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国产加速度传感器QMA6100P
本文聊聊上海矽睿产的加速度传感器QMA6100P的使用。
1、特性
高集成，小尺寸封装：2 x 2 x 0.95 mm LGA
14位数模转化，低噪声 ·
具有标准模式和快速模式，支持I2C和SPI接口
内置self-test
大范围操作电压1.7V-3.6V，与低功耗2~50μA
集成64位FIFO存贮器，符合RoHS标准，无卤素添加
内置运动算法 ，尤其是硬件计步算法
可在-40°C～85°C的温度中工作2、引脚说明
可以看出提供了两个外部中断引脚，支持SPI或I2C通信。3、I2C读写地址
4、部分寄存器
4.1、设备ID寄存器
可以通过读这个寄存器判断设备是否存在，默认是0x90。4.2、软复位寄存器
4.3、数据寄存器
通过这6个寄存器可以读出三轴数据。
4.4、量程寄存器
通过这个寄存器设置测量范围。4.5、带宽寄存器
4.6、电源管理寄存器
5、原理图设计
6、代码
本文使用软硬件I2C与QMA6100P通讯，通过宏切换。
void I2cInit(void) { GPIO_InitTypeDef GPIO_InitStructure; I2C_InitTypeDef I2C_InitStructure; RCC_I2CCLKConfig(RCC_I2C1CLK_SYSCLK); RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C2, ENABLE); RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOF , ENABLE); /* Connect PXx to I2C_SCL*/ GPIO_PinAFConfig(GPIOF, GPIO_PinSource6, GPIO_AF_1); /* Connect PXx to I2C_SDA*/ GPIO_PinAFConfig(GPIOF, GPIO_PinSource7, GPIO_AF_1); /* GPIO configuration */ /* Configure sEE_I2C pins: SCL */ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz; GPIO_InitStructure.GPIO_OType = GPIO_OType_OD; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; GPIO_Init(GPIOF, &GPIO_InitStructure); /* Configure sEE_I2C pins: SDA */ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; GPIO_Init(GPIOF, &GPIO_InitStructure); I2C_InitStructure.I2C_Mode = I2C_Mode_I2C; I2C_InitStructure.I2C_AnalogFilter = I2C_AnalogFilter_Enable; I2C_InitStructure.I2C_DigitalFilter = 0x00; I2C_InitStructure.I2C_OwnAddress1 = 0x00; I2C_InitStructure.I2C_Ack = I2C_Ack_Enable; I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit; I2C_InitStructure.I2C_Timing = 0x40B22536;//0x20D22E37;// 0x02105070; //0x40B22536//100k, 0x10950C27; //400kHz I2C_Init(I2C2, &I2C_InitStructure); /* Apply sEE_I2C configuration after enabling it */ I2C_Init(I2C2, &I2C_InitStructure); /* sEE_I2C Peripheral Enable */ I2C_Cmd(I2C2, ENABLE); } void I2cWrite(uint8_t reg,uint8_t var) { /* While the bus is busy */ while(I2C_GetFlagStatus(I2C2, I2C_FLAG_BUSY) != RESET){}; /* Send Touch address for write */ I2C_TransferHandling(I2C2, (SLAVE_ADDR<<1), 1, I2C_Reload_Mode, I2C_Generate_Start_Write); while(I2C_GetFlagStatus(I2C2, I2C_FLAG_TXIS )==RESET){}; // I2C_FLAG_TXE I2C_SendData(I2C2, reg); while(I2C_GetFlagStatus(I2C2, I2C_FLAG_TCR) == RESET){}; I2C_TransferHandling(I2C2, (SLAVE_ADDR<<1), 1, I2C_AutoEnd_Mode, I2C_No_StartStop); /* Test on EV8 and clear it */ while (I2C_GetFlagStatus(I2C2, I2C_FLAG_TXIS) == RESET){}; //I2C_FLAG_TXIS /* Send the current byte */ I2C_SendData(I2C2, var); /* Send STOP condition */ while(I2C_GetFlagStatus(I2C2, I2C_FLAG_STOPF) == RESET){}; } uint8_t I2cRead(uint8_t reg) { uint8_t ret=0; /* While the bus is busy */ while(I2C_GetFlagStatus(I2C2, I2C_FLAG_BUSY) != RESET){}; /* Generate start & wait