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esp32-nmea2000-obp60
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esp32-nmea2000-obp60/lib/iictask/QMP6988.cpp

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#include "GwQMP6988.h"
#ifdef _GWQMP6988
#include <math.h>
#include "stdint.h"
#include "stdio.h"
// DISABLE LOG
#define QMP6988_LOG(format...)
#define QMP6988_ERR(format...)
// ENABLE LOG
// #define QMP6988_LOG Serial.printf
// #define QMP6988_ERR Serial.printf
void QMP6988::delayMS(unsigned int ms) {
delay(ms);
}
uint8_t QMP6988::writeReg(uint8_t slave, uint8_t reg_add, uint8_t reg_dat) {
device_wire->beginTransmission(slave);
device_wire->write(reg_add);
device_wire->write(reg_dat);
device_wire->endTransmission();
return 1;
}
uint8_t QMP6988::readData(uint16_t slave, uint8_t reg_add, unsigned char* Read,
uint8_t num) {
device_wire->beginTransmission(slave);
device_wire->write(reg_add);
device_wire->endTransmission();
device_wire->requestFrom(slave, num);
for (int i = 0; i < num; i++) {
*(Read + i) = device_wire->read();
}
return 1;
}
uint8_t QMP6988::deviceCheck() {
uint8_t slave_addr_list[2] = {QMP6988_SLAVE_ADDRESS_L,
QMP6988_SLAVE_ADDRESS_H};
uint8_t ret = 0;
uint8_t i;
for (i = 0; i < 2; i++) {
slave_addr = slave_addr_list[i];
ret = readData(slave_addr, QMP6988_CHIP_ID_REG, &(qmp6988.chip_id), 1);
if (ret == 0) {
QMP6988_LOG("%s: read 0xD1 failed\r\n", __func__);
continue;
}
QMP6988_LOG("qmp6988 read chip id = 0x%x\r\n", qmp6988.chip_id);
if (qmp6988.chip_id == QMP6988_CHIP_ID) {
return 1;
}
}
return 0;
}
int QMP6988::getCalibrationData() {
int status = 0;
// BITFIELDS temp_COE;
uint8_t a_data_uint8_tr[QMP6988_CALIBRATION_DATA_LENGTH] = {0};
int len;
for (len = 0; len < QMP6988_CALIBRATION_DATA_LENGTH; len += 1) {
status = readData(slave_addr, QMP6988_CALIBRATION_DATA_START + len,
&a_data_uint8_tr[len], 1);
if (status == 0) {
QMP6988_LOG("qmp6988 read 0xA0 error!");
return status;
}
}
qmp6988.qmp6988_cali.COE_a0 =
(QMP6988_S32_t)(((a_data_uint8_tr[18] << SHIFT_LEFT_12_POSITION) |
(a_data_uint8_tr[19] << SHIFT_LEFT_4_POSITION) |
(a_data_uint8_tr[24] & 0x0f))
<< 12);
qmp6988.qmp6988_cali.COE_a0 = qmp6988.qmp6988_cali.COE_a0 >> 12;
qmp6988.qmp6988_cali.COE_a1 =
(QMP6988_S16_t)(((a_data_uint8_tr[20]) << SHIFT_LEFT_8_POSITION) |
a_data_uint8_tr[21]);
qmp6988.qmp6988_cali.COE_a2 =
(QMP6988_S16_t)(((a_data_uint8_tr[22]) << SHIFT_LEFT_8_POSITION) |
a_data_uint8_tr[23]);
qmp6988.qmp6988_cali.COE_b00 =
