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feat(lsm6dsowtr): refactor LSM6DSOWTR initialization and add I2C management

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taorye
2025-10-30 17:49:21 +08:00
parent 5d79a13d4f
commit e16f436c7d
3 changed files with 344 additions and 280 deletions
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80
components/ext_devs/ext_dev/include/maix_lsm6dsowtr.hpp
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@@ -1,74 +1,32 @@
/**
* @author iawak9lkm
* @copyright Sipeed Ltd 2024-
* @license Apache 2.0
* @update 2024.8.6: Add framework, create this file.
*/
#pragma once
#include "maix_basic.hpp"
#include "maix_imu.hpp"
#include <atomic>
#include "maix_basic.hpp"
#include <vector>
#include <future>
#include <cstdint>
namespace maix::ext_dev::lsm6dsowtr {
/**
* LSM6DSOWTR driver class
* @maixpy maix.ext_dev.lsm6dsowtr.LSM6DSOWTR
*/
class LSM6DSOWTR {
public:
/**
* @brief Construct a new LSM6DSOWTR object, will open LSM6DSOWTR
*
* @param mode LSM6DSOWTR Mode: ACC_ONLY/GYRO_ONLY/DUAL
* @param acc_scale acc scale, see @imu::AccScale
* @param acc_odr acc output data rate, see @imu::AccOdr
* @param gyro_scale gyro scale, see @imu::GyroScale
* @param gyro_odr gyro output data rate, see @imu::GyroOdr
* @param block block or non-block, defalut is true
*
* @maixpy maix.ext_dev.lsm6dsowtr.LSM6DSOWTR.__init__
*/
LSM6DSOWTR(
maix::ext_dev::imu::Mode mode=maix::ext_dev::imu::Mode::DUAL,
maix::ext_dev::imu::AccScale acc_scale=maix::ext_dev::imu::AccScale::ACC_SCALE_2G,
maix::ext_dev::imu::AccOdr acc_odr=maix::ext_dev::imu::AccOdr::ACC_ODR_8000,
maix::ext_dev::imu::GyroScale gyro_scale=maix::ext_dev::imu::GyroScale::GYRO_SCALE_16DPS,
maix::ext_dev::imu::GyroOdr gyro_odr=maix::ext_dev::imu::GyroOdr::GYRO_ODR_8000,
bool block=true);
LSM6DSOWTR(int i2c_bus = -1, uint8_t addr = 0x6B,
imu::Mode mode = imu::Mode::DUAL,
imu::AccScale acc_scale = imu::AccScale::ACC_SCALE_2G,
imu::AccOdr acc_odr = imu::AccOdr::ACC_ODR_104,
imu::GyroScale gyro_scale = imu::GyroScale::GYRO_SCALE_250DPS,
imu::GyroOdr gyro_odr = imu::GyroOdr::GYRO_ODR_104,
bool block = false);
~LSM6DSOWTR();
LSM6DSOWTR(const LSM6DSOWTR&) = delete;
LSM6DSOWTR& operator=(const LSM6DSOWTR&) = delete;
LSM6DSOWTR(LSM6DSOWTR&&) = delete;
LSM6DSOWTR& operator=(LSM6DSOWTR&&) = delete;
/**
* @brief Read data from LSM6DSOWTR.
*
* @return list type. If only one of the outputs is initialized, only [x,y,z] of that output will be returned.
* If all outputs are initialized, [acc_x, acc_y, acc_z, gyro_x, gyro_y, gyro_z] is returned.
*
* @maixpy maix.ext_dev.lsm6dsowtr.LSM6DSOWTR.read
*/
std::vector<float> read();
private:
void* _data;
imu::Mode __mode;
bool __block;
// gyro
std::string __gyro_device_path;
std::vector<imu::GyroScale> __anglvel_scale_available;
std::vector<imu::GyroOdr> __anglvel_sampling_freq_available;
imu::GyroScale __curr_anglvel_scale;
imu::GyroOdr __curr_anglvel_sampling_freq;
// accel
std::string __accel_device_path;
std::vector<imu::AccScale> __accel_scale_available;
std::vector<imu::AccOdr> __accel_sampling_freq_available;
imu::AccScale __curr_accel_scale;
imu::AccOdr __curr_accel_sampling_freq;
void* _data = nullptr; // points to priv::Lsm6dsowI2C
imu::Mode _mode;
std::future<std::pair<int, std::string>> open_future;
bool open_fut_need_get = false;
};
}
} // namespace maix::ext_dev::lsm6dsowtr