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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/. | ||
*/ | ||
// ---------------------------------------------------------------------------- | ||
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#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(); | ||
} | ||
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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)); | ||
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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); | ||
} | ||
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RF_END_RETURN(false); | ||
} | ||
}; |
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#!/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/. | ||
# ----------------------------------------------------------------------------- | ||
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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") |