QMA6100P 姿态传感器使用

QMA6100P 姿态传感器使用

项目用途：分析和记录设备位置信息变化（设备安装在车辆内部）
通讯接口：I2C，地址0x13，标准I2C通讯采用IO模拟
功能需求：读取三轴加速度

芯片初始化设置

参考手册说明和参考代码做如下初始化：

Acce_Write_Byte(QMA6100P_REG_RESET,0xB6);
DDL_DelayMS(5);
Acce_Write_Byte(QMA6100P_REG_RESET,0x00);
DDL_DelayMS(10);

Acce_Write_Byte(0x11,0x80);
Acce_Write_Byte(0x11,0x84);
Acce_Write_Byte(0x4a,0x20);
Acce_Write_Byte(0x56,0x01);
Acce_Write_Byte(0x5f,0x80);
DDL_DelayMS(2);
Acce_Write_Byte(0x5f,0x00);
DDL_DelayMS(10);

//设置满量程刻度
Acce_Write_Byte(QMA6100P_REG_RANGE, QMA6100P_RANGE_8G);

//带宽设置
Acce_Write_Byte(QMA6100P_REG_BW_ODR, QMA6100P_BW_100);

//设置时钟和模式
Acce_Write_Byte(QMA6100P_REG_POWER_MANAGE, QMA6100P_MCLK_6_4K|0x80);

//中断配置
Acce_Write_Byte(0x21,0x03);

获取设备ID

用于验证通讯是否正常

uint8_t AcceDrvReadID(void)
{
	return Acce_Read_Byte(0x00);
}

读取加速度

short AcceDrvReadX(void)
{
	short u16Temp;
	float X;
	
	u16Temp = Acce_Read_Byte(QMA6100P_REG_XOUTL) + \
		(Acce_Read_Byte(QMA6100P_REG_XOUTH)<<8);
	
	X = (u16Temp>>2)*QMA6100P_SENSITITY_8G/1000.0;
	
	return (short)X;
}

short AcceDrvReadY(void)
{
	short u16Temp;
	float X;
	
	u16Temp = Acce_Read_Byte(QMA6100P_REG_YOUTL) + \
		(Acce_Read_Byte(QMA6100P_REG_YOUTH)<<8);
	
	X = (u16Temp>>2)*QMA6100P_SENSITITY_8G/1000.0;
	
	return X;
}

short AcceDrvReadZ(void)
{
	short u16Temp;
	float X;
	
	u16Temp = Acce_Read_Byte(QMA6100P_REG_ZOUTL) + \
		(Acce_Read_Byte(QMA6100P_REG_ZOUTH)<<8);
	
	X = (u16Temp>>2)*QMA6100P_SENSITITY_8G/1000.0;
	
	return X;
}

I2C通讯接口

#define IIC_SCL_Pin 	GPIO_PIN_05
#define IIC_SCL_Port 	GPIO_PORT_C
#define IIC_SDA_Pin 	GPIO_PIN_04
#define IIC_SDA_Port 	GPIO_PORT_C	

#define SCL_H()   		GPIO_SetPins(IIC_SCL_Port, IIC_SCL_Pin)
#define SCL_L()   		GPIO_ResetPins(IIC_SCL_Port, IIC_SCL_Pin)
#define SDA_H()   		GPIO_SetPins(IIC_SDA_Port, IIC_SDA_Pin)
#define SDA_L()   		GPIO_ResetPins(IIC_SDA_Port, IIC_SDA_Pin)
#define READ_SDA 		GPIO_ReadInputPins(IIC_SDA_Port, IIC_SDA_Pin)


static void SDA_IN(void){}
static void SDA_OUT(void){}

static void delay_us(int X)
{
	DDL_DelayUS(X);
}

static void IIC_Start(void)
{
	SDA_OUT();    
	SDA_H();	  	  
	SCL_H();
	delay_us(4);
 	SDA_L();
	delay_us(4);
	SCL_L();
}

static void IIC_Stop(void)
{
	SDA_OUT();
	SCL_L();
	SDA_L();
 	delay_us(4);
	SCL_H(); 
	SDA_H();
	delay_us(4);
}

static uint8_t IIC_Wait_Ack(void)
{
	uint8_t ucErrTime=0;
	SDA_OUT();
	SDA_H();delay_us(1);	   
	SCL_H();delay_us(1);
	SDA_IN();   
	while(READ_SDA)
	{
		ucErrTime++;
		if(ucErrTime>250)
		{
			IIC_Stop();
			return 1;
		}
	}
	SCL_L();   
	return 0; 
}

static void IIC_Ack(void)
{
	SCL_L();
	SDA_OUT();
	SDA_L();
	delay_us(2);
	SCL_H();
	delay_us(2);
	SCL_L();
}

static void IIC_NAck(void)
{
	SCL_L();
	SDA_OUT();
	SDA_H();
	delay_us(2);
	SCL_H();
	delay_us(2);
	SCL_L();
}

static void IIC_Send_Byte(uint8_t Data)
{
	uint8_t t;  
	SDA_OUT(); 	    
    SCL_L();
    for(t=0;t<8;t++)
    {              
 		if((Data&0x80)>>7)
			SDA_H();
		else
			SDA_L();
		Data<<=1; 	  
		delay_us(2);  
		SCL_H();
		delay_us(2); 
		SCL_L();	
		delay_us(2);
    }
} 

static uint8_t IIC_Read_Byte(uint8_t ack)
{
	uint8_t i,receive=0;
	SDA_IN();
	for(i=0;i<8;i++ )
	{
		SCL_L(); 
		delay_us(2);
		SCL_H();
		receive<<=1;
		if(READ_SDA) 
			receive++;			
		delay_us(1); 
	}					 
	if (!ack)
		IIC_NAck();
	else
		IIC_Ack();		
	return receive;
}
void Acce_Write_Byte(uint8_t addr, uint8_t data)
{
	IIC_Start();
	IIC_Send_Byte(ACCE_WRITE_ID);
	IIC_Wait_Ack();
	IIC_Send_Byte(addr);
	IIC_Wait_Ack();
	IIC_Send_Byte(data);
	IIC_Wait_Ack();
	IIC_Stop();
	DDL_DelayMS(2);
}

uint8_t Acce_Read_Byte(uint8_t addr)
{
	uint8_t Read_Data;
	
	IIC_Start();
	IIC_Send_Byte(ACCE_WRITE_ID);
	IIC_Wait_Ack();
	IIC_Send_Byte(addr);
	IIC_Wait_Ack();

	IIC_Start();
	IIC_Send_Byte(ACCE_READ_ID);
	IIC_Wait_Ack();
	Read_Data = IIC_Read_Byte(0);
	IIC_Stop();
	
	return Read_Data;
}