QMI8658 IMU sensor driver class. More...

#include <SensorQMI8658.hpp>

Inheritance diagram for SensorQMI8658:

Classes
struct	EventCallbacks
	Grouped callbacks for QMI8658 events. More...

Public Types
enum class	AccelRange : uint8_t { FS_2G , FS_4G , FS_8G , FS_16G , ACC_RANGE_2G , ACC_RANGE_4G , ACC_RANGE_8G , ACC_RANGE_16G }
	Accelerometer full-scale range enumeration. More...

enum class	AccelODR : uint8_t { ODR_7Hz , ODR_14Hz , ODR_28Hz , ODR_56Hz , ODR_112Hz , ODR_224Hz , ODR_448Hz , ODR_896Hz , ODR_1792Hz , ODR_3584Hz , ODR_7168Hz , ODR_LP_3Hz , ODR_LP_11Hz , ODR_LP_21Hz , ODR_LP_128Hz , ACC_ODR_1000Hz = 3 , ACC_ODR_500Hz , ACC_ODR_250Hz , ACC_ODR_125Hz , ACC_ODR_62_5Hz , ACC_ODR_31_25Hz , ACC_ODR_LOWPOWER_128Hz = 12 , ACC_ODR_LOWPOWER_21Hz , ACC_ODR_LOWPOWER_11Hz , ACC_ODR_LOWPOWER_3Hz }
	Accelerometer output data rate enumeration. More...

enum class	GyroRange : uint8_t { FS_16DPS , FS_32DPS , FS_64DPS , FS_128DPS , FS_256DPS , FS_512DPS , FS_1024DPS , FS_2048DPS , GYR_RANGE_16DPS , GYR_RANGE_32DPS , GYR_RANGE_64DPS , GYR_RANGE_128DPS , GYR_RANGE_256DPS , GYR_RANGE_512DPS , GYR_RANGE_1024DPS }
	Gyroscope full-scale range enumeration. More...

enum class	GyroODR : uint8_t { ODR_7Hz , ODR_14Hz , ODR_28Hz , ODR_56Hz , ODR_112Hz , ODR_224Hz , ODR_448Hz , ODR_896Hz , ODR_1792Hz , ODR_3584Hz , ODR_7168Hz , GYR_ODR_7174_4Hz , GYR_ODR_3587_2Hz , GYR_ODR_1793_6Hz , GYR_ODR_896_8Hz , GYR_ODR_448_4Hz , GYR_ODR_224_2Hz , GYR_ODR_112_1Hz , GYR_ODR_56_05Hz , GYR_ODR_28_025Hz }
	Gyroscope output data rate enumeration. More...

enum class	LpfMode : uint8_t { MODE_0 , MODE_1 , MODE_2 , MODE_3 , OFF = 0xFF , LPF_MODE_0 , LPF_MODE_1 , LPF_MODE_2 , LPF_MODE_3 , LPF_OFF }
	Low-pass filter mode enumeration. More...

enum class	FifoMode : uint8_t { BYPASS , FIFO , STREAM }
	FIFO mode enumeration. More...

enum class	FifoSamples : uint8_t { SAMPLES_16 , SAMPLES_32 , SAMPLES_64 , SAMPLES_128 }
	FIFO sample count enumeration. More...

enum class	TapPriority : uint8_t { X_GT_Y_GT_Z , X_GT_Z_GT_Y , Y_GT_X_GT_Z , Y_GT_Z_GT_X , Z_GT_X_GT_Y , Z_GT_Y_GT_X }
	Tap detection axis priority enumeration. More...

enum class	MotionType : uint8_t { ANY_MOTION = 0 , NO_MOTION = 1 , SIGNIFICANT = 2 }
	Motion detection type enumeration. More...

enum class	Layout : uint8_t { LAYOUT_DEFAULT = 0 , LAYOUT_ROTATE_90 = 1 , LAYOUT_ROTATE_180 = 2 , LAYOUT_ROTATE_270 = 3 , LAYOUT_FLIP_Z = 4 , LAYOUT_FLIP_Z_90 = 5 , LAYOUT_FLIP_Z_180 = 6 , LAYOUT_FLIP_Z_270 = 7 }
	Sensor axis layout enumeration for coordinate transformation. More...

enum	AccelRange { FS_2G , FS_4G , FS_8G , FS_16G }

enum	GyroRange { FS_16DPS , FS_32DPS , FS_64DPS , FS_128DPS , FS_256DPS , FS_512DPS , FS_1024DPS , FS_2048DPS }

enum	AccelODR { ODR_7Hz , ODR_14Hz , ODR_28Hz , ODR_56Hz , ODR_112Hz , ODR_224Hz , ODR_448Hz , ODR_896Hz , ODR_1792Hz , ODR_3584Hz , ODR_7168Hz , ODR_LP_3Hz , ODR_LP_11Hz , ODR_LP_21Hz , ODR_LP_128Hz }

enum	GyroODR { ODR_7Hz , ODR_14Hz , ODR_28Hz , ODR_56Hz , ODR_112Hz , ODR_224Hz , ODR_448Hz , ODR_896Hz , ODR_1792Hz , ODR_3584Hz , ODR_7168Hz }

enum	TapEvent { INVALID_TAP , SINGLE_TAP , DOUBLE_TAP }

enum	LpfMode { MODE_0 , MODE_1 , MODE_2 , MODE_3 , OFF = 0xFF }

enum	MotionEvent { MOTION_TAP , MOTION_ANT_MOTION , MOTION_NO_MOTION , MOTION_SIGNIFICANT , MOTION_PEDOMETER }

enum	IntPin { INTERRUPT_PIN_1 , INTERRUPT_PIN_2 , INTERRUPT_PIN_DISABLE }

enum	FIFO_Samples { FIFO_SAMPLES_16 , FIFO_SAMPLES_32 , FIFO_SAMPLES_64 , FIFO_SAMPLES_128 }

enum	FIFO_Mode { FIFO_MODE_BYPASS , FIFO_MODE_FIFO , FIFO_MODE_STREAM }

enum	SampleMode { SYNC_MODE , ASYNC_MODE }

enum	CommandTable { CTRL_CMD_ACK = 0x00 , CTRL_CMD_RST_FIFO = 0x04 , CTRL_CMD_REQ_FIFO = 0x05 , CTRL_CMD_WRITE_WOM_SETTING = 0x08 , CTRL_CMD_ACCEL_HOST_DELTA_OFFSET = 0x09 , CTRL_CMD_GYRO_HOST_DELTA_OFFSET = 0x0A , CTRL_CMD_CONFIGURE_TAP = 0x0C , CTRL_CMD_CONFIGURE_PEDOMETER = 0x0D , CTRL_CMD_CONFIGURE_MOTION = 0x0E , CTRL_CMD_RESET_PEDOMETER = 0x0F , CTRL_CMD_COPY_USID = 0x10 , CTRL_CMD_SET_RPU = 0x11 , CTRL_CMD_AHB_CLOCK_GATING = 0x12 , CTRL_CMD_ON_DEMAND_CALIBRATION = 0xA2 , CTRL_CMD_APPLY_GYRO_GAINS = 0xAA }

enum	StatusReg { EVENT_SIGNIFICANT_MOTION = 128 , EVENT_NO_MOTION = 64 , EVENT_ANY_MOTION = 32 , EVENT_PEDOMETER_MOTION = 16 , EVENT_WOM_MOTION = 4 , EVENT_TAP_MOTION = 2 }

enum	SensorStatus { STATUS_INT_CTRL9_CMD_DONE = 0x0001 , STATUS_INT_LOCKED = 0x0002 , STATUS_INT_AVAIL = 0x0004 , STATUS0_GYRO_DATA_READY = 0x0008 , STATUS0_ACCEL_DATA_READY = 0x0010 , STATUS1_SIGNIFICANT_MOTION = 0x0020 , STATUS1_NO_MOTION = 0x0040 , STATUS1_ANY_MOTION = 0x0080 , STATUS1_PEDOMETER_MOTION = 0x0100 , STATUS1_WOM_MOTION = 0x0200 , STATUS1_TAP_MOTION = 0x0400 }

enum	TapDetectionPriority { PRIORITY0 , PRIORITY1 , PRIORITY2 , PRIORITY3 , PRIORITY4 , PRIORITY5 }

enum	MotionCtrl { ANY_MOTION_EN_X = sensorlib::_bv(0) , ANY_MOTION_EN_Y = sensorlib::_bv(1) , ANY_MOTION_EN_Z = sensorlib::_bv(2) , ANY_MOTION_LOGIC_AND = sensorlib::_bv(3) , NO_MOTION_EN_X = sensorlib::_bv(4) , NO_MOTION_EN_Y = sensorlib::_bv(5) , NO_MOTION_EN_Z = sensorlib::_bv(6) , NO_MOTION_LOGIC_OR = sensorlib::_bv(7) }

using	IntPin = InterruptPinMap

using	TapEvent = ::TapEvent

using	MotionCallback = std::function< void()>
	Callback function type for motion events.

using	TapCallback = std::function< void(TapEvent event)>
	Callback function type for tap events.

using	DataReadyCallback = std::function< void()>
	Callback function type for data ready events.

typedef void(*	EventCallBack_t) (void)

Public Types inherited from ImuBase
enum class	DataReadyMask : uint8_t { ACCEL = 0x01 , GYRO = 0x02 , BOTH = 0x03 }

Public Member Functions
	SensorQMI8658 ()
	Construct a new SensorQMI8658 object.

	~SensorQMI8658 () override
	Destroy the SensorQMI8658 object.

bool	reset () override
	Reset the IMU sensor to its default state.

bool	selfTest () override
	Perform self-test on the IMU sensor.

bool	isPresent () override
	Check if the IMU sensor is responding.

uint8_t	getChipID () override
	Get the chip ID / WHO_AM_I value.

uint32_t	getFirmwareVersion () override
	Get the firmware version.

bool	setOperationMode (OperationMode mode) override
	Set IMU operation mode.

float	getTemperature () override
	Get the temperature reading from the sensor.

uint32_t	getTimestamp () override
	Get the timestamp from the sensor.

bool	isDataReady (uint8_t mask=static_cast< uint8_t >(ImuBase::DataReadyMask::BOTH)) override
	Check if requested IMU data is available.

bool	readAccel (AccelerometerData &out) override
	Read accelerometer data.

bool	enableAccel () override
	Enable the accelerometer.

bool	disableAccel () override
	Disable the accelerometer.

bool	isAccelEnabled () override
	Check if accelerometer is enabled.

bool	setAccelFullScaleRange (AccelFullScaleRange range) override
	Set accelerometer full scale range.

bool	setAccelOutputDataRate (float data_rate_hz) override
	Set accelerometer output data rate.

bool	readAccelRaw (int16_t &x, int16_t &y, int16_t &z) override
	Read raw accelerometer data without scaling.

bool	readGyro (GyroscopeData &out) override
	Read gyroscope data.

bool	enableGyro () override
	Enable the gyroscope.

bool	disableGyro () override
	Disable the gyroscope.

bool	isGyroEnabled () override
	Check if gyroscope is enabled.

bool	setGyroFullScaleRange (GyroFullScaleRange range) override
	Set gyroscope full scale range.

bool	setGyroOutputDataRate (float data_rate_hz) override
	Set gyroscope output data rate.

bool	readGyroRaw (int16_t &x, int16_t &y, int16_t &z) override
	Read raw gyroscope data without scaling.

bool	enableSyncMode () override
	Enable synchronous sampling mode.

bool	disableSyncMode () override
	Disable synchronous sampling mode.

bool	configureFifo (bool enable, uint8_t watermark_samples=16) override
	Configure the FIFO buffer.

uint16_t	readFromFifo (AccelerometerData accel_data, uint16_t accel_count, GyroscopeData gyro_data, uint16_t gyro_count) override
	Read data from FIFO buffer.

bool	configAccel (AccelFullScaleRange range, float data_rate_hz, LpfMode lpf=LpfMode::MODE_0)
	Configure the accelerometer with specified parameters.

bool	configGyro (GyroFullScaleRange range, float data_rate_hz, LpfMode lpf=LpfMode::MODE_0)
	Configure the gyroscope with specified parameters.

bool	enableInterrupt (IntPin pin)
	Enable interrupt on specified pin.

bool	disableInterrupt (IntPin pin)
	Disable interrupt on specified pin.

bool	enableDataReadyInterrupt (IntPin pin=IntPin::PIN2)
	Enable data ready interrupt.

uint8_t	getInterruptStatus ()
	Get interrupt status.

void	setPins (int pin)
	Set interrupt pin.

void	setIntPin (int pin)
	Backward-compatible alias of setPins.

bool	configFifo (FifoMode mode, FifoSamples samples=FifoSamples::SAMPLES_16, uint8_t watermark_samples=16)
	Configure FIFO with specified mode.

bool	resetFifo ()
	Reset the FIFO.

uint8_t	getFifoStatus ()
	Get FIFO status.

bool	enableLockingMechanism ()
	Enable the data locking mechanism.

bool	disableLockingMechanism ()
	Disable the data locking mechanism.

bool	calibrate (uint16_t gyro_x_gain=nullptr, uint16_t gyro_y_gain=nullptr, uint16_t *gyro_z_gain=nullptr)
	Perform on-demand calibration.

bool	writeCalibration (uint16_t gyro_x_gain, uint16_t gyro_y_gain, uint16_t gyro_z_gain)
	Write previously saved gyro calibration gains.

void	setAccelOffset (int16_t x, int16_t y, int16_t z)
	Set accelerometer host delta offsets.

void	setGyroOffset (int16_t x, int16_t y, int16_t z)
	Set gyroscope host delta offsets.

bool	selfTestAccel ()
	Perform accelerometer self-test.

bool	selfTestGyro ()
	Perform gyroscope self-test.

bool	configMotionDetect (MotionType type, float threshold_x, float threshold_y, float threshold_z, uint8_t duration)
	Configure motion detection parameters.

bool	configMotionDetectDefault (MotionType type)
	Configure motion detection with default parameters.

bool	enableMotionDetect (IntPin pin=IntPin::PIN1)
	Enable motion detection on specified pin.

bool	disableMotionDetect ()
	Disable motion detection.

bool	configWakeOnMotion (uint8_t threshold=200, float odr_hz=128.0f, IntPin pin=IntPin::PIN2)
	Configure wake-on-motion (WoM) feature.

bool	configWakeOnMotionAdvanced (uint8_t threshold, float odr_hz, IntPin pin, uint8_t default_pin_value, uint8_t blanking_time, AccelFullScaleRange acc_range)
	Configure wake-on-motion (WoM) with full vendor parameters.

bool	configAccel (AccelRange range, AccelODR odr, LpfMode lpf=LpfMode::MODE_0)

bool	configAccel (AccelRange range, float data_rate_hz, LpfMode lpf=LpfMode::MODE_0)

bool	configGyro (GyroRange range, GyroODR odr, LpfMode lpf=LpfMode::MODE_0)

bool	configGyro (GyroRange range, float data_rate_hz, LpfMode lpf=LpfMode::MODE_0)

bool	configWakeOnMotion (uint8_t threshold, AccelODR odr, IntPin pin)

bool	configWakeOnMotion (uint8_t threshold, AccelODR odr, IntPin pin, uint8_t default_pin_value, uint8_t blanking_time, AccelRange acc_range)

bool	configTap (TapPriority priority, uint8_t peak_window, uint16_t tap_window, uint16_t double_tap_window, float peak_mag_threshold, float quiet_threshold)
	Configure tap detection parameters.

bool	configTapDefault (TapPriority priority=TapPriority::X_GT_Y_GT_Z)
	Configure tap detection with default parameters.

bool	enableTap (IntPin pin=IntPin::PIN1)
	Enable tap detection.

bool	disableTap ()
	Disable tap detection.

TapEvent	getTapStatus ()
	Get tap status.

bool	configPedometer (uint16_t sample_count, uint16_t peak_to_peak, uint16_t peak_threshold, uint16_t time_up, uint8_t time_low=20, uint8_t entry_count=10, uint8_t fix_precision=0, uint8_t sig_count=4)
	Configure pedometer parameters.

bool	configPedometerDefault (float odr=125.0f)
	Configure pedometer with default parameters.

bool	enablePedometer (IntPin pin=IntPin::DISABLE)
	Enable pedometer.

bool	disablePedometer ()
	Disable pedometer.

uint32_t	getStepCount ()
	Get pedometer step count.

bool	resetStepCount ()
	Reset pedometer counter.

void	setAnyMotionCallback (MotionCallback callback)
	Set callback for any-motion event.

void	setNoMotionCallback (MotionCallback callback)
	Set callback for no-motion event.

void	setSignificantMotionCallback (MotionCallback callback)
	Set callback for significant motion event.

void	setWakeOnMotionCallback (MotionCallback callback)
	Set callback for wake-on-motion event.

void	setTapCallback (TapCallback callback)
	Set callback for tap event.

void	setPedometerCallback (MotionCallback callback)
	Set callback for pedometer event.

void	setAccelDataReadyCallback (DataReadyCallback callback)
	Set callback for accelerometer data ready.

void	setGyroDataReadyCallback (DataReadyCallback callback)
	Set callback for gyroscope data ready.

void	setDataLockingCallback (DataReadyCallback callback)
	Set callback for data locking.

void	setCallbacks (const EventCallbacks &cbs)
	Set all event callbacks at once.

EventCallbacks &	getCallbacks ()
	Get current callbacks.

const EventCallbacks &	getCallbacks () const
	Get current callbacks (const).

uint16_t	update ()
	Update sensor status and process events.

void	dumpRegisters ()
	Dump control registers for debugging.

void	getChipUsid (uint8_t *buffer, uint8_t length)
	Get sensor USID (unique chip ID).

float	getAccelScale ()
	Get the accelerometer scale factor.

float	getGyroScale ()
	Get the gyroscope scale factor.

void	setAxisLayout (Layout layout)
	Set the sensor axis layout for coordinate transformation.

Layout	getAxisLayout () const
	Get the current axis layout setting.

void	axisConvert (int16_t accel_data[3], int16_t gyro_data[3])
	Apply axis conversion to raw sensor data.

void	enableStaticCalibration (bool enable)
	Start static calibration.

bool	isStaticCalibrationEnabled () const
	Check if static calibration is enabled.

bool	isStaticCalibrationComplete () const
	Get the current static calibration status.

bool	processStaticCalibration (int16_t accel_data[3], int16_t gyro_data[3])
	Process static calibration with current sensor data.

void	getStaticCalibrationOffsets (int16_t accel_offset[3], int16_t gyro_offset[3])
	Get static calibration offsets.

void	resetStaticCalibration ()
	Reset static calibration.

void	enableDynamicGyroCalibration (bool enable)
	Enable dynamic gyroscope calibration.

bool	isDynamicGyroCalibrationEnabled () const
	Check if dynamic gyro calibration is enabled.

void	getDynamicGyroCalibrationOffsets (int16_t gyro_offset[3])
	Get dynamic gyroscope calibration offsets.

void	processDynamicCalibration (int16_t accel_data[3], int16_t gyro_data[3])
	Process dynamic calibration with current sensor data.

bool	hardwareSelfTest (bool includeAccel=true, bool includeGyro=true)
	Perform hardware self-test on both sensors.

void	getHardwareSelfTestResults (float accel_result[3], float gyro_result[3])
	Get hardware self-test results.

	SensorQMI8658 ()=default
	Constructor for SensorQMI8658.

	~SensorQMI8658 ()
	Destructor for SensorQMI8658.

void	setPins (int _irq)
	Set sensor interrupt pins.

bool	reset (bool waitResult=true, uint32_t timeout=500)
	Reset the sensor.

uint8_t	getChipID ()
	Get the chip ID.

int	whoAmI ()
	Get the WHO_AM_I register value.

uint32_t	getTimestamp ()
	Get the timestamp.

float	getTemperature_C ()
	Get the temperature in degree Celsius.

void	enableINT (IntPin pin, bool enable=true)
	Enable or disable the interrupt.

uint8_t	getIrqStatus ()
	Get the IRQ status.

void	enableDataReadyINT (bool enable=true)
	Enable or disable the Data Ready interrupt.

bool	configAccelerometer (AccelRange range, AccelODR odr, LpfMode lpfOdr=LPF_MODE_0)
	Configure the accelerometer.

bool	configGyroscope (GyroRange range, GyroODR odr, LpfMode lpfOdr=LPF_MODE_0)
	Configure the gyroscope.

bool	configFIFO (FIFO_Mode mode, FIFO_Samples samples=FIFO_SAMPLES_16, IntPin pin=INTERRUPT_PIN_DISABLE, uint8_t trigger_samples=16)
	Configure the FIFO.

uint16_t	readFromFifo (IMUdata acc, uint16_t accLength, IMUdata gyro, uint16_t gyrLength)
	readFromFifo

bool	enableAccelerometer ()
	Enable the accelerometer.

bool	disableAccelerometer ()
	Disable the accelerometer.

bool	isEnableAccelerometer ()
	Check if the accelerometer is enabled.

bool	isEnableGyroscope ()
	Check if the gyroscope is enabled.

bool	enableGyroscope ()
	Enable the gyroscope.

bool	disableGyroscope ()
	Disable the gyroscope.

bool	getAccelRaw (int16_t *rawBuffer)
	Get the raw accelerometer data.

bool	getAccelerometer (float &x, float &y, float &z)
	Get the accelerometer data.

float	getAccelerometerScales ()
	Get the accelerometer scales.

float	getGyroscopeScales ()
	Get the gyroscope scales.

bool	getGyroRaw (int16_t *rawBuffer)
	Get the raw gyroscope data.

bool	getGyroscope (float &x, float &y, float &z)
	Get the raw gyroscope data.

bool	getDataReady ()
	Check if new data is available.

bool	enableSyncSampleMode ()
	Enable the synchronous sample mode.

bool	disableSyncSampleMode ()
	Disable the synchronous sample mode.

bool	enableLockingMechanism ()
	Enable the locking mechanism.

bool	disableLockingMechanism ()
	Disable the locking mechanism.

void	dumpCtrlRegister ()
	Dump the control register values.

void	powerDown ()
	Power down the sensor.

void	powerOn ()
	Power on the sensor.

int	getStatusRegister ()
	Get the Pedometer counter.

int	configActivityInterruptMap (IntPin pin)
	Config activity interrupt pin mapping.

bool	configPedometer (uint16_t ped_sample_cnt, uint16_t ped_fix_peak2peak, uint16_t ped_fix_peak, uint16_t ped_time_up, uint8_t ped_time_low=0x14, uint8_t ped_time_cnt_entry=0x0A, uint8_t ped_fix_precision=0x00, uint8_t ped_sig_count=0x04)
	configPedometer

uint32_t	getPedometerCounter ()
	Get the Pedometer counter.

bool	clearPedometerCounter ()
	Clear the Pedometer counter.

bool	enablePedometer (IntPin pin=INTERRUPT_PIN_DISABLE)
	enablePedometer

bool	disablePedometer ()

bool	configTap (uint8_t priority, uint8_t peakWindow, uint16_t tapWindow, uint16_t dTapWindow, float alpha, float gamma, float peakMagThr, float UDMThr)
	configTap

bool	enableTap (IntPin pin=INTERRUPT_PIN_1)
	Enable tap detection.

bool	disableTap ()
	Disable tap detection.

