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qmi8658c: Add support for the QMI8658C sensor (#467)
* Add support for the QMI8658C sensor * qmi8656c: update ReadTemperature signature * Update README devices count
This commit is contained in:
Rafael Badiale
GitHub
@@ -209,6 +209,8 @@ endif
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@md5sum ./build/test.hex
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tinygo build -size short -o ./build/test.hex -target=xiao ./examples/pcf8563/timer/
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@md5sum ./build/test.hex
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tinygo build -size short -o ./build/test.hex -target=pico ./examples/qmi8658c/main.go
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@md5sum ./build/test.hex
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tinygo build -size short -o ./build/test.hex -target=feather-m0 ./examples/ina260/main.go
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@md5sum ./build/test.hex
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tinygo build -size short -o ./build/test.hex -target=nucleo-l432kc ./examples/aht20/main.go
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@@ -52,7 +52,7 @@ func main() {
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## Currently supported devices
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The following 83 devices are supported.
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The following 90 devices are supported.
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| Device Name | Interface Type |
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|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------|
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@@ -112,6 +112,7 @@ The following 83 devices are supported.
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| [P1AM-100 Base Controller](https://facts-engineering.github.io/modules/P1AM-100/P1AM-100.html) | SPI |
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| [PCD8544 display](http://eia.udg.edu/~forest/PCD8544_1.pdf) | SPI |
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| [PCF8563 real time clock](https://www.nxp.com/docs/en/data-sheet/PCF8563.pdf) | I2C |
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| [QMI8658C accelerometer/gyroscope](https://www.qstcorp.com/upload/pdf/202202/%EF%BC%88%E5%B7%B2%E4%BC%A0%EF%BC%89QMI8658C%20datasheet%20rev%200.9.pdf) | I2C |
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| [Resistive Touchscreen (4-wire)](http://ww1.microchip.com/downloads/en/Appnotes/doc8091.pdf) | GPIO |
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| [RTL8720DN 2.4G/5G Dual Bands Wireless and BLE5.0](https://www.seeedstudio.com/Realtek8720DN-2-4G-5G-Dual-Bands-Wireless-and-BLE5-0-Combo-Module-p-4442.html) | UART |
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| [SCD4x CO2 Sensor](https://sensirion.com/media/documents/C4B87CE6/627C2DCD/CD_DS_SCD40_SCD41_Datasheet_D1.pdf) | I2C |
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@@ -0,0 +1,66 @@
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// Connects to an QMI8658C I2C accelerometer/gyroscope and print the read data.
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// This example was made with the "WaveShare RP2040 Round LCD 1.28in" in mind.
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// For more infor about this development board:
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// https://www.waveshare.com/wiki/RP2040-LCD-1.28
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package main
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import (
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"machine"
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"time"
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imu "tinygo.org/x/drivers/qmi8658c"
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)
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func main() {
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i2c := machine.I2C1
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// This is the default pinout for the "WaveShare RP2040 Round LCD 1.28in"
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err := i2c.Configure(machine.I2CConfig{
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SDA: machine.GP6,
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SCL: machine.GP7,
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Frequency: 100000,
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})
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if err != nil {
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println("unable to configure I2C:", err)
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return
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}
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// Create a new device
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d := imu.New(i2c)
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// Check if the device is connected
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if !d.Connected() {
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println("unable to connect to sensor")
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return
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}
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// This IMU has multiple configurations like output data rate, multiple
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// measurements scales, low pass filters, low power modes, all the vailable
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// values can be found in the datasheet and were defined at registers file.
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// This is the default configuration which will be used if the `nil` value
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// is passed do the `Configure` method.
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config := imu.Config{
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SPIMode: imu.SPI_4_WIRE,
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SPIEndian: imu.SPI_BIG_ENDIAN,
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SPIAutoInc: imu.SPI_AUTO_INC,
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AccEnable: imu.ACC_ENABLE,
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AccScale: imu.ACC_8G,
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AccRate: imu.ACC_NORMAL_1000HZ,
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AccLowPass: imu.ACC_LOW_PASS_2_62,
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GyroEnable: imu.GYRO_FULL_ENABLE,
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GyroScale: imu.GYRO_512DPS,
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GyroRate: imu.GYRO_1000HZ,
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GyroLowPass: imu.GYRO_LOW_PASS_2_62,
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}
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d.Configure(config)
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// Read the accelation, rotation and temperature data and print them.
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for {
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acc_x, acc_y, acc_z := d.ReadAcceleration()
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gyro_x, gyro_y, gyro_z := d.ReadRotation()
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temp, _ := d.ReadTemperature()
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println("-------------------------------")
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println("acc:", acc_x, acc_y, acc_z)
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println("gyro:", gyro_x, gyro_y, gyro_z)
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println("temp:", temp)
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time.Sleep(time.Millisecond * 100)
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}
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}
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@@ -0,0 +1,190 @@
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// Package qmi8658c provides a driver for the QMI8658C accelerometer and gyroscope
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// made by QST Solutions.