event detection */ I2C_TransferHandling(I2C2, (SLAVE_ADDR<<1), 1, I2C_SoftEnd_Mode, I2C_Generate_Start_Write); while(I2C_GetFlagStatus(I2C2, I2C_FLAG_TXIS ) == RESET){}; //I2C_FLAG_TXIS I2C_SendData(I2C2, reg); while (I2C_GetFlagStatus(I2C2, I2C_FLAG_TC) == RESET){}; /* Send STRAT condition a second time */ I2C_TransferHandling(I2C2, (SLAVE_ADDR<<1), 1, I2C_AutoEnd_Mode, I2C_Generate_Start_Read); while(I2C_GetFlagStatus(I2C2, I2C_FLAG_RXNE) == RESET){}; /* Read a byte from the EEPROM */ ret = I2C_ReceiveData(I2C2); /* Enable Acknowledgement to be ready for another reception */ while(I2C_GetFlagStatus(I2C2, I2C_FLAG_STOPF) == RESET){}; return ret; } #define _SCL_PORT GPIOF #define _SCL_PIN GPIO_Pin_6 #define _SDA_PORT GPIOF #define _SDA_PIN GPIO_Pin_7 void _I2cInit(void) { /* sEE_I2C_SCL_GPIO_CLK and sEE_I2C_SDA_GPIO_CLK Periph clock enable */ RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOF , ENABLE); /* sEE_I2C Periph clock enable */ GPIO_InitTypeDef GPIO_InitStructure; /* GPIO configuration */ /* Configure sEE_I2C pins: SCL */ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; GPIO_Init(GPIOF, &GPIO_InitStructure); /* Configure sEE_I2C pins: SDA */ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; GPIO_Init(GPIOF, &GPIO_InitStructure); } void _SDA_IN(void) { GPIO_InitTypeDef GPIO_InitStructure; /* GPIO configuration */ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; GPIO_Init(GPIOF, &GPIO_InitStructure); } void _SDA_OUT(void) { GPIO_InitTypeDef GPIO_InitStructure; /* GPIO configuration */ /* Configure sEE_I2C pins: SCL */ GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz; GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; GPIO_Init(GPIOF, &GPIO_InitStructure); } void _I2C_Start(void) { _SDA_OUT(); GPIO_SetBits(_SDA_PORT,_SDA_PIN); //SDA=1 DelayUs(10); GPIO_SetBits(_SCL_PORT,_SCL_PIN); //SCL=1 DelayUs(10); GPIO_ResetBits(_SDA_PORT,_SDA_PIN);//SDA=0 DelayUs(10); GPIO_ResetBits(_SCL_PORT,_SCL_PIN);//SCL=0 DelayUs(10); } void _I2C_Stop(void) { _SDA_OUT(); GPIO_ResetBits(_SDA_PORT,_SDA_PIN);//SDA=0 DelayUs(10); GPIO_SetBits(_SCL_PORT,_SCL_PIN); //SCL=1 DelayUs(10); GPIO_SetBits(_SDA_PORT,_SDA_PIN); //SDA=1 DelayUs(10); } void _I2C_Ack(void) { _SDA_OUT(); GPIO_ResetBits(_SDA_PORT,_SDA_PIN);//SDA=0 DelayUs(5); GPIO_SetBits(_SCL_PORT,_SCL_PIN); //SCL=1 DelayUs(5); GPIO_ResetBits(_SCL_PORT,_SCL_PIN); //SCL=0 } void _I2C_NAck(void) { GPIO_SetBits(_SDA_PORT,_SDA_PIN); //SDA=1 DelayUs(10); GPIO_SetBits(_SCL_PORT,_SCL_PIN); //SCL=1 DelayUs(10); GPIO_ResetBits(_SCL_PORT,_SCL_PIN); //SCL=0 DelayUs(10); } uint8_t _I2C_Wait_Ack(void) { uint8_t ucErrTime=0; #if 0 SDA_IN(); GPIO_SetBits(_SDA_PORT,_SDA_PIN); //释放总线 #else GPIO_SetBits(_SDA_PORT,_SDA_PIN); //释放总线 _SDA_IN(); #endif DelayUs(5); GPIO_SetBits(_SCL_PORT,_SCL_PIN); //SCL=1 