/* * Qmi8658c.h - IMU library for Arduino - Version 1.0 * * Original library (1.0) by CHOUCHENE Ali. * * This library is free software; you can redistribute it and/or * modify it. * This library is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU * Lesser General Public License for more details. * */ /* General purpose registers */ #define QMI8658_WHO_AM_I 0x00 // WHO_AM_I register address. #define QMI8658_REVISION 0x01 // REVISION register address. /* Setup and control registers */ #define QMI8658_CTRL1 0x02 // Control register 1 address. #define QMI8658_CTRL2 0x03 // Control register 2 address. #define QMI8658_CTRL3 0x04 // Control register 3 address. #define QMI8658_CTRL4 0x05 // Control register 4 address. #define QMI8658_CTRL5 0x06 // Control register 5 address. #define QMI8658_CTRL6 0x07 // Control register 6 address. #define QMI8658_CTRL7 0x08 // Control register 7 address. #define QMI8658_CTRL9 0x0A // Control register 9 address. /* Data output registers */ // Accelerometer #define QMI8658_ACC_X_L 0x35 // Accelerometer X-axis low byte. #define QMI8658_ACC_X_H 0x36 // Accelerometer X-axis high byte. #define QMI8658_ACC_Y_L 0x37 // Accelerometer Y-axis low byte. #define QMI8658_ACC_Y_H 0x38 // Accelerometer Y-axis high byte. #define QMI8658_ACC_Z_L 0x39 // Accelerometer Z-axis low byte. #define QMI8658_ACC_Z_H 0x3A // Accelerometer Z-axis high byte. // Gyroscope #define QMI8658_GYR_X_L 0x3B // Gyroscope X-axis low byte. #define QMI8658_GYR_X_H 0x3C // Gyroscope X-axis high byte. #define QMI8658_GYR_Y_L 0x3D // Gyroscope Y-axis low byte. #define QMI8658_GYR_Y_H 0x3E // Gyroscope Y-axis high byte. #define QMI8658_GYR_Z_L 0x3F // Gyroscope Z-axis low byte. #define QMI8658_GYR_Z_H 0x40 // Gyroscope Z-axis high byte. // Temperature sensor #define QMI8658_TEMP_L 0x33 // Temperature sensor low byte. #define QMI8658_TEMP_H 0x34 // Temperature sensor high byte. /* Soft reset register */ #define QMI8658_RESET 0x60 // Soft reset register address. /* define scale sensitivity */ /* Accelerometer scale sensitivity values for different gravity ranges */ #define ACC_SCALE_SENSITIVITY_2G (1 << 14) // Sensitivity for ±2g range. #define ACC_SCALE_SENSITIVITY_4G (1 << 13) // Sensitivity for ±4g range. #define ACC_SCALE_SENSITIVITY_8G (1 << 12) // Sensitivity for ±8g range. #define ACC_SCALE_SENSITIVITY_16G (1 << 11) // Sensitivity for ±16g range. /* Gyroscope scale sensitivity values for different degrees per second ranges */ #define GYRO_SCALE_SENSITIVITY_16DPS (1 << 11) // Sensitivity for ±16 degrees per second range. #define GYRO_SCALE_SENSITIVITY_32DPS (1 << 10) // Sensitivity for ±32 degrees per second range. #define GYRO_SCALE_SENSITIVITY_64DPS (1 << 9 ) // Sensitivity for ±64 degrees per second range. #define GYRO_SCALE_SENSITIVITY_128DPS (1 << 8 ) // Sensitivity for ±128 degrees per second range. #define GYRO_SCALE_SENSITIVITY_256DPS (1 << 7 ) // Sensitivity for ±256 degrees per second range. #define GYRO_SCALE_SENSITIVITY_512DPS (1 << 6 ) // Sensitivity for ±512 degrees per second range. #define GYRO_SCALE_SENSITIVITY_1024DPS (1 << 5 ) // Sensitivity for ±1024 degrees per second range. #define GYRO_SCALE_SENSITIVITY_2048DPS (1 << 4 ) // Sensitivity for ±2048 degrees per second range. /* Temperature sensor resolution */ #define TEMPERATURE_SENSOR_RESOLUTION (1 << 8 ) // Telperature sensor resolution (ADC) /* Enum representing the output data rate (ODR) settings for the accelerometer */ typedef enum { acc_odr_8000, // Accelerometer ODR set to 8000 Hz. acc_odr_4000, // Accelerometer ODR set to 4000 Hz. acc_odr_2000, // Accelerometer ODR set to 2000 Hz. acc_odr_1000, // Accelerometer ODR set to 1000 Hz. acc_odr_500, // Accelerometer ODR set to 500 Hz. acc_odr_250, // Accelerometer ODR set to 250 Hz. acc_odr_125, // Accelerometer ODR set to 125 Hz. acc_odr_62_5, // Accelerometer ODR set to 62.5 Hz. acc_odr_31_25, // Accelerometer ODR set to 31.25 Hz. acc_odr_128 = 12, // Accelerometer ODR set to 128 Hz. acc_odr_21, // Accelerometer ODR set to 21 Hz. acc_odr_11, // Accelerometer ODR set to 11 Hz. acc_odr_3, // Accelerometer ODR set to 3 Hz. } acc_odr_t; /* Enum representing the output data rate (ODR) settings for the gyroscope */ typedef enum { gyro_odr_8000, // Gyroscope ODR set to 8000 Hz. gyro_odr_4000, // Gyroscope ODR set to 4000 Hz. gyro_odr_2000, // Gyroscope ODR set to 2000 Hz. gyro_odr_1000, // Gyroscope ODR set to 1000 Hz. gyro_odr_500, // Gyroscope ODR set to 500 Hz. gyro_odr_250, // Gyroscope ODR