228 lines
6.7 KiB
C
228 lines
6.7 KiB
C
//
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// Created by cfif on 16.09.22.
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//
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#include "Accel_QMA6100P.h"
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#include <math.h>
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#include "SystemDelayInterface.h"
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//#include "AsciiStringAssmeblingUtils.h"
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// Return If Not Ok
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#define QMA6100P_RINO(FUNC){bool fres = FUNC; if(!fres){return false;}}
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static bool vAccelWriteReg(tAccelQma6100P *env, uint8_t reg, uint8_t value, uint32_t timeout) {
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uint16_t back;
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uint16_t adr_reg = reg;
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uint16_t value_reg = value;
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QMA6100P_RINO(SpiPortChipSelect(env->port, timeout))
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QMA6100P_RINO(SpiPortTransmit(env->port, &adr_reg, timeout))
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QMA6100P_RINO(SpiPortTransmit(env->port, &value_reg, timeout))
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QMA6100P_RINO(SpiPortChipRelease(env->port, timeout))
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return true;
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}
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static bool vAccelReadReg(tAccelQma6100P *env, uint8_t reg, uint8_t *data, uint32_t timeout) {
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uint16_t back;
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uint16_t adr_reg = reg | 0x80;
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QMA6100P_RINO(SpiPortChipSelect(env->port, timeout))
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QMA6100P_RINO(SpiPortTransmit(env->port, &adr_reg, timeout))
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QMA6100P_RINO(SpiPortReceive(env->port, &back, timeout))
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QMA6100P_RINO(SpiPortChipRelease(env->port, timeout))
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*data = back;
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return true;
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}
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void AccelQma6100P_Init(tAccelQma6100P *env, tSpiPortIO *accelIO) {
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env->port = accelIO;
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}
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typedef enum {
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QMA_6100P_MODE_STANDBY = 0,
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QMA_6100P_MODE_WAKE = 1,
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} eAccelQma6100P_Mode;
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//void AccelQma6100P_SetMode(tAccelQma6100P *env, eAccelQma6100P_Mode mode) {
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// uint8_t reg;
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// uint16_t err;
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//
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// reg = vAccelReadReg(env, 0x11, &err, 1);
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//
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// if (mode == QMA_6100P_MODE_WAKE)
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// reg = (reg & 0x7f) | 0x80;
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// else if (mode == QMA_6100P_MODE_STANDBY)
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// reg = (reg & 0x7f);
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// else {
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// return;
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// }
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//
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// vAccelWriteReg(env, 0x11, reg, QMA6100P_TIMEOUT);
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//}
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bool AccelQma6100P_ConfigureDefaults(tAccelQma6100P *env) {
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// // Сброс
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// vAccelWriteReg(env, QMA6100P_REG_RESET, QMA6100P_RESET, QMA6100P_TIMEOUT);
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// SystemDelayMs(10);
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// vAccelWriteReg(env, QMA6100P_REG_RESET, 0, QMA6100P_TIMEOUT);
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// SystemDelayMs(10);
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//
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// // Перевод микросхемы в активное состояние
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// vAccelWriteReg(env,
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// QMA6100P_REG_PM,
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// QMA6100P_ENABLE_ACTIVE_MODE | QMA6100P_CIC_MULT8, QMA6100P_TIMEOUT
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// );
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//
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// // Сброс значения регистров по умолчанию
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// SystemDelayMs(10);
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// vAccelWriteReg(env, QMA6100P_REG_INTERNAL, QMA6100P_DEFAULT, QMA6100P_TIMEOUT);
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// SystemDelayMs(10);
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//
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// // Перевод микросхемы в активное состояние
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// vAccelWriteReg(env, QMA6100P_REG_PM, QMA6100P_ENABLE_ACTIVE_MODE, QMA6100P_TIMEOUT);
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//
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// // Установка полной шкалы измерения
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// vAccelWriteReg(env, QMA6100P_REG_FSR, QMA6100P_FULL_SCALE_RAGE, QMA6100P_TIMEOUT);
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//
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// // Включение прерывания по готовности данных
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// vAccelWriteReg(env, QMA6100P_REG_INT_EN1, QMA6100P_DATA_READY_ENABLE_INT1, QMA6100P_TIMEOUT);
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// vAccelWriteReg(env, QMA6100P_REG_INT_MAP1, QMA6100P_ENABLE_INT1, QMA6100P_TIMEOUT);
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//
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//
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// vAccelWriteReg(env, QMA6100P_REG_INT_CFG, QMA6100P_DEFAULT_INT_CFG_VALUE, QMA6100P_TIMEOUT);
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// vAccelWriteReg(env, QMA6100P_REG_MOT_CONF3, QMA6100P_DEFAULT_MOT_CONF3_VALUE, QMA6100P_TIMEOUT);
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vAccelWriteReg(env, QMA6100P_REG_RESET, QMA6100P_RESET, QMA6100P_TIMEOUT);
