/**
******************************************************************************
* @file qmc5883p.c
* @author Yangzhiqiang@qst
* @version V1.0
* @date 2020-5-27
* @brief qmc5883p
******************************************************************************
* @attention
*
*
******************************************************************************
*/
#include "QMC5883P.h"
#include "PT32x007x.h"
#include "string.h"
#define QMC5883_ADDR (0x2c<<1)//0x0D //0x1a
#define fabs(x) (x < 0 ? -x : x)
enum{
AXIS_X = 0,
AXIS_Y = 1,
AXIS_Z = 2,
AXIS_TOTAL
};
typedef struct{
signed char sign[3];
unsigned char map[3];
} QMC5883P_map;
static uint8_t chipid = 0;
static QMC5883P_map c_map;
void delay_us(uint32_t delay)
{
uint32_t i,j,k;
for(i=0;i<delay;i++)
{
for(j=0;j<10;j++)
{
k++;
}
}
}
//---------------------------------------
/**
* @brief IIC写函数
* @param pBuffer:需要写入的数据
* @param WriteAddr:从机地址
* @param NumByteToWrite:需要写入的数据长度
* @retval 无
*/
void Acce_Write_Byte(unsigned int WriteAddr, u8 data)
{
// int i;
/******************等待从机ready***************/
I2C_GenerateEvent(I2C,I2C_Event_Start,DISABLE);
I2C->CCR |= I2C_CCR_SI | I2C_CCR_ACK;
I2C_Cmd(I2C,DISABLE);
I2C_Cmd(I2C,ENABLE);
// printf("%s %d\r\n", __func__, __LINE__) ;
I2C_GenerateEvent(I2C,I2C_Event_Start,ENABLE);
while(I2C_GetFlagStatus(I2C,I2C_FLAG_StartOk)!= SET);
I2C_SendAddr(I2C, QMC5883_ADDR);//器件地址,写
while(I2C_GetFlagStatus(I2C,I2C_FLAG_MASGetAckW)!=SET);
// printf("%s %d\r\n", __func__, __LINE__) ;
I2C_SendData(I2C,WriteAddr);//发送要写的字地址
while(I2C_GetFlagStatus(I2C,I2C_FLAG_MDSGetAck)!=SET);
I2C_SendData(I2C, data);
while(I2C_GetFlagStatus(I2C,I2C_FLAG_MDSGetAck) != SET);
/******************发送停止位***************/
I2C_GenerateEvent(I2C,I2C_Event_Stop,ENABLE);
}
//uint8_t I2C_EE_Read(u8* pBuffer,u16 ReadAddr, u16 DeviceAddr, u16 data_size)
uint8_t Acce_Read_Byte(u16 ReadAddr)
{
// int i;
uint8_t date = 0 ;
/******************等待从机ready***************/
//printf("---%s %d---\n", __func__, __LINE__) ;
I2C_GenerateEvent(I2C,I2C_Event_Start,ENABLE);
while(I2C_GetFlagStatus(I2C,I2C_FLAG_StartOk)!= SET);
I2C_SendAddr(I2C, QMC5883_ADDR);//器件地址,写
while(I2C_GetFlagStatus(I2C,I2C_FLAG_MASGetAckW)!=SET);
I2C_SendData(I2C,ReadAddr);//发送要读的页地址
while(I2C_GetFlagStatus(I2C,I2C_FLAG_MDSGetAck)!=SET);
I2C_GenerateEvent(I2C,I2C_Event_Stop,ENABLE);
/******************接收数据***************/
I2C_GenerateEvent(I2C,I2C_Event_Start,ENABLE);
while(I2C_GetFlagStatus(I2C,I2C_FLAG_StartOk)!= SET);
I2C_SendAddr(I2C, QMC5883_ADDR + 1);//器件地址,读
while(I2C_GetFlagStatus(I2C,I2C_FLAG_MASGetAckR)!=SET);
I2C->CCR=I2C_CCR_ACK|I2C_CCR_SI;//主机发送NACK
while(I2C_GetFlagStatus(I2C,I2C_FLAG_MDGSendNack) != SET);
date = I2C_ReceiveData(I2C);
/******************发送停止位***************/
I2C_GenerateEvent(I2C,I2C_Event_Stop,ENABLE);
return date ;
}
//---------------------------------------