set to 250 Hz. gyro_odr_125, // Gyroscope ODR set to 125 Hz. gyro_odr_62_5, // Gyroscope ODR set to 62.5 Hz. gyro_odr_31_25, // Gyroscope ODR set to 31.25 Hz. } gyro_odr_t; /* Enum representing the scale settings for the accelerometer */ typedef enum { acc_scale_2g = 0, // Accelerometer scale set to ±2g. acc_scale_4g, // Accelerometer scale set to ±4g. acc_scale_8g, // Accelerometer scale set to ±8g. acc_scale_16g, // Accelerometer scale set to ±16g. } acc_scale_t; /* Enum representing the scale settings for the gyroscope */ typedef enum { gyro_scale_16dps = 0, // Gyroscope scale set to ±16 degrees per second. gyro_scale_32dps, // Gyroscope scale set to ±32 degrees per second. gyro_scale_64dps, // Gyroscope scale set to ±64 degrees per second. gyro_scale_128dps, // Gyroscope scale set to ±128 degrees per second. gyro_scale_256dps, // Gyroscope scale set to ±256 degrees per second. gyro_scale_512dps, // Gyroscope scale set to ±512 degrees per second. gyro_scale_1024dps, // Gyroscope scale set to ±1024 degrees per second. gyro_scale_2048dps, // Gyroscope scale set to ±2048 degrees per second. } gyro_scale_t; /* Struct representing the axes data for accelerometer */ typedef struct { float x; // Accelerometer data along the x-axis. float y; // Accelerometer data along the y-axis. float z; // Accelerometer data along the z-axis. } acc_axes_t; /* Struct representing the axes data for gyroscope */ typedef struct { float x; // Gyroscope data along the x-axis. float y; // Gyroscope data along the y-axis. float z; // Gyroscope data along the z-axis. } gyro_axes_t; /* Struct representing the data read from Qmi8658c */ typedef struct { acc_axes_t acc_xyz; // Accelerometer data in three axes (x, y, z). gyro_axes_t gyro_xyz; // Gyroscope data in three axes (x, y, z). float temperature; // Temperature reading from Qmi8658c. } qmi_data_t; /* Enum representing the mode of operation for Qmi8658c */ typedef enum { qmi8658_mode_acc_only = 1, // Mode for accelerometer-only operation. qmi8658_mode_gyro_only, // Mode for gyroscope-only operation. qmi8658_mode_dual, // Mode for dual accelerometer and gyroscope operation. } qmi8658_mode_t; /* Qmi8658 config */ /* Struct representing the configuration settings for Qmi8658c */ typedef struct { qmi8658_mode_t qmi8658_mode; // Mode of operation for Qmi8658c. acc_scale_t acc_scale; // Scale setting for the accelerometer. acc_odr_t acc_odr; // Output data rate (ODR) setting for the accelerometer. gyro_scale_t gyro_scale; // Scale setting for the gyroscope. gyro_odr_t gyro_odr; // Output data rate (ODR) setting for the gyroscope. } qmi8658_cfg_t; /* Enum representing the result of an operation with Qmi8658c */ typedef enum { qmi8658_result_open_success, // Operation to open communication with Qmi8658c was successful. qmi8658_result_open_error, // Error occurred while trying to open communication with Qmi8658c. qmi8658_result_close_success, // Operation to close communication with Qmi8658c was successful. qmi8658_result_close_error, // Error occurred while trying to close communication with Qmi8658c. } qmi8658_result_t; class Qmi8658c { public: uint8_t deviceID; // Device ID of the Qmi8658c. uint8_t deviceRevisionID; // Revision ID of the Qmi8658c. private: uint8_t deviceAdress; // Device address of the Qmi8658c. uint16_t deviceFrequency; // Frequency of the Qmi8658c. public: Qmi8658c(uint8_t deviceAdress, uint32_t deviceFrequency); // Constructor for Qmi8658c class. qmi8658_result_t open(qmi8658_cfg_t* qmi8658_cfg); // Open communication with the Qmi8658c and configures it. void read(qmi_data_t* data); // Read data from the Qmi8658c. qmi8658_result_t close(void); // Close communication with the Qmi8658c. char* resultToString(qmi8658_result_t result); // Convert a qmi8658_result_t enum value into a corresponding string representation. private: void qmi8658_write(uint8_t reg,uint8_t value); // Write a value to a register of the Qmi8658c. uint8_t qmi8658_read(uint8_t reg); // Read a value from a register of the Qmi8658c. void qmi_reset(void); // Reset the Qmi8658c. void select_mode(qmi8658_mode_t qmi8658_mode); // Select the mode of the Qmi8658c. void acc_set_odr(acc_odr_t odr); // Set the output data rate (ODR) for the accelerometer. void acc_set_scale(acc_scale_t acc_scale); // Set the scale for the accelerometer. void gyro_set_odr(gyro_odr_t odr); // Set the output data rate (ODR) for the gyroscope. void gyro_set_scale(gyro_scale_t gyro_scale); // Set the scale for the gyroscope. };