/**
* \file b_drv_qmi8658a.c
* \version v0.0.1
* \date 2023-11-09
* \author miniminiminini (405553848@qq.com)
* \brief
*
* Copyright (c) 2023 by miniminiminini. All Rights Reserved.
*/
/* Includes ----------------------------------------------*/
#include "drivers/inc/b_drv_qmi8658a.h"
#include <string.h>
#include "utils/inc/b_util_log.h"
/**
* \defgroup QMI8658A_Private_TypesDefinitions
* \{
*/
/**
* }
*/
/**
* \defgroup QMI8658A_Private_Defines
* \{
*/
#define DRIVER_NAME QMI8658A
#define QMI8658A_ID 0X05
///< Configuration Registers>
#define address 0X6B // device address
#define WHO_AM_I 0X00 // Device identifier
#define CTRL1 0x02 // Serial Interface and Sensor Enable
#define CTRL2 0x03 // Accelerometer Settings
#define CTRL3 0x04 // Gyroscope Settings
#define CTRL4 0X05 // Magnetometer Settings
#define CTRL5 0X06 // Sensor Data Processing Settings
#define CTRL7 0x08 // Enable Sensors and Configure Data Reads
#define CTRL8 0X09 // Reserved – Special Settings
///< Sensor Data Output Registers>
#define AccX_L 0x35
#define AccX_H 0x36
#define AccY_L 0x37
#define AccY_H 0x38
#define AccZ_L 0x39
#define AccZ_H 0x3A
#define TEMP_L 0x33
#define GyrX_L 0x3B
#define GyrX_H 0x3C
#define GyrY_L 0x3D
#define GyrY_H 0x3E
#define GyrZ_L 0x3F
#define GyrZ_H 0x40
#define RESET_REG 0x60
/**
* }
*/
/**
* \defgroup QMI8658A_Private_Macros
* \{
*/
#define U8ToFloat(msb, lsb) ((float)((short)((((msb)&0xffff) << 8) | (((lsb)&0xffff)))))
/**
* }
*/
/**
* \defgroup QMI8658A_Private_Variables
* \{
*/
bDRIVER_HALIF_TABLE(bQMI8658A_HalIf_t, DRIVER_NAME);
/**
* }
*/
/**
* \defgroup QMI8658A_Private_FunctionPrototypes
* \{
*/
/**
* \brief 判定iic是否失败
* \param pdrv
* \param reg
* \param data
* \param len
* \return int
*/
static int _bQMI8658AReadCheckRegs(bDriverInterface_t *pdrv, uint8_t reg, uint8_t *data,
uint16_t len)
{
bDRIVER_GET_HALIF(_if, bQMI8658A_HalIf_t, pdrv);
if (bHalI2CMemRead(_if, reg, 1, data, len) < 0)
{
return -1;
}
return len;
}
static int _bQMI8658AWriteCheckRegs(bDriverInterface_t *pdrv, uint8_t reg, uint8_t *data,
uint16_t len)
{
uint8_t read_buf[len];
bDRIVER_GET_HALIF(_if, bQMI8658A_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 void _bQMI8658ASOFTRESET(bDriverInterface_t *pdrv)
{
uint8_t reset_reg_val = 0x0B;
_bQMI8658AWriteCheckRegs(pdrv, RESET_REG, &reset_reg_val, 1);
bHalDelayMs(50);
}
static int _bQMI8658AGetID(bDriverInterface_t *pdrv, uint8_t *id)
{
if (_bQMI8658AReadCheckRegs(pdrv, WHO_AM_I, id, 1) < 0)
{
return -1;
}
// b_log("QMI8658A id:0x%x\n", id);
return 0;
}
static int _bQMI8658ADefaultCfg(bDriverInterface_t *pdrv)
{
uint8_t ctrl1_val =
0x40; // Serial Interface and Sensor Enable<串行接口（SPI或I 2 C）地址自动递增>
uint8_t ctrl7_val =
0x03; // Enable Sensors and Configure Data Reads<Enable Gyroscope Accelerometer>