(QMP6988_S32_t)(((a_data_uint8_tr[0] << SHIFT_LEFT_12_POSITION) |
(a_data_uint8_tr[1] << SHIFT_LEFT_4_POSITION) |
((a_data_uint8_tr[24] & 0xf0) >>
SHIFT_RIGHT_4_POSITION))
<< 12);
qmp6988.qmp6988_cali.COE_b00 = qmp6988.qmp6988_cali.COE_b00 >> 12;
qmp6988.qmp6988_cali.COE_bt1 =
(QMP6988_S16_t)(((a_data_uint8_tr[2]) << SHIFT_LEFT_8_POSITION) |
a_data_uint8_tr[3]);
qmp6988.qmp6988_cali.COE_bt2 =
(QMP6988_S16_t)(((a_data_uint8_tr[4]) << SHIFT_LEFT_8_POSITION) |
a_data_uint8_tr[5]);
qmp6988.qmp6988_cali.COE_bp1 =
(QMP6988_S16_t)(((a_data_uint8_tr[6]) << SHIFT_LEFT_8_POSITION) |
a_data_uint8_tr[7]);
qmp6988.qmp6988_cali.COE_b11 =
(QMP6988_S16_t)(((a_data_uint8_tr[8]) << SHIFT_LEFT_8_POSITION) |
a_data_uint8_tr[9]);
qmp6988.qmp6988_cali.COE_bp2 =
(QMP6988_S16_t)(((a_data_uint8_tr[10]) << SHIFT_LEFT_8_POSITION) |
a_data_uint8_tr[11]);
qmp6988.qmp6988_cali.COE_b12 =
(QMP6988_S16_t)(((a_data_uint8_tr[12]) << SHIFT_LEFT_8_POSITION) |
a_data_uint8_tr[13]);
qmp6988.qmp6988_cali.COE_b21 =
(QMP6988_S16_t)(((a_data_uint8_tr[14]) << SHIFT_LEFT_8_POSITION) |
a_data_uint8_tr[15]);
qmp6988.qmp6988_cali.COE_bp3 =
(QMP6988_S16_t)(((a_data_uint8_tr[16]) << SHIFT_LEFT_8_POSITION) |
a_data_uint8_tr[17]);
QMP6988_LOG("<-----------calibration data-------------->\r\n");
QMP6988_LOG("COE_a0[%d] COE_a1[%d] COE_a2[%d] COE_b00[%d]\r\n",
qmp6988.qmp6988_cali.COE_a0, qmp6988.qmp6988_cali.COE_a1,
qmp6988.qmp6988_cali.COE_a2, qmp6988.qmp6988_cali.COE_b00);
QMP6988_LOG("COE_bt1[%d] COE_bt2[%d] COE_bp1[%d] COE_b11[%d]\r\n",
qmp6988.qmp6988_cali.COE_bt1, qmp6988.qmp6988_cali.COE_bt2,
qmp6988.qmp6988_cali.COE_bp1, qmp6988.qmp6988_cali.COE_b11);
QMP6988_LOG("COE_bp2[%d] COE_b12[%d] COE_b21[%d] COE_bp3[%d]\r\n",
qmp6988.qmp6988_cali.COE_bp2, qmp6988.qmp6988_cali.COE_b12,
qmp6988.qmp6988_cali.COE_b21, qmp6988.qmp6988_cali.COE_bp3);
QMP6988_LOG("<-----------calibration data-------------->\r\n");
qmp6988.ik.a0 = qmp6988.qmp6988_cali.COE_a0; // 20Q4
qmp6988.ik.b00 = qmp6988.qmp6988_cali.COE_b00; // 20Q4
qmp6988.ik.a1 = 3608L * (QMP6988_S32_t)qmp6988.qmp6988_cali.COE_a1 -
1731677965L; // 31Q23
qmp6988.ik.a2 = 16889L * (QMP6988_S32_t)qmp6988.qmp6988_cali.COE_a2 -
87619360L; // 30Q47
qmp6988.ik.bt1 = 2982L * (QMP6988_S64_t)qmp6988.qmp6988_cali.COE_bt1 +
107370906L; // 28Q15
qmp6988.ik.bt2 = 329854L * (QMP6988_S64_t)qmp6988.qmp6988_cali.COE_bt2 +
108083093L; // 34Q38
qmp6988.ik.bp1 = 19923L * (QMP6988_S64_t)qmp6988.qmp6988_cali.COE_bp1 +
1133836764L; // 31Q20