DelayUs(5); while(GPIO_ReadInputDataBit(_SDA_PORT,_SDA_PIN)) { ucErrTime++; if(ucErrTime>250) { _I2C_Stop(); return 1; } } GPIO_ResetBits(_SCL_PORT,_SCL_PIN); //SCL=0 DelayUs(5); return 0; } uint8_t _I2C_Read_Byte(uint8_t ack) { uint8_t i,rxdata=0; #if 0 _SDA_IN(); GPIO_SetBits(_SDA_PORT,_SDA_PIN); //释放总线 #else GPIO_SetBits(_SDA_PORT,_SDA_PIN); //释放总线 _SDA_IN(); #endif for(i=0;i<8;i++ ) { GPIO_ResetBits(_SCL_PORT,_SCL_PIN); //SCL=0 DelayUs(5); GPIO_SetBits(_SCL_PORT,_SCL_PIN); //SCL=1 DelayUs(5); rxdata<<=1; if(GPIO_ReadInputDataBit(_SDA_PORT,_SDA_PIN)) { rxdata|=0x01; } DelayUs(5); } if (!ack) _I2C_NAck();//nACK else _I2C_Ack(); //ACK return rxdata; } void _I2C_Send_Byte(uint8_t txd) { uint8_t i; _SDA_OUT(); GPIO_ResetBits(_SCL_PORT,_SCL_PIN); //SCL=0 for(i=0;i<8;i++) { if((txd&0x80)==0x80) GPIO_SetBits(_SDA_PORT,_SDA_PIN); else GPIO_ResetBits(_SDA_PORT,_SDA_PIN); txd<<=1; DelayUs(5); GPIO_SetBits(_SCL_PORT,_SCL_PIN); //SCL=1 DelayUs(5); GPIO_ResetBits(_SCL_PORT,_SCL_PIN); //SCL=0 DelayUs(5); } } void _WriteByteReg(uint8_t addr,uint8_t reg,uint8_t data) { _I2C_Start(); _I2C_Send_Byte(addr); //write addr _I2C_Wait_Ack(); _I2C_Send_Byte(reg); _I2C_Wait_Ack(); _I2C_Send_Byte(data); _I2C_Wait_Ack(); _I2C_Stop(); } uint8_t _ReadByteReg(uint8_t addr,uint8_t reg) { uint8_t data; _I2C_Start(); _I2C_Send_Byte(addr); //write addr _I2C_Wait_Ack(); _I2C_Send_Byte(reg); _I2C_Wait_Ack(); _I2C_Start(); _I2C_Send_Byte(addr+1); //read addr _I2C_Wait_Ack(); data=_I2C_Read_Byte(0); //no ack _I2C_Stop(); return data; } void _WriteRegU8(uint8_t reg,uint8_t data) { _I2C_Start(); _I2C_Send_Byte(SLAVE_ADDR<<1|0x00); //write addr _I2C_Wait_Ack(); _I2C_Send_Byte(reg); _I2C_Wait_Ack(); _I2C_Send_Byte(data); _I2C_Wait_Ack(); _I2C_Stop(); } uint8_t _ReadRegU8(uint8_t reg) { uint8_t data; _I2C_Start(); _I2C_Send_Byte(SLAVE_ADDR<<1|0x00); //write addr _I2C_Wait_Ack(); _I2C_Send_Byte(reg); _I2C_Wait_Ack(); _I2C_Start(); _I2C_Send_Byte(SLAVE_ADDR<<1|0x01); //read addr _I2C_Wait_Ack(); data=_I2C_Read_Byte(0); //no ack _I2C_Stop(); return data; } #if 1 #define GsensorRead I2cRead #define GsensorWrite I2cWrite #define GsensorIoInit I2cInit #else #define GsensorRead _ReadRegU8 #define GsensorWrite _WriteRegU8 #define GsensorIoInit _I2cInit #endif void QMA6100PCheck(void) { uint8_t chip_id=0; chip_id=GsensorRead(QMA6100P_REG_CHIP_ID); log_debug ("chip id=%d\r\n",chip_id); if(chip_id==0x90) { log_debug("device exist\r\n"); } else { log_debug("device not exist\r\n"); } } void QMA6100PInit(void) { GsensorIoInit(); QMA6100PCheck(); GsensorWrite(QMA6100P_REG_RESET, 0xb6); DelayMs(5); GsensorWrite(QMA6100P_REG_RESET, 0x00); DelayMs(10); GsensorWrite(0x11, 0x80); GsensorWrite(0x11, 0x84); GsensorWrite(0x4a, 0x20); GsensorWrite(0x56, 0x01); GsensorWrite(0x5f, 