/**
******************************************************************************
* @file qma6100p.c
* @author Yangzhiqiang@qst
* @version V1.0
* @date 2020-5-27
* @brief qma6100p
******************************************************************************
* @attention
*
*
******************************************************************************
*/

#include "qma6100p.h"
#include "PT32x007x.h"
#include "string.h"

#define MT6701_ADDR (0x0C)
#define fabs(x) (x < 0 ? -x : x)

void delay_us(uint32_t delay)
{
uint32_t i,j,k;
for(i=0;i {
for(j=0;j<100;j++)
{
k++;
}
}
}
//---------------------------------------

void Acce_Write_Byte(unsigned int WriteAddr, u8 data)
{
// int i;
/******************等待從機ready***************/
I2C_GenerateEvent(I2C,I2C_Event_Start,DISABLE);
I2C->CCR |= I2C_CCR_SI | I2C_CCR_ACK;
I2C_Cmd(I2C,DISABLE);
I2C_Cmd(I2C,ENABLE);

I2C_GenerateEvent(I2C,I2C_Event_Start,ENABLE);
while(I2C_GetFlagStatus(I2C,I2C_FLAG_StartOk)!= SET);
// printf("---%s %d---n", __func__, __LINE__) ;
I2C_SendAddr(I2C, MT6701_ADDR);//器件地址，寫
while(I2C_GetFlagStatus(I2C,I2C_FLAG_MASGetAckW)!=SET);
printf("%s %drn", __func__, __LINE__) ;
I2C_SendData(I2C,WriteAddr);//發(fā)送要寫的字地址
while(I2C_GetFlagStatus(I2C,I2C_FLAG_MDSGetAck)!=SET);
// printf("---%s %d---n", __func__, __LINE__) ;

I2C_SendData(I2C, data);
while(I2C_GetFlagStatus(I2C,I2C_FLAG_MDSGetAck) != SET);

/******************發(fā)送停止位***************/
I2C_GenerateEvent(I2C,I2C_Event_Stop,ENABLE);
}

//uint8_t I2C_EE_Read(u8* pBuffer,u16 ReadAddr, u16 DeviceAddr, u16 data_size)
uint8_t Acce_Read_Byte(u16 ReadAddr)
{
// int i;
uint8_t date = 0 ;
/******************等待從機ready***************/
//printf("---%s %d---n", __func__, __LINE__) ;
I2C_GenerateEvent(I2C,I2C_Event_Start,ENABLE);
while(I2C_GetFlagStatus(I2C,I2C_FLAG_StartOk)!= SET);
// printf("---%s %d---n", __func__, __LINE__) ;
I2C_SendAddr(I2C, MT6701_ADDR);//器件地址，寫
while(I2C_GetFlagStatus(I2C,I2C_FLAG_MASGetAckW)!=SET);

I2C_SendData(I2C,ReadAddr);//發(fā)送要讀的頁地址
while(I2C_GetFlagStatus(I2C,I2C_FLAG_MDSGetAck)!=SET);

I2C_GenerateEvent(I2C,I2C_Event_Stop,ENABLE);

/******************接收數(shù)據(jù)***************/
I2C_GenerateEvent(I2C,I2C_Event_Start,ENABLE);
while(I2C_GetFlagStatus(I2C,I2C_FLAG_StartOk)!= SET);

I2C_SendAddr(I2C, MT6701_ADDR|0x01);//器件地址，讀
while(I2C_GetFlagStatus(I2C,I2C_FLAG_MASGetAckR)!=SET);

I2C->CCR=I2C_CCR_ACK|I2C_CCR_SI;//主機發(fā)送NACK
while(I2C_GetFlagStatus(I2C,I2C_FLAG_MDGSendNack) != SET);
date = I2C_ReceiveData(I2C);

/******************發(fā)送停止位***************/
I2C_GenerateEvent(I2C,I2C_Event_Stop,ENABLE);

return date ;
}
//---------------------------------------
uint8_t MT6813_read_reg(uint8_t Reg)
{
u8 RegVal = 0;
RegVal = Acce_Read_Byte(Reg);
return RegVal;
}

void MT6813_write_reg(uint8_t Reg,uint8_t Val)
{
Acce_Write_Byte(Reg, Val);
}

void MT6701_INIT(void)
{
uint8_t Buff[2];

// Buff[0] = MT6813_read_reg(0x22);
// if(Buff[0] == 0x60)
// {
// printf("RG 0x22=%xrn",Buff[0]);
// return;
// }

MT6813_write_reg(0x22, 0x60); //
delay_us(10) ;
MT6813_write_reg(0x24, 0x80); //
delay_us(10) ;
MT6813_write_reg(0x27, 0xB8);
delay_us(10) ;

Buff[0] = MT6813_read_reg(0x22);
printf("RG 0x22 C=%xrn",Buff[0]);

Buff[0] = MT6813_read_reg(0x24);
printf("RG 0x24 D=%xrn",Buff[0]);

//save eeprom
MT6813_write_reg(0x09, 0xB3);
MT6813_write_reg(0x0A, 0x05);
}

short angle_now;
uint8_t MT6701_GetData(uint8_t *Magnet)
{
uint8_t Buff[6];
int data;

float angle;

Buff[0] = MT6813_read_reg(0x03);
Buff[1] = MT6813_read_reg(0x04);

Magnet[0] = Buff[0];
Magnet[1] = Buff[1];

data = (short)((Magnet[0]<<8)|(Magnet[1]));
data = data>>2;

angle = (float)(data*0.022);
if(angle<0)
{
angle = 360+angle;
}

// if((short)angle != angle_now)
// {

// angle_now = (short)angle;
// printf("angle=%drn",angle_now);
// }

printf("angle=%.2frn",angle);
return angle_now;

}

uint8_t Zero_point_programming(void)
{
uint8_t Buff[2],ZH,ZL;
int data ;

Buff[0] = MT6813_read_reg(0x32);
ZH = Buff[0] & 0xf0;
MT6813_write_reg(0x32, ZH);
MT6813_write_reg(0x33, 0x00);

Buff[0] = MT6813_read_reg(0x03);

data = (short)((Buff[0]<<8)|(Buff[1]));
data = data>>2; //14bit
data = data>>2; //12bit

ZH = ZH | (uint8_t)(data >> 8) ;
ZL = (uint8_t)(data & 0x0f) ;

MT6813_write_reg(0x32, ZH);
MT6813_write_reg(0x33, ZL);

//save eeprom
MT6813_write_reg(0x09, 0xB3);
MT6813_write_reg(0x0A, 0x05);

Buff[0] = MT6813_read_reg(0x32);

if((Buff[0] == ZH) && (Buff[1] == ZL))
{
return 1;
}

return 0;

}

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審核編輯 黃宇