qmi8658.h

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/*
 * SPDX-FileCopyrightText: 2026 Technische Universität Hamburg
 * SPDX-License-Identifier: LGPL-2.1-only
 */
 
#pragma once

 
#include "periph/i2c.h"
#include <stdbool.h>
 
#ifdef __cplusplus
extern "C" {
#endif

#ifndef CONFIG_QMI8658_PARAM_I2C
/* I2C slave address. Set to 0x6A if SDO/SA0 is pulled high */
#  define CONFIG_QMI8658_PARAM_I2C    0x6B
#endif

typedef enum {
    QMI8658_DATA_RATE_8KHZ      = 0x00,
    QMI8658_DATA_RATE_4KHZ      = 0x01,
    QMI8658_DATA_RATE_2KHZ      = 0x02,
    QMI8658_DATA_RATE_1KHZ      = 0x03,
    QMI8658_DATA_RATE_500HZ     = 0x04,
    QMI8658_DATA_RATE_250HZ     = 0x05,
    QMI8658_DATA_RATE_125HZ     = 0x06,
    QMI8658_DATA_RATE_62_5HZ    = 0x07,
    QMI8658_DATA_RATE_31_25HZ   = 0x08,
} qmi8658_odr_t;

typedef enum {
    QMI8658_ACC_LOWPWR_DATA_RATE_128HZ  = 0x0C,
    QMI8658_ACC_LOWPWR_DATA_RATE_21HZ   = 0x0D,
    QMI8658_ACC_LOWPWR_DATA_RATE_11HZ   = 0x0E,
    QMI8658_ACC_LOWPWR_DATA_RATE_3HZ    = 0x0F
} qmi8658_acc_lowpwr_odr_t;

typedef enum {
    QMI8658_ACC_FS_2G   = 0x00,
    QMI8658_ACC_FS_4G   = 0x01,
    QMI8658_ACC_FS_8G   = 0x02,
    QMI8658_ACC_FS_16G  = 0x03
} qmi8658_acc_fs_t;

typedef enum {
    QMI8658_GYRO_FS_16DPS   = 0x00,
    QMI8658_GYRO_FS_32DPS   = 0x01,
    QMI8658_GYRO_FS_64DPS   = 0x02,
    QMI8658_GYRO_FS_128DPS  = 0x03,
    QMI8658_GYRO_FS_256DPS  = 0x04,
    QMI8658_GYRO_FS_512DPS  = 0x05,
    QMI8658_GYRO_FS_1024DPS = 0x06,
    QMI8658_GYRO_FS_2048DPS = 0x07
} qmi8658_gyro_fs_t;

typedef enum {
    QMI8658_TAP_PRIO_XYZ    = 0,    
    QMI8658_TAP_PRIO_XZY    = 1,    
    QMI8658_TAP_PRIO_YXZ    = 2,    
    QMI8658_TAP_PRIO_YZX    = 3,    
    QMI8658_TAP_PRIO_ZXY    = 4,    
    QMI8658_TAP_PRIO_ZYX    = 5,    
} qmi8658_tap_prio_t;

typedef enum {
    QMI8658_POWER_DOWN,         
    QMI8658_NORMAL_ACC,         
    QMI8658_NORMAL_GYRO,        
    QMI8658_NORMAL_ACC_GYRO,    
    QMI8658_LOWPWR_ACC          
} qmi8658_mode_t;

typedef enum {
    QMI8658_X_AXIS  = 1,        
    QMI8658_Y_AXIS  = 2,        
    QMI8658_Z_AXIS  = 3,        
} qmi8658_axis_t;

typedef enum {
    QMI8658_DISABLE_ALL = 0,
    QMI8658_ENABLE_ACC  = 1,
    QMI8658_ENABLE_GYRO = 2
} qmi8658_enable_flag_t;

typedef struct {
    i2c_t i2c;                                  
    uint8_t addr;                               
    qmi8658_odr_t acc_odr;                      
    qmi8658_acc_lowpwr_odr_t acc_lowpwr_odr;    
    qmi8658_odr_t gyro_odr;                     
    qmi8658_acc_fs_t acc_fs;                    
    qmi8658_gyro_fs_t gyro_fs;                  
} qmi8658_params_t;

typedef struct {
    qmi8658_params_t params;            
    bool initialized;                   
    qmi8658_enable_flag_t enable_flags; 
} qmi8658_t;

typedef struct {
    int16_t x;  
    int16_t y;  
    int16_t z;  
} qmi8658_3d_data_t;

typedef struct {
    uint8_t num;
    qmi8658_axis_t axis;
    bool neg_polarity;
} qmi8658_tap_data_t;

int qmi8658_init(qmi8658_t *dev, const qmi8658_params_t *params);

int qmi8658_set_mode(qmi8658_t *dev, qmi8658_mode_t mode);

int qmi8658_enable_tap(const qmi8658_t *dev);

int qmi8658_disable_tap(const qmi8658_t *dev);

int qmi8658_read_acc(const qmi8658_t *dev, qmi8658_3d_data_t *data);

int qmi8658_read_gyro(const qmi8658_t *dev, qmi8658_3d_data_t *data);

int qmi8658_read_temp(const qmi8658_t *dev, int16_t *data);

int qmi8658_read_tap(const qmi8658_t *dev, qmi8658_tap_data_t *data);
 
#ifdef __cplusplus
}
#endif