//uint8_t qmc5883p_read_block(uint8_t addr)
//{
// uint8_t data = 0;
// data = Acce_Read_Byte(addr);
// return data;
//}
int qmc5883p_write_reg(uint8_t addr, uint8_t data)
{
int ret = 0;
int retry = 0;
while((!ret) && (retry++ < 5))
{
ret = mx_i2c1_write(mag_addr<<1, addr, data);
}
return ret;
}
static void qmc5883p_delay(unsigned int ms)
{
delay_us(ms * 1000);
}
static void qmc5883p_set_layout(int layout)
{
if(layout == 0)
{
c_map.sign[AXIS_X] = 1;
c_map.sign[AXIS_Y] = 1;
c_map.sign[AXIS_Z] = 1;
c_map.map[AXIS_X] = AXIS_X;
c_map.map[AXIS_Y] = AXIS_Y;
c_map.map[AXIS_Z] = AXIS_Z;
}
else if(layout == 1)
{
c_map.sign[AXIS_X] = -1;
c_map.sign[AXIS_Y] = 1;
c_map.sign[AXIS_Z] = 1;
c_map.map[AXIS_X] = AXIS_Y;
c_map.map[AXIS_Y] = AXIS_X;
c_map.map[AXIS_Z] = AXIS_Z;
}
else if(layout == 2)
{
c_map.sign[AXIS_X] = -1;
c_map.sign[AXIS_Y] = -1;
c_map.sign[AXIS_Z] = 1;
c_map.map[AXIS_X] = AXIS_X;
c_map.map[AXIS_Y] = AXIS_Y;
c_map.map[AXIS_Z] = AXIS_Z;
}
else if(layout == 3)
{
c_map.sign[AXIS_X] = 1;
c_map.sign[AXIS_Y] = -1;
c_map.sign[AXIS_Z] = 1;
c_map.map[AXIS_X] = AXIS_Y;
c_map.map[AXIS_Y] = AXIS_X;
c_map.map[AXIS_Z] = AXIS_Z;
}
else if(layout == 4)
{
c_map.sign[AXIS_X] = -1;
c_map.sign[AXIS_Y] = 1;
c_map.sign[AXIS_Z] = -1;
c_map.map[AXIS_X] = AXIS_X;
c_map.map[AXIS_Y] = AXIS_Y;
c_map.map[AXIS_Z] = AXIS_Z;
}
else if(layout == 5)
{
c_map.sign[AXIS_X] = 1;
c_map.sign[AXIS_Y] = 1;
c_map.sign[AXIS_Z] = -1;
c_map.map[AXIS_X] = AXIS_Y;
c_map.map[AXIS_Y] = AXIS_X;
c_map.map[AXIS_Z] = AXIS_Z;
}
else if(layout == 6)
{
c_map.sign[AXIS_X] = 1;
c_map.sign[AXIS_Y] = -1;
c_map.sign[AXIS_Z] = -1;
c_map.map[AXIS_X] = AXIS_X;
c_map.map[AXIS_Y] = AXIS_Y;
c_map.map[AXIS_Z] = AXIS_Z;
}
else if(layout == 7)
{
c_map.sign[AXIS_X] = -1;
c_map.sign[AXIS_Y] = -1;
c_map.sign[AXIS_Z] = -1;
c_map.map[AXIS_X] = AXIS_Y;
c_map.map[AXIS_Y] = AXIS_X;
c_map.map[AXIS_Z] = AXIS_Z;
}
else
{
c_map.sign[AXIS_X] = 1;
c_map.sign[AXIS_Y] = 1;
c_map.sign[AXIS_Z] = 1;
c_map.map[AXIS_X] = AXIS_X;
c_map.map[AXIS_Y] = AXIS_Y;
c_map.map[AXIS_Z] = AXIS_Z;
}
}
static int qmc5883p_get_chipid(void)
{
int ret = 0;
int i;
unsigned char chipid = 0x00;
for(i = 0; i<10; i++)
{
chipid = Acce_Read_Byte(QMC5883P_CHIP_ID_REG);
if(chipid == 0x80)
{
//ret = qmc5883p_write_reg(0x0a, 0x00); // suspend mode
printf("qmc5883p read chip id OK id:0x%x\r\n", chipid);
return 1;
}
}
printf("qmc5883p read chip id fail\r\n");
return 0;
}
uint8_t qmc5883p_read_mag_xyz(float *data)
{
int res;
unsigned char mag_data[6];
short hw_d[3] = {0};
short raw_c[3];
int t1 = 0;
unsigned char rdy = 0;
/* Check status register for data availability */
while(!(rdy & 0x01) && (t1 < 5))
{
rdy = QMC5883P_STATUS_REG;
rdy = Acce_Read_Byte(QMC5883P_STATUS_REG);
t1++;
// printf("while\r\n") ;
}
// printf("Check status register for data availability success\r\n ") ;
