Init: 导入AvaotaF1客户端源码

ESP32S3/ICM42688.cpp

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+// --- START OF ICM42688.cpp ---
+#include "ICM42688.h"
+
+ICM42688::ICM42688(TwoWire &bus, uint8_t address) {
+  _bus = &bus;
+  _address = address;
+  _accelScale = 0.0f;
+  _gyroScale = 0.0f;
+}
+
+int ICM42688::begin() {
+  uint8_t who_am_i = 0;
+  readRegisters(ICM42688_WHO_AM_I, 1, &who_am_i);
+  if(who_am_i != ICM42688_DEVICE_ID) {
+    return -1; // Wrong device
+  }
+  
+  // Reset device
+  writeRegister(0x4E, 0x01);
+  delay(100);
+
+  // Set accel and gyro to standby
+  writeRegister(0x4E, 0x1F);
+  delay(1);
+
+  // Set accel full scale
+  writeRegister(0x4F, (uint8_t)AFS::AFS_16G << 5 | (uint8_t)ODR::ODR_1KHZ);
+  _accelScale = 16.0f / 32768.0f;
+
+  // Set gyro full scale
+  writeRegister(0x50, (uint8_t)GFS::GFS_2000DPS << 5 | (uint8_t)ODR::ODR_1KHZ);
+  _gyroScale = 2000.0f / 32768.0f;
+
+  // Turn on accel and gyro
+  writeRegister(0x4E, 0x0F);
+  delay(100);
+  
+  return 0;
+}
+
+int ICM42688::readSensor() {
+  uint8_t data[14];
+  readRegisters(0x1D, 14, data);
+
+  _t =  (int16_t)data[0] << 8 | data[1];
+  _ax = (int16_t)data[2] << 8 | data[3];
+  _ay = (int16_t)data[4] << 8 | data[5];
+  _az = (int16_t)data[6] << 8 | data[7];
+  _gx = (int16_t)data[8] << 8 | data[9];
+  _gy = (int16_t)data[10] << 8 | data[11];
+  _gz = (int16_t)data[12] << 8 | data[13];
+  
+  return 0;
+}
+
+float ICM42688::getAccelX_mss() { return (float)_ax * _accelScale * _G; }
+float ICM42688::getAccelY_mss() { return (float)_ay * _accelScale * _G; }
+float ICM42688::getAccelZ_mss() { return (float)_az * _accelScale * _G; }
+
+float ICM42688::getGyroX_rads() { return (float)_gx * _gyroScale * _d2r; }
+float ICM42688::getGyroY_rads() { return (float)_gy * _gyroScale * _d2r; }
+float ICM42688::getGyroZ_rads() { return (float)_gz * _gyroScale * _d2r; }
+
+float ICM42688::getGyroX_dps() { return (float)_gx * _gyroScale; }
+float ICM42688::getGyroY_dps() { return (float)_gy * _gyroScale; }
+float ICM42688::getGyroZ_dps() { return (float)_gz * _gyroScale; }
+
+float ICM42688::getTemperature_C() { return ((float)_t / _tempScale) + _tempOffset; }
+
+void ICM42688::writeRegister(uint8_t reg, uint8_t data) {
+  _bus->beginTransmission(_address);
+  _bus->write(reg);
+  _bus->write(data);
+  _bus->endTransmission();
+}
+
+uint8_t ICM42688::readRegister(uint8_t reg) {
+  _bus->beginTransmission(_address);
+  _bus->write(reg);
+  _bus->endTransmission(false);
+  _bus->requestFrom(_address, (uint8_t)1);
+  uint8_t data = _bus->read();
+  return data;
+}
+
+void ICM42688::readRegisters(uint8_t reg, uint8_t count, uint8_t *dest) {
+  _bus->beginTransmission(_address);
+  _bus->write(reg);
+  _bus->endTransmission(false);
+  _bus->requestFrom(_address, count);
+  for(uint8_t i = 0; i < count; i++){
+    dest[i] = _bus->read();
+  }
+}
+// --- END OF ICM42688.cpp ---

