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cfif 2025-06-02 13:26:41 +03:00
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Inc/Accel_QMA6100P.h Normal file
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//
// Created by cfif on 28.09.22.
//
#ifndef ACCEL_QMA6100P_H
#define ACCEL_QMA6100P_H
#include "SpiPort.h"
#include "vector.h"
#define QMA6100P_TIMEOUT 10
#define QMA6100P_RESET 0xB6
#define QMA6100P_ENABLE_ACTIVE_MODE 0b10000000
#define QMA6100P_CIC_MULT8 0b00110000
#define QMA6100P_ENABLE_INT1 0b10000
#define QMA6100P_DATA_READY_ENABLE_INT1 0b10000
#define QMA6100P_FULL_SCALE_RAGE 0b0001
#define QMA6100P_DEFAULT 0b1000
#define QMA6100P_DEFAULT_INT_CFG_VALUE 0b01001100
#define QMA6100P_DEFAULT_MOT_CONF3_VALUE 0b01000000
#define QMA6100P_REG_FSR 0x0F
#define QMA6100P_REG_BW 0x10
#define QMA6100P_REG_PM 0x11
#define QMA6100P_REG_INT_MAP1 0x1A
#define QMA6100P_REG_INT_EN1 0x17
#define QMA6100P_REG_INT_CFG 0x21
#define QMA6100P_REG_MOT_CONF3 0x2F
#define QMA6100P_REG_RESET 0x36
#define QMA6100P_REG_INTERNAL 0x33
#define QMA6100P_REG_ACC_X_L 0x01
#define QMA6100P_REG_ACC_X_H 0x02
#define QMA6100P_REG_ACC_Y_L 0x03
#define QMA6100P_REG_ACC_Y_H 0x04
#define QMA6100P_REG_ACC_Z_L 0x05
#define QMA6100P_REG_ACC_Z_H 0x06
//Значения это LSB в микро g
//Values is LSB in micro g
typedef enum {
ACCEL_QMA6100P_RANGE_2G = 244,
ACCEL_QMA6100P_RANGE_4G = 488,
ACCEL_QMA6100P_RANGE_8G = 977,
ACCEL_QMA6100P_RANGE_16G = 1950,
ACCEL_QMA6100P_RANGE_32G = 3910
} eAccelQma6100pRanges;
typedef enum {
ACCEL_QMA6100P_RANGE_REG_2G = 0b0001,
ACCEL_QMA6100P_RANGE_REG_4G = 0b0010,
ACCEL_QMA6100P_RANGE_REG_8G = 0b0100,
ACCEL_QMA6100P_RANGE_REG_16G = 0b1000,
ACCEL_QMA6100P_RANGE_REG_32G = 0b1111,
} eAccelQma6100pRangesReg;
typedef struct {
int32_t x;
int32_t y;
int32_t z;
} tAccelCoor;
typedef struct {
tSpiPortIO *port;
//нельзя задавать ниже описанные значения напрямую
//только через setter
//private
eAccelQma6100pRanges range;
tAccelCoor xyz;
} tAccelQma6100P;
void AccelQma6100P_Init(tAccelQma6100P *env, tSpiPortIO *accelIO);
bool AccelQma6100P_ConfigureDefaults(tAccelQma6100P *env);
bool AccelQma6100P_SetRange(tAccelQma6100P *env, eAccelQma6100pRanges value);
bool AccelQma6100P_Read(tAccelQma6100P *env, vector3 *value);
#endif //ACCEL_QMA6100P_H

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Src/Accel_QMA6100P.c Normal file
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//
// Created by cfif on 16.09.22.
