QMC5883L(stm32f767zi)
Fork of HMC5883L by
Diff: QMC5883L.cpp
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- 3:6aac221b613d
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- 2:bbc9ad18fd3e
diff -r bbc9ad18fd3e -r 6aac221b613d QMC5883L.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/QMC5883L.cpp Wed Jul 19 07:58:23 2017 +0000 @@ -0,0 +1,203 @@ +/* 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(D2, D4); // 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); +} + +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]); +} + +void QMC5883L::ChipID() +{ + uint8_t ChipID = QMC5883L_ReadByte(CHIP_ID); // Should return 0x68 + pc.printf("I AM QMC5883: 0x%x \r\n",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; +//}