Complete QMC5883P library implementation
- Add complete Control Register 1 & 2 functionality - Add all setter/getter functions for mode, ODR, OSR, DSR, range, set/reset mode - Add status register functions (isDataReady, isOverflow) - Add data reading functions (getRawMagnetic, getGaussField) - Add soft reset and self-test functions - Add comprehensive test example with range cycling - All functions tested and verified working with hardware - Gauss conversion automatically adapts to current range setting - Range cycling test demonstrates consistent Gauss values across all ranges 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com>
This commit is contained in:
Limor Fried
parent
d0a569be1e
commit
7a6abc3ff3
3 changed files with 517 additions and 1 deletions
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@ -67,4 +67,263 @@ bool Adafruit_QMC5883P::begin(uint8_t i2c_addr, TwoWire *wire) {
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}
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return true;
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}
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/*!
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* @brief Reads raw magnetic field data from all three axes
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* @param x
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* Pointer to store X-axis raw data (2's complement)
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* @param y
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* Pointer to store Y-axis raw data (2's complement)
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* @param z
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* Pointer to store Z-axis raw data (2's complement)
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* @return True if read was successful, otherwise false.
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*/
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bool Adafruit_QMC5883P::getRawMagnetic(int16_t *x, int16_t *y, int16_t *z) {
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uint8_t buffer[6];
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// Read all 6 bytes (X,Y,Z LSB+MSB) starting from X LSB register
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Adafruit_BusIO_Register data_reg = Adafruit_BusIO_Register(i2c_dev, QMC5883P_REG_XOUT_LSB, 6);
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if (!data_reg.read(buffer, 6)) {
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return false;
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}
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// Combine LSB and MSB for each axis (2's complement)
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*x = (int16_t)((buffer[1] << 8) | buffer[0]); // X = MSB[1] | LSB[0]
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*y = (int16_t)((buffer[3] << 8) | buffer[2]); // Y = MSB[3] | LSB[2]
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*z = (int16_t)((buffer[5] << 8) | buffer[4]); // Z = MSB[5] | LSB[4]
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return true;
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}
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/*!
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* @brief Reads magnetic field data and converts to Gauss
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* @param x
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* Pointer to store X-axis field in Gauss
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* @param y
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* Pointer to store Y-axis field in Gauss
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* @param z
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* Pointer to store Z-axis field in Gauss
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* @return True if read was successful, otherwise false.
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*/
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bool Adafruit_QMC5883P::getGaussField(float *x, float *y, float *z) {
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int16_t raw_x, raw_y, raw_z;
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// Get raw magnetic data
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if (!getRawMagnetic(&raw_x, &raw_y, &raw_z)) {
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return false;
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}
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// Get current range to determine conversion factor
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qmc5883p_range_t range = getRange();
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float lsb_per_gauss;
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switch(range) {
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case QMC5883P_RANGE_30G:
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lsb_per_gauss = 1000.0;
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break;
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case QMC5883P_RANGE_12G:
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lsb_per_gauss = 2500.0;
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break;
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case QMC5883P_RANGE_8G:
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lsb_per_gauss = 3750.0;
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break;
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case QMC5883P_RANGE_2G:
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lsb_per_gauss = 15000.0;
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break;
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default:
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return false;
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}
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// Convert to Gauss
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*x = (float)raw_x / lsb_per_gauss;
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*y = (float)raw_y / lsb_per_gauss;
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*z = (float)raw_z / lsb_per_gauss;
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return true;
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}
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/*!
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* @brief Checks if new magnetic data is ready
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* @return True if new data is ready, false otherwise
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*/
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bool Adafruit_QMC5883P::isDataReady() {
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Adafruit_BusIO_Register status_reg = Adafruit_BusIO_Register(i2c_dev, QMC5883P_REG_STATUS);
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Adafruit_BusIO_RegisterBits drdy_bit = Adafruit_BusIO_RegisterBits(&status_reg, 1, 0);
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return drdy_bit.read();
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}
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/*!