//
#include "Accel_QMA6100P.h"
#include <math.h>
#include "SystemDelayInterface.h"
//#include "AsciiStringAssmeblingUtils.h"
// Return If Not Ok
#define QMA6100P_RINO(FUNC){bool fres = FUNC; if(!fres){return false;}}
static bool vAccelWriteReg(tAccelQma6100P *env, uint8_t reg, uint8_t value, uint32_t timeout) {
uint16_t back;
uint16_t adr_reg = reg;
uint16_t value_reg = value;
QMA6100P_RINO(SpiPortChipSelect(env->port, timeout))
QMA6100P_RINO(SpiPortTransmit(env->port, &adr_reg, timeout))
QMA6100P_RINO(SpiPortTransmit(env->port, &value_reg, timeout))
QMA6100P_RINO(SpiPortChipRelease(env->port, timeout))
SystemDelayMs(50);
return true;
}
static bool vAccelReadReg(tAccelQma6100P *env, uint8_t reg, uint8_t *data, uint32_t timeout) {
uint16_t back;
uint16_t adr_reg = reg | 0x80;
QMA6100P_RINO(SpiPortChipSelect(env->port, timeout))
QMA6100P_RINO(SpiPortTransmit(env->port, &adr_reg, timeout))
QMA6100P_RINO(SpiPortReceive(env->port, &back, timeout))
QMA6100P_RINO(SpiPortChipRelease(env->port, timeout))
*data = back;
return true;
}
void AccelQma6100P_Init(tAccelQma6100P *env, tSpiPortIO *accelIO) {
env->port = accelIO;
}
typedef enum {
QMA_6100P_MODE_STANDBY = 0,
QMA_6100P_MODE_WAKE = 1,
} eAccelQma6100P_Mode;
//void AccelQma6100P_SetMode(tAccelQma6100P *env, eAccelQma6100P_Mode mode) {
// uint8_t reg;
// uint16_t err;
//
// reg = vAccelReadReg(env, 0x11, &err, 1);
//
// if (mode == QMA_6100P_MODE_WAKE)
// reg = (reg & 0x7f) | 0x80;
// else if (mode == QMA_6100P_MODE_STANDBY)
// reg = (reg & 0x7f);
// else {
// return;
// }
//
// vAccelWriteReg(env, 0x11, reg, QMA6100P_TIMEOUT);
//}
bool AccelQma6100P_ConfigureDefaults(tAccelQma6100P *env) {
// // Сброс
// vAccelWriteReg(env, QMA6100P_REG_RESET, QMA6100P_RESET, QMA6100P_TIMEOUT);
// SystemDelayMs(10);
// vAccelWriteReg(env, QMA6100P_REG_RESET, 0, QMA6100P_TIMEOUT);
// SystemDelayMs(10);
//
// // Перевод микросхемы в активное состояние
// vAccelWriteReg(env,
// QMA6100P_REG_PM,
// QMA6100P_ENABLE_ACTIVE_MODE | QMA6100P_CIC_MULT8, QMA6100P_TIMEOUT
// );
//
// // Сброс значения регистров по умолчанию
// SystemDelayMs(10);
// vAccelWriteReg(env, QMA6100P_REG_INTERNAL, QMA6100P_DEFAULT, QMA6100P_TIMEOUT);
// SystemDelayMs(10);
//
// // Перевод микросхемы в активное состояние
// vAccelWriteReg(env, QMA6100P_REG_PM, QMA6100P_ENABLE_ACTIVE_MODE, QMA6100P_TIMEOUT);
//
// // Установка полной шкалы измерения
// vAccelWriteReg(env, QMA6100P_REG_FSR, QMA6100P_FULL_SCALE_RAGE, QMA6100P_TIMEOUT);
//
// // Включение прерывания по готовности данных
// vAccelWriteReg(env, QMA6100P_REG_INT_EN1, QMA6100P_DATA_READY_ENABLE_INT1, QMA6100P_TIMEOUT);
// vAccelWriteReg(env, QMA6100P_REG_INT_MAP1, QMA6100P_ENABLE_INT1, QMA6100P_TIMEOUT);
//
//
// vAccelWriteReg(env, QMA6100P_REG_INT_CFG, QMA6100P_DEFAULT_INT_CFG_VALUE, QMA6100P_TIMEOUT);
// vAccelWriteReg(env, QMA6100P_REG_MOT_CONF3, QMA6100P_DEFAULT_MOT_CONF3_VALUE, QMA6100P_TIMEOUT);
vAccelWriteReg(env, QMA6100P_REG_RESET, QMA6100P_RESET, QMA6100P_TIMEOUT);
SystemDelayMs(50);
vAccelWriteReg(env, QMA6100P_REG_RESET, 0, QMA6100P_TIMEOUT);
SystemDelayMs(55);
//
//
vAccelWriteReg(env, 0x4A, 0x20, QMA6100P_TIMEOUT);//2w spi
vAccelWriteReg(env, 0x56, 0x01, QMA6100P_TIMEOUT);//2w spi
vAccelWriteReg(env, 0x5F, 0x80, QMA6100P_TIMEOUT);//2w spi
SystemDelayMs(1);