0x80); DelayMs(2); GsensorWrite(0x5f, 0x00); DelayMs(10); GsensorWrite(QMA6100P_REG_RANGE,QMA6100P_RANGE_8G); GsensorWrite(QMA6100P_REG_BW_ODR,QMA6100P_BW_100); GsensorWrite(QMA6100P_REG_POWER_MANAGE, QMA6100P_MCLK_51_2K|0x80); qma6100p_hand_raise_down(3, QMA6100P_MAP_INT1, 1); GsensorWrite(0x21, 0x03); // default 0x1c, step latch mode } void QMA6100PReadRawData(QMA6100PRawData_t *rawdata) { int16_t temp=0; temp=GsensorRead(QMA6100P_REG_XOUTL)+(GsensorRead(QMA6100P_REG_XOUTH)<<8); rawdata->acc_x=temp>>2; temp=GsensorRead(QMA6100P_REG_YOUTL)+(GsensorRead(QMA6100P_REG_YOUTH)<<8); rawdata->acc_y=temp>>2; temp=GsensorRead(QMA6100P_REG_ZOUTL)+(GsensorRead(QMA6100P_REG_ZOUTH)<<8); rawdata->acc_z=temp>>2; } void QMA6100PPolling(void) { static uint32_t curtick=0; float angle_x,angle_y,angle_z; if(SystemGetTick()-curtick>=200) { QMA6100PRawData_t rawdata; float x ,y,z,g; QMA6100PReadRawData(&rawdata); x=rawdata.acc_x*QMA6100P_SENSITITY_8G/1000.0; y=rawdata.acc_y*QMA6100P_SENSITITY_8G/1000.0; z=rawdata.acc_z*QMA6100P_SENSITITY_8G/1000.0; g=sqrt(x*x+y*y+z*z); log_debug("%f, %f, %f, %f\r\n",x,y,z,g); curtick=SystemGetTick(); } }- 1
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#define SLAVE_ADDR QMA6100P_ADDRESS- 1
#define QMA6100P_ADDRESS 0x12 #define QMA6100P_DEVICE_ID 0x90 #define QMA6100P_REG_CHIP_ID 0x00 #define QMA6100P_REG_XOUTL 0x01 #define QMA6100P_REG_XOUTH 0x02 #define QMA6100P_REG_YOUTL 0x03 #define QMA6100P_REG_YOUTH 0x04 #define QMA6100P_REG_ZOUTL 0x05 #define QMA6100P_REG_ZOUTH 0x06 #define QMA6100P_REG_STEP_CNT_L 0x07 #define QMA6100P_REG_STEP_CNT_M 0x08 #define QMA6100P_REG_STEP_CNT_H 0x0d #define QMA6100P_REG_INT_STATUS_0 0x09 #define QMA6100P_REG_INT_STATUS_1 0x0a #define QMA6100P_REG_INT_STATUS_2 0x0b #define QMA6100P_REG_INT_STATUS_3 0x0c #define QMA6100P_REG_FIFO_STATE 0x0e #define QMA6100P_REG_RANGE 0x0f #define QMA6100P_REG_BW_ODR 0x10 #define QMA6100P_REG_POWER_MANAGE 0x11 #define QMA6100P_REG_STEP_SAMPLE_CNT 0x12 #define QMA6100P_REG_STEP_PRECISION 0x13 #define QMA6100P_REG_STEP_TIME_LOW 0x14 #define QMA6100P_REG_STEP_TIME_UP 0x15 #define QMA6100P_REG_INT_EN_0 0x16 #define QMA6100P_REG_INT_EN_1 0x17 #define QMA6100P_REG_INT_EN_2 0x18 #define QMA6100P_REG_INT1_MAP_0 0x19 #define QMA6100P_REG_INT1_MAP_1 0x1a #define QMA6100P_REG_INT2_MAP_0 0x1b #define QMA6100P_REG_INT2_MAP_1 0x1c #define QMA6100P_REG_INTPIN_CFG 0x20 #define QMA6100P_REG_INT_CFG 0x21 #define QMA6100P_REG_OS_CUST_X 0x27 #define QMA6100P_REG_OS_CUST_Y 0x28 #define QMA6100P_REG_OS_CUST_Z 0x29 #define QMA6100P_REG_NVM 0x33 #define QMA6100P_REG_RESET 0x36 #define QMA6100P_REG_DRDY_BIT 0x10 // enable 1 #define QMA6100P_REG_AMD_X_BIT 0x01 #define QMA6100P_REG_AMD_Y_BIT 0x02 #define QMA6100P_REG_AMD_Z_BIT 0x04 typedef enum { QMA6100P_MAP_INT1, QMA6100P_MAP_INT2, QMA6100P_MAP_INT_NONE }qma6100p_int_map; typedef enum { QMA6100P_BW_100 = 0, QMA6100P_BW_200 = 1, QMA6100P_BW_400 = 2, QMA6100P_BW_800 = 3, QMA6100P_BW_1600 = 4, QMA6100P_BW_50 = 5, QMA6100P_BW_25 = 6, QMA6100P_BW_12_5 = 7, QMA6100P_BW_OTHER = 8 }qma6100p_bw; typedef enum { QMA6100P_RANGE_2G = 0x01, QMA6100P_RANGE_4G = 0x02, QMA6100P_RANGE_8G = 0x04, QMA6100P_RANGE_16G = 0x08, QMA6100P_RANGE_32G = 0x0f }qma6100p_range; typedef enum { QMA6100P_LPF_OFF = (0x00<<5), QMA6100P_LPF_1 = (0x04<<5), QMA6100P_LPF_2 = (0x01<<5), QMA6100P_LPF_4 = (0x02<<5), QMA6100P_LPF_8 = (0x03<<5), QMA6100P_LPF_RESERVED = 0xff }qma6100p_nlpf; typedef enum { QMA6100P_HPF_DIV_OFF = (0x00<<5), QMA6100P_HPF_DIV_10 = (0x01<<5), QMA6100P_HPF_DIV_25 = (0x02<<5), QMA6100P_HPF_DIV_50 = (0x03<<5), QMA6100P_HPF_DIV_100 = (0x04<<5), QMA6100P_HPF_DIV_200 = (0x05<<5), QMA6100P_HPF_DIV_400 = (0x06<<5), QMA6100P_HPF_DIV_800 = (0x07<<5), QMA6100P_HPF_RESERVED = 0xff }qma6100p_nhpf; typedef enum { QMA6100P_MODE_STANDBY = 0, QMA6100P_MODE_ACTIVE = 1, QMA6100P_MODE_MAX }qma6100p_mode; typedef enum { QMA6100P_MCLK_102_4K = 0x03, QMA6100P_MCLK_51_2K = 0x04, QMA6100P_MCLK_25_6K = 0x05, QMA6100P_MCLK_12_8K = 0x06, QMA6100P_MCLK_6_4K = 0x07, QMA6100P_MCLK_RESERVED = 0xff }qma6100p_mclk; typedef enum { QMA6100P_STEP_LPF_0 = (0x00<<6), QMA6100P_STEP_LPF_2 = (0x01<<6), QMA6100P_STEP_LPF_4 = (0x02<<6), QMA6100P_STEP_LPF_8 = (0x03<<6), QMA6100P_STEP_LPF_RESERVED = 0xff }qma6100p_step_lpf; typedef enum { QMA6100P_STEP_AXIS_ALL = 0x00, QMA6100P_STEP_AXIS_YZ = 0x01, QMA6100P_STEP_AXIS_XZ = 0x02, QMA6100P_STEP_AXIS_XY = 0x03, QMA6100P_STEP_AXIS_RESERVED = 0xff }qma6100p_step_axis; typedef enum { QMA6100P_STEP_START_0 = 0x00, QMA6100P_STEP_START_4 = 0x20, QMA6100P_STEP_START_8 = 0x40, QMA6100P_STEP_START_12 = 0x60, QMA6100P_STEP_START_16 = 0x80, QMA6100P_STEP_START_24 = 0xa0, QMA6100P_STEP_START_32 = 0xc0, QMA6100P_STEP_START_40 = 0xe0, QMA6100P_STEP_START_RESERVED = 0xff }qma6100p_step_start_cnt; typedef enum { QMA6100P_FIFO_MODE_NONE, QMA6100P_FIFO_MODE_FIFO, QMA6100P_FIFO_MODE_STREAM, QMA6100P_FIFO_MODE_BYPASS, QMA6100P_FIFO_MODE_MAX }qma6100p_fifo_mode; typedef enum { QMA6100P_TAP_SINGLE = 0x80, QMA6100P_TAP_DOUBLE = 0x20, QMA6100P_TAP_TRIPLE = 0x10, QMA6100P_TAP_QUARTER = 0x01, QMA6100P_TAP_MAX = 0xff }qma6100p_tap; typedef enum { QMA6100P_SENSITITY_2G = 244, QMA6100P_SENSITITY_4G = 488, QMA6100P_SENSITITY_8G = 977, QMA6100P_SENSITITY_16G = 1950, QMA6100P_SENSITITY_32G = 3910 }qma6100p_sensitity; typedef struct { int16_t temp; int16_t acc_x; int16_t acc_y; int16_t acc_z; }QMA6100PRawData_t;- 1
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7、读取数据
本测试中读取了x,y,z三轴的值，并计算出了g的值。 -
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- 原文地址：https://blog.csdn.net/freemote/article/details/127816445
