1.测试了QMI8658的驱动，正常读出x，y,z轴数据，得到的pitch, roll, yaw正常

2025-08-23 01:13:16 +08:00
parent 48c2757af6
commit 80cfbec7df
10 changed files with 594 additions and 3 deletions
@@ -0,0 +1,23 @@
+#pragma once
+
+#include <stdint.h>
+#include <string.h>  // For memcpy
+#include "esp_log.h"
+#include "driver/gpio.h"
+#include "driver/i2c.h"
+
+
+/********************* I2C *********************/
+#define I2C_SCL_IO                  10         /*!< GPIO number used for I2C master clock */
+#define I2C_SDA_IO                  11         /*!< GPIO number used for I2C master data  */
+#define I2C_MASTER_NUM              0         /*!< I2C master i2c port number, the number of i2c peripheral interfaces available will depend on the chip */
+#define I2C_MASTER_FREQ_HZ          400000    /*!< I2C master clock frequency */
+#define I2C_MASTER_TX_BUF_DISABLE   0         /*!< I2C master doesn't need buffer */
+#define I2C_MASTER_RX_BUF_DISABLE   0         /*!< I2C master doesn't need buffer */
+#define I2C_MASTER_TIMEOUT_MS       1000
+
+
+void I2C_Init(void);
+// Reg addr is 8 bit
+esp_err_t I2C_Write(uint8_t Driver_addr, uint8_t Reg_addr, const uint8_t *Reg_data, uint32_t Length);
+esp_err_t I2C_Read(uint8_t Driver_addr, uint8_t Reg_addr, uint8_t *Reg_data, uint32_t Length);