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* @brief Checks if data overflow has occurred
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* @return True if overflow occurred, false otherwise
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*/
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bool Adafruit_QMC5883P::isOverflow() {
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Adafruit_BusIO_Register status_reg = Adafruit_BusIO_Register(i2c_dev, QMC5883P_REG_STATUS);
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Adafruit_BusIO_RegisterBits ovfl_bit = Adafruit_BusIO_RegisterBits(&status_reg, 1, 1);
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return ovfl_bit.read();
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}
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/*!
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* @brief Sets the operating mode
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* @param mode
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* The operating mode to set
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*/
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void Adafruit_QMC5883P::setMode(qmc5883p_mode_t mode) {
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Adafruit_BusIO_Register ctrl1_reg = Adafruit_BusIO_Register(i2c_dev, QMC5883P_REG_CONTROL1);
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Adafruit_BusIO_RegisterBits mode_bits = Adafruit_BusIO_RegisterBits(&ctrl1_reg, 2, 0);
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mode_bits.write(mode);
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}
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/*!
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* @brief Gets the current operating mode
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* @return The current operating mode
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*/
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qmc5883p_mode_t Adafruit_QMC5883P::getMode() {
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Adafruit_BusIO_Register ctrl1_reg = Adafruit_BusIO_Register(i2c_dev, QMC5883P_REG_CONTROL1);
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Adafruit_BusIO_RegisterBits mode_bits = Adafruit_BusIO_RegisterBits(&ctrl1_reg, 2, 0);
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return (qmc5883p_mode_t)mode_bits.read();
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}
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/*!
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* @brief Sets the output data rate
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* @param odr
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* The output data rate to set
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*/
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void Adafruit_QMC5883P::setODR(qmc5883p_odr_t odr) {
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Adafruit_BusIO_Register ctrl1_reg = Adafruit_BusIO_Register(i2c_dev, QMC5883P_REG_CONTROL1);
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Adafruit_BusIO_RegisterBits odr_bits = Adafruit_BusIO_RegisterBits(&ctrl1_reg, 2, 2);
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odr_bits.write(odr);
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}
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/*!
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* @brief Gets the current output data rate
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* @return The current output data rate
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*/
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qmc5883p_odr_t Adafruit_QMC5883P::getODR() {
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Adafruit_BusIO_Register ctrl1_reg = Adafruit_BusIO_Register(i2c_dev, QMC5883P_REG_CONTROL1);
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Adafruit_BusIO_RegisterBits odr_bits = Adafruit_BusIO_RegisterBits(&ctrl1_reg, 2, 2);
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return (qmc5883p_odr_t)odr_bits.read();
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}
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/*!
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* @brief Sets the over sample ratio
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* @param osr
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* The over sample ratio to set
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*/
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void Adafruit_QMC5883P::setOSR(qmc5883p_osr_t osr) {
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Adafruit_BusIO_Register ctrl1_reg = Adafruit_BusIO_Register(i2c_dev, QMC5883P_REG_CONTROL1);
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Adafruit_BusIO_RegisterBits osr_bits = Adafruit_BusIO_RegisterBits(&ctrl1_reg, 2, 4);
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osr_bits.write(osr);
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}
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/*!
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* @brief Gets the current over sample ratio
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* @return The current over sample ratio
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*/
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qmc5883p_osr_t Adafruit_QMC5883P::getOSR() {
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Adafruit_BusIO_Register ctrl1_reg = Adafruit_BusIO_Register(i2c_dev, QMC5883P_REG_CONTROL1);
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Adafruit_BusIO_RegisterBits osr_bits = Adafruit_BusIO_RegisterBits(&ctrl1_reg, 2, 4);
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return (qmc5883p_osr_t)osr_bits.read();
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}
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/*!
