Documentation
¶
Overview ¶
Package qmi8658c provides a driver for the QMI8658C accelerometer and gyroscope made by QST Solutions.
Index ¶
- Constants
- type Config
- type Device
- func (d *Device) Configure(cfg Config)
- func (d *Device) Connected() bool
- func (d *Device) ReadAcceleration() (x int32, y int32, z int32)
- func (d *Device) ReadRegister(reg uint8, buf []byte) error
- func (d *Device) ReadRotation() (x int32, y int32, z int32)
- func (d *Device) ReadTemperature() (int32, error)
- func (d *Device) WriteRegister(reg uint8, v uint16) error
Constants ¶
const ( // Who am I WHO_AM_I = 0x00 IDENTIFIER = 0x05 // Configuration registers CTRL1 = 0x02 // SPI Modes CTRL2 = 0x03 // Accelerometer config CTRL3 = 0x04 // Gyro config CTRL4 = 0x05 // Magnetometer config (ignored) CTRL5 = 0x06 // Sensor DSP config CTRL6 = 0x07 // Motion on Demand (ignored) CTRL7 = 0x08 // Sensors config // Interface config (CTRL1) SPI_4_WIRE = 0x00 SPI_3_WIRE = 0x80 SPI_NOT_AUTO_INC = 0x00 SPI_AUTO_INC = 0x40 SPI_LITTLE_ENDIAN = 0x00 SPI_BIG_ENDIAN = 0x20 // Accelerometer scale config (CTRL2-H) ACC_SELF_TEST = 0x80 // Accelerometer scale config (CTRL2-H) ACC_2G = 0x00 ACC_4G = 0x10 ACC_8G = 0x20 ACC_16G = 0x30 // Accelerometer output data rate (ODR) config (CTRL2-L) ACC_NORMAL_8000HZ = 0x00 ACC_NORMAL_4000HZ = 0x01 ACC_NORMAL_2000HZ = 0x02 ACC_NORMAL_1000HZ = 0x03 ACC_NORMAL_500HZ = 0x04 ACC_NORMAL_250HZ = 0x05 ACC_NORMAL_125HZ = 0x06 ACC_NORMAL_62HZ = 0x07 ACC_NORMAL_31HZ = 0x08 ACC_LOW_POWER_128HZ = 0x0C ACC_LOW_POWER_21HZ = 0x0D ACC_LOW_POWER_11HZ = 0x0E ACC_LOW_POWER_3HZ = 0x0F // Gyro scale config (CTRL3-H) GYRO_SELF_TEST = 0x80 // Gyro scale config (CTRL3-H) GYRO_16DPS = 0x00 GYRO_32DPS = 0x10 GYRO_64DPS = 0x20 GYRO_128DPS = 0x30 GYRO_256DPS = 0x40 GYRO_512DPS = 0x50 GYRO_1024DPS = 0x60 GYRO_2048DPS = 0x70 // Gyro output data rate (ODR) config (CTRL3-L) GYRO_8000HZ = 0x00 GYRO_4000HZ = 0x01 GYRO_2000HZ = 0x02 GYRO_1000HZ = 0x03 GYRO_500HZ = 0x04 GYRO_250HZ = 0x05 GYRO_125HZ = 0x06 GYRO_62HZ = 0x07 GYRO_31HZ = 0x08 // Gyro DSP config (CTRL4-H) GYRO_LOW_PASS_OFF = 0x00 // Disabled GYRO_LOW_PASS_2_62 = 0x10 // 2.62% of output data rate (ODR) GYRO_LOW_PASS_3_59 = 0x30 // 3.59% of output data rate (ODR) GYRO_LOW_PASS_5_32 = 0x50 // 5.32% of output data rate (ODR) GYRO_LOW_PASS_14 = 0x70 // 14% of output data rate (ODR) // Accelerometer DSP config (CTRL4-L) ACC_LOW_PASS_OFF = 0x00 // Disabled ACC_LOW_PASS_2_62 = 0x01 // 2.62% of output data rate (ODR) ACC_LOW_PASS_3_59 = 0x03 // 3.59% of output data rate (ODR) ACC_LOW_PASS_5_32 = 0x05 // 5.32% of output data rate (ODR) ACC_LOW_PASS_14 = 0x07 // 14% of output data rate (ODR) // Motion on demand (MOD) (CTRL6) MOD_DISABLE = 0x00 MOD_ENABLE = 0x80 // Enable sensors (CTRL7) GYRO_DISABLE = 0x00 GYRO_FULL_ENABLE = 0x02 GYRO_SNOOZE_ENABLE = 0x12 ACC_DISABLE = 0x00 ACC_ENABLE = 0x01 // Timestamp Outputs Register Adresses TIMESTAMP_OUT_L = 0x30 