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| Original file line number | Diff line number | Diff line change |
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| /* | ||
| * Copyright (c) 2023, Alexander Solovets | ||
| * | ||
| * This file is part of the modm project. | ||
| * | ||
| * This Source Code Form is subject to the terms of the Mozilla Public | ||
| * License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| * file, You can obtain one at http://mozilla.org/MPL/2.0/. | ||
| */ | ||
| // ---------------------------------------------------------------------------- | ||
|
|
||
| #include <modm/architecture/driver/atomic/flag.hpp> | ||
| #include <modm/board.hpp> | ||
| #include <modm/debug/logger.hpp> | ||
| #include <modm/driver/inertial/qmc5883l.hpp> | ||
|
|
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| using namespace Board; | ||
| using namespace std::chrono_literals; | ||
|
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| using Compass = Qmc5883l<I2cMaster>; | ||
| Compass::Data data; | ||
| Compass compass(data); | ||
| modm::atomic::Flag dataReady(true); | ||
|
|
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| MODM_ISR(INT2) | ||
| { | ||
| dataReady.set(); | ||
| } | ||
|
|
||
| int | ||
| main() | ||
| { | ||
| Board::initialize(); | ||
| // DRDY pin must be connected to Board pin 19 (Port D2). | ||
| Board::D19::setInput(Gpio::InputType::PullUp); | ||
| Board::D19::setInputTrigger(Gpio::InputTrigger::RisingEdge); | ||
| Board::D19::enableExternalInterrupt(); | ||
|
|
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| RF_CALL_BLOCKING(compass.initialize()); | ||
| auto mode = Compass::Mode_t(Compass::Mode::Continious); | ||
| auto rate = Compass::OutputDataRate_t(Compass::OutputDataRate::_10Hz); | ||
| auto scale = Compass::FullScale_t(Compass::FullScale::_8G); | ||
| RF_CALL_BLOCKING(compass.configure(mode, rate | scale)); | ||
|
|
||
| for (;;) | ||
| { | ||
| if (dataReady.testAndSet(false)) | ||
| { | ||
| if (RF_CALL_BLOCKING(compass.readData())) | ||
| { | ||
| MODM_LOG_INFO << "X:" << compass.x() << " Y: " << compass.y() | ||
| << " Z: " << compass.z() | ||
| << " OVL: " << (compass.status() & Compass::Status::OVL) | ||
| << modm::endl; | ||
| } else | ||
| { | ||
| serialStream << "readDataBlocking(): Error: " << uint8_t(I2cMaster::getErrorState()) | ||
| << modm::endl; | ||
| } | ||
| } | ||
| } | ||
| } |
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| <library> | ||
| <extends>modm:mega-2560-pro</extends> | ||
| <options> | ||
| <option name="modm:build:build.path">../../../build/avr/qmc5883l</option> | ||
| </options> | ||
| <modules> | ||
| <module>modm:platform:i2c</module> | ||
| <module>modm:driver:qmc5883l</module> | ||
| <module>modm:build:scons</module> | ||
| </modules> | ||
| </library> |
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| #pragma once | ||
|
|
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| #include <algorithm> | ||
| #include <modm/architecture/interface/i2c_device.hpp> | ||
| #include <modm/architecture/interface/register.hpp> | ||
| #include <modm/math/utils/endianness.hpp> | ||
|
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| template<typename I2cMaster> | ||
| class Qmc5883l; | ||
|
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| struct Qmc5883lRegisters | ||
| { | ||
| protected: | ||
| /// @cond | ||
| /// The addresses of the Configuration and Data Registers | ||
| enum class Register : uint8_t | ||
| { | ||
| DataX_Lsb = 0x00, | ||
| DataX_Msb = 0x01, | ||
| DataY_Lsb = 0x02, | ||
| DataY_Msb = 0x03, | ||
| DataZ_Lsb = 0x04, | ||
| DataZ_Msb = 0x05, | ||
| Status = 0x06, | ||
| Tout_Lsb = 0x07, | ||
| Tout_Msb = 0x08, | ||
| Control1 = 0x09, | ||
| Control2 = 0x0a, | ||
| SetReset = 0x0b, | ||
