Init: 导入AvaotaF1客户端源码

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 ---