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//
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// Datasheet:
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// https://www.qstcorp.com/upload/pdf/202202/%EF%BC%88%E5%B7%B2%E4%BC%A0%EF%BC%89QMI8658C%20datasheet%20rev%200.9.pdf
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package qmi8656c
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import "tinygo.org/x/drivers"
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// Device wraps the I2C connection to the QMIC8658 sensor
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type Device struct {
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bus drivers.I2C
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Address uint16
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AccLsbDiv uint16
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GyroLsbDiv uint16
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}
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type Config struct {
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// SPI Config
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SPIMode byte // One of SPI_X_WIRE
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SPIEndian byte // One of SPI_XXX_ENDIAN
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SPIAutoInc byte // One of SPI_NOT_AUTO_INC or SPI_AUTO_INC
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// Accelerometer
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AccEnable byte // One of ACC_ENABLE or ACC_DISABLE
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AccScale byte // One of ACC_XG
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AccRate byte // One of ACC_XX_YYHZ
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AccLowPass byte // One of ACC_LOW_PASS_X
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// Gyro
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GyroEnable byte // One of GYRO_X_ENABLE or GYRO_DISABLE
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GyroScale byte // One of GYRO_XDPS
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GyroRate byte // One of GYRO_X_YHZ
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GyroLowPass byte // One of GYRO_LOW_PASS_X
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}
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// Create a new device with the I2C passed, correct address and nil values for
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// AccLsbDiv and GyroLsbDiv, which will be corrected based on the config.
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func New(bus drivers.I2C) Device {
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return Device{
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bus,
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Address,
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1,
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1,
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}
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}
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// Check if the device is connected by calling WHO_AM_I and checking the
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// default identifier.
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func (d *Device) Connected() bool {
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data := []byte{0}
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d.ReadRegister(WHO_AM_I, data)
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return data[0] == IDENTIFIER
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}
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// Create a basic default configuration that works with the "WaveShare RP2040
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// Round LCD 1.28in".
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func DefaultConfig() (cfg Config) {
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return Config{
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SPIMode: SPI_4_WIRE,
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SPIEndian: SPI_BIG_ENDIAN,
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SPIAutoInc: SPI_AUTO_INC,
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AccEnable: ACC_ENABLE,
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AccScale: ACC_8G,
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AccRate: ACC_NORMAL_1000HZ,
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AccLowPass: ACC_LOW_PASS_2_62,
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GyroEnable: GYRO_FULL_ENABLE,
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GyroScale: GYRO_512DPS,
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GyroRate: GYRO_1000HZ,
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GyroLowPass: GYRO_LOW_PASS_2_62,
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}
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}
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// Check if the user has defined a desired configuration, if not uses the
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// DefaultConfig, then defines the AccLsbDiv and GyroLsbDiv based on the
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// configurations and, finally, send the commands and configure the IMU.
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func (d *Device) Configure(cfg Config) {
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if cfg == (Config{}) {
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cfg = DefaultConfig()
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}
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var val uint16
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// Setting accelerometer LSB
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switch cfg.AccScale {
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case ACC_2G:
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d.AccLsbDiv = 1 << 14
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case ACC_4G:
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d.AccLsbDiv = 1 << 13
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case ACC_8G:
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d.AccLsbDiv = 1 << 12
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case ACC_16G:
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d.AccLsbDiv = 1 << 11
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default:
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d.AccLsbDiv = 1 << 12
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}
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// Setting gyro LSB
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switch cfg.GyroScale {
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case GYRO_16DPS:
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d.GyroLsbDiv = 2048
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case GYRO_32DPS:
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d.GyroLsbDiv = 1024
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case GYRO_64DPS:
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d.GyroLsbDiv = 512
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case GYRO_128DPS:
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d.GyroLsbDiv = 256
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case GYRO_256DPS:
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d.GyroLsbDiv = 128
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case GYRO_512DPS:
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d.GyroLsbDiv = 64
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case GYRO_1024DPS:
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d.GyroLsbDiv = 32
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case GYRO_2048DPS:
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d.GyroLsbDiv = 16
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default:
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d.GyroLsbDiv = 64
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}
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// SPI Modes
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val = uint16((cfg.SPIMode | cfg.SPIEndian | cfg.SPIAutoInc))
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d.WriteRegister(CTRL1, val)
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// Accelerometer config
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val = uint16(cfg.AccScale | cfg.AccRate)
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d.WriteRegister(CTRL2, val)
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// Gyro config
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val = uint16(cfg.GyroScale | cfg.GyroRate)
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d.WriteRegister(CTRL3, val)
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// Sensor DSP config
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val = uint16(cfg.GyroLowPass | cfg.AccLowPass)
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d.WriteRegister(CTRL5, val)
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// Sensors config
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val = uint16(cfg.GyroEnable | cfg.AccEnable)
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d.WriteRegister(CTRL7, val)
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}
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// Read the acceleration from the sensor, the values returned are in mg
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// (milli gravity), which means that 1000 = 1g.
