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| /** | ||
| * @author iawak9lkm | ||
| * @copyright Sipeed Ltd 2024- | ||
| * @license Apache 2.0 | ||
| * @update 2024.8.6: Add framework, create this file. | ||
| */ | ||
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| #pragma once | ||
| #include "maix_basic.hpp" | ||
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| #include <atomic> | ||
| #include <future> | ||
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| namespace maix::ext_dev::imu { | ||
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| /** | ||
| * @brief imu mode | ||
| * @maixpy maix.ext_dev.imu.Mode | ||
| */ | ||
| enum Mode { | ||
| ACC_ONLY = 0, | ||
| GYRO_ONLY, | ||
| DUAL | ||
| }; | ||
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| /** | ||
| * @brief imu acc scale | ||
| * @maixpy maix.ext_dev.imu.AccScale | ||
| */ | ||
| enum AccScale { | ||
| ACC_SCALE_2G = 0, | ||
| ACC_SCALE_4G, | ||
| ACC_SCALE_8G, | ||
| ACC_SCALE_16G | ||
| }; | ||
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| /** | ||
| * @brief imu acc output data rate | ||
| * @maixpy maix.ext_dev.imu.AccOdr | ||
| */ | ||
| enum AccOdr { | ||
| 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. | ||
| }; | ||
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| /** | ||
| * @brief imu gyro scale | ||
| * @maixpy maix.ext_dev.imu.GyroScale | ||
| */ | ||
| enum GyroScale { | ||
| 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. | ||
| }; | ||
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| /** | ||
| * @brief imu gyro output data rate | ||
| * @maixpy maix.ext_dev.imu.GyroOdr | ||
| */ | ||
| enum GyroOdr { | ||
| 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. | ||
| }; | ||
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| /** | ||
| * QMI8656 driver class | ||
| * @maixpy maix.ext_dev.imu.IMU | ||
| */ | ||
| class IMU { | ||
| public: | ||
| /** | ||
| * @brief Construct a new IMU object, will open IMU | ||
| * | ||
| * @param driver driver name, only support "qmi8656" | ||
| * @param i2c_bus i2c bus number. Automatically selects the on-board imu when -1 is passed in. | ||
| * @param addr IMU i2c addr. | ||
| * @param freq IMU freq | ||
| * @param mode IMU Mode: ACC_ONLY/GYRO_ONLY/DUAL | ||
| * @param acc_scale acc scale, see @imu::AccScale | ||
| * @param acc_odr acc output data rate, see @imu::AccOdr | ||
| * @param gyro_scale gyro scale, see @imu::GyroScale | ||
| * @param gyro_odr gyro output data rate, see @imu::GyroOdr | ||
| * @param block block or non-block, defalut is true | ||
| * | ||
| * @maixpy maix.ext_dev.imu.IMU.__init__ | ||
| */ | ||
| IMU(std::string driver, int i2c_bus=-1, int addr=0x6B, int freq=400000, | ||
| maix::ext_dev::imu::Mode mode=maix::ext_dev::imu::Mode::DUAL, | ||
| maix::ext_dev::imu::AccScale acc_scale=maix::ext_dev::imu::AccScale::ACC_SCALE_2G, | ||
| maix::ext_dev::imu::AccOdr acc_odr=maix::ext_dev::imu::AccOdr::ACC_ODR_8000, | ||
| maix::ext_dev::imu::GyroScale gyro_scale=maix::ext_dev::imu::GyroScale::GYRO_SCALE_16DPS, | ||
| maix::ext_dev::imu::GyroOdr gyro_odr=maix::ext_dev::imu::GyroOdr::GYRO_ODR_8000, | ||
| bool block=true); | ||
| ~IMU(); | ||
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| IMU(const IMU&) = delete; | ||
| IMU& operator=(const IMU&) = delete; | ||
| IMU(IMU&&) = delete; | ||
| IMU& operator=(IMU&&) = delete; | ||
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| /** | ||
| * @brief Read data from IMU. | ||
| * | ||
| * @return list type. If only one of the outputs is initialized, only [x,y,z] of that output will be returned. | ||
| * If all outputs are initialized, [acc_x, acc_y, acc_z, gyro_x, gyro_y, gyro_z] is returned. | ||
| * | ||
| * @maixpy maix.ext_dev.imu.IMU.read | ||
| */ | ||
| std::vector<float> read(); | ||
| private: | ||
| void* _param; | ||
| std::string _driver; | ||
| }; | ||
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| } |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,51 @@ | ||
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| #include "maix_basic.hpp" | ||
| #include "maix_imu.hpp" | ||
| #include "maix_qmi8658.hpp" | ||
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| namespace maix::ext_dev::imu { | ||
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| typedef struct { | ||
| union { | ||
| maix::ext_dev::qmi8658::QMI8658 *qmi8658; | ||
| } driver; | ||
| } imu_param_t; | ||
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| IMU::IMU(std::string driver, int i2c_bus, int addr, int freq, imu::Mode mode, imu::AccScale acc_scale, | ||
| imu::AccOdr acc_odr, imu::GyroScale gyro_scale, imu::GyroOdr gyro_odr, bool block) | ||
| { | ||
| err::check_bool_raise(driver == "qmi8658", "Only support qmi8658 now"); | ||
| imu_param_t *param = (imu_param_t *)malloc(sizeof(imu_param_t)); | ||
| err::check_null_raise(param, "Failed to malloc param"); | ||
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| param->driver.qmi8658 = new maix::ext_dev::qmi8658::QMI8658(i2c_bus, addr, freq, mode, acc_scale, acc_odr, gyro_scale, gyro_odr, block); | ||
| _param = (void *)param; | ||
| _driver = driver; | ||
| } | ||
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| IMU::~IMU() | ||
| { | ||
| if (_param) { | ||
| imu_param_t *param = (imu_param_t *)_param; | ||
| if (_driver == "qmi8658") { | ||
| delete param->driver.qmi8658; | ||
| param->driver.qmi8658 = NULL; | ||
| } | ||
| free(_param); | ||
| _param = NULL; | ||
| } | ||
| } | ||
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| std::vector<float> IMU::read() | ||
| { | ||
| std::vector<float> out; | ||
| imu_param_t *param = (imu_param_t *)_param; | ||
| if (_driver == "qmi8658") { | ||
| out = param->driver.qmi8658->read(); | ||
| } | ||
| return out; | ||
| } | ||
|
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| } |
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