TIMESTAMP_OUT_M = 0x31 TIMESTAMP_OUT_H = 0x32 // Temperature Outputs Register Adresses TEMP_OUT_L = 0x33 TEMP_OUT_H = 0x34 // Acceleration Outputs Register Adresses ACC_XOUT_L = 0x35 ACC_XOUT_H = 0x36 ACC_YOUT_L = 0x37 ACC_YOUT_H = 0x38 ACC_ZOUT_L = 0x39 ACC_ZOUT_H = 0x3A // Angular Rate Outputs Register Adresses GYRO_XOUT_L = 0x3B GYRO_XOUT_H = 0x3C GYRO_YOUT_L = 0x3D GYRO_YOUT_H = 0x3E GYRO_ZOUT_L = 0x3F GYRO_ZOUT_H = 0x40 // Quaternion Outputs Register Adresses DELTA_QUAT_WOUT_L = 0x49 DELTA_QUAT_WOUT_H = 0x4A DELTA_QUAT_XOUT_L = 0x4B DELTA_QUAT_XOUT_H = 0x4C DELTA_QUAT_YOUT_L = 0x4D DELTA_QUAT_YOUT_H = 0x4E DELTA_QUAT_ZOUT_L = 0x4F DELTA_QUAT_ZOUT_H = 0x50 // Delta Velocity Outputs Register Adresses DELTA_VEL_XOUT_L = 0x51 DELTA_VEL_XOUT_H = 0x52 DELTA_VEL_YOUT_L = 0x53 DELTA_VEL_YOUT_H = 0x54 DELTA_VEL_ZOUT_L = 0x55 DELTA_VEL_ZOUT_H = 0x56 )
const Address = 0x6B
The I2C address that the sensor listens to.
Variables ¶
This section is empty.
Functions ¶
This section is empty.
Types ¶
type Config ¶
type Config struct {
// SPI Config
SPIMode byte // One of SPI_X_WIRE
SPIEndian byte // One of SPI_XXX_ENDIAN
SPIAutoInc byte // One of SPI_NOT_AUTO_INC or SPI_AUTO_INC
// Accelerometer
AccEnable byte // One of ACC_ENABLE or ACC_DISABLE
AccScale byte // One of ACC_XG
AccRate byte // One of ACC_XX_YYHZ
AccLowPass byte // One of ACC_LOW_PASS_X
// Gyro
GyroEnable byte // One of GYRO_X_ENABLE or GYRO_DISABLE
GyroScale byte // One of GYRO_XDPS
GyroRate byte // One of GYRO_X_YHZ
GyroLowPass byte // One of GYRO_LOW_PASS_X
}
func DefaultConfig ¶
func DefaultConfig() (cfg Config)
Create a basic default configuration that works with the "WaveShare RP2040 Round LCD 1.28in".
type Device ¶
type Device struct {
Address uint16
AccLsbDiv uint16
GyroLsbDiv uint16
// contains filtered or unexported fields
}
Device wraps the I2C connection to the QMIC8658 sensor
func New ¶
Create a new device with the I2C passed, correct address and nil values for AccLsbDiv and GyroLsbDiv, which will be corrected based on the config.
func (*Device) Configure ¶
Check if the user has defined a desired configuration, if not uses the DefaultConfig, then defines the AccLsbDiv and GyroLsbDiv based on the configurations and, finally, send the commands and configure the IMU.
func (*Device) Connected ¶
Check if the device is connected by calling WHO_AM_I and checking the default identifier.
func (*Device) ReadAcceleration ¶
Read the acceleration from the sensor, the values returned are in mg (milli gravity), which means that 1000 = 1g.
func (*Device) ReadRegister ¶
Convenience method to read the register and avoid repetition.
func (*Device) ReadRotation ¶
Read the rotation from the sensor, the values returned are in mdeg/sec (milli degress/second), which means that a full rotation is 360000.
func (*Device) ReadTemperature ¶
Read the temperature from the sensor, the values returned are in millidegrees Celsius.
Source Files