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SystemDelayMs(50);
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vAccelWriteReg(env, QMA6100P_REG_RESET, 0, QMA6100P_TIMEOUT);
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SystemDelayMs(55);
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//
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//
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vAccelWriteReg(env, 0x4A, 0x20, QMA6100P_TIMEOUT);//2w spi
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vAccelWriteReg(env, 0x56, 0x01, QMA6100P_TIMEOUT);//2w spi
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vAccelWriteReg(env, 0x5F, 0x80, QMA6100P_TIMEOUT);//2w spi
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SystemDelayMs(1);
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vAccelWriteReg(env, 0x5F, 0x0, QMA6100P_TIMEOUT);//2w spi
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// vAccelWriteReg(env, 0x11, 0x4, QMA6100P_TIMEOUT);//2w spi
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//
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//
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// uint8_t id;
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// vAccelReadReg(env, 0x00, &id, QMA6100P_TIMEOUT);
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//
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// bool is_qma = (id & 0xF0) == 90;
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vAccelWriteReg(env, 0x20, 0x05, QMA6100P_TIMEOUT);//2w spi
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vAccelWriteReg(env, 0x11, 0x84, QMA6100P_TIMEOUT);//mode active, mclk 51khz
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vAccelWriteReg(env, 0x0F, 0x01, QMA6100P_TIMEOUT);//hpf,2g (244ug/LSB)
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AccelQma6100P_SetRange(env, ACCEL_QMA6100P_RANGE_16G);
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vAccelWriteReg(env, 0x21, 0x61, QMA6100P_TIMEOUT);//int, disable i2c
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vAccelWriteReg(env, 0x10, (1 << 6) | (1 << 5), QMA6100P_TIMEOUT);//bandwidth settings
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vAccelWriteReg(env, 0x2C, 0x01, QMA6100P_TIMEOUT);
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vAccelWriteReg(env, 0x2E, 0x03, QMA6100P_TIMEOUT);//motion interrupt
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vAccelWriteReg(env, 0x2F, 0x40, QMA6100P_TIMEOUT);
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vAccelWriteReg(env, 0x18, 0x07, QMA6100P_TIMEOUT);//enable interrupt
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vAccelWriteReg(env, 0x1A, 0x01, QMA6100P_TIMEOUT);//interrupt map
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// vAccelWriteReg(env, 0x09, 0x01, QMA6100P_TIMEOUT);
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// uint16_t err = 0x00;
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// uint8_t res = vAccelReadReg(env, 0x00, &err, QMA6100P_TIMEOUT);
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//
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//
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// vAccelWriteReg(env, 0x20, 0x05, QMA6100P_TIMEOUT);
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//
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//
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//// vAccelWriteReg(env, 0x09, 0x01, QMA6100P_TIMEOUT);
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//todo return on error, сделать вывод с ошибкой (false) в случае сбоя при записи конфигурации
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return true;
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}
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bool AccelQma6100P_SetRange(tAccelQma6100P *env, eAccelQma6100pRanges value) {
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uint8_t reg;
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QMA6100P_RINO(vAccelReadReg(env, QMA6100P_REG_FSR, ®, QMA6100P_TIMEOUT));
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uint8_t regValue;
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#define V2R(T) case ACCEL_QMA6100P_RANGE_##T: regValue = ACCEL_QMA6100P_RANGE_REG_##T; break;
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switch (value) {
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V2R(2G)
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V2R(4G)
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V2R(8G)
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V2R(16G)
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V2R(32G)
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default:
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return false;
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}
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#undef V2R
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reg = (reg & 0b0000) | regValue;
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QMA6100P_RINO(vAccelWriteReg(env, QMA6100P_REG_FSR, reg, QMA6100P_TIMEOUT));
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env->range = value;
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return true;
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}
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bool AccelQma6100P_ReadOne(tAccelQma6100P *env, uint8_t firstReg, float *value) {
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uint8_t regLow;
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uint8_t regHigh;
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QMA6100P_RINO(vAccelReadReg(env, firstReg, ®Low, QMA6100P_TIMEOUT));
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QMA6100P_RINO(vAccelReadReg(env, firstReg + 1, ®High, QMA6100P_TIMEOUT));
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uint16_t rawRegs = regHigh;
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rawRegs <<= 8;
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rawRegs |= regLow;
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// uint16_t rawRegs;
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// AccelReadAutoIncAdrReg(env->port, firstReg, (uint8_t *)&rawRegs, 2, QMA6100P_TIMEOUT);
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int16_t rowValue = ((int16_t) rawRegs) >> 2;
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int32_t valueMicroG = rowValue * env->range;
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*value = roundf(valueMicroG) / 1000000.f;
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return true;
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}
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bool AccelQma6100P_Read(tAccelQma6100P *env, vector3 *value) {
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QMA6100P_RINO(AccelQma6100P_ReadOne(env, QMA6100P_REG_ACC_X_L, &value->x));
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QMA6100P_RINO(AccelQma6100P_ReadOne(env, QMA6100P_REG_ACC_Y_L, &value->y));
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QMA6100P_RINO(AccelQma6100P_ReadOne(env, QMA6100P_REG_ACC_Z_L, &value->z));
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return true;
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}
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#undef QMA6100P_RINO |