qmp6988.ik.b11 = 2406L * (QMP6988_S64_t)qmp6988.qmp6988_cali.COE_b11 +
118215883L; // 28Q34
qmp6988.ik.bp2 = 3079L * (QMP6988_S64_t)qmp6988.qmp6988_cali.COE_bp2 -
181579595L; // 29Q43
qmp6988.ik.b12 = 6846L * (QMP6988_S64_t)qmp6988.qmp6988_cali.COE_b12 +
85590281L; // 29Q53
qmp6988.ik.b21 = 13836L * (QMP6988_S64_t)qmp6988.qmp6988_cali.COE_b21 +
79333336L; // 29Q60
qmp6988.ik.bp3 = 2915L * (QMP6988_S64_t)qmp6988.qmp6988_cali.COE_bp3 +
157155561L; // 28Q65
QMP6988_LOG("<----------- int calibration data -------------->\r\n");
QMP6988_LOG("a0[%d] a1[%d] a2[%d] b00[%d]\r\n", qmp6988.ik.a0,
qmp6988.ik.a1, qmp6988.ik.a2, qmp6988.ik.b00);
QMP6988_LOG("bt1[%lld] bt2[%lld] bp1[%lld] b11[%lld]\r\n",
qmp6988.ik.bt1, qmp6988.ik.bt2, qmp6988.ik.bp1, qmp6988.ik.b11);
QMP6988_LOG("bp2[%lld] b12[%lld] b21[%lld] bp3[%lld]\r\n",
qmp6988.ik.bp2, qmp6988.ik.b12, qmp6988.ik.b21, qmp6988.ik.bp3);
QMP6988_LOG("<----------- int calibration data -------------->\r\n");
return 1;
}
QMP6988_S16_t QMP6988::convTx02e(qmp6988_ik_data_t* ik, QMP6988_S32_t dt) {
QMP6988_S16_t ret;
QMP6988_S64_t wk1, wk2;
// wk1: 60Q4 // bit size
wk1 = ((QMP6988_S64_t)ik->a1 * (QMP6988_S64_t)dt); // 31Q23+24-1=54 (54Q23)
wk2 = ((QMP6988_S64_t)ik->a2 * (QMP6988_S64_t)dt) >>
14; // 30Q47+24-1=53 (39Q33)
wk2 = (wk2 * (QMP6988_S64_t)dt) >> 10; // 39Q33+24-1=62 (52Q23)
wk2 = ((wk1 + wk2) / 32767) >> 19; // 54,52->55Q23 (20Q04)
ret = (QMP6988_S16_t)((ik->a0 + wk2) >> 4); // 21Q4 -> 17Q0
return ret;
}
QMP6988_S32_t QMP6988::getPressure02e(qmp6988_ik_data_t* ik, QMP6988_S32_t dp,
QMP6988_S16_t tx) {
QMP6988_S32_t ret;
QMP6988_S64_t wk1, wk2, wk3;
// wk1 = 48Q16 // bit size
wk1 =
((QMP6988_S64_t)ik->bt1 * (QMP6988_S64_t)tx); // 28Q15+16-1=43 (43Q15)
wk2 = ((QMP6988_S64_t)ik->bp1 * (QMP6988_S64_t)dp) >>
5; // 31Q20+24-1=54 (49Q15)
wk1 += wk2; // 43,49->50Q15
wk2 = ((QMP6988_S64_t)ik->bt2 * (QMP6988_S64_t)tx) >>
1; // 34Q38+16-1=49 (48Q37)
wk2 = (wk2 * (QMP6988_S64_t)tx) >> 8; // 48Q37+16-1=63 (55Q29)
wk3 = wk2; // 55Q29
wk2 = ((QMP6988_S64_t)ik->b11 * (QMP6988_S64_t)tx) >>
4; // 28Q34+16-1=43 (39Q30)
wk2 = (wk2 * (QMP6988_S64_t)dp) >> 1; // 39Q30+24-1=62 (61Q29)
wk3 += wk2; // 55,61->62Q29
wk2 = ((QMP6988_S64_t)ik->bp2 * (QMP6988_S64_t)dp) >>
13; // 29Q43+24-1=52 (39Q30)
wk2 = (wk2 * (QMP6988_S64_t)dp) >> 1; // 39Q30+24-1=62 (61Q29)
wk3 += wk2; // 62,61->63Q29
wk1 += wk3 >> 14; // Q29 >> 14 -> Q15
wk2 =
((QMP6988_S64_t)ik->b12 * (QMP6988_S64_t)tx); // 29Q53+16-1=45 (45Q53)
wk2 = (wk2 * (QMP6988_S64_t)tx) >> 22; // 45Q53+16-1=61 (39Q31)
