_Cal4_H, Qmi8658Register_FifoWmkTh = 19, Qmi8658Register_FifoCtrl = 20, Qmi8658Register_FifoCount = 21, Qmi8658Register_FifoStatus = 22, Qmi8658Register_FifoData = 23, Qmi8658Register_StatusI2CM = 44, Qmi8658Register_StatusInt = 45, Qmi8658Register_Status0, Qmi8658Register_Status1, Qmi8658Register_Timestamp_L = 48, Qmi8658Register_Timestamp_M, Qmi8658Register_Timestamp_H, Qmi8658Register_Tempearture_L = 51, Qmi8658Register_Tempearture_H, Qmi8658Register_Ax_L = 53, Qmi8658Register_Ax_H, Qmi8658Register_Ay_L, Qmi8658Register_Ay_H, Qmi8658Register_Az_L, Qmi8658Register_Az_H, Qmi8658Register_Gx_L = 59, Qmi8658Register_Gx_H, Qmi8658Register_Gy_L, Qmi8658Register_Gy_H, Qmi8658Register_Gz_L, Qmi8658Register_Gz_H, Qmi8658Register_Mx_L = 65, Qmi8658Register_Mx_H, Qmi8658Register_My_L, Qmi8658Register_My_H, Qmi8658Register_Mz_L, Qmi8658Register_Mz_H, Qmi8658Register_Q1_L = 73, Qmi8658Register_Q1_H, Qmi8658Register_Q2_L, Qmi8658Register_Q2_H, Qmi8658Register_Q3_L, Qmi8658Register_Q3_H, Qmi8658Register_Q4_L, Qmi8658Register_Q4_H, Qmi8658Register_Dvx_L = 81, Qmi8658Register_Dvx_H, Qmi8658Register_Dvy_L, Qmi8658Register_Dvy_H, Qmi8658Register_Dvz_L, Qmi8658Register_Dvz_H, Qmi8658Register_AeReg1 = 87, Qmi8658Register_AeOverflow, Qmi8658Register_AccEl_X = 90, Qmi8658Register_AccEl_Y, Qmi8658Register_AccEl_Z, Qmi8658Register_Reset = 96, //err????? Qmi8658Register_I2CM_STATUS = 110, //err??? }; enum Qmi8658_Ois_Register { /*-----------------------------*/ /* Setup and Control Registers */ /*-----------------------------*/ /*! \brief SPI Endian Selection, and SPI 3/4 Wire */ Qmi8658_OIS_Reg_Ctrl1 = 0x02, // 2 [0x02] -- Dflt: 0x20 /*! \brief Accelerometer control: ODR, Full Scale, Self Test */ Qmi8658_OIS_Reg_Ctrl2, // 3 [0x03] /*! \brief Gyroscope control: ODR, Full Scale, Self Test */ Qmi8658_OIS_Reg_Ctrl3, // 4 [0x04] /*! \brief Sensor Data Processing Settings */ Qmi8658_OIS_Reg_Ctrl5 = 0x06, // 6 [0x06] /*! \brief Sensor enabled status: Enable Sensors */ Qmi8658_OIS_Reg_Ctrl7 = 0x08, // 8 [0x08] /*-------------------*/ /* Status Registers */ /*-------------------*/ /*! \brief Sensor Data Availability and Lock Register */ Qmi8658_OIS_Reg_StatusInt = 0x2D, // 45 [0x2D] /*! \brief Output data overrun and availability */ Qmi8658_OIS_Reg_Status0 = 0x2E, // 46 [0x2E] /*-----------------------------------------------------*/ /* OIS Sensor Data Output Registers. 16-bit 2's complement */ /*-----------------------------------------------------*/ /*! \brief Accelerometer X axis least significant byte */ Qmi8658_OIS_Reg_Ax_L = 0x33, // 53 [0x35] /*! \brief Accelerometer X axis most significant byte */ Qmi8658_OIS_Reg_Ax_H, // 54 [0x36] /*! \brief Accelerometer Y axis least significant byte */ Qmi8658_OIS_Reg_Ay_L, // 55 [0x37] /*! \brief Accelerometer Y axis most significant byte */ Qmi8658_OIS_Reg_Ay_H, // 56 [0x38] /*! \brief Accelerometer Z axis least significant byte */ Qmi8658_OIS_Reg_Az_L, // 57 [0x39] /*! \brief Accelerometer Z axis most significant byte */ Qmi8658_OIS_Reg_Az_H, // 58 [0x3A] /*! \brief Gyroscope X axis least significant byte */ Qmi8658_OIS_Reg_Gx_L = 0x3B, // 59 [0x3B] /*! \brief Gyroscope X axis most significant byte */ Qmi8658_OIS_Reg_Gx_H, // 60 [0x3C] /*! \brief Gyroscope Y axis least significant byte */ Qmi8658_OIS_Reg_Gy_L, // 61 [0x3D] /*! \brief Gyroscope Y axis most significant byte */ Qmi8658_OIS_Reg_Gy_H, // 62 [0x3E] /*! \brief Gyroscope Z axis least significant byte */ Qmi8658_OIS_Reg_Gz_L, // 63 [0x3F] /*! \brief Gyroscope Z