TapEvent	getTapStatus ()
	Get the current tap status.

bool	configMotion (uint8_t modeCtrl, float AnyMotionXThr, float AnyMotionYThr, float AnyMotionZThr, uint8_t AnyMotionWindow, float NoMotionXThr, float NoMotionYThr, float NoMotionZThr, uint8_t NoMotionWindow, uint16_t SigMotionWaitWindow, uint16_t SigMotionConfirmWindow)

bool	enableMotionDetect (IntPin pin=INTERRUPT_PIN_1)
	Enable motion detection.

bool	disableMotionDetect ()
	Disable motion detection.

bool	configWakeOnMotion (uint8_t WoMThreshold=200, AccelODR odr=ACC_ODR_LOWPOWER_128Hz, IntPin pin=INTERRUPT_PIN_2, uint8_t defaultPinValue=1, uint8_t blankingTime=0x20, AccelRange accRange=ACC_RANGE_8G)
	configWakeOnMotion

void	getChipUsid (uint8_t *buffer, uint8_t length)
	Get Sensor chip USID.

uint32_t	getChipFirmwareVersion ()
	Get Sensor chip firmware version.

uint16_t	update ()
	Update sensor status.

void	setWakeupMotionEventCallBack (EventCallBack_t cb)

void	setTapEventCallBack (EventCallBack_t cb)

void	setPedometerEventCallBack (EventCallBack_t cb)

void	setNoMotionEventCallBack (EventCallBack_t cb)

void	setAnyMotionEventCallBack (EventCallBack_t cb)

void	setSignificantMotionEventCallBack (EventCallBack_t cb)

void	setGyroDataReadyCallBack (EventCallBack_t cb)

void	setAccelDataReadyEventCallBack (EventCallBack_t cb)

void	setDataLockingEventCallBack (EventCallBack_t cb)

bool	calibration (uint16_t gX_gain=NULL, uint16_t gY_gain=NULL, uint16_t *gZ_gain=NULL)
	Set Gyroscope calibration gains.

bool	writeCalibration (uint16_t gX_gain, uint16_t gY_gain, uint16_t gZ_gain)
	Write Gyroscope calibration gains.

bool	selfTestAccel ()
	Perform self-test on the accelerometer.

bool	selfTestGyro ()
	Perform self-test on the gyroscope.

void	setAccelOffset (int16_t offset_x, int16_t offset_y, int16_t offset_z)
	Write accelerometer calibration offsets.

void	setGyroOffset (int16_t offset_x, int16_t offset_y, int16_t offset_z)
	Write gyroscope calibration offsets.

Public Member Functions inherited from ComplexDeviceWithHal
bool	begin (CommInterface interface, SensorCommCustom::CustomCallback callback, SensorCommCustomHal::CustomHalCallback hal_callback, uint8_t addr=0)
	Initialize the sensor using custom callback interface.

Public Member Functions inherited from DeviceBeginCommon
virtual	~DeviceBeginCommon ()

uint8_t	getAddress () const

uint8_t	getInterface () const

Public Member Functions inherited from SensorCommWrapper
	SensorCommWrapper ()=default

int	readReg (uint8_t reg) const

int	readRegBuff (uint8_t reg, uint8_t *buf, size_t len) const

int	readBuff (uint8_t *buf, size_t len) const

int	writeReg (uint8_t reg, uint8_t val)

int	writeRegBuff (uint8_t reg, uint8_t *buf, size_t len)

int	writeBuff (uint8_t *buf, size_t len)

int	writeThenRead (const uint8_t write_buffer, size_t write_len, uint8_t read_buffer, size_t read_len)

bool	setRegBit (uint8_t reg, uint8_t bit)

bool	clrRegBit (uint8_t reg, uint8_t bit)

bool	getRegBit (uint8_t reg, uint8_t bit)

int	updateBits (uint8_t reg, uint8_t mask, uint8_t value_shifted)

void	setAddress (uint8_t address)

void	setAck (bool enable)

Public Member Functions inherited from SensorCommInterface
virtual	~SensorCommInterface ()=default

Public Member Functions inherited from ImuBase
virtual	~ImuBase ()=default

bool	powerOn ()
	Compatibility wrapper: switch IMU to NORMAL mode.

bool	powerDown ()
	Compatibility wrapper: switch IMU to SUSPEND mode.

Public Member Functions inherited from ComplexStaticDeviceWithHal
bool	begin (CommInterface interface, SensorCommCustom::CustomCallback callback, SensorCommCustomHal::CustomHalCallback hal_callback, uint8_t addr=0)
	Initialize the sensor using custom callback interface.

Protected Member Functions
bool	initImpl (uint8_t param) override

int	writeCommand (uint8_t cmd, uint32_t timeout_ms=1000)

uint8_t	mgToBytes (float mg)

uint8_t	getAccelRangeRegValue (AccelFullScaleRange range)

uint8_t	getGyroRangeRegValue (GyroFullScaleRange range)

float	getAccelScaleFromRange (AccelFullScaleRange range)

float	getGyroScaleFromRange (GyroFullScaleRange range)

bool	applyMotionConfig ()

float	odrToFloat (float odr)

uint8_t	findClosestAccelOdr (float hz)

uint8_t	findClosestGyroOdr (float hz)

uint8_t	findClosestAccelLpOdr (float hz)

bool	initImpl (uint8_t param) override

Protected Member Functions inherited from ComplexDeviceWithHal
bool	ensureValid () const override
	Ensure the communication interface is valid.

Protected Member Functions inherited from DeviceBeginCommon
	DeviceBeginCommon ()=default

virtual SensorCommBase *	getComm () const override

virtual void	beforeBegin ()

virtual void	afterCommReady ()

virtual void	afterInitSuccess (uint8_t param)

virtual void	onBeginFail ()

bool	fail ()

void	clearCommState ()

template<typename CreateComm >
bool	beginLifecycle (uint8_t addr, uint8_t iface, uint8_t initParam, CreateComm createComm)

Protected Member Functions inherited from ComplexStaticDeviceWithHal
bool	ensureValid () const override
	Ensure the communication interface is valid.

Protected Attributes
AccelFullScaleRange	_accel_range

GyroFullScaleRange	_gyro_range

float	_accel_scale

float	_gyro_scale

float	_accel_odr

float	_gyro_odr

bool	_motion_any_configured

bool	_motion_no_configured

bool	_motion_sig_configured

uint8_t	_motion_any_thr [3]

uint8_t	_motion_no_thr [3]

uint8_t	_motion_any_window

uint8_t	_motion_no_window

uint16_t	_motion_sig_wait_window

uint16_t	_motion_sig_confirm_window

bool	_accel_enabled = false

bool	_gyro_enabled = false

bool	_sync_mode

bool	_fifo_enabled

uint8_t	_fifo_mode = 0x00

uint8_t	_fifo_watermark

int	_int_pin

uint8_t	_int_pin_mask

bool	_int_enabled

uint32_t	_last_step_count

bool	_tap_event_active

TapEvent	_last_tap_event

uint32_t	_last_tap_event_ms

uint32_t	_last_timestamp

uint32_t	_firmware_version

uint8_t	_usid [6]

EventCallbacks	callbacks

uint8_t *	_fifo_buffer

uint16_t	_fifo_buffer_size

Layout	_axis_layout

uint16_t	_static_cali_sample_count

bool	_static_cali_enabled

bool	_static_cali_complete

int32_t	_accel_cali_sum [3]

int32_t	_gyro_cali_sum [3]

int16_t	_accel_cali_offset [3]

int16_t	_gyro_cali_offset [3]

bool	_dyn_cal_enabled

float	_gyro_speed_buffer [DYN_CAL_BUFFER_SIZE]

float	_accel_speed_buffer [DYN_CAL_BUFFER_SIZE]

int16_t	_dyn_gyro_offset [3]

uint32_t	_dyn_static_delay

uint8_t	_dyn_static_flag

uint8_t	_dyn_cali_sample_count

int32_t	_dyn_gyro_sum [3]

float	_gyro_static_deviation

float	_accel_static_deviation

uint8_t	_dyn_offset_applied

float	_hw_st_accel_result [3]

float	_hw_st_gyro_result [3]

Protected Attributes inherited from DeviceBeginCommon
std::unique_ptr< SensorCommBase >	comm

std::unique_ptr< SensorHal >	hal

std::unique_ptr< SensorCommStatic >	staticComm

uint8_t	_addr = 0

uint8_t	_iface = COMM_CUSTOM

Static Protected Attributes
static constexpr uint8_t	STATUS_TAP_EVENT = sensorlib::_bv(1)

static constexpr uint8_t	STATUS_WOM_EVENT = sensorlib::_bv(2)

static constexpr uint8_t	STATUS_PEDOMETER_EVENT = sensorlib::_bv(4)

static constexpr uint8_t	STATUS_ANY_MOTION_EVENT = sensorlib::_bv(5)

static constexpr uint8_t	STATUS_NO_MOTION_EVENT = sensorlib::_bv(6)

static constexpr uint8_t	STATUS_SIGNIFICANT_MOTION = sensorlib::_bv(7)

static constexpr uint16_t	MAX_STATIC_CALI_SAMPLES = 100

static constexpr uint8_t	DYN_CAL_BUFFER_SIZE = 10

static constexpr uint8_t	DYN_CAL_STATIC_COUNT = 12

static constexpr float	HW_ST_ACCEL_THRESHOLD_MG = 200.0f

static constexpr float	HW_ST_GYRO_THRESHOLD_DPS = 300.0f

static constexpr uint8_t	QMI8658_REG_WHOAMI_DEFAULT = 0x05

static constexpr uint8_t	QMI8658_REG_STATUS_DEFAULT = 0x03

static constexpr uint8_t	QMI8658_REG_RESET_DEFAULT = 0xB0

static constexpr uint8_t	QMI8658_REG_WHOAMI = 0x00

static constexpr uint8_t	QMI8658_REG_REVISION = 0x01

static constexpr uint8_t	QMI8658_REG_CTRL1 = 0x02

static constexpr uint8_t	QMI8658_REG_CTRL2 = 0x03

static constexpr uint8_t	QMI8658_REG_CTRL3 = 0x04

static constexpr uint8_t	QMI8658_REG_CTRL5 = 0x06

static constexpr uint8_t	QMI8658_REG_CTRL7 = 0x08

static constexpr uint8_t	QMI8658_REG_CTRL8 = 0x09

static constexpr uint8_t	QMI8658_REG_CTRL9 = 0x0A

static constexpr uint8_t	QMI8658_REG_CAL1_L = 0x0B

static constexpr uint8_t	QMI8658_REG_CAL1_H = 0x0C

static constexpr uint8_t	QMI8658_REG_CAL2_L = 0x0D

static constexpr uint8_t	QMI8658_REG_CAL2_H = 0x0E

static constexpr uint8_t	QMI8658_REG_CAL3_L = 0x0F

static constexpr uint8_t	QMI8658_REG_CAL3_H = 0x10

static constexpr uint8_t	QMI8658_REG_CAL4_L = 0x11

static constexpr uint8_t	QMI8658_REG_CAL4_H = 0x12

static constexpr uint8_t	QMI8658_REG_FIFO_WTM_TH = 0x13

static constexpr uint8_t	QMI8658_REG_FIFO_CTRL = 0x14

static constexpr uint8_t	QMI8658_REG_FIFO_COUNT = 0x15

static constexpr uint8_t	QMI8658_REG_FIFO_STATUS = 0x16

static constexpr uint8_t	QMI8658_REG_FIFO_DATA = 0x17

static constexpr uint8_t	QMI8658_REG_STATUS_INT = 0x2D

static constexpr uint8_t	QMI8658_REG_STATUS0 = 0x2E

static constexpr uint8_t	QMI8658_REG_STATUS1 = 0x2F

static constexpr uint8_t	QMI8658_REG_TIMESTAMP_L = 0x30

static constexpr uint8_t	QMI8658_REG_TIMESTAMP_M = 0x31

static constexpr uint8_t	QMI8658_REG_TIMESTAMP_H = 0x32

static constexpr uint8_t	QMI8658_REG_TEMPERATURE_L = 0x33

static constexpr uint8_t	QMI8658_REG_TEMPERATURE_H = 0x34

static constexpr uint8_t	QMI8658_REG_AX_L = 0x35

static constexpr uint8_t	QMI8658_REG_AX_H = 0x36

static constexpr uint8_t	QMI8658_REG_AY_L = 0x37

static constexpr uint8_t	QMI8658_REG_AY_H = 0x38

static constexpr uint8_t	QMI8658_REG_AZ_L = 0x39

static constexpr uint8_t	QMI8658_REG_AZ_H = 0x3A

static constexpr uint8_t	QMI8658_REG_GX_L = 0x3B

static constexpr uint8_t	QMI8658_REG_GX_H = 0x3C

static constexpr uint8_t	QMI8658_REG_GY_L = 0x3D

static constexpr uint8_t	QMI8658_REG_GY_H = 0x3E

static constexpr uint8_t	QMI8658_REG_GZ_L = 0x3F

static constexpr uint8_t	QMI8658_REG_GZ_H = 0x40

static constexpr uint8_t	QMI8658_REG_COD_STATUS = 0x46

static constexpr uint8_t	QMI8658_REG_DQW_L = 0x49

static constexpr uint8_t	QMI8658_REG_DQW_H = 0x4A

static constexpr uint8_t	QMI8658_REG_DQX_L = 0x4B

static constexpr uint8_t	QMI8658_REG_DQX_H = 0x4C

static constexpr uint8_t	QMI8658_REG_DQY_L = 0x4D

static constexpr uint8_t	QMI8658_REG_DQY_H = 0x4E

static constexpr uint8_t	QMI8658_REG_DQZ_L = 0x4F

static constexpr uint8_t	QMI8658_REG_DQZ_H = 0x50

static constexpr uint8_t	QMI8658_REG_DVX_L = 0x51

static constexpr uint8_t	QMI8658_REG_DVX_H = 0x52

static constexpr uint8_t	QMI8658_REG_DVY_L = 0x53

static constexpr uint8_t	QMI8658_REG_DVY_H = 0x54

static constexpr uint8_t	QMI8658_REG_DVZ_L = 0x55

static constexpr uint8_t	QMI8658_REG_DVZ_H = 0x56

static constexpr uint8_t	QMI8658_REG_TAP_STATUS = 0x59

static constexpr uint8_t	QMI8658_REG_STEP_CNT_LOW = 0x5A

static constexpr uint8_t	QMI8658_REG_STEP_CNT_MID = 0x5B

static constexpr uint8_t	QMI8658_REG_STEP_CNT_HIGH = 0x5C

static constexpr uint8_t	QMI8658_REG_RESET = 0x60

static constexpr uint8_t	QMI8658_REG_RST_RESULT = 0x4D

static constexpr uint8_t	QMI8658_REG_RST_RESULT_VAL = 0x80

static constexpr uint8_t	STATUS0_ACCEL_AVAIL = 0x01

static constexpr uint8_t	STATUS0_GYRO_AVAIL = 0x02

static constexpr uint8_t	QMI8658_ACCEL_LPF_MASK = 0xF9

static constexpr uint8_t	QMI8658_GYRO_LPF_MASK = 0x9F

static constexpr uint8_t	QMI8658_ACCEL_EN_MASK = 0x01

static constexpr uint8_t	QMI8658_GYRO_EN_MASK = 0x02

static constexpr uint8_t	QMI8658_ACCEL_GYRO_EN_MASK = 0x03

static constexpr uint8_t	QMI8658_FIFO_MAP_INT1 = 0x04

Detailed Description

QMI8658 IMU sensor driver class.

Definition at line 45 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Member Typedef Documentation

◆ DataReadyCallback

using SensorQMI8658::DataReadyCallback = std::function<void()>

Callback function type for data ready events.

Definition at line 199 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

◆ EventCallBack_t

typedef void(* SensorQMI8658::EventCallBack_t) (void)

Definition at line 52 of file SensorQMI8658.hpp.

◆ IntPin

using SensorQMI8658::IntPin = InterruptPinMap

Definition at line 141 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

◆ MotionCallback

using SensorQMI8658::MotionCallback = std::function<void()>

Callback function type for motion events.

Definition at line 189 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

◆ TapCallback

using SensorQMI8658::TapCallback = std::function<void(TapEvent event)>

Callback function type for tap events.

Definition at line 194 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

◆ TapEvent

using SensorQMI8658::TapEvent = ::TapEvent

Definition at line 142 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Member Enumeration Documentation

◆ AccelODR [1/2]

enum class SensorQMI8658::AccelODR : uint8_t

strong

Accelerometer output data rate enumeration.

Enumerator
ODR_7Hz	7 Hz
ODR_14Hz	14 Hz
ODR_28Hz	28 Hz
ODR_56Hz	56 Hz
ODR_112Hz	112 Hz
ODR_224Hz	224 Hz
ODR_448Hz	448 Hz
ODR_896Hz	896 Hz
ODR_1792Hz	1792 Hz
ODR_3584Hz	3584 Hz
ODR_7168Hz	7168 Hz
ODR_LP_3Hz	Low power 3 Hz.
ODR_LP_11Hz	Low power 11 Hz.
ODR_LP_21Hz	Low power 21 Hz.
ODR_LP_128Hz	Low power 128 Hz.
ACC_ODR_1000Hz
ACC_ODR_500Hz
ACC_ODR_250Hz
ACC_ODR_125Hz
ACC_ODR_62_5Hz
ACC_ODR_31_25Hz
ACC_ODR_LOWPOWER_128Hz
ACC_ODR_LOWPOWER_21Hz
ACC_ODR_LOWPOWER_11Hz
ACC_ODR_LOWPOWER_3Hz

Definition at line 62 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

◆ AccelODR [2/2]

enum SensorQMI8658::AccelODR

Enumerator
ODR_7Hz	7 Hz
ODR_14Hz	14 Hz
ODR_28Hz	28 Hz
ODR_56Hz	56 Hz
ODR_112Hz	112 Hz
ODR_224Hz	224 Hz
ODR_448Hz	448 Hz
ODR_896Hz	896 Hz
ODR_1792Hz	1792 Hz
ODR_3584Hz	3584 Hz
ODR_7168Hz	7168 Hz
ODR_LP_3Hz	Low power 3 Hz.
ODR_LP_11Hz	Low power 11 Hz.
ODR_LP_21Hz	Low power 21 Hz.
ODR_LP_128Hz	Low power 128 Hz.

Definition at line 73 of file SensorQMI8658.hpp.

◆ AccelRange [1/2]

enum class SensorQMI8658::AccelRange : uint8_t

strong

Accelerometer full-scale range enumeration.

Enumerator
FS_2G	±2g range
FS_4G	±4g range
FS_8G	±8g range
FS_16G	±16g range
ACC_RANGE_2G
ACC_RANGE_4G
ACC_RANGE_8G
ACC_RANGE_16G

Definition at line 52 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

◆ AccelRange [2/2]

enum SensorQMI8658::AccelRange

Enumerator
FS_2G	±2g range
FS_4G	±4g range
FS_8G	±8g range
FS_16G	±16g range

Definition at line 54 of file SensorQMI8658.hpp.

◆ CommandTable

enum SensorQMI8658::CommandTable

Enumerator
CTRL_CMD_ACK
CTRL_CMD_RST_FIFO
CTRL_CMD_REQ_FIFO
CTRL_CMD_WRITE_WOM_SETTING
CTRL_CMD_ACCEL_HOST_DELTA_OFFSET
CTRL_CMD_GYRO_HOST_DELTA_OFFSET
CTRL_CMD_CONFIGURE_TAP
CTRL_CMD_CONFIGURE_PEDOMETER
CTRL_CMD_CONFIGURE_MOTION
CTRL_CMD_RESET_PEDOMETER
CTRL_CMD_COPY_USID
CTRL_CMD_SET_RPU
CTRL_CMD_AHB_CLOCK_GATING
CTRL_CMD_ON_DEMAND_CALIBRATION
CTRL_CMD_APPLY_GYRO_GAINS

Definition at line 151 of file SensorQMI8658.hpp.

◆ FIFO_Mode

enum SensorQMI8658::FIFO_Mode

Enumerator
FIFO_MODE_BYPASS
FIFO_MODE_FIFO
FIFO_MODE_STREAM

Definition at line 134 of file SensorQMI8658.hpp.

◆ FIFO_Samples

enum SensorQMI8658::FIFO_Samples

Enumerator
FIFO_SAMPLES_16
FIFO_SAMPLES_32
FIFO_SAMPLES_64
FIFO_SAMPLES_128

Definition at line 127 of file SensorQMI8658.hpp.

◆ FifoMode

enum class SensorQMI8658::FifoMode : uint8_t

strong

FIFO mode enumeration.

Enumerator
BYPASS	Bypass mode (FIFO disabled)
FIFO	FIFO mode (stops when full)
STREAM	Stream mode (overwrites oldest)

Definition at line 125 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

◆ FifoSamples

enum class SensorQMI8658::FifoSamples : uint8_t

strong

FIFO sample count enumeration.

Enumerator
SAMPLES_16	16 samples
SAMPLES_32	32 samples
SAMPLES_64	64 samples
SAMPLES_128	128 samples

Definition at line 134 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

◆ GyroODR [1/2]

enum class SensorQMI8658::GyroODR : uint8_t

strong

Gyroscope output data rate enumeration.