| }; | ||
| /// @endcond | ||
| public: | ||
| enum class Status : uint8_t | ||
| { | ||
| DOR = modm::Bit2, | ||
| OVL = modm::Bit1, | ||
| DRDY = modm::Bit0, | ||
| }; | ||
| MODM_FLAGS8(Status); | ||
|
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| public: | ||
| enum class Control1 : uint8_t | ||
| { | ||
| OSR1 = modm::Bit7, | ||
| OSR0 = modm::Bit6, | ||
| OversampleRate_Mask = OSR1 | OSR0, | ||
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| RNG1 = modm::Bit5, | ||
| RNG0 = modm::Bit4, | ||
| FullScale_Mask = RNG1 | RNG0, | ||
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| ODR1 = modm::Bit3, | ||
| ODR0 = modm::Bit2, | ||
| OutputDataRate_Mask = ODR1 | ODR0, | ||
|
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| MODE1 = modm::Bit1, | ||
| MODE0 = modm::Bit0, | ||
| Mode_Mask = MODE1 | MODE0, | ||
| }; | ||
| MODM_FLAGS8(Control1); | ||
|
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| enum class Control2 : uint8_t | ||
| { | ||
| SOFT_RST = modm::Bit7, | ||
| ROL_PNT = modm::Bit6, | ||
| INT_ENB = modm::Bit0, | ||
| }; | ||
| MODM_FLAGS8(Control2); | ||
|
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| public: | ||
| enum class OversampleRate : uint8_t | ||
| { | ||
| _512 = 0, | ||
| _256 = int(Control1::OSR0), | ||
| _128 = int(Control1::OSR1), | ||
| _64 = int(Control1::OSR0) | int(Control1::OSR1), | ||
| }; | ||
|
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| MODM_FLAGS_CONFIG(Control1, OversampleRate); | ||
|
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| enum class FullScale : uint8_t | ||
| { | ||
| _2G = 0, | ||
| _8G = int(Control1::RNG0), | ||
| }; | ||
|
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| MODM_FLAGS_CONFIG(Control1, FullScale); | ||
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| enum class OutputDataRate : uint8_t | ||
| { | ||
| _10Hz = 0, | ||
| _50Hz = int(Control1::ODR0), | ||
| _100Hz = int(Control1::ODR1), | ||
| _200Hz = int(Control1::ODR0) | int(Control1::ODR1), | ||
| }; | ||
|
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| MODM_FLAGS_CONFIG(Control1, OutputDataRate); | ||
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| enum class Mode : uint8_t | ||
| { | ||
| StandBy = 0, | ||
| Continious = int(Control1::MODE0), | ||
| }; | ||
|
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| MODM_FLAGS_CONFIG(Control1, Mode); | ||
|
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| public: | ||
| struct modm_packed Data | ||
| { | ||
| template<class I2cMaster> | ||
| friend class Qmc5883l; | ||
|
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| protected: | ||
| uint8_t data[7]; | ||
|
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| template<Register R, uint8_t Offset = uint8_t(R)> | ||
| int16_t inline getWord() | ||
| { | ||
| static_assert(Offset < sizeof data); | ||
| const auto value = reinterpret_cast<int16_t *>(data + Offset); | ||
| return modm::fromLittleEndian(*value); | ||
| } | ||
| }; | ||
| }; | ||
|
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| template<class I2cMaster> | ||
| class Qmc5883l : public Qmc5883lRegisters, public modm::I2cDevice<I2cMaster> | ||
| { | ||
| /// @cond | ||
| Data &data; | ||
| /// @endcond | ||
| uint8_t buffer[sizeof data.data]; | ||
|
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| modm::ResumableResult<bool> | ||
| writeRegister(Register reg, uint8_t value) | ||
| { | ||
| RF_BEGIN(); | ||
|
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| buffer[0] = uint8_t(reg); | ||
| buffer[1] = value; | ||
| this->transaction.configureWrite(buffer, 2); | ||
|
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| RF_END_RETURN_CALL(this->runTransaction()); | ||
| } | ||
|
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| public: | ||
