/**
* \file b_drv_qmc5883l.c
* \version v0.0.1
* \date 2023-11-06
* \author miniminiminini (405553848@qq.com)
* \brief
*
* Copyright (c) 2023 by miniminiminini. All Rights Reserved.
*/
/* Includes ----------------------------------------------*/
#include "drivers/inc/b_drv_qmc5883l.h"
#include <string.h>
#include "utils/inc/b_util_log.h"
/**
* \defgroup QMC5883L_Private_TypesDefinitions
* \{
*/
/**
* }
*/
/**
* \defgroup QMC5883L_Private_Defines
* \{
*/
#define DRIVER_NAME QMC5883L
#define QMC5883L_ID 0xFF
#define MAG_X_REG_L 0X00
#define MAG_X_REG_H 0X01
#define MAG_Y_REG_L 0X02
#define MAG_Y_REG_H 0X03
#define MAG_Z_REG_L 0X04
#define MAG_Z_REG_H 0X05
#define STATUS_REG 0X06
#define TEMP_L_REG 0X07
#define TEMP_H_REG 0X08
#define CONTROL_1_REG 0X09
#define CONTROL_2_REG 0X0A
#define PERIOD_REG 0X0B
#define CHIP_ID_REG 0X0D
#define MAG_DATA_LEN 6
/**
* }
*/
/**
* \defgroup QMC5883L_Private_Macros
* \{
*/
#define U82U16(msb, lsb) ((((msb)&0xffff) << 8) | (((lsb)&0xffff)))
/**
* }
*/
/**
* \defgroup QMC5883L_Private_Variables
* \{
*/
bDRIVER_HALIF_TABLE(bQMC5883L_HalIf_t, DRIVER_NAME);
/**
* }
*/
/**
* \defgroup QMC5883L_Private_FunctionPrototypes
* \{
*/
/**
* }
*/
/**
* \defgroup QMC5883L_Private_Functions
* \{
*/
/**
* \brief 读寄存器并且判定是否iic失败
* \param pdrv
* \param reg
* \param data
* \param len
* \return int -1:失败,0:正常
*/
static int _bQMC5883LReadCheckRegs(bDriverInterface_t *pdrv, uint8_t reg, uint8_t *data,
uint16_t len)
{
bDRIVER_GET_HALIF(_if, bQMC5883L_HalIf_t, pdrv);
if (bHalI2CMemRead(_if, reg, 1, data, len) < 0)
{
return -1;
}
return len;
}
/**
* \brief 写寄存器后再读寄存器,看是否配置成功,若iic失败或者写后再读值不一致则返回失败
* \param pdrv
* \param reg
* \param data
* \param len
* \return int -1:失败,0:正常
*/
static int _bQMC5883LWriteCheckRegs(bDriverInterface_t *pdrv, uint8_t reg, uint8_t *data,
uint16_t len)
{
uint8_t read_buf[len];
bDRIVER_GET_HALIF(_if, bQMC5883L_HalIf_t, pdrv);
memset(read_buf, 0, sizeof(read_buf));
if (bHalI2CMemWrite(_if, reg, 1, data, len) < 0)
{
return -1;
}
if (bHalI2CMemRead(_if, reg, 1, read_buf, len) < 0)
{
return -1;
}
for (uint16_t i = 0; i < len; i++)
{
if (read_buf[i] != data[i])
{
return -2;
}
}
return len;
}
static int _bQMC5883LGetID(bDriverInterface_t *pdrv, uint8_t *id)
{
if (_bQMC5883LReadCheckRegs(pdrv, CHIP_ID_REG, id, 1) < 0)
{
return -1;
}
// b_log("QMC5883L id:0x%x\n", id);
return 0;
}
static int _bQMC5883LDefaultCfg(bDriverInterface_t *pdrv)
{
uint8_t control_1_reg_val = 0x1d;
uint8_t period_reg_val = 0x01;
uint8_t cfg1_val = 0x40;
uint8_t cfg2_val = 0x01;
if (_bQMC5883LWriteCheckRegs(pdrv, PERIOD_REG, &period_reg_val, 1) < 0)
{
return -1;
}
if (_bQMC5883LWriteCheckRegs(pdrv, 0x21, &cfg2_val, 1) < 0)
{
return -1;
}
if (_bQMC5883LWriteCheckRegs(pdrv, 0x20, &cfg1_val, 1) < 0)
{
return -1;
}