uint8_t ctrl2_val = 0x34; // Accelerometer Settings<±16g 500Hz>
uint8_t ctrl3_val = 0x64; // Gyroscope Settings< ±2048dps 500Hz>
uint8_t ctrl5_val =
0x11; // Sensor Data Processing Settings<Enable Gyroscope Accelerometer 低通滤波>
if (_bQMI8658AWriteCheckRegs(pdrv, CTRL1, &ctrl1_val, 1) < 0)
{
return -1;
}
if (_bQMI8658AWriteCheckRegs(pdrv, CTRL7, &ctrl7_val, 1) < 0)
{
return -1;
}
if (_bQMI8658AWriteCheckRegs(pdrv, CTRL2, &ctrl2_val, 1) < 0)
{
return -1;
}
if (_bQMI8658AWriteCheckRegs(pdrv, CTRL3, &ctrl3_val, 1) < 0)
{
return -1;
}
if (_bQMI8658AWriteCheckRegs(pdrv, CTRL5, &ctrl5_val, 1) < 0)
{
return -1;
}
return 0;
}
static int _bQMI8658ARead(bDriverInterface_t *pdrv, uint32_t off, uint8_t *pbuf, uint32_t len)
{
uint8_t axis6_data[12];
bQMI8658A_6Axis_t *ptmp = (bQMI8658A_6Axis_t *)pbuf;
if (len < sizeof(bQMI8658A_6Axis_t))
{
return -1;
}
if (_bQMI8658AReadCheckRegs(pdrv, AccX_L, &axis6_data[0], 6) < 0)
{
return -1;
}
if (_bQMI8658AReadCheckRegs(pdrv, GyrX_L, &axis6_data[6], 6) < 0)
{
return -1;
}
ptmp->acc_arr[0] = U8ToFloat(axis6_data[1], axis6_data[0]) * 16 * 9.8f / 65536;
ptmp->acc_arr[1] = U8ToFloat(axis6_data[3], axis6_data[2]) * 16 * 9.8f / 65536;
ptmp->acc_arr[2] = U8ToFloat(axis6_data[5], axis6_data[4]) * 16 * 9.8f / 65536;
ptmp->gyro_arr[0] = U8ToFloat(axis6_data[7], axis6_data[6]) * 2048 / 65536 / 57.3f;
ptmp->gyro_arr[1] = U8ToFloat(axis6_data[9], axis6_data[8]) * 2048 / 65536 / 57.3f;
ptmp->gyro_arr[2] = U8ToFloat(axis6_data[11], axis6_data[10]) * 2048 / 65536 / 57.3f;
// b_log("acc_dat:0x%02x 0x%02x 0x%02x\n", ptmp->acc_arr[0], ptmp->acc_arr[1], ptmp->acc_arr[2]);
// b_log("gyro_dat:0x%02x 0x%02x 0x%02x\n", ptmp->gyro_arr[0], ptmp->gyro_arr[1],
// ptmp->gyro_arr[2]);
return 0;
}
static int _bQMI8658ACtl(struct bDriverIf *pdrv, uint8_t cmd, void *param)
{
int retval = 0;
switch (cmd)
{
case bCMD_QMI8658A_SET_STATUS_ERR:
{
pdrv->status = -1;
}
break;
default:
retval = -1;
break;
}
return retval;
}
/**
* }
*/
/**
* \defgroup QMI8658A_Private_Functions
* \{
*/
/**
* }
*/
/**
* \defgroup QMI8658A_Exported_Functions
* \{
*/
int bQMI8658A_Init(bDriverInterface_t *pdrv)
{
uint8_t id = 0;
bDRIVER_STRUCT_INIT(pdrv, DRIVER_NAME, bQMI8658A_Init);
pdrv->read = _bQMI8658ARead;
pdrv->ctl = _bQMI8658ACtl;
if (_bQMI8658AGetID(pdrv, &id) < 0)
{
return -1;
}
if (id != QMI8658A_ID)
{
return -1;
}
_bQMI8658ASOFTRESET(pdrv);
if (_bQMI8658ADefaultCfg(pdrv) < 0)
{
return -1;
}
return 0;
}
#ifdef BSECTION_NEED_PRAGMA
#pragma section driver_init
#endif
bDRIVER_REG_INIT(B_DRIVER_QMI8658A, bQMI8658A_Init);
#ifdef BSECTION_NEED_PRAGMA
#pragma section
#endif
/**
* }
*/
/**
* }
*/
/**
* }
*/
/**
* }
*/
/***** Copyright (c) 2023 miniminiminini *****END OF FILE*****/