Enumerator
ODR_7Hz	7 Hz
ODR_14Hz	14 Hz
ODR_28Hz	28 Hz
ODR_56Hz	56 Hz
ODR_112Hz	112 Hz
ODR_224Hz	224 Hz
ODR_448Hz	448 Hz
ODR_896Hz	896 Hz
ODR_1792Hz	1792 Hz
ODR_3584Hz	3584 Hz
ODR_7168Hz	7168 Hz
GYR_ODR_7174_4Hz
GYR_ODR_3587_2Hz
GYR_ODR_1793_6Hz
GYR_ODR_896_8Hz
GYR_ODR_448_4Hz
GYR_ODR_224_2Hz
GYR_ODR_112_1Hz
GYR_ODR_56_05Hz
GYR_ODR_28_025Hz

Definition at line 97 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

◆ GyroODR [2/2]

enum SensorQMI8658::GyroODR

Enumerator
ODR_7Hz	7 Hz
ODR_14Hz	14 Hz
ODR_28Hz	28 Hz
ODR_56Hz	56 Hz
ODR_112Hz	112 Hz
ODR_224Hz	224 Hz
ODR_448Hz	448 Hz
ODR_896Hz	896 Hz
ODR_1792Hz	1792 Hz
ODR_3584Hz	3584 Hz
ODR_7168Hz	7168 Hz

Definition at line 86 of file SensorQMI8658.hpp.

◆ GyroRange [1/2]

enum class SensorQMI8658::GyroRange : uint8_t

strong

Gyroscope full-scale range enumeration.

Enumerator
FS_16DPS	±16 degrees per second
FS_32DPS	±32 degrees per second
FS_64DPS	±64 degrees per second
FS_128DPS	±128 degrees per second
FS_256DPS	±256 degrees per second
FS_512DPS	±512 degrees per second
FS_1024DPS	±1024 degrees per second
FS_2048DPS	±2048 degrees per second
GYR_RANGE_16DPS
GYR_RANGE_32DPS
GYR_RANGE_64DPS
GYR_RANGE_128DPS
GYR_RANGE_256DPS
GYR_RANGE_512DPS
GYR_RANGE_1024DPS

Definition at line 83 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

◆ GyroRange [2/2]

enum SensorQMI8658::GyroRange

Enumerator
FS_16DPS	±16 degrees per second
FS_32DPS	±32 degrees per second
FS_64DPS	±64 degrees per second
FS_128DPS	±128 degrees per second
FS_256DPS	±256 degrees per second
FS_512DPS	±512 degrees per second
FS_1024DPS	±1024 degrees per second
FS_2048DPS	±2048 degrees per second

Definition at line 61 of file SensorQMI8658.hpp.

◆ IntPin

enum SensorQMI8658::IntPin

Enumerator
INTERRUPT_PIN_1
INTERRUPT_PIN_2
INTERRUPT_PIN_DISABLE

Definition at line 121 of file SensorQMI8658.hpp.

◆ Layout

enum class SensorQMI8658::Layout : uint8_t

strong

Sensor axis layout enumeration for coordinate transformation.

Different mounting orientations require different axis mappings. Layout values 0-3: Z-axis pointing up Layout values 4-7: Z-axis pointing down Even layouts (0,2,4,6): X-Y axis not swapped Odd layouts (1,3,5,7): X-Y axis swapped Second group (2,3,6,7): X-axis inverted Third group (1,3,5,7): Y-axis inverted

Enumerator
LAYOUT_DEFAULT	Default orientation: X=right, Y=forward, Z=up.
LAYOUT_ROTATE_90	Rotated 90 degrees: X=forward, Y=left, Z=up.
LAYOUT_ROTATE_180	Rotated 180 degrees: X=left, Y=backward, Z=up.
LAYOUT_ROTATE_270	Rotated 270 degrees: X=backward, Y=right, Z=up.
LAYOUT_FLIP_Z	Flipped: X=right, Y=backward, Z=down.
LAYOUT_FLIP_Z_90	Flipped + 90: X=backward, Y=left, Z=down.
LAYOUT_FLIP_Z_180	Flipped + 180: X=left, Y=forward, Z=down.
LAYOUT_FLIP_Z_270	Flipped + 270: X=forward, Y=right, Z=down.

Definition at line 175 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

◆ LpfMode [1/2]

enum class SensorQMI8658::LpfMode : uint8_t

strong

Low-pass filter mode enumeration.

Enumerator
MODE_0	2.66% of output data rate
MODE_1	3.63% of output data rate
MODE_2	5.39% of output data rate
MODE_3	13.37% of output data rate
OFF	Disable low-pass filter.
LPF_MODE_0
LPF_MODE_1
LPF_MODE_2
LPF_MODE_3
LPF_OFF

Definition at line 114 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

◆ LpfMode [2/2]

enum SensorQMI8658::LpfMode

Enumerator
MODE_0	2.66% of output data rate
MODE_1	3.63% of output data rate
MODE_2	5.39% of output data rate
MODE_3	13.37% of output data rate
OFF	Disable low-pass filter.

Definition at line 105 of file SensorQMI8658.hpp.

◆ MotionCtrl

enum SensorQMI8658::MotionCtrl

Enumerator
ANY_MOTION_EN_X
ANY_MOTION_EN_Y
ANY_MOTION_EN_Z
ANY_MOTION_LOGIC_AND
NO_MOTION_EN_X
NO_MOTION_EN_Y
NO_MOTION_EN_Z
NO_MOTION_LOGIC_OR

Definition at line 201 of file SensorQMI8658.hpp.

◆ MotionEvent

enum SensorQMI8658::MotionEvent

Enumerator
MOTION_TAP
MOTION_ANT_MOTION
MOTION_NO_MOTION
MOTION_SIGNIFICANT
MOTION_PEDOMETER

Definition at line 113 of file SensorQMI8658.hpp.

◆ MotionType

enum class SensorQMI8658::MotionType : uint8_t

strong

Motion detection type enumeration.

Enumerator
ANY_MOTION	Any motion detection.
NO_MOTION	No motion detection.
SIGNIFICANT	Significant motion detection.

Definition at line 159 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

◆ SampleMode

enum SensorQMI8658::SampleMode

Enumerator
SYNC_MODE
ASYNC_MODE

Definition at line 146 of file SensorQMI8658.hpp.

◆ SensorStatus

enum SensorQMI8658::SensorStatus

Enumerator
STATUS_INT_CTRL9_CMD_DONE
STATUS_INT_LOCKED
STATUS_INT_AVAIL
STATUS0_GYRO_DATA_READY
STATUS0_ACCEL_DATA_READY
STATUS1_SIGNIFICANT_MOTION
STATUS1_NO_MOTION
STATUS1_ANY_MOTION
STATUS1_PEDOMETER_MOTION
STATUS1_WOM_MOTION
STATUS1_TAP_MOTION

Definition at line 178 of file SensorQMI8658.hpp.

◆ StatusReg

enum SensorQMI8658::StatusReg

Enumerator
EVENT_SIGNIFICANT_MOTION
EVENT_NO_MOTION
EVENT_ANY_MOTION
EVENT_PEDOMETER_MOTION
EVENT_WOM_MOTION
EVENT_TAP_MOTION

Definition at line 169 of file SensorQMI8658.hpp.

◆ TapDetectionPriority

enum SensorQMI8658::TapDetectionPriority

Enumerator
PRIORITY0
PRIORITY1
PRIORITY2
PRIORITY3
PRIORITY4
PRIORITY5

Definition at line 192 of file SensorQMI8658.hpp.

◆ TapEvent

enum SensorQMI8658::TapEvent

Enumerator
INVALID_TAP
SINGLE_TAP
DOUBLE_TAP

Definition at line 98 of file SensorQMI8658.hpp.

◆ TapPriority

enum class SensorQMI8658::TapPriority : uint8_t

strong

Tap detection axis priority enumeration.

Enumerator
X_GT_Y_GT_Z	X > Y > Z.
X_GT_Z_GT_Y	X > Z > Y.
Y_GT_X_GT_Z	Y > X > Z.
Y_GT_Z_GT_X	Y > Z > X.
Z_GT_X_GT_Y	Z > X > Y.
Z_GT_Y_GT_X	Z > Y > X.

Definition at line 147 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Constructor & Destructor Documentation

◆ SensorQMI8658() [1/2]

SensorQMI8658::SensorQMI8658 ( )

Construct a new SensorQMI8658 object.

Definition at line 198 of file SensorQMI8658.cpp.

References _accel_cali_offset, _accel_cali_sum, _accel_speed_buffer, _dyn_gyro_offset, _dyn_gyro_sum, _gyro_cali_offset, _gyro_cali_sum, _gyro_speed_buffer, _hw_st_accel_result, _hw_st_gyro_result, and _usid.

◆ ~SensorQMI8658() [1/2]

SensorQMI8658::~SensorQMI8658 ( )

override

Destroy the SensorQMI8658 object.

Definition at line 256 of file SensorQMI8658.cpp.

References _fifo_buffer, and _fifo_buffer_size.

◆ SensorQMI8658() [2/2]

SensorQMI8658::SensorQMI8658 ( )

default

Constructor for SensorQMI8658.

Note: This function initializes the SensorQMI8658 object.

Return values

None

◆ ~SensorQMI8658() [2/2]

SensorQMI8658::~SensorQMI8658 ( )

inline

Destructor for SensorQMI8658.

Note: This function cleans up the resources used by the SensorQMI8658 object.

Return values

None

Definition at line 230 of file SensorQMI8658.hpp.

Member Function Documentation

◆ applyMotionConfig()

bool SensorQMI8658::applyMotionConfig ( )

protected

Definition at line 1360 of file SensorQMI8658.cpp.

References _accel_enabled, _gyro_enabled, _motion_any_configured, _motion_any_thr, _motion_any_window, _motion_no_configured, _motion_no_thr, _motion_no_window, _motion_sig_configured, _motion_sig_confirm_window, _motion_sig_wait_window, CTRL_CMD_CONFIGURE_MOTION, disableAccel(), disableGyro(), disableSyncMode(), enableAccel(), enableGyro(), mgToBytes(), writeCommand(), and SensorCommWrapper::writeReg().

Referenced by configMotionDetect().

◆ axisConvert()

void SensorQMI8658::axisConvert	(	int16_t	accel_data[3],
		int16_t	gyro_data[3]
	)

Apply axis conversion to raw sensor data.

Parameters

[in,out]	accel_accel	Accel data array [x, y, z].
[in,out]	gyro_data	Gyro data array [x, y, z].

Definition at line 2088 of file SensorQMI8658.cpp.

References _axis_layout.

Referenced by readGyro().

◆ calibrate()

bool SensorQMI8658::calibrate	(	uint16_t *	gyro_x_gain = `nullptr`,
		uint16_t *	gyro_y_gain = `nullptr`,
		uint16_t *	gyro_z_gain = `nullptr`
	)

Perform on-demand calibration.

Parameters

[out]	gyro_x_gain	Optional output for X-axis gyro gain.
[out]	gyro_y_gain	Optional output for Y-axis gyro gain.
[out]	gyro_z_gain	Optional output for Z-axis gyro gain.

Returns: true if calibration successful, false otherwise.

Definition at line 1111 of file SensorQMI8658.cpp.

References _accel_enabled, _gyro_enabled, CTRL_CMD_ON_DEMAND_CALIBRATION, disableAccel(), disableGyro(), DeviceBeginCommon::hal, SensorCommWrapper::readReg(), SensorCommWrapper::readRegBuff(), SENSORLIB_LOG_E, and writeCommand().

Referenced by setup().

◆ calibration()

bool SensorQMI8658::calibration	(	uint16_t *	gX_gain = `NULL`,
		uint16_t *	gY_gain = `NULL`,
		uint16_t *	gZ_gain = `NULL`
	)

inline

Set Gyroscope calibration gains.

Note: This function sets the calibration gains for the gyroscope

Parameters

*gX_gain	Pointer to the gain value for the X axis
*gY_gain	Pointer to the gain value for the Y axis
*gZ_gain	Pointer to the gain value for the Z axis

Return values

True	if successful, false otherwise

Definition at line 1718 of file SensorQMI8658.hpp.

References sensorlib::_bv(), DeviceBeginCommon::comm, CTRL_CMD_ON_DEMAND_CALIBRATION, DeviceBeginCommon::hal, QMI8658_REG_COD_STATUS, QMI8658_REG_CTRL7, QMI8658_REG_DVX_L, SENSORLIB_LOG_D, SENSORLIB_LOG_E, and writeCommand().

Referenced by setup().

◆ clearPedometerCounter()

bool SensorQMI8658::clearPedometerCounter ( )

inline

Clear the Pedometer counter.

Note: This function will reset the Pedometer step count to zero

Return values

True	on success, false on failure

Definition at line 1119 of file SensorQMI8658.hpp.

References CTRL_CMD_RESET_PEDOMETER, and writeCommand().

◆ configAccel() [1/3]

bool SensorQMI8658::configAccel	(	AccelFullScaleRange	range,
		float	data_rate_hz,
		LpfMode	lpf = `LpfMode::MODE_0`
	)

Configure the accelerometer with specified parameters.

Parameters

range	Full-scale range.
odr	Output data rate.
lpf	Low-pass filter mode (default: MODE_0).

Note: If accelerometer and gyroscope are both enabled (6DOF), the effective synchronized ODR base is derived from gyroscope natural frequency.

Returns: true if configuration successful, false otherwise.

Definition at line 636 of file SensorQMI8658.cpp.

References _accel_enabled, _accel_odr, _accel_range, _accel_scale, SensorCommWrapper::clrRegBit(), disableAccel(), enableAccel(), findClosestAccelOdr(), getAccelRangeRegValue(), getAccelScaleFromRange(), OFF, SensorCommWrapper::setRegBit(), SensorCommWrapper::updateBits(), and SensorCommWrapper::writeReg().

Referenced by configAccel(), configAccel(), and setup().

◆ configAccel() [2/3]

bool SensorQMI8658::configAccel	(	AccelRange	range,
		AccelODR	odr,
		LpfMode	lpf = `LpfMode::MODE_0`
	)

Definition at line 1536 of file SensorQMI8658.cpp.

References configAccel(), FS_16G, FS_16G, FS_2G, FS_2G, FS_4G, FS_4G, FS_8G, and FS_8G.

◆ configAccel() [3/3]

bool SensorQMI8658::configAccel	(	AccelRange	range,
		float	data_rate_hz,
		LpfMode	lpf = `LpfMode::MODE_0`
	)

Definition at line 1556 of file SensorQMI8658.cpp.

References configAccel(), FS_16G, FS_16G, FS_2G, FS_2G, FS_4G, FS_4G, FS_8G, and FS_8G.

◆ configAccelerometer()

bool SensorQMI8658::configAccelerometer	(	AccelRange	range,
		AccelODR	odr,
		LpfMode	lpfOdr = `LPF_MODE_0`
	)

inline

Configure the accelerometer.

Parameters

range	Accelerometer range setting
odr	Accelerometer output data rate setting
lpfOdr	Accelerometer low-pass filter setting

Return values

true	on success, false on failure

Definition at line 385 of file SensorQMI8658.hpp.

References ACC_RANGE_16G, ACC_RANGE_2G, ACC_RANGE_4G, ACC_RANGE_8G, DeviceBeginCommon::comm, disableAccelerometer(), enableAccelerometer(), isEnableAccelerometer(), LPF_OFF, QMI8658_ACCEL_LPF_MASK, QMI8658_REG_CTRL2, and QMI8658_REG_CTRL5.

Referenced by setup().

◆ configActivityInterruptMap()

int SensorQMI8658::configActivityInterruptMap ( IntPin pin )

inline

Config activity interrupt pin mapping.

Parameters

pin	Interrupt pin to map activity interrupt, see IntPin enum

Return values

true	on success, false on failure

Definition at line 1016 of file SensorQMI8658.hpp.

References DeviceBeginCommon::comm, INTERRUPT_PIN_1, and QMI8658_REG_CTRL8.

Referenced by enableMotionDetect(), enablePedometer(), and enableTap().

◆ configFIFO()

bool SensorQMI8658::configFIFO	(	FIFO_Mode	mode,
		FIFO_Samples	samples = `FIFO_SAMPLES_16`,
		IntPin	pin = `INTERRUPT_PIN_DISABLE`,
		uint8_t	trigger_samples = `16`
	)

inline

Configure the FIFO.

Note: Call this function to configure FIFO before using readFromFifo function

Parameters

mode	FIFO mode setting
samples	Number of samples to store in FIFO
pin	Interrupt pin to output FIFO watermark interrupt, see IntPin enum
trigger_samples	Number of samples to trigger FIFO watermark interrupt

Return values

true	on success, false on failure

Definition at line 530 of file SensorQMI8658.hpp.

References _fifo_mode, DeviceBeginCommon::comm, CTRL_CMD_RST_FIFO, disableAccelerometer(), disableGyroscope(), enableAccelerometer(), enableGyroscope(), INTERRUPT_PIN_1, INTERRUPT_PIN_2, INTERRUPT_PIN_DISABLE, isEnableAccelerometer(), isEnableGyroscope(), QMI8658_REG_CTRL1, QMI8658_REG_FIFO_CTRL, QMI8658_REG_FIFO_WTM_TH, SENSORLIB_LOG_D, SENSORLIB_LOG_E, and writeCommand().

Referenced by loop(), and setup().

◆ configFifo()

bool SensorQMI8658::configFifo	(	FifoMode	mode,
		FifoSamples	samples = `FifoSamples::SAMPLES_16`,
		uint8_t	watermark_samples = `16`
	)

Configure FIFO with specified mode.

Parameters

mode	FIFO mode.

Note: In Non-SyncSample mode, enabling FIFO (mode != BYPASS) disables DRDY function.

Parameters

samples	FIFO sample count.
watermark_samples	Watermark threshold.

Returns: true if configuration successful, false otherwise.

Definition at line 867 of file SensorQMI8658.cpp.

References _accel_enabled, _fifo_enabled, _fifo_mode, _fifo_watermark, _gyro_enabled, BYPASS, CTRL_CMD_RST_FIFO, disableAccel(), disableGyro(), enableAccel(), enableGyro(), resetFifo(), SAMPLES_128, SAMPLES_16, SAMPLES_32, SAMPLES_64, writeCommand(), and SensorCommWrapper::writeReg().

Referenced by setup().

◆ configGyro() [1/3]

bool SensorQMI8658::configGyro	(	GyroFullScaleRange	range,
		float	data_rate_hz,
		LpfMode	lpf = `LpfMode::MODE_0`
	)

Configure the gyroscope with specified parameters.

Parameters

range	Full-scale range.
odr	Output data rate.
lpf	Low-pass filter mode (default: MODE_0).

Note: In 6DOF mode (ACC+GYR enabled), system ODR synchronization is derived from gyroscope natural frequency.

Returns: true if configuration successful, false otherwise.

Definition at line 668 of file SensorQMI8658.cpp.

References _gyro_enabled, _gyro_odr, _gyro_range, _gyro_scale, SensorCommWrapper::clrRegBit(), disableGyro(), enableGyro(), findClosestGyroOdr(), getGyroRangeRegValue(), getGyroScaleFromRange(), OFF, SensorCommWrapper::setRegBit(), SensorCommWrapper::updateBits(), and SensorCommWrapper::writeReg().

Referenced by configGyro(), configGyro(), and setup().

◆ configGyro() [2/3]

bool SensorQMI8658::configGyro	(	GyroRange	range,
		float	data_rate_hz,
		LpfMode	lpf = `LpfMode::MODE_0`
	)

Definition at line 1602 of file SensorQMI8658.cpp.

References configGyro(), FS_1000_DPS, FS_1024DPS, FS_125_DPS, FS_128DPS, FS_2000_DPS, FS_2048DPS, FS_250_DPS, FS_256DPS, FS_500_DPS, and FS_512DPS.

◆ configGyro() [3/3]

bool SensorQMI8658::configGyro	(	GyroRange	range,
		GyroODR	odr,
		LpfMode	lpf = `LpfMode::MODE_0`
	)

Definition at line 1576 of file SensorQMI8658.cpp.

References configGyro(), FS_1000_DPS, FS_1024DPS, FS_125_DPS, FS_128DPS, FS_2000_DPS, FS_2048DPS, FS_250_DPS, FS_256DPS, FS_500_DPS, and FS_512DPS.

◆ configGyroscope()

bool SensorQMI8658::configGyroscope	(	GyroRange	range,
		GyroODR	odr,
		LpfMode	lpfOdr = `LPF_MODE_0`
	)

inline

Configure the gyroscope.

Note: Call this function to configure the gyroscope settings

Parameters

range	Gyroscope range setting
odr	Gyroscope output data rate setting
lpfOdr	Gyroscope low-pass filter setting

Return values

true	on success, false on failure

Definition at line 453 of file SensorQMI8658.hpp.

References DeviceBeginCommon::comm, disableGyroscope(), enableGyroscope(), GYR_RANGE_1024DPS, GYR_RANGE_128DPS, GYR_RANGE_16DPS, GYR_RANGE_256DPS, GYR_RANGE_32DPS, GYR_RANGE_512DPS, GYR_RANGE_64DPS, isEnableGyroscope(), LPF_OFF, QMI8658_GYRO_LPF_MASK, QMI8658_REG_CTRL3, and QMI8658_REG_CTRL5.

Referenced by setup().

◆ configMotion()

bool SensorQMI8658::configMotion	(	uint8_t	modeCtrl,
		float	AnyMotionXThr,
		float	AnyMotionYThr,
		float	AnyMotionZThr,
		uint8_t	AnyMotionWindow,
		float	NoMotionXThr,
		float	NoMotionYThr,
		float	NoMotionZThr,
		uint8_t	NoMotionWindow,
		uint16_t	SigMotionWaitWindow,
		uint16_t	SigMotionConfirmWindow
	)

inline

◆ configMotionDetect()

bool SensorQMI8658::configMotionDetect	(	MotionType	type,
		float	threshold_x,
		float	threshold_y,
		float	threshold_z,
		uint8_t	duration
	)

Configure motion detection parameters.

Parameters

type	Motion detection type.
threshold_x	X-axis threshold in mg.
threshold_y	Y-axis threshold in mg.
threshold_z	Z-axis threshold in mg.
duration	Number of consecutive samples above/below threshold.

Returns: true if configuration successful, false otherwise.

Definition at line 1310 of file SensorQMI8658.cpp.

References _motion_any_configured, _motion_any_thr, _motion_any_window, _motion_no_configured, _motion_no_thr, _motion_no_window, _motion_sig_configured, _motion_sig_confirm_window, ANY_MOTION, applyMotionConfig(), mgToBytes(), NO_MOTION, and SIGNIFICANT.

Referenced by configMotionDetectDefault(), and setup().

◆ configMotionDetectDefault()

bool SensorQMI8658::configMotionDetectDefault ( MotionType type )

Configure motion detection with default parameters.

