optimize imu header file

sipeed · Oct 17, 2024 · 827850f · 827850f
1 parent 66958c0
commit 827850f
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Showing 2 changed files with 10 additions and 10 deletions.
diff --git a/components/ext_dev/include/maix_imu.hpp b/components/ext_dev/include/maix_imu.hpp
@@ -17,7 +17,7 @@ namespace maix::ext_dev::imu {
  * @brief imu mode
  * @maixpy maix.ext_dev.imu.Mode
  */
-enum Mode {
+enum class Mode {
     ACC_ONLY = 0,
     GYRO_ONLY,
     DUAL
@@ -27,7 +27,7 @@ enum Mode {
  * @brief imu acc scale
  * @maixpy maix.ext_dev.imu.AccScale
  */
-enum AccScale {
+enum class AccScale {
     ACC_SCALE_2G = 0,
     ACC_SCALE_4G,
     ACC_SCALE_8G,
@@ -38,7 +38,7 @@ enum AccScale {
  * @brief imu acc output data rate
  * @maixpy maix.ext_dev.imu.AccOdr
  */
-enum AccOdr {
+enum class 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.
@@ -58,7 +58,7 @@ enum AccOdr {
  * @brief imu gyro scale
  * @maixpy maix.ext_dev.imu.GyroScale
  */
-enum GyroScale {
+enum class 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.
@@ -73,7 +73,7 @@ enum GyroScale {
  * @brief imu gyro output data rate
  * @maixpy maix.ext_dev.imu.GyroOdr
  */
-enum GyroOdr {
+enum class 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.

diff --git a/examples/encode_demo/main/src/main.cpp b/examples/encode_demo/main/src/main.cpp
@@ -316,11 +316,11 @@ static void *_imu_thread_process(void *arg) {
 
     // qmi init
     ext_dev::qmi8658::QMI8658 qmi8658(4, 0x6B, 400000,
-                    maix::ext_dev::qmi8658::Mode::DUAL,
-                    maix::ext_dev::qmi8658::AccScale::ACC_SCALE_16G,
-                    maix::ext_dev::qmi8658::AccOdr::ACC_ODR_8000,
-                    maix::ext_dev::qmi8658::GyroScale::GYRO_SCALE_1024DPS,
-                    maix::ext_dev::qmi8658::GyroOdr::GYRO_ODR_8000);
+                    maix::ext_dev::imu::Mode::DUAL,
+                    maix::ext_dev::imu::AccScale::ACC_SCALE_16G,
+                    maix::ext_dev::imu::AccOdr::ACC_ODR_8000,
+                    maix::ext_dev::imu::GyroScale::GYRO_SCALE_1024DPS,
+                    maix::ext_dev::imu::GyroOdr::GYRO_ODR_8000);
     time::sleep_ms(1000);
     // bias init
     float gyro_x_bias = 0, gyro_y_bias = 0, gyro_z_bias = 0;