if (_bQMC5883LWriteCheckRegs(pdrv, CONTROL_1_REG, &control_1_reg_val, 1) < 0)
{
return -1;
}
return 0;
}
static int _bQMC5883LRead(bDriverInterface_t *pdrv, uint32_t off, uint8_t *pbuf, uint32_t len)
{
uint8_t mag_data[6];
bQMC5883L_3Axis_t *ptmp = (bQMC5883L_3Axis_t *)pbuf;
if (len < sizeof(bQMC5883L_3Axis_t))
{
return -1;
}
if (_bQMC5883LReadCheckRegs(pdrv, MAG_X_REG_L, &mag_data[0], MAG_DATA_LEN) < 0)
{
return -1;
}
// _bQMC5883LReadCheckRegs(pdrv, MAG_X_REG_L, &mag_data[0], 1);
// _bQMC5883LReadCheckRegs(pdrv, MAG_X_REG_H, &mag_data[1], 1);
// _bQMC5883LReadCheckRegs(pdrv, MAG_Y_REG_L, &mag_data[2], 1);
// _bQMC5883LReadCheckRegs(pdrv, MAG_Y_REG_H, &mag_data[3], 1);
// _bQMC5883LReadCheckRegs(pdrv, MAG_Z_REG_L, &mag_data[4], 1);
// _bQMC5883LReadCheckRegs(pdrv, MAG_Z_REG_H, &mag_data[5], 1);
// b_log("mag_reg_dat:0x%02x 0x%02x 0x%02x 0x%02x 0x%02x 0x%02x\n", mag_data[0], mag_data[1],
// mag_data[2], mag_data[3], mag_data[4], mag_data[5]);
ptmp->mag_arr[0] = (float)((short)(U82U16(mag_data[1], mag_data[0]))) / 30.0f;
ptmp->mag_arr[1] = (float)((short)(U82U16(mag_data[3], mag_data[2]))) / 30.0f;
ptmp->mag_arr[2] = (float)((short)(U82U16(mag_data[5], mag_data[4]))) / 30.0f;
// b_log("mag_dat:%f %f %f\n", ptmp->mag_arr[0], ptmp->mag_arr[1], ptmp->mag_arr[2]);
return 0;
}
/**
* \brief
* \param pdrv
* \param cmd
* \param param
* \return int
* -1代表期间iic错误
* 0在bCMD_QMC5883L_WHETHER_NEWDATA_READY下表示有数据
* 1在bCMD_QMC5883L_WHETHER_NEWDATA_READY下表示无数据
*/
static int _bQMC5883LCtl(struct bDriverIf *pdrv, uint8_t cmd, void *param)
{
int retval = -1;
uint8_t read_dat = 0;
switch (cmd)
{
case bCMD_QMC5883L_WHETHER_NEWDATA_READY:
{
if (_bQMC5883LReadCheckRegs(pdrv, STATUS_REG, &read_dat, 1) < 0)
{
retval = -1;
}
else
{
if (read_dat & 0x01)
{
retval = QMC5883L_NEWDATA_READY;
}
else
{
retval = QMC5883L_NEWDATA_NOT_READY;
}
}
}
break;
case bCMD_QMC5883L_SET_STATUS_ERR:
{
pdrv->status = -1;
retval = 0;
}
break;
default:
retval = -1;
break;
}
return retval;
}
/**
* }
*/
/**
* \defgroup QMC5883L_Exported_Functions
* \{
*/
// int bQMC5883L_Init_0(bDriverInterface_t *pdrv)
// {
// _bQMC5883LSOFTRESET(pdrv);
// bHalDelayMs(50);
// return 0;
// }
int bQMC5883L_Init(bDriverInterface_t *pdrv)
{
uint8_t id = 0;
bDRIVER_STRUCT_INIT(pdrv, DRIVER_NAME, bQMC5883L_Init);
pdrv->read = _bQMC5883LRead;
pdrv->ctl = _bQMC5883LCtl;
if (_bQMC5883LGetID(pdrv, &id) < 0)
{
return -1;
}
if (id != QMC5883L_ID)
{
return -1;
}
if (_bQMC5883LDefaultCfg(pdrv) < 0)
{
return -1;
}
return 0;
}
// bDRIVER_REG_INIT_0(B_DRIVER_QMC5883L, bQMC5883L_Init_0);
#ifdef BSECTION_NEED_PRAGMA
#pragma section driver_init
#endif
bDRIVER_REG_INIT(B_DRIVER_QMC5883L, bQMC5883L_Init);
#ifdef BSECTION_NEED_PRAGMA
#pragma section
#endif
/**
* }
*/
/**
* }
*/
/**
* }
*/
/**
* }
*/
/***** Copyright (c) 2023 miniminiminini *****END OF FILE*****/