Provides sensible defaults for motion detection based on type:

ANY_MOTION: 100mg threshold, 4 samples duration
NO_MOTION: 100mg threshold, 10 samples duration
SIGNIFICANT: 200mg threshold, 8 samples duration
Parameters

type Motion detection type.

Returns
true if configuration successful, false otherwise.

Definition at line 1421 of file SensorQMI8658.cpp.

References ANY_MOTION, configMotionDetect(), NO_MOTION, and SIGNIFICANT.

Referenced by setup().

◆ configPedometer() [1/2]

bool SensorQMI8658::configPedometer	(	uint16_t	ped_sample_cnt,
		uint16_t	ped_fix_peak2peak,
		uint16_t	ped_fix_peak,
		uint16_t	ped_time_up,
		uint8_t	ped_time_low = `0x14`,
		uint8_t	ped_time_cnt_entry = `0x0A`,
		uint8_t	ped_fix_precision = `0x00`,
		uint8_t	ped_sig_count = `0x04`
	)

inline

configPedometer

Note: The calculation of the Pedometer Detection is based on the accelerometer ODR defined by CTRL2.aODR, refer to Table 22 for details.

Parameters

ped_sample_cnt	Indicates the count of sample batch/window for calculation
ped_fix_peak2peak:Indicates	the threshold of the valid peak-to-peak detection E.g., 0x00CC means 200mg
ped_fix_peak:Indicates	the threshold of the peak detection comparing to average E.g., 0x0066 means 100mg
ped_time_up:Indicates	the maximum duration (timeout window) for a step. Reset counting calculation if no peaks detected within this duration. E.g., 80 means 1.6s @ ODR = 50Hz
ped_time_low:Indicates	the minimum duration for a step. The peaks detected within this duration (quiet time) is ignored. E.g., 12 means 0.25s @ ODR = 50Hz
ped_time_cnt_entry:Indicates	the minimum continuous steps to start the valid step counting. If the continuously detected steps is lower than this count and timeout, the steps will not be take into account; if yes, the detected steps will all be taken into account and counting is started to count every following step before timeout. This is useful to screen out the fake steps detected by non-step vibrations The timeout duration is defined by ped_time_up. E.g., 10 means 10 steps entry count
ped_fix_precision:0	is recommended
ped_sig_count	The amount of steps when to update the pedometer output registers. E.g., ped_sig_count = 4, every 4 valid steps is detected, update the registers once (added by 4).

Return values

Definition at line 1050 of file SensorQMI8658.hpp.

References DeviceBeginCommon::comm, CTRL_CMD_CONFIGURE_PEDOMETER, disableAccelerometer(), disableGyroscope(), disableSyncSampleMode(), enableAccelerometer(), enableGyroscope(), isEnableAccelerometer(), isEnableGyroscope(), QMI8658_REG_CAL1_H, QMI8658_REG_CAL1_L, QMI8658_REG_CAL2_H, QMI8658_REG_CAL2_L, QMI8658_REG_CAL3_H, QMI8658_REG_CAL3_L, QMI8658_REG_CAL4_H, QMI8658_REG_CAL4_L, and writeCommand().

◆ configPedometer() [2/2]

bool SensorQMI8658::configPedometer	(	uint16_t	sample_count,
		uint16_t	peak_to_peak,
		uint16_t	peak_threshold,
		uint16_t	time_up,
		uint8_t	time_low = `20`,
		uint8_t	entry_count = `10`,
		uint8_t	fix_precision = `0`,
		uint8_t	sig_count = `4`
	)

Configure pedometer parameters.

Parameters

sample_count	Number of samples per calculation window.
peak_to_peak	Peak-to-peak threshold in mg.
peak_threshold	Peak threshold in mg.
time_up	Maximum step duration in samples.
time_low	Minimum step duration in samples.
entry_count	Minimum steps to start counting.
fix_precision	Pedometer precision parameter (recommended 0).
sig_count	Steps per output update.

Returns: true if configuration successful, false otherwise.

Definition at line 1760 of file SensorQMI8658.cpp.

References _accel_enabled, _gyro_enabled, CTRL_CMD_CONFIGURE_PEDOMETER, disableAccel(), disableGyro(), disableSyncMode(), enableAccel(), enableGyro(), writeCommand(), SensorCommWrapper::writeReg(), and SensorCommWrapper::writeRegBuff().

Referenced by configPedometerDefault(), and setup().

◆ configPedometerDefault()

bool SensorQMI8658::configPedometerDefault ( float odr = 125.0f )

Configure pedometer with default parameters.

Provides sensible defaults for step counting. Works well for normal walking.

Parameters

odr	Current accelerometer ODR in Hz (for time calculation).

Returns: true if configuration successful, false otherwise.

Definition at line 1816 of file SensorQMI8658.cpp.

References configPedometer().

Referenced by setup().

◆ configTap() [1/2]

bool SensorQMI8658::configTap	(	TapPriority	priority,
		uint8_t	peak_window,
		uint16_t	tap_window,
		uint16_t	double_tap_window,
		float	peak_mag_threshold,
		float	quiet_threshold
	)

Configure tap detection parameters.

Parameters

priority	Axis priority for tap detection.
peak_window	Maximum peak duration in samples.
tap_window	Minimum quiet time between taps.
double_tap_window	Maximum time for double tap.
peak_mag_threshold	Peak magnitude threshold in g^2.
quiet_threshold	Undefined motion threshold in g^2.

Returns: true if configuration successful, false otherwise.

Definition at line 1668 of file SensorQMI8658.cpp.

References _accel_enabled, _gyro_enabled, CTRL_CMD_CONFIGURE_TAP, disableAccel(), disableGyro(), disableSyncMode(), enableAccel(), enableGyro(), writeCommand(), and SensorCommWrapper::writeReg().

Referenced by applyTapConfig(), configTapDefault(), and setup().

◆ configTap() [2/2]

bool SensorQMI8658::configTap	(	uint8_t	priority,
		uint8_t	peakWindow,
		uint16_t	tapWindow,
		uint16_t	dTapWindow,
		float	alpha,
		float	gamma,
		float	peakMagThr,
		float	UDMThr
	)

inline

configTap

Note: The calculation of the Tap Detection is based on the accelerometer ODR defined by CTRL2.aODR, refer to Table 22 for details.

Parameters

priority	Priority definition between the x, y, z axes of acceleration. Only Priority[2:0] bits are used. The axis that output the first peak of Linear Acceleration in a valid Tap detection, will be consider as the Tap axis. However, there is possibility that two or three of the axes shows same Linear Acceleration at exactly same time when reach (or be higher than) the PeakMagThr. In this case, the defined priority is used to judge and select the axis as Tap axis.
peakWindow:Defines	the maximum duration (in sample) for a valid peak. In a valid peak, the linear acceleration should reach or be higher than the PeakMagThr and should return to quiet (no significant movement) within UDMThr, at the end of PeakWindow. E.g., 20 @500Hz ODR
tapWindow:Defines	the minimum quiet time before the second Tap happen. After the first Tap is detected, there should be no significant movement (defined by UDMThr) during the TapWindow. The valid second tap should be detected after TapWindow and before DTapWindow. E.g., 50 @500Hz ODR
dTapWindow:Defines	the maximum time for a valid second Tap for Double Tap, count start from the first peak of the valid first Tap. E.g., 250 @500Hz ODR
alpha:Defines	the ratio for calculation the average of the acceleration. The bigger of Alpha, the bigger weight of the latest data. E.g., 0.0625
gamma:Defines	the ratio for calculating the average of the movement magnitude. The bigger of Gamma, the bigger weight of the latest data. E.g., 0.25
peakMagThr:Threshold	for peak detection. E.g, 0.8g2
UDMThr:Undefined	Motion threshold. This defines the threshold of the Linear Acceleration for quiet status. E.g., 0.4g2

Return values

Definition at line 1185 of file SensorQMI8658.hpp.

References sensorlib::_highByte(), sensorlib::_lowByte(), DeviceBeginCommon::comm, CTRL_CMD_CONFIGURE_TAP, disableAccelerometer(), disableGyroscope(), disableSyncSampleMode(), enableAccelerometer(), enableGyroscope(), isEnableAccelerometer(), isEnableGyroscope(), peakWindow, QMI8658_REG_CAL1_H, QMI8658_REG_CAL1_L, QMI8658_REG_CAL2_H, QMI8658_REG_CAL2_L, QMI8658_REG_CAL3_H, QMI8658_REG_CAL3_L, QMI8658_REG_CAL4_H, tapWindow, and writeCommand().

◆ configTapDefault()

bool SensorQMI8658::configTapDefault ( TapPriority priority = TapPriority::X_GT_Y_GT_Z )

Configure tap detection with default parameters.

Provides sensible defaults for tap detection. Uses X>Y>Z axis priority.

Parameters

priority Axis priority for tap detection.

Returns: true if configuration successful, false otherwise.

Definition at line 1715 of file SensorQMI8658.cpp.

References configTap().

Referenced by setup().

◆ configureFifo()

bool SensorQMI8658::configureFifo	(	bool	enable,
		uint8_t	watermark_samples = `16`
	)

overridevirtual

Configure the FIFO buffer.

Parameters

enable	true to enable FIFO, false to disable.
watermark_samples	Number of samples for watermark interrupt.

Returns: true if configured successfully, false otherwise.

Implements ImuBase.

Definition at line 828 of file SensorQMI8658.cpp.

References _accel_enabled, _fifo_enabled, _fifo_mode, _fifo_watermark, _gyro_enabled, CTRL_CMD_RST_FIFO, disableAccel(), disableGyro(), enableAccel(), enableGyro(), FIFO_MODE_STREAM, FIFO_SAMPLES_16, resetFifo(), SENSORLIB_LOG_E, writeCommand(), and SensorCommWrapper::writeReg().

◆ configWakeOnMotion() [1/4]

bool SensorQMI8658::configWakeOnMotion	(	uint8_t	threshold,
		AccelODR	odr,
		IntPin	pin
	)

Definition at line 1628 of file SensorQMI8658.cpp.

References configWakeOnMotion().

◆ configWakeOnMotion() [2/4]

bool SensorQMI8658::configWakeOnMotion	(	uint8_t	threshold,
		AccelODR	odr,
		IntPin	pin,
		uint8_t	default_pin_value,
		uint8_t	blanking_time,
		AccelRange	acc_range
	)

Definition at line 1633 of file SensorQMI8658.cpp.

References configWakeOnMotionAdvanced(), FS_16G, FS_16G, FS_2G, FS_2G, FS_4G, FS_4G, FS_8G, and FS_8G.

◆ configWakeOnMotion() [3/4]

bool SensorQMI8658::configWakeOnMotion	(	uint8_t	threshold = `200`,
		float	odr_hz = `128.0f`,
		IntPin	pin = `IntPin::PIN2`
	)

Configure wake-on-motion (WoM) feature.

Parameters

threshold	WoM threshold in mg (default: 200mg).
odr	Accelerometer ODR for WoM (default: LP_128Hz).
pin	Interrupt pin.

Returns: true if configuration successful, false otherwise.

Definition at line 1484 of file SensorQMI8658.cpp.

References configWakeOnMotionAdvanced(), and FS_8G.

Referenced by configWakeOnMotion(), and setup().

◆ configWakeOnMotion() [4/4]

bool SensorQMI8658::configWakeOnMotion	(	uint8_t	WoMThreshold = `200`,
		AccelODR	odr = `ACC_ODR_LOWPOWER_128Hz`,
		IntPin	pin = `INTERRUPT_PIN_2`,
		uint8_t	defaultPinValue = `1`,
		uint8_t	blankingTime = `0x20`,
		AccelRange	accRange = `ACC_RANGE_8G`
	)

inline

configWakeOnMotion

Note: Configuring Wom will reset the sensor, set the function to Wom, and there will be no data output

Parameters

WoMThreshold	Resolution = 1mg ,default 200mg
odr	Accelerometer output data rate ,default low power 128Hz
pin	Interrupt Pin( 1 or 2 ) ,default use pin2
defaultPinValue	WoM Interrupt Initial Value select: ,default pin high 01 – INT2 (with initial value 0) 11 – INT2 (with initial value 1) 00 – INT1 (with initial value 0) 10 – INT1 (with initial value 1)
blankingTime	Interrupt Blanking Time (in number of accelerometer samples), the number of consecutive samples that will be ignored after enabling the WoM, to screen out unwanted fake detection
accRange	Accelerometer Range ,default ±8g

Return values

True	if successful, false otherwise

Definition at line 1465 of file SensorQMI8658.hpp.

References DeviceBeginCommon::comm, CTRL_CMD_WRITE_WOM_SETTING, enableAccelerometer(), enableINT(), INTERRUPT_PIN_1, INTERRUPT_PIN_2, QMI8658_REG_CAL1_H, QMI8658_REG_CAL1_L, QMI8658_REG_CTRL2, QMI8658_REG_CTRL7, reset(), and writeCommand().

◆ configWakeOnMotionAdvanced()

bool SensorQMI8658::configWakeOnMotionAdvanced	(	uint8_t	threshold,
		float	odr_hz,
		IntPin	pin,
		uint8_t	default_pin_value,
		uint8_t	blanking_time,
		AccelFullScaleRange	acc_range
	)

Configure wake-on-motion (WoM) with full vendor parameters.

Parameters

threshold	WoM threshold register value.
odr_hz	Accelerometer ODR in Hz.
pin	Interrupt pin routing.
default_pin_value	Initial interrupt pin level (0 or 1).
blanking_time	Interrupt blanking time (accelerometer samples).
acc_range	Accelerometer range used in WoM mode.

Returns: true if configuration successful, false otherwise.

Definition at line 1489 of file SensorQMI8658.cpp.

References SensorCommWrapper::clrRegBit(), CTRL_CMD_WRITE_WOM_SETTING, enableAccel(), enableInterrupt(), findClosestAccelLpOdr(), getAccelRangeRegValue(), DeviceBeginCommon::hal, reset(), SensorCommWrapper::updateBits(), writeCommand(), and SensorCommWrapper::writeReg().

Referenced by applyWomConfig(), configWakeOnMotion(), and configWakeOnMotion().

◆ disableAccel()

bool SensorQMI8658::disableAccel ( )

overridevirtual

Disable the accelerometer.

Returns: true if disabled successfully, false otherwise.

Implements ImuBase.

Definition at line 419 of file SensorQMI8658.cpp.

References _accel_enabled, and SensorCommWrapper::clrRegBit().

Referenced by applyMotionConfig(), calibrate(), configAccel(), configFifo(), configPedometer(), configTap(), configureFifo(), hardwareSelfTest(), selfTestAccel(), selfTestGyro(), setOperationMode(), and writeCalibration().

◆ disableAccelerometer()

bool SensorQMI8658::disableAccelerometer ( )

inline

Disable the accelerometer.

Note: This function will disable the accelerometer

Return values

true	on success, false on failure

Definition at line 713 of file SensorQMI8658.hpp.

References _accel_enabled, DeviceBeginCommon::comm, and QMI8658_REG_CTRL7.

Referenced by configAccelerometer(), configFIFO(), configMotion(), configPedometer(), configTap(), and powerDown().

◆ disableGyro()

bool SensorQMI8658::disableGyro ( )

overridevirtual

Disable the gyroscope.

Returns: true if disabled successfully, false otherwise.

Implements ImuBase.

Definition at line 558 of file SensorQMI8658.cpp.

References _gyro_enabled, and SensorCommWrapper::clrRegBit().

Referenced by applyMotionConfig(), calibrate(), configFifo(), configGyro(), configPedometer(), configTap(), configureFifo(), hardwareSelfTest(), selfTestAccel(), selfTestGyro(), setOperationMode(), and writeCalibration().

◆ disableGyroscope()

bool SensorQMI8658::disableGyroscope ( )

inline

Disable the gyroscope.

Note: This function will disable the gyroscope

Return values

true	on success, false on failure

Definition at line 760 of file SensorQMI8658.hpp.

References _gyro_enabled, DeviceBeginCommon::comm, and QMI8658_REG_CTRL7.

Referenced by configFIFO(), configGyroscope(), configMotion(), configPedometer(), configTap(), and powerDown().

◆ disableInterrupt()

bool SensorQMI8658::disableInterrupt ( IntPin pin )

Disable interrupt on specified pin.

Parameters

pin	Interrupt pin.

Returns: true if successful, false otherwise.

Definition at line 754 of file SensorQMI8658.cpp.

References _int_enabled, _int_pin_mask, and SensorCommWrapper::clrRegBit().

◆ disableLockingMechanism() [1/2]

bool SensorQMI8658::disableLockingMechanism ( )

Disable the data locking mechanism.

Returns: true if successful, false otherwise.

Definition at line 1102 of file SensorQMI8658.cpp.

References CTRL_CMD_AHB_CLOCK_GATING, disableSyncMode(), writeCommand(), and SensorCommWrapper::writeReg().

◆ disableLockingMechanism() [2/2]

bool SensorQMI8658::disableLockingMechanism ( )

inline

Disable the locking mechanism.

Note: This function will disable the locking mechanism for the sensor

Return values

true	on success, false on failure

Definition at line 952 of file SensorQMI8658.hpp.

References DeviceBeginCommon::comm, CTRL_CMD_AHB_CLOCK_GATING, disableSyncSampleMode(), QMI8658_REG_CAL1_L, and writeCommand().

◆ disableMotionDetect() [1/2]

bool SensorQMI8658::disableMotionDetect ( )

Disable motion detection.

Returns: true if disabled successfully, false otherwise.

Definition at line 1475 of file SensorQMI8658.cpp.

References SensorCommWrapper::clrRegBit().

◆ disableMotionDetect() [2/2]

bool SensorQMI8658::disableMotionDetect ( )

inline

Disable motion detection.

Note: This function disables motion detection and the associated interrupt

Return values

True	if successful, false otherwise

Definition at line 1438 of file SensorQMI8658.hpp.

References DeviceBeginCommon::comm, and QMI8658_REG_CTRL8.

◆ disablePedometer() [1/2]

bool SensorQMI8658::disablePedometer ( )

Disable pedometer.

Returns: true if disabled successfully, false otherwise.

Definition at line 1862 of file SensorQMI8658.cpp.

References SensorCommWrapper::clrRegBit().

◆ disablePedometer() [2/2]

bool SensorQMI8658::disablePedometer ( )

inline

Definition at line 1146 of file SensorQMI8658.hpp.

References _accel_enabled, DeviceBeginCommon::comm, and QMI8658_REG_CTRL8.

◆ disableSyncMode()

bool SensorQMI8658::disableSyncMode ( )

overridevirtual

Disable synchronous sampling mode.

Returns: true if disabled successfully, false otherwise.

Implements ImuBase.

Definition at line 627 of file SensorQMI8658.cpp.

References _sync_mode, and SensorCommWrapper::clrRegBit().

Referenced by applyMotionConfig(), configPedometer(), configTap(), disableLockingMechanism(), and enablePedometer().

◆ disableSyncSampleMode()

bool SensorQMI8658::disableSyncSampleMode ( )

inline

Disable the synchronous sample mode.

Note: This function will disable the synchronous sample mode for the sensor

Return values

true	on success, false on failure

Definition at line 927 of file SensorQMI8658.hpp.

References ASYNC_MODE, DeviceBeginCommon::comm, and QMI8658_REG_CTRL7.

Referenced by configMotion(), configPedometer(), configTap(), and disableLockingMechanism().

◆ disableTap() [1/2]

bool SensorQMI8658::disableTap ( )

Disable tap detection.

Returns: true if disabled successfully, false otherwise.

Definition at line 1740 of file SensorQMI8658.cpp.

References SensorCommWrapper::clrRegBit().

Referenced by applyTapConfig().

◆ disableTap() [2/2]

bool SensorQMI8658::disableTap ( )

inline

Disable tap detection.

Note: This function disables tap detection and the associated interrupt

Return values

True	if successful, false otherwise

Definition at line 1279 of file SensorQMI8658.hpp.

References DeviceBeginCommon::comm, and QMI8658_REG_CTRL8.

◆ dumpCtrlRegister()

void SensorQMI8658::dumpCtrlRegister ( )

inline

Dump the control register values.

Note: This function will read and log the values of the control registers

Return values

None

Definition at line 966 of file SensorQMI8658.hpp.

References DeviceBeginCommon::comm, i, QMI8658_REG_CTRL1, QMI8658_REG_FIFO_CTRL, and SENSORLIB_LOG_D.

Referenced by setup().

◆ dumpRegisters()

void SensorQMI8658::dumpRegisters ( )

Dump control registers for debugging.

Definition at line 2045 of file SensorQMI8658.cpp.

References i, SensorCommWrapper::readReg(), SensorCommWrapper::readRegBuff(), and SENSORLIB_LOG_I.

Referenced by setup().

◆ enableAccel()

bool SensorQMI8658::enableAccel ( )

overridevirtual

Enable the accelerometer.

Returns: true if enabled successfully, false otherwise.

Implements ImuBase.

Definition at line 410 of file SensorQMI8658.cpp.

References _accel_enabled, and SensorCommWrapper::setRegBit().

Referenced by applyMotionConfig(), configAccel(), configFifo(), configPedometer(), configTap(), configureFifo(), configWakeOnMotionAdvanced(), enablePedometer(), hardwareSelfTest(), and setup().

◆ enableAccelerometer()

bool SensorQMI8658::enableAccelerometer ( )

inline

Enable the accelerometer.

Note: This function will enable the accelerometer

Return values

true	on success, false on failure

Definition at line 700 of file SensorQMI8658.hpp.

References _accel_enabled, DeviceBeginCommon::comm, and QMI8658_REG_CTRL7.

Referenced by configAccelerometer(), configFIFO(), configMotion(), configPedometer(), configTap(), configWakeOnMotion(), and setup().

◆ enableDataReadyINT()

void SensorQMI8658::enableDataReadyINT ( bool enable = true )

inline

Enable or disable the Data Ready interrupt.

Parameters

enable True to enable, false to disable

Definition at line 372 of file SensorQMI8658.hpp.

References DeviceBeginCommon::comm, and QMI8658_REG_CTRL7.

Referenced by setup().

◆ enableDataReadyInterrupt()

bool SensorQMI8658::enableDataReadyInterrupt ( IntPin pin = IntPin::PIN2 )

Enable data ready interrupt.

Parameters

pin	Interrupt pin for data ready signal.

Note: In Non-SyncSample mode, DRDY is only routed to INT2 when CTRL7.bit5=0. If FIFO mode is enabled (FIFO_MODE != bypass), DRDY is disabled by hardware.

Returns: true if successful, false otherwise.

