Revision 0:5c3a7cf4cb2a, committed 2020-07-10

Comitter:

docent

Date:

Fri Jul 10 08:45:27 2020 +0000

Commit message:

for my students

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/QMC5883L.cpp	Fri Jul 10 08:45:27 2020 +0000
@@ -0,0 +1,249 @@
+/*   QMC5883L Digital Compass Library
+*
+*    @author: Baser Kandehir 
+*    @date: August 5, 2015
+*    @license: MIT license
+*     
+*   Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr
+*
+*   Permission is hereby granted, free of charge, to any person obtaining a copy
+*   of this software and associated documentation files (the "Software"), to deal
+*   in the Software without restriction, including without limitation the rights
+*   to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+*   copies of the Software, and to permit persons to whom the Software is
+*   furnished to do so, subject to the following conditions:
+*
+*   The above copyright notice and this permission notice shall be included in
+*   all copies or substantial portions of the Software.
+*
+*   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+*   IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+*   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+*   AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+*   LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+*   OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+*   THE SOFTWARE.
+*
+*/
+
+// Some part of the code is adapted from Adafruit HMC5883 library
+
+#include "QMC5883L.h"
+
+/* NUCLEO F411RE board */
+static I2C QMC5883L_i2c(PB_3, PB_10);         // setup i2c (SDA,SCL)  
+float mRes; // Varies with gain
+ 
+float QMC5883L::setMagRange(MagScale Mscale)
+{   
+    switch(Mscale)
+    {
+        case MagScale_2G:
+            mRes = 1.0/12000;  //LSB/G
+            break;
+        case MagScale_8G:
+            mRes = 1.0/3000;
+            break;
+    } 
+    return mRes;
+}
+
+//void QMC5883L::writeByte(uint8_t address, uint8_t regAddress, uint8_t data)
+//{
+//    char data_write[2];
+//    data_write[0]=regAddress;           // I2C sends MSB first. Namely  >>|regAddress|>>|data|
+//    data_write[1]=data;
+//    i2c.write(address,data_write,2,0);  // i2c.write(int address, char* data, int length, bool repeated=false);  
+//}
+
+//char QMC5883L::readByte(uint8_t address, uint8_t regAddress)
+//{
+//    char data_read[1];                   // will store the register data    
+//    char data_write[1];
+//    data_write[0]=regAddress;
+//    i2c.write(address,data_write,1,1);   // repeated = true
+//    i2c.read(address,data_read,1,0);     // read the data and stop
+//    return data_read[0];
+//} 
+
+//void QMC5883L::readBytes(uint8_t address, uint8_t regAddress, uint8_t byteNum, uint8_t* dest)
+//{
+//    char data[10],data_write[1];  
+//    data_write[0]=regAddress;      
+//    i2c.write(address,data_write,1,1);
+//    i2c.read(address,data,byteNum,0);
+//    for(int i=0;i<byteNum;i++)          // equate the addresses
+//        dest[i]=data[i];
+//}
+
+void QMC5883L_WriteByte(uint8_t QMC5883L_reg, uint8_t QMC5883L_data)
+{
+    char data_out[2];
+    data_out[0]=QMC5883L_reg;
+    data_out[1]=QMC5883L_data;
+    QMC5883L_i2c.write(QMC5883L_ADDRESS, data_out, 2, 0);
+    //my device_i2c->write(QMC5883L_ADDRESS, data_out, 2, 0);   
+}
+
+uint8_t QMC5883L_ReadByte(uint8_t QMC5883L_reg)
+{
+    char data_out[1], data_in[1];
+    data_out[0] = QMC5883L_reg;
+    QMC5883L_i2c.write(QMC5883L_ADDRESS, data_out, 1, 1);
+    QMC5883L_i2c.read(QMC5883L_ADDRESS, data_in, 1, 0);
+    return (data_in[0]);
+}
+//my
+double QMC5883L::getHeading()
+{
+    char data_out[1];
+    char rawData[6];
+    float magData[3];
+    data_out[0] = OUT_X_MSB;
+    QMC5883L_i2c.write(QMC5883L_ADDRESS, data_out, 1, 1);
+    QMC5883L_i2c.read(QMC5883L_ADDRESS, rawData, 6, 0);
+    
+    //    /* Turn the MSB LSB into signed 16-bit value */
+    magData[0] = (int16_t)(((int16_t)rawData[0]<<8) | rawData[1]);  // MAG_XOUT