mag_data[0] = Acce_Read_Byte(QMC5883P_DATA_OUT_X_LSB_REG) ; qmc5883p_delay(1);
mag_data[1] = Acce_Read_Byte(QMC5883P_DATA_OUT_X_MSB_REG) ; qmc5883p_delay(1);
mag_data[2] = Acce_Read_Byte(QMC5883P_DATA_OUT_Y_LSB_REG) ; ; qmc5883p_delay(1);
mag_data[3] = Acce_Read_Byte(QMC5883P_DATA_OUT_Y_MSB_REG) ; qmc5883p_delay(1);
mag_data[4] = Acce_Read_Byte(QMC5883P_DATA_OUT_Z_LSB_REG) ; qmc5883p_delay(1);
mag_data[5] = Acce_Read_Byte(QMC5883P_DATA_OUT_Z_MSB_REG) ; qmc5883p_delay(1);
// mag_data[0] = QMC5883P_DATA_OUT_X_LSB_REG;
// res = qmc5883p_read_block(QMC5883P_DATA_OUT_X_LSB_REG, mag_data, 6);
// if(res == 0)
// {
// return 0;
// }
hw_d[0] = (short)(((mag_data[1]) << 8) | mag_data[0]);
hw_d[1] = (short)(((mag_data[3]) << 8) | mag_data[2]);
hw_d[2] = (short)(((mag_data[5]) << 8) | mag_data[4]);
//Unit:mG 1G = 100uT = 1000mG
//printf("Hx=%d, Hy=%d, Hz=%d\n",hw_d[0],hw_d[1],hw_d[2]);
raw_c[AXIS_X] = (int)(c_map.sign[AXIS_X]*hw_d[c_map.map[AXIS_X]]);
raw_c[AXIS_Y] = (int)(c_map.sign[AXIS_Y]*hw_d[c_map.map[AXIS_Y]]);
raw_c[AXIS_Z] = (int)(c_map.sign[AXIS_Z]*hw_d[c_map.map[AXIS_Z]]);
data[0] = (float)raw_c[0] / 10.0f;
data[1] = (float)raw_c[1] / 10.0f;
data[2] = (float)raw_c[2] / 10.0f;
printf("%f %f %f\n",data[0],data[1],data[2]);
return res;
}
/* Set the sensor mode */
int qmc5883p_set_mode(unsigned char mode)
{
int err = 0;
unsigned char ctrl1_value = 0;
ctrl1_value = Acce_Read_Byte(QMC5883P_CTL_REG_ONE);
ctrl1_value = (ctrl1_value&(~0x03))|mode;
printf("QMC5883P_set_mode, 0x0A = [%02x]->[%02x] \r\n", QMC5883P_CTL_REG_ONE,ctrl1_value);
Acce_Write_Byte(QMC5883P_CTL_REG_ONE, ctrl1_value);
return 1;
}
int qmc5883p_set_output_data_rate(unsigned char rate){
unsigned char ctrl1_value = 0;
ctrl1_value = Acce_Read_Byte(QMC5883P_CTL_REG_ONE);
ctrl1_value = (ctrl1_value& (~0xE8)) | (rate << 5);
printf("QMC5883P_set_output_data_rate, 0x0A = [%02x]->[%02x] \r\n", QMC5883P_CTL_REG_ONE,ctrl1_value);
Acce_Write_Byte(QMC5883P_CTL_REG_ONE, ctrl1_value);
return 1;
}
static int qmc5883p_enable(void)
{
int ret = 0;
Acce_Write_Byte(0x0a, 0x00); delay_us(10) ;
qmc5883p_delay(1);
Acce_Write_Byte(0x0d, 0x40); delay_us(10) ;
Acce_Write_Byte(0x29, 0x06); delay_us(10) ;
//qmc5883p_write_reg(0x0a, 0x0F);//0XA9=ODR =100HZ 0XA5 = 50HZ
Acce_Write_Byte(0x0b, 0x00); //30 GS
delay_us(10) ;
Acce_Write_Byte(0x0a, 0xc3); delay_us(10) ;
qmc5883p_delay(1);
return 1;
}
int qmc5883p_init(void)
{
int ret = 0;
qmc5883p_set_layout(0);
qmc5883p_enable();
qmc5883p_get_chipid();
{
unsigned char ctrl_value;
ctrl_value = Acce_Read_Byte(QMC5883P_CTL_REG_ONE);
printf("QMC5883P 0x%x=0x%x \r\n", QMC5883P_CTL_REG_ONE, ctrl_value);
ctrl_value = Acce_Read_Byte(QMC5883P_CTL_REG_TWO);
printf("QMC5883P 0x%x=0x%x \r\n", QMC5883P_CTL_REG_TWO, ctrl_value);
ctrl_value = Acce_Read_Byte(0x0d);
printf("QMC5883P 0x%x=0x%x \r\n", 0x0d, ctrl_value);
}
return 1;
}