Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
Showing
5 changed files
with
315 additions
and
4 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,62 @@ | ||
| /* | ||
| * 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> | ||
|
|
||
| using namespace Board; | ||
| using namespace std::chrono_literals; | ||
|
|
||
| using Compass = Qmc5883l<I2cMaster>; | ||
| Compass::Data data; | ||
| Compass compass(data); | ||
| modm::atomic::Flag dataReady(true); | ||
|
|
||
| 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(); | ||
|
|
||
| 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; | ||
| } | ||
| } | ||
| } | ||
| } |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,11 @@ | ||
| <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> |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,196 @@ | ||
| #pragma once | ||
|
|
||
| #include <algorithm> | ||
| #include <modm/architecture/interface/i2c_device.hpp> | ||
| #include <modm/architecture/interface/register.hpp> | ||
| #include <modm/math/utils/endianness.hpp> | ||
|
|
||
| template<typename I2cMaster> | ||
| class Qmc5883l; | ||
|
|
||
| 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); | ||
|
|
||
| public: | ||
| enum class Control1 : uint8_t | ||
| { | ||
| OSR1 = modm::Bit7, | ||
| OSR0 = modm::Bit6, | ||
| OversampleRate_Mask = OSR1 | OSR0, | ||
|
|
||
| RNG1 = modm::Bit5, | ||
| RNG0 = modm::Bit4, | ||
| FullScale_Mask = RNG1 | RNG0, | ||
|
|
||
| ODR1 = modm::Bit3, | ||
| ODR0 = modm::Bit2, | ||
| OutputDataRate_Mask = ODR1 | ODR0, | ||
|
|
||
| MODE1 = modm::Bit1, | ||
| MODE0 = modm::Bit0, | ||
| Mode_Mask = MODE1 | MODE0, | ||
| }; | ||
| MODM_FLAGS8(Control1); | ||
|
|
||
| enum class Control2 : uint8_t | ||
| { | ||
| SOFT_RST = modm::Bit7, | ||
| ROL_PNT = modm::Bit6, | ||
| INT_ENB = modm::Bit0, | ||
| }; | ||
| MODM_FLAGS8(Control2); | ||
|
|
||
| public: | ||
| enum class OversampleRate : uint8_t | ||
| { | ||
| _512 = 0, | ||
| _256 = int(Control1::OSR0), | ||
| _128 = int(Control1::OSR1), | ||
| _64 = int(Control1::OSR0) | int(Control1::OSR1), | ||
| }; | ||
|
|
||
| MODM_FLAGS_CONFIG(Control1, OversampleRate); | ||
|
|
||
| enum class FullScale : uint8_t | ||
| { | ||
| _2G = 0, | ||
| _8G = int(Control1::RNG0), | ||
| }; | ||
|
|
||
| MODM_FLAGS_CONFIG(Control1, FullScale); | ||
|
|
||
| enum class OutputDataRate : uint8_t | ||
| { | ||
| _10Hz = 0, | ||
| _50Hz = int(Control1::ODR0), | ||
| _100Hz = int(Control1::ODR1), | ||
| _200Hz = int(Control1::ODR0) | int(Control1::ODR1), | ||
| }; | ||
|
|
||
| MODM_FLAGS_CONFIG(Control1, OutputDataRate); | ||
|
|
||
| enum class Mode : uint8_t | ||
| { | ||
| StandBy = 0, | ||
| Continious = int(Control1::MODE0), | ||
| }; | ||
|
|
||
| MODM_FLAGS_CONFIG(Control1, Mode); | ||
|
|
||
| public: | ||
| struct modm_packed Data | ||
| { | ||
| template<class I2cMaster> | ||
| friend class Qmc5883l; | ||
|
|
||
| protected: | ||
| uint8_t data[7]; | ||
|
|
||
| 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); | ||
| } | ||
| }; | ||
| }; | ||
|
|
||
| template<class I2cMaster> | ||
| class Qmc5883l : public Qmc5883lRegisters, public modm::I2cDevice<I2cMaster> | ||
| { | ||
| /// @cond | ||
| Data &data; | ||
| /// @endcond | ||
| uint8_t buffer[sizeof data.data]; | ||
|
|
||
| modm::ResumableResult<bool> | ||
| writeRegister(Register reg, uint8_t value) | ||
| { | ||
| RF_BEGIN(); | ||
|
|
||
| buffer[0] = uint8_t(reg); | ||
| buffer[1] = value; | ||
| this->transaction.configureWrite(buffer, 2); | ||
|
|
||
| RF_END_RETURN_CALL(this->runTransaction()); | ||
| } | ||
|
|
||
| public: | ||
| Qmc5883l(Data &data, uint8_t address = 0x0d) : modm::I2cDevice<I2cMaster>(address), data(data) | ||
| {} | ||
|
|
||
| auto x() { return data.getWord<Register::DataX_Lsb>(); } | ||
|
|
||
| auto y() { return data.getWord<Register::DataY_Lsb>(); } | ||
|
|
||
| auto z() { return data.getWord<Register::DataZ_Lsb>(); } | ||
|
|
||
| auto status() { return Status_t(data.data[uint8_t(Register::Status)]); } | ||
|
|
||
| public: | ||
| modm::ResumableResult<bool> | ||
| initialize() | ||
| { | ||
| // Per datasheet: | ||
| // wihtout any additional explanations recommended to set to 0x01. | ||
| return writeRegister(Register::SetReset, 0x01); | ||
| } | ||
|
|
||
| modm::ResumableResult<bool> | ||
| configure(Mode_t mode, Control1_t control) | ||
| { | ||
| control |= mode; | ||
| return writeRegister(Register::Control1, control.value); | ||
| } | ||
|
|
||
| modm::ResumableResult<bool> | ||
| configure(Control2_t control) | ||
| { | ||
| return writeRegister(Register::Control2, control.value); | ||
| } | ||
|
|
||
| modm::ResumableResult<bool> | ||
| readData() | ||
| { | ||
| RF_BEGIN(); | ||
|
|
||
| buffer[0] = uint8_t(Register::DataX_Lsb); | ||
| this->transaction.configureWriteRead(buffer, 1, buffer, sizeof buffer); | ||
|
|
||
| if (RF_CALL(this->runTransaction())) | ||
| { | ||
| std::copy_n(buffer, sizeof data.data, data.data); | ||
| RF_RETURN(true); | ||
| } | ||
|
|
||
| RF_END_RETURN(false); | ||
| } | ||
| }; |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| 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. | ||
| """ | ||
|
|
||
| def prepare(module, options): | ||
| module.depends( | ||
| ":architecture:i2c.device", | ||
| ":architecture:register", | ||
| ":math:utils") | ||
| return True | ||
|
|
||
| def build(env): | ||
| env.outbasepath = "modm/src/modm/driver/inertial" | ||
| env.copy("qmc5883l.hpp") |