axis most significant byte */ Qmi8658_OIS_Reg_Gz_H, // 64 [0x40] }; enum Qmi8658_Ctrl9Command { Qmi8658_Ctrl9_Cmd_NOP = 0X00, Qmi8658_Ctrl9_Cmd_GyroBias = 0X01, Qmi8658_Ctrl9_Cmd_Rqst_Sdi_Mod = 0X03, Qmi8658_Ctrl9_Cmd_Rst_Fifo = 0X04, Qmi8658_Ctrl9_Cmd_Req_Fifo = 0X05, Qmi8658_Ctrl9_Cmd_I2CM_Write = 0X06, Qmi8658_Ctrl9_Cmd_WoM_Setting = 0x08, Qmi8658_Ctrl9_Cmd_AccelHostDeltaOffset = 0x09, Qmi8658_Ctrl9_Cmd_GyroHostDeltaOffset = 0x0A, Qmi8658_Ctrl9_Cmd_EnableExtReset = 0x0B, Qmi8658_Ctrl9_Cmd_EnableTap = 0x0C, Qmi8658_Ctrl9_Cmd_EnablePedometer = 0x0D, Qmi8658_Ctrl9_Cmd_Reset_Pedometer = 0x0F, Qmi8658_Ctrl9_Cmd_Motion = 0x0E, Qmi8658_Ctrl9_Cmd_CopyUsid = 0x10, Qmi8658_Ctrl9_Cmd_SetRpu = 0x11, Qmi8658_Ctrl9_Cmd_AHB_Clock_Gating = 0x12, Qmi8658_Ctrl9_Cmd_On_Demand_Cali = 0xA2, Qmi8658_Ctrl9_Cmd_Dbg_WoM_Data_Enable = 0xF8, }; enum Qmi8658_LpfConfig { Qmi8658Lpf_Disable, /*!< \brief Disable low pass filter. */ Qmi8658Lpf_Enable /*!< \brief Enable low pass filter. */ }; enum Qmi8658_HpfConfig { Qmi8658Hpf_Disable, /*!< \brief Disable high pass filter. */ Qmi8658Hpf_Enable /*!< \brief Enable high pass filter. */ }; enum Qmi8658_StConfig { Qmi8658St_Disable, /*!< \brief Disable high pass filter. */ Qmi8658St_Enable /*!< \brief Enable high pass filter. */ }; enum Qmi8658_LpfMode { A_LSP_MODE_0 = 0x00 << 1, A_LSP_MODE_1 = 0x01 << 1, A_LSP_MODE_2 = 0x02 << 1, A_LSP_MODE_3 = 0x03 << 1, G_LSP_MODE_0 = 0x00 << 5, G_LSP_MODE_1 = 0x01 << 5, G_LSP_MODE_2 = 0x02 << 5, G_LSP_MODE_3 = 0x03 << 5 }; enum Qmi8658_AccRange { Qmi8658AccRange_2g = 0x00 << 4, /*!< \brief +/- 2g range */ Qmi8658AccRange_4g = 0x01 << 4, /*!< \brief +/- 4g range */ Qmi8658AccRange_8g = 0x02 << 4, /*!< \brief +/- 8g range */ Qmi8658AccRange_16g = 0x03 << 4 /*!< \brief +/- 16g range */ }; enum Qmi8658_AccOdr { Qmi8658AccOdr_8000Hz = 0x00, /*!< \brief High resolution 8000Hz output rate. */ Qmi8658AccOdr_4000Hz = 0x01, /*!< \brief High resolution 4000Hz output rate. */ Qmi8658AccOdr_2000Hz = 0x02, /*!< \brief High resolution 2000Hz output rate. */ Qmi8658AccOdr_1000Hz = 0x03, /*!< \brief High resolution 1000Hz output rate. */ Qmi8658AccOdr_500Hz = 0x04, /*!< \brief High resolution 500Hz output rate. */ Qmi8658AccOdr_250Hz = 0x05, /*!< \brief High resolution 250Hz output rate. */ Qmi8658AccOdr_125Hz = 0x06, /*!< \brief High resolution 125Hz output rate. */ Qmi8658AccOdr_62_5Hz = 0x07, /*!< \brief High resolution 62.5Hz output rate. */ Qmi8658AccOdr_31_25Hz = 0x08, /*!< \brief High resolution 31.25Hz output rate. */ Qmi8658AccOdr_LowPower_128Hz = 0x0c, /*!< \brief Low power 128Hz output rate. */ Qmi8658AccOdr_LowPower_21Hz = 0x0d, /*!< \brief Low power 21Hz output rate. */ Qmi8658AccOdr_LowPower_11Hz = 0x0e, /*!< \brief Low power 11Hz output rate. */ Qmi8658AccOdr_LowPower_3Hz = 0x0f /*!< \brief Low power 3Hz output rate. */ }; enum Qmi8658_GyrRange { Qmi8658GyrRange_16dps = 0 << 4, /*!< \brief +-32 degrees per second. */ Qmi8658GyrRange_32dps = 1 << 4, /*!< \brief +-32 degrees per second. */ Qmi8658GyrRange_64dps = 2 << 4, /*!< \brief +-64 degrees per second. */ Qmi8658GyrRange_128dps = 3 << 4, /*!< \brief +-128 degrees per second. */ Qmi8658GyrRange_256dps = 4 << 4, /*!< \brief +-256 degrees per second. */ Qmi8658GyrRange_512dps = 5 << 4, /*!< \brief +-512 degrees per second. */ Qmi8658GyrRange_1024dps = 6 << 4, /*!< \brief +-1024 degrees per second. */ Qmi8658GyrRange_2048dps = 7 << 4, /*!< \brief +-2048 degrees per second. */ }; /*! * \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