+    magData[1] = (int16_t)(((int16_t)rawData[2]<<8) | rawData[3]);  // MAG_YOUT
+    magData[2] = (int16_t)(((int16_t)rawData[4]<<8) | rawData[5]);  // MAG_ZOUT 
+    
+//    /* Convert raw data to magnetic field values in microtesla */
+     magData[0] = magData[0] / Gauss_LSB_XY * GAUSS_TO_MICROTESLA;
+     magData[1] = magData[1] / Gauss_LSB_XY * GAUSS_TO_MICROTESLA;
+     magData[2] = magData[2] / Gauss_LSB_Z  * GAUSS_TO_MICROTESLA;
+     
+     //    /* Calculate the heading while Z axis of the module is pointing up */
+    double heading = atan2(magData[1], magData[0]);
+//    
+    // After calculating heading declination angle should be added to heading which is the error of the magnetic field in specific location.
+    // declinationAngle can be found here http://www.magnetic-declination.com/
+    // For Ankara (my location) declinationAngle is ~5.5 degrees (0.096 radians)
+    float declinationAngle = 0.241;//0.096;
+    heading += declinationAngle;
+    
+    // Correct for when signs are reversed.
+    if(heading < 0)
+        heading += 2*PI;
+    
+    // Check for wrap due to addition of declination.
+    if(heading > 2*PI)
+        heading -= 2*PI;
+     
+    /* Convert radian to degrees */
+    heading = heading * 180 / PI;  
+    if (heading>=360)
+        heading -=360;
+    
+    return heading;
+}
+
+uint8_t QMC5883L::ChipID()//my
+{
+    uint8_t ChipID = QMC5883L_ReadByte(CHIP_ID);   // Should return 0xff
+    //pc.printf("I AM QMC5883: 0x%x \r\n",ChipID);
+    return ChipID;
+    
+//    if(whoAmI==0x12)//0x68)
+//    {
+//        pc.printf("ICM20602 is online... \r\n");  
+////        led2=1;
+////        ledToggle(2);
+//    }
+//    else
+//    {
+//        pc.printf("Could not connect to ICM20602 \r\nCheck the connections... \r\n");  
+////        toggler1.attach(&toggle_led1,0.1);     // toggles led1 every 100 ms
+//    } 
+//pc.printf("I AM 0x%x \r\n",QMC5883L_ADDRESS);    
+}
+
+void QMC5883L::init()
+{   
+    setMagRange(MagScale_8G);
+    QMC5883L_WriteByte(CONTROL_A, 0x0D | MagScale_8G);  // Range: 8G, ODR: 200 Hz, mode:Continuous-Measurement
+    QMC5883L_WriteByte(SET_RESET, 0x01);
+    //QMC5883L_WriteByte(STATUS, 0x01);
+    //QMC5883L_WriteByte(0X20, 0x40);
+//    QMC5883L_WriteByte(0X21, 0x01);
+    wait_ms(10);
+}
+
+int16_t QMC5883L::getMagXvalue()
+{
+    uint8_t LoByte, HiByte;
+    LoByte = QMC5883L_ReadByte(OUT_X_LSB); // read Accelerometer X_Low  value
+    HiByte = QMC5883L_ReadByte(OUT_X_MSB); // read Accelerometer X_High value
+    return((HiByte<<8) | LoByte);
+//    pc1.printf("accx:%d,%d\r\n",HiByte,LoByte);  // send data to matlab
+}
+
+int16_t QMC5883L::getMagYvalue()
+{
+    uint8_t LoByte, HiByte;
+    LoByte = QMC5883L_ReadByte(OUT_Y_LSB); // read Accelerometer X_Low  value
+    HiByte = QMC5883L_ReadByte(OUT_Y_MSB); // read Accelerometer X_High value
+    return ((HiByte<<8) | LoByte);
+}
+
+int16_t QMC5883L::getMagZvalue()
+{
+    uint8_t LoByte, HiByte;
+    LoByte = QMC5883L_ReadByte(OUT_Z_LSB); // read Accelerometer X_Low  value
+    HiByte = QMC5883L_ReadByte(OUT_Z_MSB); // read Accelerometer X_High value
+    return ((HiByte<<8) | LoByte);
+}
+
+int16_t QMC5883L::getMagTemp()
+{
+    uint8_t LoByte, HiByte;
+    LoByte = QMC5883L_ReadByte(TEMP_LSB); // read Accelerometer X_Low  value
+    HiByte = QMC5883L_ReadByte(TEMP_MSB); // read Accelerometer X_High value
+    return ((HiByte<<8) | LoByte);
+}
+
+//void QMC5883L::readMagData(float* dest)
+//{
+//    uint8_t rawData[6]; // x,y,z mag data
+//    
+//    /* Read six raw data registers sequentially and write them into data array */
+//    readBytes(QMC5883L_ADDRESS, OUT_X_MSB, 6, &rawData[0]); 
+//    
+//    /* Turn the MSB LSB into signed 16-bit value */
+//    dest[0] = (int16_t)(((int16_t)rawData[0]<<8) | rawData[1]);  // MAG_XOUT
+//    dest[2] = (int16_t)(((int16_t)rawData[2]<<8) | rawData[3]);  // MAG_ZOUT
+//    dest[1] = (int16_t)(((int16_t)rawData[4]<<8) | rawData[5]);  // MAG_YOUT 
+//    