Definition at line 771 of file SensorQMI8658.cpp.

References SensorCommWrapper::clrRegBit(), and enableInterrupt().

Referenced by setup().

◆ enableDynamicGyroCalibration()

void SensorQMI8658::enableDynamicGyroCalibration ( bool enable )

Enable dynamic gyroscope calibration.

Dynamic calibration continuously updates gyro offsets when the sensor detects static periods. It uses accelerometer data to determine when the device is stationary.

Parameters

enable True to enable, false to disable.

Definition at line 2202 of file SensorQMI8658.cpp.

References _accel_static_deviation, _dyn_cal_enabled, _dyn_cali_sample_count, _dyn_gyro_offset, _dyn_offset_applied, _dyn_static_delay, _dyn_static_flag, and _gyro_static_deviation.

Referenced by setup().

◆ enableGyro()

bool SensorQMI8658::enableGyro ( )

overridevirtual

Enable the gyroscope.

Returns: true if enabled successfully, false otherwise.

Implements ImuBase.

Definition at line 549 of file SensorQMI8658.cpp.

References _gyro_enabled, and SensorCommWrapper::setRegBit().

Referenced by applyMotionConfig(), configFifo(), configGyro(), configPedometer(), configTap(), configureFifo(), enablePedometer(), hardwareSelfTest(), loop(), and setup().

◆ enableGyroscope()

bool SensorQMI8658::enableGyroscope ( )

inline

Enable the gyroscope.

Note: This function will enable the gyroscope

Return values

true	on success, false on failure

Definition at line 747 of file SensorQMI8658.hpp.

References _gyro_enabled, DeviceBeginCommon::comm, and QMI8658_REG_CTRL7.

Referenced by configFIFO(), configGyroscope(), configMotion(), configPedometer(), configTap(), and setup().

◆ enableINT()

void SensorQMI8658::enableINT	(	IntPin	pin,
		bool	enable = `true`
	)

inline

Enable or disable the interrupt.

Parameters

pin	Interrupt pin to enable/disable,see IntPin enum
enable	True to enable, false to disable

Definition at line 342 of file SensorQMI8658.hpp.

References DeviceBeginCommon::comm, INTERRUPT_PIN_1, INTERRUPT_PIN_2, and QMI8658_REG_CTRL1.

Referenced by configWakeOnMotion(), enableMotionDetect(), enablePedometer(), enableTap(), and setup().

◆ enableInterrupt()

bool SensorQMI8658::enableInterrupt ( IntPin pin )

Enable interrupt on specified pin.

Parameters

pin	Interrupt pin.

Returns: true if successful, false otherwise.

Definition at line 739 of file SensorQMI8658.cpp.

References _int_enabled, _int_pin_mask, and SensorCommWrapper::setRegBit().

Referenced by configWakeOnMotionAdvanced(), enableDataReadyInterrupt(), enableMotionDetect(), enablePedometer(), and enableTap().

◆ enableLockingMechanism() [1/2]

bool SensorQMI8658::enableLockingMechanism ( )

Enable the data locking mechanism.

Returns: true if successful, false otherwise.

Definition at line 1093 of file SensorQMI8658.cpp.

References CTRL_CMD_AHB_CLOCK_GATING, enableSyncMode(), writeCommand(), and SensorCommWrapper::writeReg().

Referenced by setup().

◆ enableLockingMechanism() [2/2]

bool SensorQMI8658::enableLockingMechanism ( )

inline

Enable the locking mechanism.

Note: This function will enable the locking mechanism for the sensor

Return values

true	on success, false on failure

Definition at line 938 of file SensorQMI8658.hpp.

References DeviceBeginCommon::comm, CTRL_CMD_AHB_CLOCK_GATING, enableSyncSampleMode(), QMI8658_REG_CAL1_L, and writeCommand().

◆ enableMotionDetect() [1/2]

bool SensorQMI8658::enableMotionDetect ( IntPin pin = INTERRUPT_PIN_1 )

inline

Enable motion detection.

Note: The Motion Detection can only work in Non-SyncSample mode

Parameters

pin	Interrupt Pin( 1 or 2 ) ,default use pin1

Return values

True	if successful, false otherwise

Definition at line 1415 of file SensorQMI8658.hpp.

References _accel_enabled, DeviceBeginCommon::comm, configActivityInterruptMap(), enableINT(), INTERRUPT_PIN_1, INTERRUPT_PIN_2, and QMI8658_REG_CTRL8.

◆ enableMotionDetect() [2/2]

bool SensorQMI8658::enableMotionDetect ( IntPin pin = IntPin::PIN1 )

Enable motion detection on specified pin.

Parameters

pin	Interrupt pin for motion events.

Returns: true if enabled successfully, false otherwise.

Definition at line 1436 of file SensorQMI8658.cpp.

References _accel_enabled, _motion_any_configured, _motion_no_configured, _motion_sig_configured, SensorCommWrapper::clrRegBit(), enableInterrupt(), and SensorCommWrapper::setRegBit().

Referenced by setup().

◆ enablePedometer() [1/2]

bool SensorQMI8658::enablePedometer ( IntPin pin = INTERRUPT_PIN_DISABLE )

inline

enablePedometer

Note: Enable the Pedometer function , pedometer can only work in Non-SyncSample mode

Parameters

pin	Interrupt pin to output Pedometer interrupt, see IntPin enum

Return values

true	on success, false on failure

Definition at line 1130 of file SensorQMI8658.hpp.

References _accel_enabled, DeviceBeginCommon::comm, configActivityInterruptMap(), enableINT(), INTERRUPT_PIN_1, INTERRUPT_PIN_2, and QMI8658_REG_CTRL8.

◆ enablePedometer() [2/2]

bool SensorQMI8658::enablePedometer ( IntPin pin = IntPin::DISABLE )

Enable pedometer.

Parameters

pin	Interrupt pin for pedometer events.

Returns: true if enabled successfully, false otherwise.

Definition at line 1831 of file SensorQMI8658.cpp.

References _accel_enabled, _gyro_enabled, _last_step_count, SensorCommWrapper::clrRegBit(), disableSyncMode(), enableAccel(), enableGyro(), enableInterrupt(), getStepCount(), and SensorCommWrapper::setRegBit().

Referenced by setup().

◆ enableStaticCalibration()

void SensorQMI8658::enableStaticCalibration ( bool enable )

Start static calibration.

Static calibration calculates accelerometer and gyroscope offsets when the sensor is stationary. Place the sensor in a stable position and call processCalibration() periodically until it returns true.

Parameters

enable True to enable static calibration, false to disable.

Definition at line 2128 of file SensorQMI8658.cpp.

References _static_cali_enabled, and resetStaticCalibration().

Referenced by setup().

◆ enableSyncMode()

bool SensorQMI8658::enableSyncMode ( )

overridevirtual

Enable synchronous sampling mode.

Returns: true if enabled successfully, false otherwise.

Implements ImuBase.

Definition at line 618 of file SensorQMI8658.cpp.

References _sync_mode, and SensorCommWrapper::setRegBit().

Referenced by enableLockingMechanism(), and setup().

◆ enableSyncSampleMode()

bool SensorQMI8658::enableSyncSampleMode ( )

inline

Enable the synchronous sample mode.

Note: This function will enable the synchronous sample mode for the sensor

Return values

true	on success, false on failure

Definition at line 916 of file SensorQMI8658.hpp.

References DeviceBeginCommon::comm, QMI8658_REG_CTRL7, and SYNC_MODE.

Referenced by enableLockingMechanism().

◆ enableTap() [1/2]

bool SensorQMI8658::enableTap ( IntPin pin = INTERRUPT_PIN_1 )

inline

Enable tap detection.

Note: The Tap Detection can only work in Non-SyncSample mode

Parameters

pin	Interrupt Pin( 1 or 2 ) ,default is INTERRUPT_PIN_1

Return values

True	if successful, false otherwise

Definition at line 1259 of file SensorQMI8658.hpp.

References _accel_enabled, DeviceBeginCommon::comm, configActivityInterruptMap(), enableINT(), INTERRUPT_PIN_1, INTERRUPT_PIN_2, and QMI8658_REG_CTRL8.

◆ enableTap() [2/2]

bool SensorQMI8658::enableTap ( IntPin pin = IntPin::PIN1 )

Enable tap detection.

Parameters

pin	Interrupt pin for tap events.

Returns: true if enabled successfully, false otherwise.

Definition at line 1725 of file SensorQMI8658.cpp.

References _accel_enabled, enableInterrupt(), and SensorCommWrapper::setRegBit().

Referenced by applyTapConfig(), and setup().

◆ findClosestAccelLpOdr()

uint8_t SensorQMI8658::findClosestAccelLpOdr ( float hz )

protected

Definition at line 731 of file SensorQMI8658.cpp.

Referenced by configWakeOnMotionAdvanced().

◆ findClosestAccelOdr()

uint8_t SensorQMI8658::findClosestAccelOdr ( float hz )

protected

Definition at line 705 of file SensorQMI8658.cpp.

Referenced by configAccel(), and setAccelOutputDataRate().

◆ findClosestGyroOdr()

uint8_t SensorQMI8658::findClosestGyroOdr ( float hz )

protected

Definition at line 718 of file SensorQMI8658.cpp.

Referenced by configGyro(), and setGyroOutputDataRate().

◆ getAccelerometer()

bool SensorQMI8658::getAccelerometer	(	float &	x,
		float &	y,
		float &	z
	)

inline

Get the accelerometer data.

Note: This function will read the accelerometer data from the sensor

Parameters

&x	accelerometer X-axis data
&y	accelerometer Y-axis data
&z	accelerometer Z-axis data

Return values

true	on success, false on failure

Definition at line 799 of file SensorQMI8658.hpp.

References _accel_enabled, getAccelRaw(), x, and y.

Referenced by lockingMechanismHandler(), loop(), and readSensorData().

◆ getAccelerometerScales()

float SensorQMI8658::getAccelerometerScales ( )

inline

Get the accelerometer scales.

Note: This function will return the current accelerometer scales

Return values

The	current accelerometer scales

Definition at line 819 of file SensorQMI8658.hpp.

◆ getAccelRangeRegValue()

uint8_t SensorQMI8658::getAccelRangeRegValue ( AccelFullScaleRange range )

protected

Definition at line 455 of file SensorQMI8658.cpp.

References FS_16G, FS_2G, FS_4G, and FS_8G.

Referenced by configAccel(), configWakeOnMotionAdvanced(), and setAccelFullScaleRange().

◆ getAccelRaw()

bool SensorQMI8658::getAccelRaw ( int16_t * rawBuffer )

inline

Get the raw accelerometer data.

Note: This function will read the raw accelerometer data from the sensor

Parameters

*rawBuffer Pointer to the buffer to store the raw data

Return values

true	on success, false on failure

Definition at line 775 of file SensorQMI8658.hpp.

References _accel_enabled, DeviceBeginCommon::comm, and QMI8658_REG_AX_L.

Referenced by getAccelerometer().

◆ getAccelScale()

float SensorQMI8658::getAccelScale ( )

Get the accelerometer scale factor.

Returns: Scale factor in m/s^2 per LSB.

Definition at line 2068 of file SensorQMI8658.cpp.

References _accel_scale.

◆ getAccelScaleFromRange()

float SensorQMI8658::getAccelScaleFromRange ( AccelFullScaleRange range )

protected

Definition at line 466 of file SensorQMI8658.cpp.

References FS_16G, FS_2G, FS_4G, and FS_8G.

Referenced by configAccel(), and setAccelFullScaleRange().

◆ getAxisLayout()

SensorQMI8658::Layout SensorQMI8658::getAxisLayout ( ) const

Get the current axis layout setting.

Returns: Current axis layout.

Definition at line 2083 of file SensorQMI8658.cpp.

References _axis_layout.

Referenced by setup().

◆ getCallbacks() [1/2]

SensorQMI8658::EventCallbacks & SensorQMI8658::getCallbacks ( )

Get current callbacks.

Definition at line 1931 of file SensorQMI8658.cpp.

References callbacks.

◆ getCallbacks() [2/2]

const SensorQMI8658::EventCallbacks & SensorQMI8658::getCallbacks ( ) const

Get current callbacks (const).

Definition at line 1936 of file SensorQMI8658.cpp.

References callbacks.

◆ getChipFirmwareVersion()

uint32_t SensorQMI8658::getChipFirmwareVersion ( )

inline

Get Sensor chip firmware version.

Note: This function retrieves the firmware version of the sensor chip

Return values

Firmware version number

Definition at line 1542 of file SensorQMI8658.hpp.

◆ getChipID() [1/2]

uint8_t SensorQMI8658::getChipID ( )

inlinevirtual

Get the chip ID.

Return values

Chip ID

Implements ImuBase.

Definition at line 288 of file SensorQMI8658.hpp.

References DeviceBeginCommon::comm, and QMI8658_REG_REVISION.

◆ getChipID() [2/2]

uint8_t SensorQMI8658::getChipID ( )

overridevirtual

Get the chip ID / WHO_AM_I value.

Returns: Chip ID value.

Implements ImuBase.

Definition at line 328 of file SensorQMI8658.cpp.

References SensorCommWrapper::readReg().

Referenced by initImpl(), isPresent(), and setup().

◆ getChipUsid() [1/2]

void SensorQMI8658::getChipUsid	(	uint8_t *	buffer,
		uint8_t	length
	)

Get sensor USID (unique chip ID).

Parameters

[out]	buffer	Buffer to store USID (must be at least 6 bytes).
	length	Number of bytes to read.

Definition at line 2060 of file SensorQMI8658.cpp.

References _usid.

◆ getChipUsid() [2/2]

void SensorQMI8658::getChipUsid	(	uint8_t *	buffer,
		uint8_t	length
	)

inline

Get Sensor chip USID.

Parameters

*buffer	Input buffer to store the USID , must be uint8_t[6]
length	Length of the buffer , must be less than or equal to 6

Return values

None

Definition at line 1528 of file SensorQMI8658.hpp.

◆ getDataReady()

bool SensorQMI8658::getDataReady ( )

inline

Check if new data is available.

Note: This function will check the status register to see if new data is available

Return values

true	if new data is available, false otherwise

Definition at line 884 of file SensorQMI8658.hpp.

References _accel_enabled, _gyro_enabled, ASYNC_MODE, DeviceBeginCommon::comm, DeviceBeginCommon::hal, QMI8658_REG_STATUS0, QMI8658_REG_STATUS_INT, and SYNC_MODE.

Referenced by loop().

◆ getDynamicGyroCalibrationOffsets()

void SensorQMI8658::getDynamicGyroCalibrationOffsets ( int16_t gyro_offset[3] )

Get dynamic gyroscope calibration offsets.

Parameters

[out] gyro_offset Gyro offsets [x, y, z] in raw units.

Definition at line 2222 of file SensorQMI8658.cpp.

References _dyn_gyro_offset.

Referenced by loop().

◆ getFifoStatus()

uint8_t SensorQMI8658::getFifoStatus ( )

Get FIFO status.

Returns: FIFO status register value.

Definition at line 928 of file SensorQMI8658.cpp.

References SensorCommWrapper::readReg().

Referenced by readFromFifo().

◆ getFirmwareVersion()

uint32_t SensorQMI8658::getFirmwareVersion ( )

overridevirtual

Get the firmware version.

Returns: Firmware version value.

Implements ImuBase.

Definition at line 333 of file SensorQMI8658.cpp.

References _firmware_version.

Referenced by setup().

◆ getGyroRangeRegValue()

uint8_t SensorQMI8658::getGyroRangeRegValue ( GyroFullScaleRange range )

protected

Definition at line 594 of file SensorQMI8658.cpp.

References FS_1000_DPS, FS_125_DPS, FS_2000_DPS, FS_250_DPS, and FS_500_DPS.

Referenced by configGyro(), and setGyroFullScaleRange().

◆ getGyroRaw()

bool SensorQMI8658::getGyroRaw ( int16_t * rawBuffer )

inline

Get the raw gyroscope data.

Note: This function will read the raw gyroscope data from the sensor

Parameters

*rawBuffer Pointer to the buffer to store the raw data

Return values

true	on success, false on failure

Definition at line 840 of file SensorQMI8658.hpp.

References _gyro_enabled, DeviceBeginCommon::comm, and QMI8658_REG_GX_L.

Referenced by getGyroscope().

◆ getGyroScale()

float SensorQMI8658::getGyroScale ( )

Get the gyroscope scale factor.

Returns: Scale factor in rad/s per LSB.

Definition at line 2073 of file SensorQMI8658.cpp.

References _gyro_scale.

◆ getGyroScaleFromRange()

float SensorQMI8658::getGyroScaleFromRange ( GyroFullScaleRange range )

protected

Definition at line 606 of file SensorQMI8658.cpp.

References FS_1000_DPS, FS_125_DPS, FS_2000_DPS, FS_250_DPS, and FS_500_DPS.

Referenced by configGyro(), and setGyroFullScaleRange().

◆ getGyroscope()

bool SensorQMI8658::getGyroscope	(	float &	x,
		float &	y,
		float &	z
	)

inline

Get the raw gyroscope data.

Note: This function will read the raw gyroscope data from the sensor

Parameters

&x	Reference to the variable to store the X-axis data
&y	Reference to the variable to store the Y-axis data
&z	Reference to the variable to store the Z-axis data

Return values

true	on success, false on failure

Definition at line 864 of file SensorQMI8658.hpp.

References _gyro_enabled, getGyroRaw(), x, and y.

Referenced by lockingMechanismHandler(), loop(), and readSensorData().

◆ getGyroscopeScales()

float SensorQMI8658::getGyroscopeScales ( )

inline

Get the gyroscope scales.

Note: This function will return the current gyroscope scales

Return values

The	current gyroscope scales

Definition at line 829 of file SensorQMI8658.hpp.

◆ getHardwareSelfTestResults()

void SensorQMI8658::getHardwareSelfTestResults	(	float	accel_result[3],
		float	gyro_result[3]
	)

Get hardware self-test results.

Parameters

[out]	accel_result	Accel self-test results [x, y, z] in mg.
[out]	gyro_result	Gyro self-test results [x, y, z] in dps.

Definition at line 2429 of file SensorQMI8658.cpp.

References _hw_st_accel_result, and _hw_st_gyro_result.

Referenced by setup().

◆ getInterruptStatus()

uint8_t SensorQMI8658::getInterruptStatus ( )

Get interrupt status.

Returns: Interrupt status register value.

Definition at line 780 of file SensorQMI8658.cpp.

References SensorCommWrapper::readReg().

◆ getIrqStatus()

uint8_t SensorQMI8658::getIrqStatus ( )

inline

Get the IRQ status.

Note: This status indicates which interrupt has occurred

Return values

IRQ	status register value

Definition at line 363 of file SensorQMI8658.hpp.

References DeviceBeginCommon::comm, and QMI8658_REG_STATUS_INT.

Referenced by readSensorData().

◆ getPedometerCounter()

uint32_t SensorQMI8658::getPedometerCounter ( )

inline

Get the Pedometer counter.

Note: This function will return the current Pedometer step count

Return values

Pedometer step count

Definition at line 1105 of file SensorQMI8658.hpp.

References DeviceBeginCommon::comm, and QMI8658_REG_STEP_CNT_LOW.

Referenced by pedometerEvent().

◆ getStaticCalibrationOffsets()

void SensorQMI8658::getStaticCalibrationOffsets	(	int16_t	accel_offset[3],
		int16_t	gyro_offset[3]
	)

Get static calibration offsets.

Parameters

[out]	accel_offset	Accel offsets [x, y, z] in raw units.
[out]	gyro_offset	Gyro offsets [x, y, z] in raw units.

Definition at line 2182 of file SensorQMI8658.cpp.

References _accel_cali_offset, and _gyro_cali_offset.

Referenced by loop(), and setup().

◆ getStatusRegister()

int SensorQMI8658::getStatusRegister ( )

inline

Get the Pedometer counter.

Note: This function will return the current Pedometer step count

Return values

Pedometer step count

Definition at line 1006 of file SensorQMI8658.hpp.

References DeviceBeginCommon::comm, and QMI8658_REG_STATUS1.

Referenced by loop().

◆ getStepCount()

uint32_t SensorQMI8658::getStepCount ( )

Get pedometer step count.

Returns: Number of steps counted.

Definition at line 1867 of file SensorQMI8658.cpp.

References SensorCommWrapper::readRegBuff().

Referenced by enablePedometer(), pedometerCallback(), and update().

◆ getTapStatus() [1/2]

SensorQMI8658::TapEvent SensorQMI8658::getTapStatus ( )

Get tap status.

Returns: TapEvent indicating the detected tap type.

Definition at line 1745 of file SensorQMI8658.cpp.

References DOUBLE, INVALID, SensorCommWrapper::readReg(), and SINGLE.

Referenced by tapEventCallback(), and update().

◆ getTapStatus() [2/2]

TapEvent SensorQMI8658::getTapStatus ( )

inline

Get the current tap status.

Note: This function reads the tap status register and returns the tap event

Return values

The	current tap event

Definition at line 1289 of file SensorQMI8658.hpp.

References sensorlib::_bv(), DeviceBeginCommon::comm, DOUBLE_TAP, INVALID_TAP, QMI8658_REG_TAP_STATUS, SENSORLIB_LOG_I, and SINGLE_TAP.

◆ getTemperature()

float SensorQMI8658::getTemperature ( )

overridevirtual

Get the temperature reading from the sensor.

Returns: Temperature in degrees Celsius, or NaN on error.

Implements ImuBase.

Definition at line 352 of file SensorQMI8658.cpp.

References SensorCommWrapper::readRegBuff().

Referenced by readAccel(), and readGyro().

◆ getTemperature_C()

float SensorQMI8658::getTemperature_C ( )

inline

Get the temperature in degree Celsius.

Return values

Temperature value in degree Celsius

Definition at line 328 of file SensorQMI8658.hpp.

References DeviceBeginCommon::comm, and QMI8658_REG_TEMPERATURE_L.

Referenced by lockingMechanismHandler(), and readSensorData().

◆ getTimestamp() [1/2]

uint32_t SensorQMI8658::getTimestamp ( )

inlinevirtual

Get the timestamp.

Note: This timestamp is generated by the sensor

Return values

Timestamp value

Implements ImuBase.

Definition at line 308 of file SensorQMI8658.hpp.

References DeviceBeginCommon::comm, QMI8658_REG_TIMESTAMP_L, and timestamp.

◆ getTimestamp() [2/2]

uint32_t SensorQMI8658::getTimestamp ( )

overridevirtual

Get the timestamp from the sensor.