vAccelWriteReg(env, 0x5F, 0x0, QMA6100P_TIMEOUT);//2w spi
// vAccelWriteReg(env, 0x11, 0x4, QMA6100P_TIMEOUT);//2w spi
//
//
// uint8_t id;
// vAccelReadReg(env, 0x00, &id, QMA6100P_TIMEOUT);
//
// bool is_qma = (id & 0xF0) == 90;
vAccelWriteReg(env, 0x20, 0x05, QMA6100P_TIMEOUT);//2w spi
vAccelWriteReg(env, 0x11, 0x84, QMA6100P_TIMEOUT);//mode active, mclk 51khz
vAccelWriteReg(env, 0x0F, 0x01, QMA6100P_TIMEOUT);//hpf,2g (244ug/LSB)
AccelQma6100P_SetRange(env, ACCEL_QMA6100P_RANGE_16G);
vAccelWriteReg(env, 0x21, 0x61, QMA6100P_TIMEOUT);//int, disable i2c
vAccelWriteReg(env, 0x10, (1 << 6) | (1 << 5), QMA6100P_TIMEOUT);//bandwidth settings
vAccelWriteReg(env, 0x2C, 0x01, QMA6100P_TIMEOUT);
vAccelWriteReg(env, 0x2E, 0x03, QMA6100P_TIMEOUT);//motion interrupt
vAccelWriteReg(env, 0x2F, 0x40, QMA6100P_TIMEOUT);
vAccelWriteReg(env, 0x18, 0x07, QMA6100P_TIMEOUT);//enable interrupt
vAccelWriteReg(env, 0x1A, 0x01, QMA6100P_TIMEOUT);//interrupt map
// vAccelWriteReg(env, 0x09, 0x01, QMA6100P_TIMEOUT);
// uint16_t err = 0x00;
// uint8_t res = vAccelReadReg(env, 0x00, &err, QMA6100P_TIMEOUT);
//
//
// vAccelWriteReg(env, 0x20, 0x05, QMA6100P_TIMEOUT);
//
//
//// vAccelWriteReg(env, 0x09, 0x01, QMA6100P_TIMEOUT);
//todo return on error, сделать вывод с ошибкой (false) в случае сбоя при записи конфигурации
SystemDelayMs(200);
return true;
}
bool AccelQma6100P_SetRange(tAccelQma6100P *env, eAccelQma6100pRanges value) {
uint8_t reg;
QMA6100P_RINO(vAccelReadReg(env, QMA6100P_REG_FSR, &reg, QMA6100P_TIMEOUT));
uint8_t regValue;
#define V2R(T) case ACCEL_QMA6100P_RANGE_##T: regValue = ACCEL_QMA6100P_RANGE_REG_##T; break;
switch (value) {
V2R(2G)
V2R(4G)
V2R(8G)
V2R(16G)
V2R(32G)
default:
return false;
}
#undef V2R
reg = (reg & 0b0000) | regValue;
QMA6100P_RINO(vAccelWriteReg(env, QMA6100P_REG_FSR, reg, QMA6100P_TIMEOUT));
env->range = value;
return true;
}
bool AccelQma6100P_ReadOne(tAccelQma6100P *env, uint8_t firstReg, float *value) {
uint8_t regLow;
uint8_t regHigh;
QMA6100P_RINO(vAccelReadReg(env, firstReg, &regLow, QMA6100P_TIMEOUT));
QMA6100P_RINO(vAccelReadReg(env, firstReg + 1, &regHigh, QMA6100P_TIMEOUT));
uint16_t rawRegs = regHigh;
rawRegs <<= 8;
rawRegs |= regLow;
// uint16_t rawRegs;
// AccelReadAutoIncAdrReg(env->port, firstReg, (uint8_t *)&rawRegs, 2, QMA6100P_TIMEOUT);
int16_t rowValue = ((int16_t) rawRegs) >> 2;
int32_t valueMicroG = rowValue * env->range;
if (firstReg == QMA6100P_REG_ACC_X_L)
env->xyz.x = valueMicroG;
if (firstReg == QMA6100P_REG_ACC_Y_L)
env->xyz.y = valueMicroG;
if (firstReg == QMA6100P_REG_ACC_Z_L)
env->xyz.z = valueMicroG;
*value = roundf(valueMicroG) / 1000000.f;
return true;
}
bool AccelQma6100P_Read(tAccelQma6100P *env, vector3 *value) {
QMA6100P_RINO(AccelQma6100P_ReadOne(env, QMA6100P_REG_ACC_X_L, &value->x));
QMA6100P_RINO(AccelQma6100P_ReadOne(env, QMA6100P_REG_ACC_Y_L, &value->y));
QMA6100P_RINO(AccelQma6100P_ReadOne(env, QMA6100P_REG_ACC_Z_L, &value->z));
return true;
}
#undef QMA6100P_RINO

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modular.json Normal file
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{
"dep": [
{
"type": "git",
"provider": "Smart_Components_Aurus",
"repo": "SpiPort"
},
{
"type": "git",
"provider": "Smart_Components_Aurus",
"repo": "VectorMath"
}
],
"cmake": {
"inc_dirs": [
"Inc"
],
"srcs": [
"Src/**.c"
]
}
}