wk2 = (wk2 * (QMP6988_S64_t)dp) >> 1; // 39Q31+24-1=62 (61Q30)
wk3 = wk2; // 61Q30
wk2 = ((QMP6988_S64_t)ik->b21 * (QMP6988_S64_t)tx) >>
6; // 29Q60+16-1=45 (39Q54)
wk2 = (wk2 * (QMP6988_S64_t)dp) >> 23; // 39Q54+24-1=62 (39Q31)
wk2 = (wk2 * (QMP6988_S64_t)dp) >> 1; // 39Q31+24-1=62 (61Q20)
wk3 += wk2; // 61,61->62Q30
wk2 = ((QMP6988_S64_t)ik->bp3 * (QMP6988_S64_t)dp) >>
12; // 28Q65+24-1=51 (39Q53)
wk2 = (wk2 * (QMP6988_S64_t)dp) >> 23; // 39Q53+24-1=62 (39Q30)
wk2 = (wk2 * (QMP6988_S64_t)dp); // 39Q30+24-1=62 (62Q30)
wk3 += wk2; // 62,62->63Q30
wk1 += wk3 >> 15; // Q30 >> 15 = Q15
wk1 /= 32767L;
wk1 >>= 11; // Q15 >> 7 = Q4
wk1 += ik->b00; // Q4 + 20Q4
// wk1 >>= 4; // 28Q4 -> 24Q0
ret = (QMP6988_S32_t)wk1;
return ret;
}
void QMP6988::softwareReset() {
uint8_t ret = 0;
ret = writeReg(slave_addr, QMP6988_RESET_REG, 0xe6);
if (ret == 0) {
QMP6988_LOG("softwareReset fail!!! \r\n");
}
delayMS(20);
ret = writeReg(slave_addr, QMP6988_RESET_REG, 0x00);
}
void QMP6988::setpPowermode(int power_mode) {
uint8_t data;
QMP6988_LOG("qmp_set_powermode %d \r\n", power_mode);
qmp6988.power_mode = power_mode;
readData(slave_addr, QMP6988_CTRLMEAS_REG, &data, 1);
data = data & 0xfc;
if (power_mode == QMP6988_SLEEP_MODE) {
data |= 0x00;
} else if (power_mode == QMP6988_FORCED_MODE) {
data |= 0x01;
} else if (power_mode == QMP6988_NORMAL_MODE) {
data |= 0x03;
}
writeReg(slave_addr, QMP6988_CTRLMEAS_REG, data);
QMP6988_LOG("qmp_set_powermode 0xf4=0x%x \r\n", data);
delayMS(20);
}
void QMP6988::setFilter(unsigned char filter) {
uint8_t data;
data = (filter & 0x03);
writeReg(slave_addr, QMP6988_CONFIG_REG, data);
delayMS(20);
}
void QMP6988::setOversamplingP(unsigned char oversampling_p) {
uint8_t data;
readData(slave_addr, QMP6988_CTRLMEAS_REG, &data, 1);
data &= 0xe3;
data |= (oversampling_p << 2);
writeReg(slave_addr, QMP6988_CTRLMEAS_REG, data);
delayMS(20);
}
void QMP6988::setOversamplingT(unsigned char oversampling_t) {
uint8_t data;
readData(slave_addr, QMP6988_CTRLMEAS_REG, &data, 1);
data &= 0x1f;
data |= (oversampling_t << 5);
writeReg(slave_addr, QMP6988_CTRLMEAS_REG, data);
delayMS(20);
}
float QMP6988::calcAltitude(float pressure, float temp) {
float altitude;
altitude =
(pow((101325 / pressure), 1 / 5.257) - 1) * (temp + 273.15) / 0.0065;
QMP6988_LOG("altitude = %f\r\n", altitude);
return altitude;
}
float QMP6988::calcPressure() {
uint8_t err = 0;
QMP6988_U32_t P_read, T_read;
QMP6988_S32_t P_raw, T_raw;
uint8_t a_data_uint8_tr[6] = {0};