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func (d *Device) ReadAcceleration() (x int32, y int32, z int32) {
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data := make([]byte, 6)
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raw := make([]int32, 3)
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d.ReadRegister(ACC_XOUT_L, data)
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for i := range raw {
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raw[i] = int32(uint16(data[(2*i+1)])<<8 | uint16(data[i]))
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if raw[i] >= 32767 {
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raw[i] = raw[i] - 65535
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}
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}
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x = -raw[0] * 1000 / int32(d.AccLsbDiv)
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y = -raw[1] * 1000 / int32(d.AccLsbDiv)
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z = -raw[2] * 1000 / int32(d.AccLsbDiv)
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return x, y, z
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}
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// Read the rotation from the sensor, the values returned are in mdeg/sec
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// (milli degress/second), which means that a full rotation is 360000.
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func (d *Device) ReadRotation() (x int32, y int32, z int32) {
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data := make([]byte, 6)
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raw := make([]int32, 3)
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d.ReadRegister(GYRO_XOUT_L, data)
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for i := range raw {
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raw[i] = int32(uint16(data[(2*i+1)])<<8 | uint16(data[i]))
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if raw[i] >= 32767 {
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raw[i] = raw[i] - 65535
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}
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}
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x = raw[0] * 1000 / int32(d.GyroLsbDiv)
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y = raw[1] * 1000 / int32(d.GyroLsbDiv)
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z = raw[2] * 1000 / int32(d.GyroLsbDiv)
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return x, y, z
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}
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// Read the temperature from the sensor, the values returned are in
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// millidegrees Celsius.
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func (d *Device) ReadTemperature() (int32, error) {
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data := make([]byte, 2)
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err := d.ReadRegister(TEMP_OUT_L, data)
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if err != nil {
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return 0, err
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}
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raw := uint16(data[1])<<8 | uint16(data[0])
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t := int32(raw) * 1000 / 256
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return t, err
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}
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// Convenience method to read the register and avoid repetition.
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func (d *Device) ReadRegister(reg uint8, buf []byte) error {
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return d.bus.ReadRegister(uint8(d.Address), reg, buf)
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}
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// Convenience method to write the register and avoid repetition.
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func (d *Device) WriteRegister(reg uint8, v uint16) error {
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data := []byte{byte(v)}
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err := d.bus.WriteRegister(uint8(d.Address), reg, data)
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return err
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}
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@@ -0,0 +1,143 @@
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package qmi8656c
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// The I2C address that the sensor listens to.
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const Address = 0x6B
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const (
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// Who am I
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WHO_AM_I = 0x00
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IDENTIFIER = 0x05
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// Configuration registers
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CTRL1 = 0x02 // SPI Modes
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CTRL2 = 0x03 // Accelerometer config
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CTRL3 = 0x04 // Gyro config
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CTRL4 = 0x05 // Magnetometer config (ignored)
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CTRL5 = 0x06 // Sensor DSP config
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CTRL6 = 0x07 // Motion on Demand (ignored)
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CTRL7 = 0x08 // Sensors config
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// Interface config (CTRL1)
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SPI_4_WIRE = 0x00
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SPI_3_WIRE = 0x80
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SPI_NOT_AUTO_INC = 0x00
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SPI_AUTO_INC = 0x40
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SPI_LITTLE_ENDIAN = 0x00
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SPI_BIG_ENDIAN = 0x20
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// Accelerometer scale config (CTRL2-H)
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ACC_SELF_TEST = 0x80
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// Accelerometer scale config (CTRL2-H)
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ACC_2G = 0x00
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ACC_4G = 0x10
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ACC_8G = 0x20
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ACC_16G = 0x30