+//    /* Convert raw data to magnetic field values in microtesla */
+//     dest[0] = dest[0] / Gauss_LSB_XY * GAUSS_TO_MICROTESLA;
+//     dest[1] = dest[1] / Gauss_LSB_XY * GAUSS_TO_MICROTESLA;
+//     dest[2] = dest[2] / Gauss_LSB_Z  * GAUSS_TO_MICROTESLA;
+//}
+
+//double QMC5883L::getHeading()
+//{
+//    float magData[3];
+//    readMagData(magData);
+//    
+//    /* Calculate the heading while Z axis of the module is pointing up */
+//    double heading = atan2(magData[1], magData[0]);
+//    
+//    // After calculating heading declination angle should be added to heading which is the error of the magnetic field in specific location.
+//    // declinationAngle can be found here http://www.magnetic-declination.com/
+//    // For Ankara (my location) declinationAngle is ~5.5 degrees (0.096 radians)
+//    float declinationAngle = 0.096;
+//    heading += declinationAngle;
+//    
+//    // Correct for when signs are reversed.
+//    if(heading < 0)
+//        heading += 2*PI;
+//    
+//    // Check for wrap due to addition of declination.
+//    if(heading > 2*PI)
+//        heading -= 2*PI;
+//    
+//    /* Convert radian to degrees */
+//    heading = heading * 180 / PI;  
+//    
+//    return heading;    
+//}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/QMC5883L.h	Fri Jul 10 08:45:27 2020 +0000
@@ -0,0 +1,84 @@
+/*     
+*   Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr
+*
+*   Permission is hereby granted, free of charge, to any person obtaining a copy
+*   of this software and associated documentation files (the "Software"), to deal
+*   in the Software without restriction, including without limitation the rights
+*   to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+*   copies of the Software, and to permit persons to whom the Software is
+*   furnished to do so, subject to the following conditions:
+*
+*   The above copyright notice and this permission notice shall be included in
+*   all copies or substantial portions of the Software.
+*
+*   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+*   IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+*   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+*   AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+*   LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+*   OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+*   THE SOFTWARE.
+*
+*/
+
+// Some part of the code is adapted from Adafruit HMC5883 library
+
+#ifndef QMC5883L_H
+#define QMC5883L_H
+
+#include "mbed.h"
+#include "math.h"
+//#include "ledControl.h"
+#include "DevI2C.h"
+
+#define PI 3.14159265359 
+#define GAUSS_TO_MICROTESLA 100
+#define QMC5883L_ADDRESS 0x1A//0x18//
+#define Gauss_LSB_XY 1 //my
+#define Gauss_LSB_Z 1 //my
+
+/* Register Definitions */
+#define OUT_X_LSB    0x00
+#define OUT_X_MSB    0x01
+#define OUT_Y_LSB    0x02
+#define OUT_Y_MSB    0x03
+#define OUT_Z_LSB    0x04
+#define OUT_Z_MSB    0x05
+#define STATUS       0x06
+#define TEMP_LSB     0x07
+#define TEMP_MSB     0x08
+#define CONTROL_A    0x09
+#define CONTROL_B    0x0A
+#define SET_RESET    0x0B
+#define CHIP_ID      0x0D
+
+extern float mRes;
+/* Magnetometer Gain Settings */
+enum MagScale
+{
+    MagScale_2G =  0x00,      // +/- 2 Ga
+    MagScale_8G  = 0x10,     // +/- 8 Ga
+};
+
+class QMC5883L
+{
+    public:
+        void    init();
+        double  getHeading();
+        void    readMagData(float* dest);  
+        int16_t getMagXvalue();
+        int16_t getMagYvalue();
+        int16_t getMagZvalue();
+        int16_t getMagTemp();
+        uint8_t ChipID();
+    private:
+        float setMagRange(MagScale Mscale);
+//        uint8_t QMC5883L_ReadByte(uint8_t QMC5883L_reg);
+//        void QMC5883L_WriteByte(uint8_t QMC5883L_reg, uint8_t QMC5883L_data);
+//        void readBytes(uint8_t address, uint8_t regAddress, uint8_t byteNum, uint8_t* dest);
+};
+
+#endif
+
+extern /*RawSerial*/Serial pc;
+extern DevI2C *device_i2c;
\ No newline at end of file