Returns: Timestamp value.

Implements ImuBase.

Definition at line 361 of file SensorQMI8658.cpp.

References _last_timestamp, and SensorCommWrapper::readRegBuff().

Referenced by lockingMechanismHandler(), loop(), and readSensorData().

◆ hardwareSelfTest()

bool SensorQMI8658::hardwareSelfTest	(	bool	includeAccel = `true`,
		bool	includeGyro = `true`
	)

Perform hardware self-test on both sensors.

Parameters

includeAccel	True to include accelerometer self-test.
includeGyro	True to include gyroscope self-test.

Returns: true if all tests passed, false otherwise.

Definition at line 2314 of file SensorQMI8658.cpp.

References _accel_enabled, _gyro_enabled, _hw_st_accel_result, _hw_st_gyro_result, disableAccel(), disableGyro(), enableAccel(), enableGyro(), DeviceBeginCommon::hal, HW_ST_ACCEL_THRESHOLD_MG, HW_ST_GYRO_THRESHOLD_DPS, SensorCommWrapper::readReg(), SensorCommWrapper::readRegBuff(), SENSORLIB_LOG_E, and SensorCommWrapper::writeReg().

Referenced by setup().

◆ initImpl() [1/2]

bool SensorQMI8658::initImpl ( uint8_t param )

overrideprotectedvirtual

Implements DeviceBeginCommon.

Definition at line 2440 of file SensorQMI8658.cpp.

References _firmware_version, _int_pin, _usid, CTRL_CMD_COPY_USID, getChipID(), DeviceBeginCommon::hal, SensorCommWrapper::readRegBuff(), reset(), SENSORLIB_LOG_E, writeCommand(), and SensorCommWrapper::writeReg().

◆ initImpl() [2/2]

bool SensorQMI8658::initImpl ( uint8_t param )

inlineoverrideprotectedvirtual

Implements DeviceBeginCommon.

Definition at line 2246 of file SensorQMI8658.hpp.

References DeviceBeginCommon::comm, CTRL_CMD_COPY_USID, DeviceBeginCommon::hal, QMI8658_REG_CTRL8, QMI8658_REG_DQW_L, QMI8658_REG_DVX_L, QMI8658_REG_WHOAMI_DEFAULT, reset(), SENSORLIB_LOG_D, SENSORLIB_LOG_E, whoAmI(), and writeCommand().

◆ isAccelEnabled()

bool SensorQMI8658::isAccelEnabled ( )

overridevirtual

Check if accelerometer is enabled.

Returns: true if enabled, false otherwise.

Implements ImuBase.

Definition at line 428 of file SensorQMI8658.cpp.

References _accel_enabled.

◆ isDataReady()

bool SensorQMI8658::isDataReady ( uint8_t mask = static_cast<uint8_t>(ImuBase::DataReadyMask::BOTH) )

overridevirtual

Check if requested IMU data is available.

Parameters

mask	Data-ready target mask (ACCEL / GYRO / BOTH).

Returns: true if requested data is ready, false otherwise.

Implements ImuBase.

Definition at line 785 of file SensorQMI8658.cpp.

References _accel_enabled, _gyro_enabled, _int_enabled, _int_pin, _sync_mode, SensorCommWrapper::getRegBit(), DeviceBeginCommon::hal, and SensorCommWrapper::readReg().

Referenced by loop(), and setup().

◆ isDynamicGyroCalibrationEnabled()

bool SensorQMI8658::isDynamicGyroCalibrationEnabled ( ) const

Check if dynamic gyro calibration is enabled.

Returns: true if enabled, false otherwise.

Definition at line 2217 of file SensorQMI8658.cpp.

References _dyn_cal_enabled.

Referenced by loop().

◆ isEnableAccelerometer()

bool SensorQMI8658::isEnableAccelerometer ( )

inline

Check if the accelerometer is enabled.

Note: This function will check if the accelerometer is enabled

Return values

true	if enabled, false otherwise

Definition at line 727 of file SensorQMI8658.hpp.

References _accel_enabled.

Referenced by configAccelerometer(), configFIFO(), configMotion(), configPedometer(), configTap(), and loop().

◆ isEnableGyroscope()

bool SensorQMI8658::isEnableGyroscope ( )

inline

Check if the gyroscope is enabled.

Note: This function will check if the gyroscope is enabled

Return values

true	if enabled, false otherwise

Definition at line 737 of file SensorQMI8658.hpp.

References _gyro_enabled.

Referenced by configFIFO(), configGyroscope(), configMotion(), configPedometer(), configTap(), and loop().

◆ isGyroEnabled()

bool SensorQMI8658::isGyroEnabled ( )

overridevirtual

Check if gyroscope is enabled.

Returns: true if enabled, false otherwise.

Implements ImuBase.

Definition at line 567 of file SensorQMI8658.cpp.

References _gyro_enabled.

◆ isPresent()

bool SensorQMI8658::isPresent ( )

overridevirtual

Check if the IMU sensor is responding.

Returns: true if sensor is present, false otherwise.

Implements ImuBase.

Definition at line 323 of file SensorQMI8658.cpp.

References getChipID().

◆ isStaticCalibrationComplete()

bool SensorQMI8658::isStaticCalibrationComplete ( ) const

Get the current static calibration status.

Returns: true if calibration is complete, false otherwise.

Definition at line 2141 of file SensorQMI8658.cpp.

References _static_cali_complete.

Referenced by loop(), and setup().

◆ isStaticCalibrationEnabled()

bool SensorQMI8658::isStaticCalibrationEnabled ( ) const

Check if static calibration is enabled.

Returns: true if enabled, false otherwise.

Definition at line 2136 of file SensorQMI8658.cpp.

References _static_cali_enabled.

◆ mgToBytes()

uint8_t SensorQMI8658::mgToBytes ( float mg )

protected

Definition at line 1656 of file SensorQMI8658.cpp.

Referenced by applyMotionConfig(), configMotion(), and configMotionDetect().

◆ odrToFloat()

float SensorQMI8658::odrToFloat ( float odr )

protected

Definition at line 700 of file SensorQMI8658.cpp.

◆ powerDown()

void SensorQMI8658::powerDown ( )

inline

Power down the sensor.

Note: This function will disable the accelerometer and gyroscope

Return values

None

Definition at line 983 of file SensorQMI8658.hpp.

References DeviceBeginCommon::comm, disableAccelerometer(), disableGyroscope(), and QMI8658_REG_CTRL1.

◆ powerOn()

void SensorQMI8658::powerOn ( )

inline

Power on the sensor.

Note: This function will enable the accelerometer and gyroscope

Return values

None

Definition at line 996 of file SensorQMI8658.hpp.

References DeviceBeginCommon::comm, and QMI8658_REG_CTRL1.

◆ processDynamicCalibration()

void SensorQMI8658::processDynamicCalibration	(	int16_t	accel_data[3],
		int16_t	gyro_data[3]
	)

Process dynamic calibration with current sensor data.

Parameters

accel_data	Raw accelerometer data [x, y, z].
gyro_data	Raw gyroscope data [x, y, z].

Definition at line 2229 of file SensorQMI8658.cpp.

References _accel_speed_buffer, _accel_static_deviation, _dyn_cal_enabled, _dyn_cali_sample_count, _dyn_gyro_offset, _dyn_gyro_sum, _dyn_offset_applied, _dyn_static_delay, _dyn_static_flag, _gyro_speed_buffer, _gyro_static_deviation, DYN_CAL_BUFFER_SIZE, DYN_CAL_STATIC_COUNT, and i.

Referenced by readGyro().

◆ processStaticCalibration()

bool SensorQMI8658::processStaticCalibration	(	int16_t	accel_data[3],
		int16_t	gyro_data[3]
	)

Process static calibration with current sensor data.

Parameters

accel_data	Raw accelerometer data [x, y, z].
gyro_data	Raw gyroscope data [x, y, z].

Returns: true if calibration is complete, false if still collecting data.

Definition at line 2146 of file SensorQMI8658.cpp.

References _accel_cali_offset, _accel_cali_sum, _gyro_cali_offset, _gyro_cali_sum, _static_cali_complete, _static_cali_enabled, _static_cali_sample_count, i, and MAX_STATIC_CALI_SAMPLES.

Referenced by readGyro().

◆ readAccel()

bool SensorQMI8658::readAccel ( AccelerometerData & out )

overridevirtual

Read accelerometer data.

Parameters

[out] out Reference to store the read data.

Returns: true if read successful, false otherwise.

Implements ImuBase.

Definition at line 376 of file SensorQMI8658.cpp.

References _accel_scale, getTemperature(), AccelerometerUtils::gToMps2(), AccelerometerData::mps2, AccelerometerData::raw, readAccelRaw(), AccelerometerData::temperature, x, SensorVector::x, RawVector::x, y, SensorVector::y, RawVector::y, SensorVector::z, and RawVector::z.

Referenced by loop(), and setup().

◆ readAccelRaw()

bool SensorQMI8658::readAccelRaw	(	int16_t &	x,
		int16_t &	y,
		int16_t &	z
	)

overridevirtual

Read raw accelerometer data without scaling.

Parameters

[out]	x	X-axis raw value.
[out]	y	Y-axis raw value.
[out]	z	Z-axis raw value.

Returns: true if read successful, false otherwise.

Implements ImuBase.

Definition at line 394 of file SensorQMI8658.cpp.

References _accel_enabled, SensorCommWrapper::readRegBuff(), x, and y.

Referenced by readAccel().

◆ readFromFifo() [1/2]

uint16_t SensorQMI8658::readFromFifo	(	AccelerometerData *	accel_data,
		uint16_t	accel_count,
		GyroscopeData *	gyro_data,
		uint16_t	gyro_count
	)

overridevirtual

Read data from FIFO buffer.

Parameters

[out]	accel_data	Array to store accelerometer samples.
	accel_count	Maximum number of accelerometer samples.
[out]	gyro_data	Array to store gyroscope samples.
	gyro_count	Maximum number of gyroscope samples.

Returns: Number of samples read, or 0 on error.

Implements ImuBase.

Definition at line 933 of file SensorQMI8658.cpp.

References _accel_enabled, _accel_scale, _dyn_cal_enabled, _dyn_gyro_offset, _dyn_offset_applied, _fifo_buffer, _fifo_buffer_size, _fifo_enabled, _fifo_mode, _gyro_cali_offset, _gyro_enabled, _gyro_scale, _static_cali_complete, buffer_size, CTRL_CMD_REQ_FIFO, GyroscopeData::dps, getFifoStatus(), AccelerometerUtils::gToMps2(), DeviceBeginCommon::hal, i, AccelerometerData::mps2, AccelerometerData::raw, GyroscopeData::raw, readFromFifo(), SensorCommWrapper::readRegBuff(), SENSORLIB_LOG_D, SENSORLIB_LOG_E, writeCommand(), SensorCommWrapper::writeReg(), x, SensorVector::x, RawVector::x, y, SensorVector::y, RawVector::y, SensorVector::z, and RawVector::z.

Referenced by loop(), readFromFifo(), and readFromFifo().

◆ readFromFifo() [2/2]

uint16_t SensorQMI8658::readFromFifo	(	IMUdata *	acc,
		uint16_t	accLength,
		IMUdata *	gyro,
		uint16_t	gyrLength
	)

inline

readFromFifo

Note: Read the data in the FIFO buffer. configFIFO should be called before use.

Parameters

acc	Pointer to store accelerometer data
accLength	Length of the accelerometer data array
gyro	Pointer to store gyroscope data
gyrLength	Length of the gyroscope data array

Return values

Number of samples read per sensor

Definition at line 621 of file SensorQMI8658.hpp.

References _accel_enabled, _fifo_mode, _gyro_enabled, acc, FIFO_MODE_BYPASS, gyro, i, readFromFifo(), SENSORLIB_LOG_D, SENSORLIB_LOG_E, x, IMUdata::x, y, IMUdata::y, and IMUdata::z.

◆ readGyro()

bool SensorQMI8658::readGyro ( GyroscopeData & out )

overridevirtual

Read gyroscope data.

Parameters

[out] out Reference to store the read data.

Returns: true if read successful, false otherwise.

Implements ImuBase.

Definition at line 477 of file SensorQMI8658.cpp.

References _dyn_cal_enabled, _dyn_gyro_offset, _dyn_offset_applied, _gyro_cali_offset, _gyro_scale, _static_cali_complete, _static_cali_enabled, axisConvert(), GyroscopeData::dps, getTemperature(), processDynamicCalibration(), processStaticCalibration(), GyroscopeData::raw, readGyroRaw(), SensorCommWrapper::readRegBuff(), GyroscopeData::temperature, x, SensorVector::x, RawVector::x, y, SensorVector::y, RawVector::y, SensorVector::z, and RawVector::z.

Referenced by loop(), and setup().

◆ readGyroRaw()

bool SensorQMI8658::readGyroRaw	(	int16_t &	x,
		int16_t &	y,
		int16_t &	z
	)

overridevirtual

Read raw gyroscope data without scaling.

Parameters

[out]	x	X-axis raw value.
[out]	y	Y-axis raw value.
[out]	z	Z-axis raw value.

Returns: true if read successful, false otherwise.

Implements ImuBase.

Definition at line 533 of file SensorQMI8658.cpp.

References _gyro_enabled, SensorCommWrapper::readRegBuff(), x, and y.

Referenced by readGyro().

◆ reset() [1/2]

bool SensorQMI8658::reset ( )

overridevirtual

Reset the IMU sensor to its default state.

Returns: true if reset successful, false otherwise.

Implements ImuBase.

Definition at line 298 of file SensorQMI8658.cpp.

References DeviceBeginCommon::hal, SensorCommWrapper::readReg(), SENSORLIB_LOG_E, SensorCommWrapper::setRegBit(), and SensorCommWrapper::writeReg().

Referenced by configWakeOnMotion(), configWakeOnMotionAdvanced(), initImpl(), and setup().

◆ reset() [2/2]

bool SensorQMI8658::reset	(	bool	waitResult = `true`,
		uint32_t	timeout = `500`
	)

inline

Reset the sensor.

Note: Call this function to reset the sensor to its default state

Parameters

waitResult	True to wait for the reset result, false to return immediately
timeout	Timeout duration in milliseconds

Return values

true	on success, false on failure

Definition at line 256 of file SensorQMI8658.hpp.

References DeviceBeginCommon::comm, DeviceBeginCommon::hal, QMI8658_REG_CTRL1, QMI8658_REG_RESET, QMI8658_REG_RESET_DEFAULT, QMI8658_REG_RST_RESULT, QMI8658_REG_RST_RESULT_VAL, and SENSORLIB_LOG_E.

◆ resetFifo()

bool SensorQMI8658::resetFifo ( )

Reset the FIFO.

Returns: true if successful, false otherwise.

Definition at line 923 of file SensorQMI8658.cpp.

References CTRL_CMD_RST_FIFO, and writeCommand().

Referenced by configFifo(), and configureFifo().

◆ resetStaticCalibration()

void SensorQMI8658::resetStaticCalibration ( )

Reset static calibration.

Definition at line 2192 of file SensorQMI8658.cpp.

References _accel_cali_offset, _accel_cali_sum, _gyro_cali_offset, _gyro_cali_sum, _static_cali_complete, and _static_cali_sample_count.

Referenced by enableStaticCalibration().

◆ resetStepCount()

bool SensorQMI8658::resetStepCount ( )

Reset pedometer counter.

Returns: true if reset successful, false otherwise.

Definition at line 1876 of file SensorQMI8658.cpp.

References CTRL_CMD_RESET_PEDOMETER, and writeCommand().

Referenced by setup().

◆ selfTest()

bool SensorQMI8658::selfTest ( )

overridevirtual

Perform self-test on the IMU sensor.

Returns: true if self-test passed, false otherwise.

Implements ImuBase.

Definition at line 318 of file SensorQMI8658.cpp.

References selfTestAccel(), and selfTestGyro().

Referenced by setup().

◆ selfTestAccel() [1/2]

bool SensorQMI8658::selfTestAccel ( )

Perform accelerometer self-test.

Returns: true if self-test passed, false otherwise.

Definition at line 1208 of file SensorQMI8658.cpp.

References SensorCommWrapper::clrRegBit(), disableAccel(), disableGyro(), DeviceBeginCommon::hal, SensorCommWrapper::readReg(), SensorCommWrapper::readRegBuff(), SENSORLIB_LOG_E, SensorCommWrapper::updateBits(), and SensorCommWrapper::writeReg().

Referenced by selfTest(), and setup().

◆ selfTestAccel() [2/2]

bool SensorQMI8658::selfTestAccel ( )

inline

Perform self-test on the accelerometer.

Note: This function triggers a self-test on the accelerometer and checks the results

Return values

True	if self-test passed, false otherwise

Definition at line 1830 of file SensorQMI8658.hpp.

References ACC_ODR_1000Hz, DeviceBeginCommon::comm, DeviceBeginCommon::hal, QMI8658_REG_CTRL2, QMI8658_REG_CTRL7, QMI8658_REG_DVX_L, QMI8658_REG_STATUS_INT, SENSORLIB_LOG_D, SENSORLIB_LOG_E, and SENSORLIB_LOG_I.

◆ selfTestGyro() [1/2]

bool SensorQMI8658::selfTestGyro ( )

Perform gyroscope self-test.

Returns: true if self-test passed, false otherwise.

Definition at line 1260 of file SensorQMI8658.cpp.

References SensorCommWrapper::clrRegBit(), disableAccel(), disableGyro(), DeviceBeginCommon::hal, SensorCommWrapper::readReg(), SensorCommWrapper::readRegBuff(), SENSORLIB_LOG_E, SensorCommWrapper::setRegBit(), and SensorCommWrapper::writeReg().

Referenced by selfTest(), and setup().

◆ selfTestGyro() [2/2]

bool SensorQMI8658::selfTestGyro ( )

inline

Perform self-test on the gyroscope.

Note: This function triggers a self-test on the gyroscope and checks the results

Return values

True	if self-test passed, false otherwise

Definition at line 1916 of file SensorQMI8658.hpp.

References DeviceBeginCommon::comm, DeviceBeginCommon::hal, QMI8658_REG_CTRL3, QMI8658_REG_CTRL7, QMI8658_REG_DVX_L, QMI8658_REG_STATUS_INT, SENSORLIB_LOG_D, SENSORLIB_LOG_E, and SENSORLIB_LOG_I.

◆ setAccelDataReadyCallback()

void SensorQMI8658::setAccelDataReadyCallback ( DataReadyCallback callback )

Set callback for accelerometer data ready.

Parameters

callback Callback function.

Definition at line 1911 of file SensorQMI8658.cpp.

References callbacks, and SensorQMI8658::EventCallbacks::onAccelDataReady.

◆ setAccelDataReadyEventCallBack()

void SensorQMI8658::setAccelDataReadyEventCallBack ( EventCallBack_t cb )

inline

Definition at line 1699 of file SensorQMI8658.hpp.

◆ setAccelFullScaleRange()

bool SensorQMI8658::setAccelFullScaleRange ( AccelFullScaleRange range )

overridevirtual

Set accelerometer full scale range.

Parameters

range Full scale range setting.

Returns: true if set successfully, false otherwise.

Implements ImuBase.

Definition at line 433 of file SensorQMI8658.cpp.

References _accel_range, _accel_scale, getAccelRangeRegValue(), getAccelScaleFromRange(), and SensorCommWrapper::updateBits().

◆ setAccelOffset() [1/2]

void SensorQMI8658::setAccelOffset	(	int16_t	offset_x,
		int16_t	offset_y,
		int16_t	offset_z
	)

inline

Write accelerometer calibration offsets.

Note: This function writes the calibration offsets for the accelerometer , this offset change is lost when the sensor is power cycled, or the system is reset

Parameters

offset_x	Offset value for the X axis
offset_y	Offset value for the Y axis
offset_z	Offset value for the Z axis

Return values

None

Definition at line 2001 of file SensorQMI8658.hpp.

References sensorlib::_highByte(), sensorlib::_lowByte(), DeviceBeginCommon::comm, CTRL_CMD_ACCEL_HOST_DELTA_OFFSET, QMI8658_REG_CAL1_L, QMI8658_REG_CAL2_L, QMI8658_REG_CAL3_L, and writeCommand().

◆ setAccelOffset() [2/2]

void SensorQMI8658::setAccelOffset	(	int16_t	x,
		int16_t	y,
		int16_t	z
	)

Set accelerometer host delta offsets.

Parameters

x	X-axis offset.
y	Y-axis offset.
z	Z-axis offset.

Definition at line 1178 of file SensorQMI8658.cpp.

References CTRL_CMD_ACCEL_HOST_DELTA_OFFSET, writeCommand(), SensorCommWrapper::writeRegBuff(), x, and y.

◆ setAccelOutputDataRate()

bool SensorQMI8658::setAccelOutputDataRate ( float data_rate_hz )

overridevirtual

Set accelerometer output data rate.

Parameters

data_rate_hz Output data rate in Hz.

Returns: true if set successfully, false otherwise.

Implements ImuBase.

Definition at line 445 of file SensorQMI8658.cpp.

References _accel_odr, findClosestAccelOdr(), and SensorCommWrapper::updateBits().

◆ setAnyMotionCallback()

void SensorQMI8658::setAnyMotionCallback ( MotionCallback callback )

Set callback for any-motion event.

Parameters

callback Callback function.

Definition at line 1881 of file SensorQMI8658.cpp.

References callbacks, and SensorQMI8658::EventCallbacks::onAnyMotion.

Referenced by setup().

◆ setAnyMotionEventCallBack()

void SensorQMI8658::setAnyMotionEventCallBack ( EventCallBack_t cb )

inline

Definition at line 1684 of file SensorQMI8658.hpp.

◆ setAxisLayout()

void SensorQMI8658::setAxisLayout ( Layout layout )

Set the sensor axis layout for coordinate transformation.

Parameters

layout The axis layout to apply.

Definition at line 2078 of file SensorQMI8658.cpp.

References _axis_layout.

Referenced by setup().

◆ setCallbacks()

void SensorQMI8658::setCallbacks ( const EventCallbacks & cbs )

Set all event callbacks at once.

Definition at line 1926 of file SensorQMI8658.cpp.

References callbacks.

◆ setDataLockingCallback()

void SensorQMI8658::setDataLockingCallback ( DataReadyCallback callback )

Set callback for data locking.

Parameters

callback Callback function.

Definition at line 1921 of file SensorQMI8658.cpp.