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// Accelerometer output data rate (ODR) config (CTRL2-L)
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ACC_NORMAL_8000HZ = 0x00
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ACC_NORMAL_4000HZ = 0x01
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ACC_NORMAL_2000HZ = 0x02
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ACC_NORMAL_1000HZ = 0x03
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ACC_NORMAL_500HZ = 0x04
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ACC_NORMAL_250HZ = 0x05
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ACC_NORMAL_125HZ = 0x06
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ACC_NORMAL_62HZ = 0x07
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ACC_NORMAL_31HZ = 0x08
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ACC_LOW_POWER_128HZ = 0x0C
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ACC_LOW_POWER_21HZ = 0x0D
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ACC_LOW_POWER_11HZ = 0x0E
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ACC_LOW_POWER_3HZ = 0x0F
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// Gyro scale config (CTRL3-H)
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GYRO_SELF_TEST = 0x80
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// Gyro scale config (CTRL3-H)
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GYRO_16DPS = 0x00
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GYRO_32DPS = 0x10
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GYRO_64DPS = 0x20
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GYRO_128DPS = 0x30
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GYRO_256DPS = 0x40
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GYRO_512DPS = 0x50
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GYRO_1024DPS = 0x60
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GYRO_2048DPS = 0x70
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// Gyro output data rate (ODR) config (CTRL3-L)
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GYRO_8000HZ = 0x00
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GYRO_4000HZ = 0x01
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GYRO_2000HZ = 0x02
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GYRO_1000HZ = 0x03
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GYRO_500HZ = 0x04
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GYRO_250HZ = 0x05
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GYRO_125HZ = 0x06
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GYRO_62HZ = 0x07
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GYRO_31HZ = 0x08
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// Gyro DSP config (CTRL4-H)
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GYRO_LOW_PASS_OFF = 0x00 // Disabled
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GYRO_LOW_PASS_2_62 = 0x10 // 2.62% of output data rate (ODR)
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GYRO_LOW_PASS_3_59 = 0x30 // 3.59% of output data rate (ODR)
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GYRO_LOW_PASS_5_32 = 0x50 // 5.32% of output data rate (ODR)
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GYRO_LOW_PASS_14 = 0x70 // 14% of output data rate (ODR)
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// Accelerometer DSP config (CTRL4-L)
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ACC_LOW_PASS_OFF = 0x00 // Disabled
|
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ACC_LOW_PASS_2_62 = 0x01 // 2.62% of output data rate (ODR)
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ACC_LOW_PASS_3_59 = 0x03 // 3.59% of output data rate (ODR)
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ACC_LOW_PASS_5_32 = 0x05 // 5.32% of output data rate (ODR)
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ACC_LOW_PASS_14 = 0x07 // 14% of output data rate (ODR)
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// Motion on demand (MOD) (CTRL6)
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MOD_DISABLE = 0x00
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MOD_ENABLE = 0x80
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// Enable sensors (CTRL7)
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GYRO_DISABLE = 0x00
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GYRO_FULL_ENABLE = 0x02
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GYRO_SNOOZE_ENABLE = 0x12
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ACC_DISABLE = 0x00
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ACC_ENABLE = 0x01
|
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|
||||
// Timestamp Outputs Register Adresses
|
||||
TIMESTAMP_OUT_L = 0x30
|
||||
TIMESTAMP_OUT_M = 0x31
|
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TIMESTAMP_OUT_H = 0x32
|
||||
|
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// Temperature Outputs Register Adresses
|
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TEMP_OUT_L = 0x33
|
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TEMP_OUT_H = 0x34
|
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// Acceleration Outputs Register Adresses
|
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ACC_XOUT_L = 0x35
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ACC_XOUT_H = 0x36
|
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ACC_YOUT_L = 0x37
|
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ACC_YOUT_H = 0x38
|
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ACC_ZOUT_L = 0x39
|
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ACC_ZOUT_H = 0x3A
|
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|
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// Angular Rate Outputs Register Adresses
|
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GYRO_XOUT_L = 0x3B
|
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GYRO_XOUT_H = 0x3C
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GYRO_YOUT_L = 0x3D
|
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GYRO_YOUT_H = 0x3E
|
||||
GYRO_ZOUT_L = 0x3F
|
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GYRO_ZOUT_H = 0x40
|
||||
|
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// Quaternion Outputs Register Adresses
|
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DELTA_QUAT_WOUT_L = 0x49
|
||||
DELTA_QUAT_WOUT_H = 0x4A
|
||||
DELTA_QUAT_XOUT_L = 0x4B
|
||||
DELTA_QUAT_XOUT_H = 0x4C
|
||||
DELTA_QUAT_YOUT_L = 0x4D
|
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DELTA_QUAT_YOUT_H = 0x4E
|
||||
DELTA_QUAT_ZOUT_L = 0x4F
|
||||
DELTA_QUAT_ZOUT_H = 0x50
|
||||
|
||||
// Delta Velocity Outputs Register Adresses
|
||||
DELTA_VEL_XOUT_L = 0x51
|
||||
DELTA_VEL_XOUT_H = 0x52
|
||||
DELTA_VEL_YOUT_L = 0x53
|
||||
DELTA_VEL_YOUT_H = 0x54
|
||||
DELTA_VEL_ZOUT_L = 0x55
|
||||
DELTA_VEL_ZOUT_H = 0x56
|
||||
)
|
||||
Reference in New Issue
Block a user