QMP6988_S32_t T_int, P_int;
// press
err = readData(slave_addr, QMP6988_PRESSURE_MSB_REG, a_data_uint8_tr, 6);
if (err == 0) {
QMP6988_LOG("qmp6988 read press raw error! \r\n");
return 0.0f;
}
P_read = (QMP6988_U32_t)((((QMP6988_U32_t)(a_data_uint8_tr[0]))
<< SHIFT_LEFT_16_POSITION) |
(((QMP6988_U16_t)(a_data_uint8_tr[1]))
<< SHIFT_LEFT_8_POSITION) |
(a_data_uint8_tr[2]));
P_raw = (QMP6988_S32_t)(P_read - SUBTRACTOR);
T_read = (QMP6988_U32_t)((((QMP6988_U32_t)(a_data_uint8_tr[3]))
<< SHIFT_LEFT_16_POSITION) |
(((QMP6988_U16_t)(a_data_uint8_tr[4]))
<< SHIFT_LEFT_8_POSITION) |
(a_data_uint8_tr[5]));
T_raw = (QMP6988_S32_t)(T_read - SUBTRACTOR);
T_int = convTx02e(&(qmp6988.ik), T_raw);
P_int = getPressure02e(&(qmp6988.ik), P_raw, T_int);
qmp6988.temperature = (float)T_int / 256.0f;
qmp6988.pressure = (float)P_int / 16.0f;
return qmp6988.pressure;
}
float QMP6988::calcTemperature() {
uint8_t err = 0;
QMP6988_U32_t P_read, T_read;
QMP6988_S32_t P_raw, T_raw;
uint8_t a_data_uint8_tr[6] = {0};
QMP6988_S32_t T_int, P_int;
// press
err = readData(slave_addr, QMP6988_PRESSURE_MSB_REG, a_data_uint8_tr, 6);
if (err == 0) {
QMP6988_LOG("qmp6988 read press raw error! \r\n");
return 0.0f;
}
P_read = (QMP6988_U32_t)((((QMP6988_U32_t)(a_data_uint8_tr[0]))
<< SHIFT_LEFT_16_POSITION) |
(((QMP6988_U16_t)(a_data_uint8_tr[1]))
<< SHIFT_LEFT_8_POSITION) |
(a_data_uint8_tr[2]));
P_raw = (QMP6988_S32_t)(P_read - SUBTRACTOR);
// temp
err = readData(slave_addr, QMP6988_TEMPERATURE_MSB_REG, a_data_uint8_tr, 3);
if (err == 0) {
QMP6988_LOG("qmp6988 read temp raw error! \n");
}
T_read = (QMP6988_U32_t)((((QMP6988_U32_t)(a_data_uint8_tr[3]))
<< SHIFT_LEFT_16_POSITION) |
(((QMP6988_U16_t)(a_data_uint8_tr[4]))
<< SHIFT_LEFT_8_POSITION) |
(a_data_uint8_tr[5]));
T_raw = (QMP6988_S32_t)(T_read - SUBTRACTOR);
T_int = convTx02e(&(qmp6988.ik), T_raw);
P_int = getPressure02e(&(qmp6988.ik), P_raw, T_int);
qmp6988.temperature = (float)T_int / 256.0f;
qmp6988.pressure = (float)P_int / 16.0f;
return qmp6988.temperature;
}
uint8_t QMP6988::init(uint8_t slave_addr_in, TwoWire* wire_in) {
device_wire = wire_in;
uint8_t ret;
slave_addr = slave_addr_in;
ret = deviceCheck();
if (ret == 0) {
return 0;
}
softwareReset();
getCalibrationData();
setpPowermode(QMP6988_NORMAL_MODE);
setFilter(QMP6988_FILTERCOEFF_4);
setOversamplingP(QMP6988_OVERSAMPLING_8X);
setOversamplingT(QMP6988_OVERSAMPLING_1X);
return 1;
}
#endif
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