ESP32S3/ICM42688.h

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+// --- START OF ICM42688.h ---
+#ifndef ICM42688_H
+#define ICM42688_H
+
+#include "Arduino.h"
+#include "Wire.h"
+#include "SPI.h"
+
+// See datasheet for details
+#define ICM42688_DEVICE_ID 0x47 
+#define ICM42688_WHO_AM_I  0x75
+
+/*
+ ICM42688_I2C class definition
+ */
+class ICM42688
+{
+  public:
+    enum class AFS {
+      AFS_16G = 0,
+      AFS_8G,
+      AFS_4G,
+      AFS_2G
+    };
+    
+    enum class GFS {
+      GFS_2000DPS = 0,
+      GFS_1000DPS,
+      GFS_500DPS,
+      GFS_250DPS,
+      GFS_125DPS,
+      GFS_62_5DPS,
+      GFS_31_25DPS,
+      GFS_15_625DPS
+    };
+
+    enum class ODR {
+      ODR_32KHZ = 0x01,
+      ODR_16KHZ = 0x02,
+      ODR_8KHZ  = 0x03,
+      ODR_4KHZ  = 0x04,
+      ODR_2KHZ  = 0x05,
+      ODR_1KHZ  = 0x06,
+      ODR_200HZ = 0x07,
+      ODR_100HZ = 0x08,
+      ODR_50HZ  = 0x09,
+      ODR_25HZ  = 0x0A,
+      ODR_12_5HZ = 0x0B,
+      ODR_500HZ = 0x0F
+    };
+    
+    ICM42688(TwoWire &bus, uint8_t address);
+    int begin();
+    int readSensor();
+    float getAccelX_mss();
+    float getAccelY_mss();
+    float getAccelZ_mss();
+    float getGyroX_rads();
+    float getGyroY_rads();
+    float getGyroZ_rads();
+    float getGyroX_dps();
+    float getGyroY_dps();
+    float getGyroZ_dps();
+    float getTemperature_C();
+    
+  private:
+    TwoWire *_bus;
+    uint8_t _address;
+    float _accelScale;
+    float _gyroScale;
+    const float _tempScale = 333.87f;
+    const float _tempOffset = 21.0f;
+    const float _G = 9.807f;
+    const float _d2r = 3.14159265359f/180.0f;
+    int16_t _ax, _ay, _az;
+    int16_t _gx, _gy, _gz;
+    int16_t _t;
+
+    void writeRegister(uint8_t reg, uint8_t data);
+    uint8_t readRegister(uint8_t reg);
+    void readRegisters(uint8_t reg, uint8_t count, uint8_t *dest);
+};
+
+#endif
+// --- END OF ICM42688.h ---

ESP32S3/camera_pins.h

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+#if defined(CAMERA_MODEL_XIAO_ESP32S3)
+  #define PWDN_GPIO_NUM     -1
+  #define RESET_GPIO_NUM    -1
+  #define XCLK_GPIO_NUM     10
+  #define SIOD_GPIO_NUM     40
+  #define SIOC_GPIO_NUM     39
+
+  #define Y9_GPIO_NUM       48
+  #define Y8_GPIO_NUM       11
+  #define Y7_GPIO_NUM       12
+  #define Y6_GPIO_NUM       14
+  #define Y5_GPIO_NUM       16
+  #define Y4_GPIO_NUM       18
+  #define Y3_GPIO_NUM       17
+  #define Y2_GPIO_NUM       15
+  #define VSYNC_GPIO_NUM    38
+  #define HREF_GPIO_NUM     47
+  #define PCLK_GPIO_NUM     13
+  
+#elif defined(CAMERA_MODEL_AI_THINKER)
+  #define PWDN_GPIO_NUM     32
+  #define RESET_GPIO_NUM    -1
+  #define XCLK_GPIO_NUM      0
+  #define SIOD_GPIO_NUM     26
+  #define SIOC_GPIO_NUM     27
+
+  #define Y9_GPIO_NUM       35
+  #define Y8_GPIO_NUM       34
+  #define Y7_GPIO_NUM       39
+  #define Y6_GPIO_NUM       36
+  #define Y5_GPIO_NUM       21
+  #define Y4_GPIO_NUM       19
+  #define Y3_GPIO_NUM       18
+  #define Y2_GPIO_NUM        5
+  #define VSYNC_GPIO_NUM    25
+  #define HREF_GPIO_NUM     23
+  #define PCLK_GPIO_NUM     22
+
+#elif defined(CAMERA_MODEL_M5STACK_PSRAM)
+  #define PWDN_GPIO_NUM     -1
+  #define RESET_GPIO_NUM    15
+  #define XCLK_GPIO_NUM     27
+  #define SIOD_GPIO_NUM     25
+  #define SIOC_GPIO_NUM     23
+
+  #define Y9_GPIO_NUM       19
+  #define Y8_GPIO_NUM       36
+  #define Y7_GPIO_NUM       18
+  #define Y6_GPIO_NUM       39
+  #define Y5_GPIO_NUM        5
+  #define Y4_GPIO_NUM       34
+  #define Y3_GPIO_NUM       35
+  #define Y2_GPIO_NUM       32
+  #define VSYNC_GPIO_NUM    22
+  #define HREF_GPIO_NUM     26
+  #define PCLK_GPIO_NUM     21
+
+#else
+  #error "Camera model not selected"
+#endif