/*Includes ----------------------------------------------*/ #include "drv_iic_back.h" #include "nrf_delay.h" #include "drv_qmc6310_v2.h" /*Private macro ------------------------------------------------*/ /* vendor chip id*/ #define QMC6310U_IIC_ADDR (0x1c<<1) #define QMC6310N_IIC_ADDR (0x3c<<1) #define QMC6310_CHIP_ID_REG 0x00 /*data output register*/ #define QMC6310_DATA_OUT_X_LSB_REG 0x01 #define QMC6310_DATA_OUT_X_MSB_REG 0x02 #define QMC6310_DATA_OUT_Y_LSB_REG 0x03 #define QMC6310_DATA_OUT_Y_MSB_REG 0x04 #define QMC6310_DATA_OUT_Z_LSB_REG 0x05 #define QMC6310_DATA_OUT_Z_MSB_REG 0x06 /*Status registers */ #define QMC6310_STATUS_REG 0x09 /* configuration registers */ #define QMC6310_CTL_REG_ONE 0x0A /* Contrl register one */ #define QMC6310_CTL_REG_TWO 0x0B /* Contrl register two */ /* Magnetic Sensor Operating Mode MODE[1:0]*/ #define QMC6310_SUSPEND_MODE 0x00 #define QMC6310_NORMAL_MODE 0x01 #define QMC6310_SINGLE_MODE 0x02 #define QMC6310_H_PFM_MODE 0x03 /*data output rate OSR2[2:0]*/ #define OUTPUT_DATA_RATE_800HZ 0x00 #define OUTPUT_DATA_RATE_400HZ 0x01 #define OUTPUT_DATA_RATE_200HZ 0x02 #define OUTPUT_DATA_RATE_100HZ 0x03 /*oversample Ratio OSR[1]*/ #define OVERSAMPLE_RATE_256 0x01 #define OVERSAMPLE_RATE_128 0x00 #define SET_RESET_ON 0x00 #define SET_ONLY_ON 0x01 #define SET_RESET_OFF 0x02 #define QMC6310_DEFAULT_DELAY 200 #define QMC6310_MAXHZ 0xC3 #define QMC6310_200HZ 0x3D #define QMC6310_100HZ 0x39 #define QMC6310_10HZ 0x31 /*STRUCTION -----------------------------------------------------*/ typedef struct drv_qmc6310 { bool (*write)(uint8_t add,uint8_t reg,uint8_t* p,uint8_t len); //IIC - 写 bool (*read)(uint8_t add,uint8_t reg,uint8_t* p,uint8_t len); //IIC - 读 qmc_data_t cur_data; //当前QMC的数据 drv_qmc_config_param_t cur_param; //当前QMC的配置 } Drv_Qmc6310_t; /*Local Variable ----------------------------------------------*/ static Drv_Qmc6310_t ob_qmc6310; /*Local Functions ----------------------------------------------*/ static bool qmc6310_get_chipid(void) { bool ret; uint8_t chipid = 0xFF; ret = ob_qmc6310.read(QMC6310U_IIC_ADDR,QMC6310_CHIP_ID_REG,&chipid,1); if(ret == false)return false; return true; } /*API ----------------------------------------------*/ /** @brief 初始化QMC6310驱动 @param 无 @return 错误代码 - [out] -1失败，0成功 */ int drv_qmc6310_Init(void) { nrf_gpio_cfg( PIN_BACK_SENSE_POWER, NRF_GPIO_PIN_DIR_OUTPUT, NRF_GPIO_PIN_INPUT_DISCONNECT, NRF_GPIO_PIN_NOPULL, NRF_GPIO_PIN_H0H1, NRF_GPIO_PIN_NOSENSE); nrf_gpio_cfg_output(PIN_BACK_SCL); nrf_gpio_cfg_output(PIN_BACK_SDA); nrf_gpio_pin_write(PIN_BACK_SCL,0); nrf_gpio_pin_write(PIN_BACK_SDA,0); //供电 nrf_gpio_pin_write(PIN_BACK_SENSE_POWER,0); nrf_delay_ms(5); nrf_gpio_pin_write(PIN_BACK_SENSE_POWER,1); nrf_delay_ms(5); //初始化IIC IIC_BACK_Init(); //初始化结构体 memset(&ob_qmc6310, 0, sizeof(ob_qmc6310)); ob_qmc6310.read = IIC_BACK_ReadBytes; ob_qmc6310.write = IIC_BACK_WriteBytes; ob_qmc6310.cur_param.mag_fs = QMC_MAG_FS_30GS; ob_qmc6310.cur_param.mag_odr = QMC_MAG_ODR_OFF; if(qmc6310_get_chipid()) { return 0; } return -1; } /** @brief LSM挂起 @param 无 @return 错误代码 - [out] -1失败，0成功 */ int drv_qmc6310_suspend(void) { nrf_gpio_cfg( PIN_BACK_SENSE_POWER, NRF_GPIO_PIN_DIR_OUTPUT, NRF_GPIO_PIN_INPUT_DISCONNECT, NRF_GPIO_PIN_NOPULL, NRF_GPIO_PIN_H0H1, NRF_GPIO_PIN_NOSENSE); nrf_gpio_cfg_output(PIN_BACK_SCL); nrf_gpio_cfg_output(PIN_BACK_SDA); nrf_gpio_pin_write(PIN_BACK_SCL,0); nrf_gpio_pin_write(PIN_BACK_SDA,0); //供电 nrf_gpio_pin_write(PIN_BACK_SENSE_POWER,0); nrf_delay_ms(5); nrf_gpio_pin_write(PIN_BACK_SENSE_POWER,1); nrf_delay_ms(5); //初始化IIC IIC_BACK_Init(); memset(&ob_qmc6310.cur_data,0,sizeof(ob_qmc6310.cur_data)); ob_qmc6310.cur_param.mag_fs = QMC_MAG_FS_30GS; ob_qmc6310.cur_param.mag_odr = QMC_MAG_ODR_OFF; return 0; } /** @brief 设置MAG量程 @param mag_fs - [in] MAG量程 @return 错误代码 - [out] -1失败，0成功 */ int drv_qmc6310_set_mag_fs(QMC_MAG_FS_e mag_fs) { bool ret; uint8_t data; if(ob_qmc6310.cur_param.mag_fs != mag_fs) { switch(mag_fs) { case QMC_MAG_FS_30GS: data = QMC_MAG_FS_30GS; ret = ob_qmc6310.write(QMC6310U_IIC_ADDR,QMC6310_CTL_REG_TWO,&data,1); if(ret == false)return -1; data = 0xFF; ret = ob_qmc6310.read(QMC6310U_IIC_ADDR,QMC6310_CTL_REG_TWO,&data,1); if(ret == false || data != QMC_MAG_FS_30GS)return -1; ob_qmc6310.cur_param.mag_fs = QMC_MAG_FS_30GS; break; } } return 0; } /** @brief 设置MAG采样频率 @param mag_odr - [in] MAG采样频率 @return 错误代码 - [out] -1失败，0成功 */ int drv_qmc6310_set_mag_odr(QMC_MAG_ODR_e mag_odr) { bool ret; uint8_t data; if(ob_qmc6310.cur_param.mag_odr != mag_odr) { if(mag_odr != QMC_MAG_ODR_OFF) { data = 0x06; ret = ob_qmc6310.write(QMC6310U_IIC_ADDR,0x29,&data,1); if(ret == false)return -1; data = 0xFF; ret = ob_qmc6310.read(QMC6310U_IIC_ADDR,0x29,&data,1); if(ret == false || data != 0x06)return -1; } //set odr data = mag_odr; ret = ob_qmc6310.write(QMC6310U_IIC_ADDR,QMC6310_CTL_REG_ONE,&data,1); if(ret == false)return -1; data = 0xFF; ret = ob_qmc6310.read(QMC6310U_IIC_ADDR,QMC6310_CTL_REG_ONE,&data,1); if(ret == false || data != mag_odr)return -1; ob_qmc6310.cur_param.mag_odr = mag_odr; } return 0; } /** @brief 获取LSM配置参数 @param param - [in] LSM配置参数 @return 错误代码 - [out] -1失败，0成功 */ int drv_qmc6310_get_config_param(drv_qmc_config_param_t *p_param) { *p_param = ob_qmc6310.cur_param; return 0; } /** @brief 获取LSM的ACC数据 @param p_data - [out] 返回的ACC三轴数据 @return 错误代码 - [out] -1失败，0成功 */ int drv_qmc6310_get_mag_data(qmc_data_t *p_data) { bool ret; unsigned char mag_data[6]; mag_data[0] = QMC6310_DATA_OUT_X_LSB_REG; ret = ob_qmc6310.read(QMC6310U_IIC_ADDR,QMC6310_DATA_OUT_X_LSB_REG,mag_data,6); if(ret == false)return -1; if(p_data != NULL) { p_data->mag[0] = (int16_t)(((mag_data[1]) << 8) | mag_data[0]); p_data->mag[1] = (int16_t)(((mag_data[3]) << 8) | mag_data[2]); p_data->mag[2] = (int16_t)(((mag_data[5]) << 8) | mag_data[4]); } return 0; }