| Qmc5883l(Data &data, uint8_t address = 0x0d) : modm::I2cDevice<I2cMaster>(address), data(data) | ||
| {} | ||
|
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| auto x() { return data.getWord<Register::DataX_Lsb>(); } | ||
|
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| auto y() { return data.getWord<Register::DataY_Lsb>(); } | ||
|
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| auto z() { return data.getWord<Register::DataZ_Lsb>(); } | ||
|
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| auto status() { return Status_t(data.data[uint8_t(Register::Status)]); } | ||
|
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| public: | ||
| modm::ResumableResult<bool> | ||
| initialize() | ||
| { | ||
| // Per datasheet: | ||
| // wihtout any additional explanations recommended to set to 0x01. | ||
| return writeRegister(Register::SetReset, 0x01); | ||
| } | ||
|
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| modm::ResumableResult<bool> | ||
| configure(Mode_t mode, Control1_t control) | ||
| { | ||
| control |= mode; | ||
| return writeRegister(Register::Control1, control.value); | ||
| } | ||
|
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| modm::ResumableResult<bool> | ||
| configure(Control2_t control) | ||
| { | ||
| return writeRegister(Register::Control2, control.value); | ||
| } | ||
|
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| modm::ResumableResult<bool> | ||
| readData() | ||
| { | ||
| RF_BEGIN(); | ||
|
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| buffer[0] = uint8_t(Register::DataX_Lsb); | ||
| this->transaction.configureWriteRead(buffer, 1, buffer, sizeof buffer); | ||
|
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| if (RF_CALL(this->runTransaction())) | ||
| { | ||
| std::copy_n(buffer, sizeof data.data, data.data); | ||
| RF_RETURN(true); | ||
| } | ||
|
|
||
| RF_END_RETURN(false); | ||
| } | ||
| }; |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,41 @@ | ||
| #!/usr/bin/env python3 | ||
| # -*- coding: utf-8 -*- | ||
| # | ||
| # Copyright (c) 2023, Alexander Solovets | ||
| # | ||
| # This file is part of the modm project. | ||
| # | ||
| # This Source Code Form is subject to the terms of the Mozilla Public | ||
| # License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| # file, You can obtain one at http://mozilla.org/MPL/2.0/. | ||
| # ----------------------------------------------------------------------------- | ||
|
|
||
|
|
||
| def init(module): | ||
| module.name = ":driver:qmc5883l" | ||
| module.description = """\ | ||
| # QMC5883L 3-Axis Digital Magnetometer | ||
| The QMC5883L is a multi-chip three-axis magnetic sensor. This surface-mount, | ||
| small sized chip has integrated magnetic sensors with signal condition ASIC, | ||
| targeted for high precision applications such as compassing, navigation and | ||
| gaming in drone, robot, mobile and personal hand-held devices. | ||
| The QMC5883L is based on state-of-the-art, high resolution, magneto-resistive | ||
| technology licensed from Honeywell AMR technology. Along with custom-designed | ||
| 16-bit ADC ASIC, it offers the advantages of low noise, high accuracy, low | ||
| power consumption, offset cancellation and temperature compensation. QMC5883L | ||
| enables 1° to 2° compass heading accuracy. The I²C serial bus allows for easy | ||
| interface. | ||
| """ | ||
|
|
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| def prepare(module, options): | ||
| module.depends( | ||
| ":architecture:i2c.device", | ||
| ":architecture:register", | ||
| ":math:utils") | ||
| return True | ||
|
|
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| def build(env): | ||
| env.outbasepath = "modm/src/modm/driver/inertial" | ||
| env.copy("qmc5883l.hpp") |