References callbacks, and SensorQMI8658::EventCallbacks::onDataLocking.

Referenced by setup().

◆ setDataLockingEventCallBack()

void SensorQMI8658::setDataLockingEventCallBack ( EventCallBack_t cb )

inline

Definition at line 1704 of file SensorQMI8658.hpp.

Referenced by setup().

◆ setGyroDataReadyCallback()

void SensorQMI8658::setGyroDataReadyCallback ( DataReadyCallback callback )

Set callback for gyroscope data ready.

Parameters

callback Callback function.

Definition at line 1916 of file SensorQMI8658.cpp.

References callbacks, and SensorQMI8658::EventCallbacks::onGyroDataReady.

◆ setGyroDataReadyCallBack()

void SensorQMI8658::setGyroDataReadyCallBack ( EventCallBack_t cb )

inline

Definition at line 1694 of file SensorQMI8658.hpp.

◆ setGyroFullScaleRange()

bool SensorQMI8658::setGyroFullScaleRange ( GyroFullScaleRange range )

overridevirtual

Set gyroscope full scale range.

Parameters

range Full scale range setting.

Returns: true if set successfully, false otherwise.

Implements ImuBase.

Definition at line 572 of file SensorQMI8658.cpp.

References _gyro_range, _gyro_scale, getGyroRangeRegValue(), getGyroScaleFromRange(), and SensorCommWrapper::updateBits().

◆ setGyroOffset() [1/2]

void SensorQMI8658::setGyroOffset	(	int16_t	offset_x,
		int16_t	offset_y,
		int16_t	offset_z
	)

inline

Write gyroscope calibration offsets.

Note: This function writes the calibration offsets for the gyroscope, this offset change is lost when the sensor is power cycled, or the system is reset

Parameters

offset_x	Offset value for the X axis
offset_y	Offset value for the Y axis
offset_z	Offset value for the Z axis

Return values

None

Definition at line 2025 of file SensorQMI8658.hpp.

References sensorlib::_highByte(), sensorlib::_lowByte(), DeviceBeginCommon::comm, CTRL_CMD_GYRO_HOST_DELTA_OFFSET, QMI8658_REG_CAL1_L, QMI8658_REG_CAL2_L, QMI8658_REG_CAL3_L, and writeCommand().

◆ setGyroOffset() [2/2]

void SensorQMI8658::setGyroOffset	(	int16_t	x,
		int16_t	y,
		int16_t	z
	)

Set gyroscope host delta offsets.

Parameters

x	X-axis offset.
y	Y-axis offset.
z	Z-axis offset.

Definition at line 1193 of file SensorQMI8658.cpp.

References CTRL_CMD_GYRO_HOST_DELTA_OFFSET, writeCommand(), SensorCommWrapper::writeRegBuff(), x, and y.

◆ setGyroOutputDataRate()

bool SensorQMI8658::setGyroOutputDataRate ( float data_rate_hz )

overridevirtual

Set gyroscope output data rate.

Parameters

data_rate_hz Output data rate in Hz.

Returns: true if set successfully, false otherwise.

Implements ImuBase.

Definition at line 584 of file SensorQMI8658.cpp.

References _gyro_odr, findClosestGyroOdr(), and SensorCommWrapper::updateBits().

◆ setIntPin()

void SensorQMI8658::setIntPin ( int pin )

Backward-compatible alias of setPins.

Parameters

pin	GPIO pin number.

Definition at line 823 of file SensorQMI8658.cpp.

References setPins().

◆ setNoMotionCallback()

void SensorQMI8658::setNoMotionCallback ( MotionCallback callback )

Set callback for no-motion event.

Parameters

callback Callback function.

Definition at line 1886 of file SensorQMI8658.cpp.

References callbacks, and SensorQMI8658::EventCallbacks::onNoMotion.

Referenced by setup().

◆ setNoMotionEventCallBack()

void SensorQMI8658::setNoMotionEventCallBack ( EventCallBack_t cb )

inline

Definition at line 1679 of file SensorQMI8658.hpp.

◆ setOperationMode()

bool SensorQMI8658::setOperationMode ( OperationMode mode )

overridevirtual

Set IMU operation mode.

Parameters

mode	Target operation mode.

Returns: true if mode switch successful, false otherwise.

Implements ImuBase.

Definition at line 338 of file SensorQMI8658.cpp.

References SensorCommWrapper::clrRegBit(), disableAccel(), disableGyro(), NORMAL, SensorCommWrapper::setRegBit(), and SUSPEND.

◆ setPedometerCallback()

void SensorQMI8658::setPedometerCallback ( MotionCallback callback )

Set callback for pedometer event.

Parameters

callback Callback function.

Definition at line 1906 of file SensorQMI8658.cpp.

References callbacks, and SensorQMI8658::EventCallbacks::onPedometer.

Referenced by setup().

◆ setPedometerEventCallBack()

void SensorQMI8658::setPedometerEventCallBack ( EventCallBack_t cb )

inline

Definition at line 1674 of file SensorQMI8658.hpp.

Referenced by setup().

◆ setPins() [1/2]

void SensorQMI8658::setPins ( int _irq )

inline

Set sensor interrupt pins.

Note: This function sets the interrupt pins for the sensor.

Parameters

_irq	Interrupt pin number

Return values

None

Definition at line 244 of file SensorQMI8658.hpp.

◆ setPins() [2/2]

void SensorQMI8658::setPins ( int pin )

Set interrupt pin.

Parameters

pin	GPIO pin number.

Definition at line 815 of file SensorQMI8658.cpp.

References _int_pin, and DeviceBeginCommon::hal.

Referenced by setIntPin(), and setup().

◆ setSignificantMotionCallback()

void SensorQMI8658::setSignificantMotionCallback ( MotionCallback callback )

Set callback for significant motion event.

Parameters

callback Callback function.

Definition at line 1891 of file SensorQMI8658.cpp.

References callbacks, and SensorQMI8658::EventCallbacks::onSignificantMotion.

◆ setSignificantMotionEventCallBack()

void SensorQMI8658::setSignificantMotionEventCallBack ( EventCallBack_t cb )

inline

Definition at line 1689 of file SensorQMI8658.hpp.

◆ setTapCallback()

void SensorQMI8658::setTapCallback ( TapCallback callback )

Set callback for tap event.

Parameters

callback Callback function.

Definition at line 1901 of file SensorQMI8658.cpp.

References callbacks, and SensorQMI8658::EventCallbacks::onTap.

Referenced by setup().

◆ setTapEventCallBack()

void SensorQMI8658::setTapEventCallBack ( EventCallBack_t cb )

inline

Definition at line 1669 of file SensorQMI8658.hpp.

Referenced by setup().

◆ setWakeOnMotionCallback()

void SensorQMI8658::setWakeOnMotionCallback ( MotionCallback callback )

Set callback for wake-on-motion event.

Parameters

callback Callback function.

Definition at line 1896 of file SensorQMI8658.cpp.

References callbacks, and SensorQMI8658::EventCallbacks::onWakeOnMotion.

Referenced by setup().

◆ setWakeupMotionEventCallBack()

void SensorQMI8658::setWakeupMotionEventCallBack ( EventCallBack_t cb )

inline

Definition at line 1664 of file SensorQMI8658.hpp.

Referenced by setup().

◆ update() [1/2]

uint16_t SensorQMI8658::update ( )

Update sensor status and process events.

Returns: Combined status flags.

Definition at line 1941 of file SensorQMI8658.cpp.

Referenced by loop().

◆ update() [2/2]

uint16_t SensorQMI8658::update ( )

inline

Update sensor status.

Note: This function updates the sensor status by reading the interrupt status and status registers

Return values

Updated sensor status

Definition at line 1552 of file SensorQMI8658.hpp.

References ASYNC_MODE, DeviceBeginCommon::comm, QMI8658_REG_STATUS_INT, STATUS0_ACCEL_DATA_READY, STATUS0_GYRO_DATA_READY, STATUS1_ANY_MOTION, STATUS1_NO_MOTION, STATUS1_PEDOMETER_MOTION, STATUS1_SIGNIFICANT_MOTION, STATUS1_TAP_MOTION, STATUS1_WOM_MOTION, STATUS_INT_AVAIL, STATUS_INT_CTRL9_CMD_DONE, and STATUS_INT_LOCKED.

◆ whoAmI()

int SensorQMI8658::whoAmI ( )

inline

Get the WHO_AM_I register value.

Note: This register is used to identify the device

Return values

WHO_AM_I register value

Definition at line 298 of file SensorQMI8658.hpp.

References DeviceBeginCommon::comm, and QMI8658_REG_WHOAMI.

Referenced by initImpl().

◆ writeCalibration() [1/2]

bool SensorQMI8658::writeCalibration	(	uint16_t	gX_gain,
		uint16_t	gY_gain,
		uint16_t	gZ_gain
	)

inline

Write Gyroscope calibration gains.

Note: This function writes the calibration gains for the gyroscope

Parameters

gX_gain	Gain value for the X axis
gY_gain	Gain value for the Y axis
gZ_gain	Gain value for the Z axis

Return values

True	if successful, false otherwise

Definition at line 1796 of file SensorQMI8658.hpp.

References sensorlib::_highByte(), sensorlib::_lowByte(), DeviceBeginCommon::comm, CTRL_CMD_APPLY_GYRO_GAINS, QMI8658_REG_CAL1_L, QMI8658_REG_CTRL7, and writeCommand().

◆ writeCalibration() [2/2]

bool SensorQMI8658::writeCalibration	(	uint16_t	gyro_x_gain,
		uint16_t	gyro_y_gain,
		uint16_t	gyro_z_gain
	)

Write previously saved gyro calibration gains.

Parameters

gyro_x_gain	X-axis gyro gain.
gyro_y_gain	Y-axis gyro gain.
gyro_z_gain	Z-axis gyro gain.

Returns: true if write successful, false otherwise.

Definition at line 1155 of file SensorQMI8658.cpp.

References _accel_enabled, _gyro_enabled, CTRL_CMD_APPLY_GYRO_GAINS, disableAccel(), disableGyro(), writeCommand(), and SensorCommWrapper::writeRegBuff().

Referenced by setup().

◆ writeCommand()

int SensorQMI8658::writeCommand	(	uint8_t	cmd,
		uint32_t	timeout_ms = `1000`
	)

protected

Member Data Documentation

◆ _accel_cali_offset

int16_t SensorQMI8658::_accel_cali_offset[3]

protected

Definition at line 1025 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by getStaticCalibrationOffsets(), processStaticCalibration(), resetStaticCalibration(), and SensorQMI8658().

◆ _accel_cali_sum

int32_t SensorQMI8658::_accel_cali_sum[3]

protected

Definition at line 1023 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by processStaticCalibration(), resetStaticCalibration(), and SensorQMI8658().

◆ _accel_enabled

bool SensorQMI8658::_accel_enabled = false

protected

◆ _accel_odr

float SensorQMI8658::_accel_odr

protected

Definition at line 979 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by configAccel(), and setAccelOutputDataRate().

◆ _accel_range

AccelFullScaleRange SensorQMI8658::_accel_range

protected

Definition at line 975 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by configAccel(), and setAccelFullScaleRange().

◆ _accel_scale

float SensorQMI8658::_accel_scale

protected

Definition at line 977 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by configAccel(), getAccelScale(), readAccel(), readFromFifo(), and setAccelFullScaleRange().

◆ _accel_speed_buffer

float SensorQMI8658::_accel_speed_buffer[DYN_CAL_BUFFER_SIZE]

protected

Definition at line 1032 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by processDynamicCalibration(), and SensorQMI8658().

◆ _accel_static_deviation

float SensorQMI8658::_accel_static_deviation

protected

Definition at line 1039 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by enableDynamicGyroCalibration(), and processDynamicCalibration().

◆ _axis_layout

Layout SensorQMI8658::_axis_layout

protected

Definition at line 1017 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by axisConvert(), getAxisLayout(), and setAxisLayout().

◆ _dyn_cal_enabled

bool SensorQMI8658::_dyn_cal_enabled

protected

Definition at line 1030 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by enableDynamicGyroCalibration(), isDynamicGyroCalibrationEnabled(), processDynamicCalibration(), readFromFifo(), and readGyro().

◆ _dyn_cali_sample_count

uint8_t SensorQMI8658::_dyn_cali_sample_count

protected

Definition at line 1036 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by enableDynamicGyroCalibration(), and processDynamicCalibration().

◆ _dyn_gyro_offset

int16_t SensorQMI8658::_dyn_gyro_offset[3]

protected

Definition at line 1033 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by enableDynamicGyroCalibration(), getDynamicGyroCalibrationOffsets(), processDynamicCalibration(), readFromFifo(), readGyro(), and SensorQMI8658().

◆ _dyn_gyro_sum

int32_t SensorQMI8658::_dyn_gyro_sum[3]

protected

Definition at line 1037 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by processDynamicCalibration(), and SensorQMI8658().

◆ _dyn_offset_applied

uint8_t SensorQMI8658::_dyn_offset_applied

protected

Definition at line 1040 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by enableDynamicGyroCalibration(), processDynamicCalibration(), readFromFifo(), and readGyro().

◆ _dyn_static_delay

uint32_t SensorQMI8658::_dyn_static_delay

protected

Definition at line 1034 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by enableDynamicGyroCalibration(), and processDynamicCalibration().

◆ _dyn_static_flag

uint8_t SensorQMI8658::_dyn_static_flag

protected

Definition at line 1035 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by enableDynamicGyroCalibration(), and processDynamicCalibration().

◆ _fifo_buffer

uint8_t* SensorQMI8658::_fifo_buffer

protected

Definition at line 1014 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by readFromFifo(), and ~SensorQMI8658().

◆ _fifo_buffer_size

uint16_t SensorQMI8658::_fifo_buffer_size

protected

Definition at line 1015 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by readFromFifo(), and ~SensorQMI8658().

◆ _fifo_enabled

bool SensorQMI8658::_fifo_enabled

protected

Definition at line 995 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by configFifo(), configureFifo(), and readFromFifo().

◆ _fifo_mode

uint8_t SensorQMI8658::_fifo_mode = 0x00

protected

Definition at line 996 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by configFIFO(), configFifo(), configureFifo(), readFromFifo(), and readFromFifo().

◆ _fifo_watermark

uint8_t SensorQMI8658::_fifo_watermark

protected

Definition at line 997 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by configFifo(), and configureFifo().

◆ _firmware_version

uint32_t SensorQMI8658::_firmware_version

protected

Definition at line 1009 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by getFirmwareVersion(), and initImpl().

◆ _gyro_cali_offset

int16_t SensorQMI8658::_gyro_cali_offset[3]

protected

Definition at line 1026 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by getStaticCalibrationOffsets(), processStaticCalibration(), readFromFifo(), readGyro(), resetStaticCalibration(), and SensorQMI8658().

◆ _gyro_cali_sum

int32_t SensorQMI8658::_gyro_cali_sum[3]

protected

Definition at line 1024 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by processStaticCalibration(), resetStaticCalibration(), and SensorQMI8658().

◆ _gyro_enabled

bool SensorQMI8658::_gyro_enabled = false

protected

◆ _gyro_odr

float SensorQMI8658::_gyro_odr

protected

Definition at line 980 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by configGyro(), and setGyroOutputDataRate().

◆ _gyro_range

GyroFullScaleRange SensorQMI8658::_gyro_range

protected

Definition at line 976 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by configGyro(), and setGyroFullScaleRange().

◆ _gyro_scale

float SensorQMI8658::_gyro_scale

protected

Definition at line 978 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by configGyro(), getGyroScale(), readFromFifo(), readGyro(), and setGyroFullScaleRange().

◆ _gyro_speed_buffer

float SensorQMI8658::_gyro_speed_buffer[DYN_CAL_BUFFER_SIZE]

protected

Definition at line 1031 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by processDynamicCalibration(), and SensorQMI8658().

◆ _gyro_static_deviation

float SensorQMI8658::_gyro_static_deviation

protected

Definition at line 1038 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by enableDynamicGyroCalibration(), and processDynamicCalibration().

◆ _hw_st_accel_result

float SensorQMI8658::_hw_st_accel_result[3]

protected

Definition at line 1044 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by getHardwareSelfTestResults(), hardwareSelfTest(), and SensorQMI8658().

◆ _hw_st_gyro_result

float SensorQMI8658::_hw_st_gyro_result[3]

protected

Definition at line 1045 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by getHardwareSelfTestResults(), hardwareSelfTest(), and SensorQMI8658().

◆ _int_enabled

bool SensorQMI8658::_int_enabled

protected

Definition at line 1001 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by disableInterrupt(), enableInterrupt(), and isDataReady().

◆ _int_pin

int SensorQMI8658::_int_pin

protected

Definition at line 999 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by initImpl(), isDataReady(), and setPins().

◆ _int_pin_mask

uint8_t SensorQMI8658::_int_pin_mask

protected

Definition at line 1000 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by disableInterrupt(), and enableInterrupt().

◆ _last_step_count

uint32_t SensorQMI8658::_last_step_count

protected

Definition at line 1002 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by enablePedometer(), and update().

◆ _last_tap_event

TapEvent SensorQMI8658::_last_tap_event

protected

Definition at line 1004 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by update().

◆ _last_tap_event_ms

uint32_t SensorQMI8658::_last_tap_event_ms

protected

Definition at line 1005 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by update().

◆ _last_timestamp

uint32_t SensorQMI8658::_last_timestamp

protected

Definition at line 1007 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by getTimestamp().

◆ _motion_any_configured

bool SensorQMI8658::_motion_any_configured

protected

Definition at line 982 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by applyMotionConfig(), configMotionDetect(), and enableMotionDetect().

◆ _motion_any_thr

uint8_t SensorQMI8658::_motion_any_thr[3]

protected

Definition at line 985 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by applyMotionConfig(), and configMotionDetect().

◆ _motion_any_window

uint8_t SensorQMI8658::_motion_any_window

protected

Definition at line 987 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by applyMotionConfig(), and configMotionDetect().

◆ _motion_no_configured

bool SensorQMI8658::_motion_no_configured

protected

Definition at line 983 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by applyMotionConfig(), configMotionDetect(), and enableMotionDetect().

◆ _motion_no_thr

uint8_t SensorQMI8658::_motion_no_thr[3]

protected

Definition at line 986 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by applyMotionConfig(), and configMotionDetect().

◆ _motion_no_window

uint8_t SensorQMI8658::_motion_no_window

protected

Definition at line 988 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by applyMotionConfig(), and configMotionDetect().

◆ _motion_sig_configured

bool SensorQMI8658::_motion_sig_configured

protected

Definition at line 984 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by applyMotionConfig(), configMotionDetect(), and enableMotionDetect().

◆ _motion_sig_confirm_window

uint16_t SensorQMI8658::_motion_sig_confirm_window

protected

Definition at line 990 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by applyMotionConfig(), and configMotionDetect().

◆ _motion_sig_wait_window

uint16_t SensorQMI8658::_motion_sig_wait_window

protected

Definition at line 989 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by applyMotionConfig().

◆ _static_cali_complete

bool SensorQMI8658::_static_cali_complete

protected

Definition at line 1022 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by isStaticCalibrationComplete(), processStaticCalibration(), readFromFifo(), readGyro(), and resetStaticCalibration().

◆ _static_cali_enabled

bool SensorQMI8658::_static_cali_enabled

protected

Definition at line 1021 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by enableStaticCalibration(), isStaticCalibrationEnabled(), processStaticCalibration(), and readGyro().

◆ _static_cali_sample_count

uint16_t SensorQMI8658::_static_cali_sample_count

protected

Definition at line 1020 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by processStaticCalibration(), and resetStaticCalibration().

◆ _sync_mode

bool SensorQMI8658::_sync_mode

protected

Definition at line 994 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by disableSyncMode(), enableSyncMode(), isDataReady(), and update().

◆ _tap_event_active

bool SensorQMI8658::_tap_event_active

protected

Definition at line 1003 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by update().

◆ _usid

uint8_t SensorQMI8658::_usid[6]

protected

Definition at line 1010 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by getChipUsid(), initImpl(), and SensorQMI8658().

◆ callbacks

EventCallbacks SensorQMI8658::callbacks

protected

Definition at line 1012 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by getCallbacks(), getCallbacks(), setAccelDataReadyCallback(), setAnyMotionCallback(), setCallbacks(), setDataLockingCallback(), setGyroDataReadyCallback(), setNoMotionCallback(), setPedometerCallback(), setSignificantMotionCallback(), setTapCallback(), setWakeOnMotionCallback(), and update().

◆ DYN_CAL_BUFFER_SIZE

constexpr uint8_t SensorQMI8658::DYN_CAL_BUFFER_SIZE = 10

staticconstexprprotected

Definition at line 1028 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by processDynamicCalibration().

◆ DYN_CAL_STATIC_COUNT

constexpr uint8_t SensorQMI8658::DYN_CAL_STATIC_COUNT = 12

staticconstexprprotected

Definition at line 1029 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by processDynamicCalibration().

◆ HW_ST_ACCEL_THRESHOLD_MG

constexpr float SensorQMI8658::HW_ST_ACCEL_THRESHOLD_MG = 200.0f

staticconstexprprotected

Definition at line 1042 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by hardwareSelfTest().

◆ HW_ST_GYRO_THRESHOLD_DPS

constexpr float SensorQMI8658::HW_ST_GYRO_THRESHOLD_DPS = 300.0f

staticconstexprprotected

Definition at line 1043 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by hardwareSelfTest().

◆ MAX_STATIC_CALI_SAMPLES

constexpr uint16_t SensorQMI8658::MAX_STATIC_CALI_SAMPLES = 100

staticconstexprprotected

Definition at line 1019 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by processStaticCalibration().

◆ QMI8658_ACCEL_EN_MASK

constexpr uint8_t SensorQMI8658::QMI8658_ACCEL_EN_MASK = 0x01

staticconstexprprotected

Definition at line 2396 of file SensorQMI8658.hpp.

◆ QMI8658_ACCEL_GYRO_EN_MASK

constexpr uint8_t SensorQMI8658::QMI8658_ACCEL_GYRO_EN_MASK = 0x03

staticconstexprprotected

Definition at line 2398 of file SensorQMI8658.hpp.

◆ QMI8658_ACCEL_LPF_MASK

constexpr uint8_t SensorQMI8658::QMI8658_ACCEL_LPF_MASK = 0xF9

staticconstexprprotected

Definition at line 2393 of file SensorQMI8658.hpp.

Referenced by configAccelerometer().

◆ QMI8658_FIFO_MAP_INT1

constexpr uint8_t SensorQMI8658::QMI8658_FIFO_MAP_INT1 = 0x04

staticconstexprprotected

Definition at line 2401 of file SensorQMI8658.hpp.

◆ QMI8658_GYRO_EN_MASK

constexpr uint8_t SensorQMI8658::QMI8658_GYRO_EN_MASK = 0x02

staticconstexprprotected

Definition at line 2397 of file SensorQMI8658.hpp.

◆ QMI8658_GYRO_LPF_MASK

constexpr uint8_t SensorQMI8658::QMI8658_GYRO_LPF_MASK = 0x9F

staticconstexprprotected

Definition at line 2394 of file SensorQMI8658.hpp.

Referenced by configGyroscope().

◆ QMI8658_REG_AX_H

constexpr uint8_t SensorQMI8658::QMI8658_REG_AX_H = 0x36

staticconstexprprotected

Definition at line 2347 of file SensorQMI8658.hpp.

◆ QMI8658_REG_AX_L

constexpr uint8_t SensorQMI8658::QMI8658_REG_AX_L = 0x35

staticconstexprprotected

Definition at line 2346 of file SensorQMI8658.hpp.

Referenced by getAccelRaw().

◆ QMI8658_REG_AY_H

constexpr uint8_t SensorQMI8658::QMI8658_REG_AY_H = 0x38

staticconstexprprotected

Definition at line 2349 of file SensorQMI8658.hpp.

◆ QMI8658_REG_AY_L

constexpr uint8_t SensorQMI8658::QMI8658_REG_AY_L = 0x37

staticconstexprprotected

Definition at line 2348 of file SensorQMI8658.hpp.

◆ QMI8658_REG_AZ_H

constexpr uint8_t SensorQMI8658::QMI8658_REG_AZ_H = 0x3A

staticconstexprprotected

Definition at line 2351 of file SensorQMI8658.hpp.

◆ QMI8658_REG_AZ_L

constexpr uint8_t SensorQMI8658::QMI8658_REG_AZ_L = 0x39

staticconstexprprotected

Definition at line 2350 of file SensorQMI8658.hpp.

◆ QMI8658_REG_CAL1_H

constexpr uint8_t SensorQMI8658::QMI8658_REG_CAL1_H = 0x0C

staticconstexprprotected

Definition at line 2318 of file SensorQMI8658.hpp.

Referenced by configMotion(), configPedometer(), configTap(), and configWakeOnMotion().

◆ QMI8658_REG_CAL1_L

constexpr uint8_t SensorQMI8658::QMI8658_REG_CAL1_L = 0x0B

staticconstexprprotected

Definition at line 2317 of file SensorQMI8658.hpp.

Referenced by configMotion(), configPedometer(), configTap(), configWakeOnMotion(), disableLockingMechanism(), enableLockingMechanism(), setAccelOffset(), setGyroOffset(), and writeCalibration().

◆ QMI8658_REG_CAL2_H

constexpr uint8_t SensorQMI8658::QMI8658_REG_CAL2_H = 0x0E

staticconstexprprotected

Definition at line 2320 of file SensorQMI8658.hpp.

Referenced by configMotion(), configPedometer(), and configTap().

◆ QMI8658_REG_CAL2_L

constexpr uint8_t SensorQMI8658::QMI8658_REG_CAL2_L = 0x0D

staticconstexprprotected

Definition at line 2319 of file SensorQMI8658.hpp.

Referenced by configMotion(), configPedometer(), configTap(), setAccelOffset(), and setGyroOffset().

◆ QMI8658_REG_CAL3_H

constexpr uint8_t SensorQMI8658::QMI8658_REG_CAL3_H = 0x10

staticconstexprprotected

Definition at line 2322 of file SensorQMI8658.hpp.

Referenced by configMotion(), configPedometer(), and configTap().

◆ QMI8658_REG_CAL3_L

constexpr uint8_t SensorQMI8658::QMI8658_REG_CAL3_L = 0x0F

staticconstexprprotected

Definition at line 2321 of file SensorQMI8658.hpp.

Referenced by configMotion(), configPedometer(), configTap(), setAccelOffset(), and setGyroOffset().

◆ QMI8658_REG_CAL4_H

constexpr uint8_t SensorQMI8658::QMI8658_REG_CAL4_H = 0x12

staticconstexprprotected

Definition at line 2324 of file SensorQMI8658.hpp.

Referenced by configMotion(), configPedometer(), and configTap().

◆ QMI8658_REG_CAL4_L

constexpr uint8_t SensorQMI8658::QMI8658_REG_CAL4_L = 0x11

staticconstexprprotected

Definition at line 2323 of file SensorQMI8658.hpp.

Referenced by configMotion(), and configPedometer().

◆ QMI8658_REG_COD_STATUS

constexpr uint8_t SensorQMI8658::QMI8658_REG_COD_STATUS = 0x46

staticconstexprprotected

Definition at line 2362 of file SensorQMI8658.hpp.

Referenced by calibration().

◆ QMI8658_REG_CTRL1

constexpr uint8_t SensorQMI8658::QMI8658_REG_CTRL1 = 0x02

staticconstexprprotected

Definition at line 2306 of file SensorQMI8658.hpp.

Referenced by configFIFO(), dumpCtrlRegister(), enableINT(), powerDown(), powerOn(), and reset().

◆ QMI8658_REG_CTRL2

constexpr uint8_t SensorQMI8658::QMI8658_REG_CTRL2 = 0x03

staticconstexprprotected

Definition at line 2307 of file SensorQMI8658.hpp.

Referenced by configAccelerometer(), configWakeOnMotion(), and selfTestAccel().

◆ QMI8658_REG_CTRL3

constexpr uint8_t SensorQMI8658::QMI8658_REG_CTRL3 = 0x04

staticconstexprprotected

Definition at line 2308 of file SensorQMI8658.hpp.

Referenced by configGyroscope(), and selfTestGyro().

◆ QMI8658_REG_CTRL5

constexpr uint8_t SensorQMI8658::QMI8658_REG_CTRL5 = 0x06

staticconstexprprotected

Definition at line 2310 of file SensorQMI8658.hpp.

Referenced by configAccelerometer(), and configGyroscope().

◆ QMI8658_REG_CTRL7

constexpr uint8_t SensorQMI8658::QMI8658_REG_CTRL7 = 0x08

staticconstexprprotected

Definition at line 2312 of file SensorQMI8658.hpp.

Referenced by calibration(), configWakeOnMotion(), disableAccelerometer(), disableGyroscope(), disableSyncSampleMode(), enableAccelerometer(), enableDataReadyINT(), enableGyroscope(), enableSyncSampleMode(), selfTestAccel(), selfTestGyro(), and writeCalibration().

◆ QMI8658_REG_CTRL8

constexpr uint8_t SensorQMI8658::QMI8658_REG_CTRL8 = 0x09

staticconstexprprotected

Definition at line 2313 of file SensorQMI8658.hpp.

Referenced by configActivityInterruptMap(), disableMotionDetect(), disablePedometer(), disableTap(), enableMotionDetect(), enablePedometer(), enableTap(), and initImpl().

◆ QMI8658_REG_CTRL9

constexpr uint8_t SensorQMI8658::QMI8658_REG_CTRL9 = 0x0A

staticconstexprprotected

Definition at line 2314 of file SensorQMI8658.hpp.

◆ QMI8658_REG_DQW_H

constexpr uint8_t SensorQMI8658::QMI8658_REG_DQW_H = 0x4A

staticconstexprprotected

Definition at line 2364 of file SensorQMI8658.hpp.

◆ QMI8658_REG_DQW_L

constexpr uint8_t SensorQMI8658::QMI8658_REG_DQW_L = 0x49

staticconstexprprotected

Definition at line 2363 of file SensorQMI8658.hpp.

Referenced by initImpl().

◆ QMI8658_REG_DQX_H

constexpr uint8_t SensorQMI8658::QMI8658_REG_DQX_H = 0x4C

staticconstexprprotected

Definition at line 2366 of file SensorQMI8658.hpp.

◆ QMI8658_REG_DQX_L

constexpr uint8_t SensorQMI8658::QMI8658_REG_DQX_L = 0x4B

staticconstexprprotected

Definition at line 2365 of file SensorQMI8658.hpp.

◆ QMI8658_REG_DQY_H

constexpr uint8_t SensorQMI8658::QMI8658_REG_DQY_H = 0x4E

staticconstexprprotected

Definition at line 2369 of file SensorQMI8658.hpp.

◆ QMI8658_REG_DQY_L

constexpr uint8_t SensorQMI8658::QMI8658_REG_DQY_L = 0x4D

staticconstexprprotected

Definition at line 2368 of file SensorQMI8658.hpp.

◆ QMI8658_REG_DQZ_H

constexpr uint8_t SensorQMI8658::QMI8658_REG_DQZ_H = 0x50

staticconstexprprotected

Definition at line 2371 of file SensorQMI8658.hpp.

◆ QMI8658_REG_DQZ_L

constexpr uint8_t SensorQMI8658::QMI8658_REG_DQZ_L = 0x4F

staticconstexprprotected

Definition at line 2370 of file SensorQMI8658.hpp.

◆ QMI8658_REG_DVX_H

constexpr uint8_t SensorQMI8658::QMI8658_REG_DVX_H = 0x52

staticconstexprprotected

Definition at line 2374 of file SensorQMI8658.hpp.

◆ QMI8658_REG_DVX_L

constexpr uint8_t SensorQMI8658::QMI8658_REG_DVX_L = 0x51

staticconstexprprotected

Definition at line 2373 of file SensorQMI8658.hpp.

Referenced by calibration(), initImpl(), selfTestAccel(), and selfTestGyro().

◆ QMI8658_REG_DVY_H

constexpr uint8_t SensorQMI8658::QMI8658_REG_DVY_H = 0x54

staticconstexprprotected

Definition at line 2376 of file SensorQMI8658.hpp.

◆ QMI8658_REG_DVY_L

constexpr uint8_t SensorQMI8658::QMI8658_REG_DVY_L = 0x53

staticconstexprprotected

Definition at line 2375 of file SensorQMI8658.hpp.

◆ QMI8658_REG_DVZ_H

constexpr uint8_t SensorQMI8658::QMI8658_REG_DVZ_H = 0x56

staticconstexprprotected

Definition at line 2378 of file SensorQMI8658.hpp.

◆ QMI8658_REG_DVZ_L

constexpr uint8_t SensorQMI8658::QMI8658_REG_DVZ_L = 0x55

staticconstexprprotected

Definition at line 2377 of file SensorQMI8658.hpp.

◆ QMI8658_REG_FIFO_COUNT

constexpr uint8_t SensorQMI8658::QMI8658_REG_FIFO_COUNT = 0x15

staticconstexprprotected

Definition at line 2329 of file SensorQMI8658.hpp.

◆ QMI8658_REG_FIFO_CTRL

constexpr uint8_t SensorQMI8658::QMI8658_REG_FIFO_CTRL = 0x14

staticconstexprprotected

Definition at line 2328 of file SensorQMI8658.hpp.

Referenced by configFIFO(), and dumpCtrlRegister().

◆ QMI8658_REG_FIFO_DATA

constexpr uint8_t SensorQMI8658::QMI8658_REG_FIFO_DATA = 0x17

staticconstexprprotected

Definition at line 2331 of file SensorQMI8658.hpp.

◆ QMI8658_REG_FIFO_STATUS

constexpr uint8_t SensorQMI8658::QMI8658_REG_FIFO_STATUS = 0x16

staticconstexprprotected

Definition at line 2330 of file SensorQMI8658.hpp.

◆ QMI8658_REG_FIFO_WTM_TH

constexpr uint8_t SensorQMI8658::QMI8658_REG_FIFO_WTM_TH = 0x13

staticconstexprprotected

Definition at line 2327 of file SensorQMI8658.hpp.

Referenced by configFIFO().

◆ QMI8658_REG_GX_H

constexpr uint8_t SensorQMI8658::QMI8658_REG_GX_H = 0x3C

staticconstexprprotected

Definition at line 2353 of file SensorQMI8658.hpp.

◆ QMI8658_REG_GX_L

constexpr uint8_t SensorQMI8658::QMI8658_REG_GX_L = 0x3B

staticconstexprprotected

Definition at line 2352 of file SensorQMI8658.hpp.

Referenced by getGyroRaw().

◆ QMI8658_REG_GY_H

constexpr uint8_t SensorQMI8658::QMI8658_REG_GY_H = 0x3E

staticconstexprprotected

Definition at line 2355 of file SensorQMI8658.hpp.

◆ QMI8658_REG_GY_L

constexpr uint8_t SensorQMI8658::QMI8658_REG_GY_L = 0x3D

staticconstexprprotected

Definition at line 2354 of file SensorQMI8658.hpp.

◆ QMI8658_REG_GZ_H

constexpr uint8_t SensorQMI8658::QMI8658_REG_GZ_H = 0x40

staticconstexprprotected

Definition at line 2357 of file SensorQMI8658.hpp.

◆ QMI8658_REG_GZ_L

constexpr uint8_t SensorQMI8658::QMI8658_REG_GZ_L = 0x3F

staticconstexprprotected

Definition at line 2356 of file SensorQMI8658.hpp.

◆ QMI8658_REG_RESET

constexpr uint8_t SensorQMI8658::QMI8658_REG_RESET = 0x60

staticconstexprprotected

Definition at line 2385 of file SensorQMI8658.hpp.

Referenced by reset().

◆ QMI8658_REG_RESET_DEFAULT

constexpr uint8_t SensorQMI8658::QMI8658_REG_RESET_DEFAULT = 0xB0

staticconstexprprotected

Definition at line 2297 of file SensorQMI8658.hpp.

Referenced by reset().

◆ QMI8658_REG_REVISION

constexpr uint8_t SensorQMI8658::QMI8658_REG_REVISION = 0x01

staticconstexprprotected

Definition at line 2302 of file SensorQMI8658.hpp.

Referenced by getChipID().

◆ QMI8658_REG_RST_RESULT

constexpr uint8_t SensorQMI8658::QMI8658_REG_RST_RESULT = 0x4D

staticconstexprprotected

Definition at line 2388 of file SensorQMI8658.hpp.

Referenced by reset().

◆ QMI8658_REG_RST_RESULT_VAL

constexpr uint8_t SensorQMI8658::QMI8658_REG_RST_RESULT_VAL = 0x80

staticconstexprprotected

Definition at line 2389 of file SensorQMI8658.hpp.

Referenced by reset().

◆ QMI8658_REG_STATUS0

constexpr uint8_t SensorQMI8658::QMI8658_REG_STATUS0 = 0x2E

staticconstexprprotected

Definition at line 2335 of file SensorQMI8658.hpp.

Referenced by getDataReady().

◆ QMI8658_REG_STATUS1

constexpr uint8_t SensorQMI8658::QMI8658_REG_STATUS1 = 0x2F

staticconstexprprotected

Definition at line 2336 of file SensorQMI8658.hpp.

Referenced by getStatusRegister().

◆ QMI8658_REG_STATUS_DEFAULT

constexpr uint8_t SensorQMI8658::QMI8658_REG_STATUS_DEFAULT = 0x03

staticconstexprprotected

Definition at line 2296 of file SensorQMI8658.hpp.

◆ QMI8658_REG_STATUS_INT

constexpr uint8_t SensorQMI8658::QMI8658_REG_STATUS_INT = 0x2D

staticconstexprprotected

Definition at line 2334 of file SensorQMI8658.hpp.

Referenced by getDataReady(), getIrqStatus(), selfTestAccel(), selfTestGyro(), and update().

◆ QMI8658_REG_STEP_CNT_HIGH

constexpr uint8_t SensorQMI8658::QMI8658_REG_STEP_CNT_HIGH = 0x5C

staticconstexprprotected

Definition at line 2384 of file SensorQMI8658.hpp.

◆ QMI8658_REG_STEP_CNT_LOW

constexpr uint8_t SensorQMI8658::QMI8658_REG_STEP_CNT_LOW = 0x5A

staticconstexprprotected

Definition at line 2382 of file SensorQMI8658.hpp.

Referenced by getPedometerCounter().

◆ QMI8658_REG_STEP_CNT_MID

constexpr uint8_t SensorQMI8658::QMI8658_REG_STEP_CNT_MID = 0x5B

staticconstexprprotected

Definition at line 2383 of file SensorQMI8658.hpp.

◆ QMI8658_REG_TAP_STATUS

constexpr uint8_t SensorQMI8658::QMI8658_REG_TAP_STATUS = 0x59

staticconstexprprotected

Definition at line 2381 of file SensorQMI8658.hpp.

Referenced by getTapStatus().

◆ QMI8658_REG_TEMPERATURE_H

constexpr uint8_t SensorQMI8658::QMI8658_REG_TEMPERATURE_H = 0x34

staticconstexprprotected

Definition at line 2345 of file SensorQMI8658.hpp.

◆ QMI8658_REG_TEMPERATURE_L

constexpr uint8_t SensorQMI8658::QMI8658_REG_TEMPERATURE_L = 0x33

staticconstexprprotected

Definition at line 2344 of file SensorQMI8658.hpp.

Referenced by getTemperature_C().

◆ QMI8658_REG_TIMESTAMP_H

constexpr uint8_t SensorQMI8658::QMI8658_REG_TIMESTAMP_H = 0x32

staticconstexprprotected

Definition at line 2341 of file SensorQMI8658.hpp.

◆ QMI8658_REG_TIMESTAMP_L

constexpr uint8_t SensorQMI8658::QMI8658_REG_TIMESTAMP_L = 0x30

staticconstexprprotected

Definition at line 2339 of file SensorQMI8658.hpp.

Referenced by getTimestamp().

◆ QMI8658_REG_TIMESTAMP_M

constexpr uint8_t SensorQMI8658::QMI8658_REG_TIMESTAMP_M = 0x31

staticconstexprprotected

Definition at line 2340 of file SensorQMI8658.hpp.

◆ QMI8658_REG_WHOAMI

constexpr uint8_t SensorQMI8658::QMI8658_REG_WHOAMI = 0x00

staticconstexprprotected

Definition at line 2301 of file SensorQMI8658.hpp.

Referenced by whoAmI().

◆ QMI8658_REG_WHOAMI_DEFAULT

constexpr uint8_t SensorQMI8658::QMI8658_REG_WHOAMI_DEFAULT = 0x05

staticconstexprprotected

Definition at line 2295 of file SensorQMI8658.hpp.

Referenced by initImpl().

◆ STATUS0_ACCEL_AVAIL

constexpr uint8_t SensorQMI8658::STATUS0_ACCEL_AVAIL = 0x01

staticconstexprprotected

Definition at line 2391 of file SensorQMI8658.hpp.

◆ STATUS0_GYRO_AVAIL

constexpr uint8_t SensorQMI8658::STATUS0_GYRO_AVAIL = 0x02

staticconstexprprotected

Definition at line 2392 of file SensorQMI8658.hpp.

◆ STATUS_ANY_MOTION_EVENT

constexpr uint8_t SensorQMI8658::STATUS_ANY_MOTION_EVENT = sensorlib::_bv(5)

staticconstexprprotected

Definition at line 971 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by update().

◆ STATUS_NO_MOTION_EVENT

constexpr uint8_t SensorQMI8658::STATUS_NO_MOTION_EVENT = sensorlib::_bv(6)

staticconstexprprotected

Definition at line 972 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by update().

◆ STATUS_PEDOMETER_EVENT

constexpr uint8_t SensorQMI8658::STATUS_PEDOMETER_EVENT = sensorlib::_bv(4)

staticconstexprprotected

Definition at line 970 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by update().

◆ STATUS_SIGNIFICANT_MOTION

constexpr uint8_t SensorQMI8658::STATUS_SIGNIFICANT_MOTION = sensorlib::_bv(7)

staticconstexprprotected

Definition at line 973 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by update().

◆ STATUS_TAP_EVENT

constexpr uint8_t SensorQMI8658::STATUS_TAP_EVENT = sensorlib::_bv(1)

staticconstexprprotected

Definition at line 968 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by update().

◆ STATUS_WOM_EVENT

constexpr uint8_t SensorQMI8658::STATUS_WOM_EVENT = sensorlib::_bv(2)

staticconstexprprotected

Definition at line 969 of file sensor/imu/qmi8658/SensorQMI8658.hpp.

Referenced by update().

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Typedef Documentation

◆ DataReadyCallback

◆ EventCallBack_t

◆ IntPin

◆ MotionCallback

◆ TapCallback

◆ TapEvent

Member Enumeration Documentation

◆ AccelODR [1/2]

◆ AccelODR [2/2]

◆ AccelRange [1/2]

◆ AccelRange [2/2]

◆ CommandTable

◆ FIFO_Mode

◆ FIFO_Samples

◆ FifoMode

◆ FifoSamples

◆ GyroODR [1/2]

◆ GyroODR [2/2]

◆ GyroRange [1/2]

◆ GyroRange [2/2]

◆ IntPin

◆ Layout

◆ LpfMode [1/2]

◆ LpfMode [2/2]

◆ MotionCtrl

◆ MotionEvent

◆ MotionType

◆ SampleMode

◆ SensorStatus

◆ StatusReg

◆ TapDetectionPriority

◆ TapEvent

◆ TapPriority

Constructor & Destructor Documentation

◆ SensorQMI8658() [1/2]

◆ ~SensorQMI8658() [1/2]

◆ SensorQMI8658() [2/2]

◆ ~SensorQMI8658() [2/2]

Member Function Documentation

◆ applyMotionConfig()

◆ axisConvert()

◆ calibrate()

◆ calibration()

◆ clearPedometerCounter()

◆ configAccel() [1/3]

◆ configAccel() [2/3]

◆ configAccel() [3/3]

◆ configAccelerometer()

◆ configActivityInterruptMap()

◆ configFIFO()

◆ configFifo()

◆ configGyro() [1/3]

◆ configGyro() [2/3]

◆ configGyro() [3/3]

◆ configGyroscope()

◆ configMotion()

◆ configMotionDetect()

◆ configMotionDetectDefault()

◆ configPedometer() [1/2]

◆ configPedometer() [2/2]

◆ configPedometerDefault()

◆ configTap() [1/2]

◆ configTap() [2/2]

◆ configTapDefault()

◆ configureFifo()

◆ configWakeOnMotion() [1/4]

◆ configWakeOnMotion() [2/4]

◆ configWakeOnMotion() [3/4]

◆ configWakeOnMotion() [4/4]

◆ configWakeOnMotionAdvanced()

◆ disableAccel()

◆ disableAccelerometer()