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* @brief Sets the downsample ratio
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* @param dsr
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* The downsample ratio to set
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*/
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void Adafruit_QMC5883P::setDSR(qmc5883p_dsr_t dsr) {
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Adafruit_BusIO_Register ctrl1_reg = Adafruit_BusIO_Register(i2c_dev, QMC5883P_REG_CONTROL1);
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Adafruit_BusIO_RegisterBits dsr_bits = Adafruit_BusIO_RegisterBits(&ctrl1_reg, 2, 6);
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dsr_bits.write(dsr);
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}
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/*!
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* @brief Gets the current downsample ratio
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* @return The current downsample ratio
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*/
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qmc5883p_dsr_t Adafruit_QMC5883P::getDSR() {
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Adafruit_BusIO_Register ctrl1_reg = Adafruit_BusIO_Register(i2c_dev, QMC5883P_REG_CONTROL1);
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Adafruit_BusIO_RegisterBits dsr_bits = Adafruit_BusIO_RegisterBits(&ctrl1_reg, 2, 6);
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return (qmc5883p_dsr_t)dsr_bits.read();
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}
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/*!
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* @brief Performs a soft reset of the chip
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* @return True if reset was successful, false otherwise
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*/
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bool Adafruit_QMC5883P::softReset() {
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Adafruit_BusIO_Register ctrl2_reg = Adafruit_BusIO_Register(i2c_dev, QMC5883P_REG_CONTROL2);
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Adafruit_BusIO_RegisterBits reset_bit = Adafruit_BusIO_RegisterBits(&ctrl2_reg, 1, 7);
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// Set reset bit
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reset_bit.write(1);
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// Wait for reset to complete (datasheet doesn't specify time, use 50ms)
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delay(50);
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// Check if chip ID is still valid after reset
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Adafruit_BusIO_Register chip_id_reg = Adafruit_BusIO_Register(i2c_dev, QMC5883P_REG_CHIPID);
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uint8_t chip_id = chip_id_reg.read();
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return (chip_id == 0x80);
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}
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/*!
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* @brief Performs self-test of the chip
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* @return True if self-test passed, false otherwise
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*/
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bool Adafruit_QMC5883P::selfTest() {
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Adafruit_BusIO_Register ctrl2_reg = Adafruit_BusIO_Register(i2c_dev, QMC5883P_REG_CONTROL2);
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Adafruit_BusIO_RegisterBits test_bit = Adafruit_BusIO_RegisterBits(&ctrl2_reg, 1, 6);
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// Set self-test bit
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test_bit.write(1);
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// Wait for self-test to complete (datasheet suggests 5ms)
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delay(5);
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// Check if self-test bit auto-cleared (indicates completion)
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uint8_t test_status = test_bit.read();
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return (test_status == 0);
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}
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/*!
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* @brief Sets the magnetic field range
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* @param range
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* The magnetic field range to set
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*/
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void Adafruit_QMC5883P::setRange(qmc5883p_range_t range) {
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Adafruit_BusIO_Register ctrl2_reg = Adafruit_BusIO_Register(i2c_dev, QMC5883P_REG_CONTROL2);
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Adafruit_BusIO_RegisterBits range_bits = Adafruit_BusIO_RegisterBits(&ctrl2_reg, 2, 2);
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range_bits.write(range);
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}
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/*!
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* @brief Gets the current magnetic field range
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* @return The current magnetic field range
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*/
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qmc5883p_range_t Adafruit_QMC5883P::getRange() {
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Adafruit_BusIO_Register ctrl2_reg = Adafruit_BusIO_Register(i2c_dev, QMC5883P_REG_CONTROL2);
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Adafruit_BusIO_RegisterBits range_bits = Adafruit_BusIO_RegisterBits(&ctrl2_reg, 2, 2);
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return (qmc5883p_range_t)range_bits.read();
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}
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/*!
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* @brief Sets the set/reset mode
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* @param mode
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* The set/reset mode to set
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*/
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void Adafruit_QMC5883P::setSetResetMode(qmc5883p_setreset_t mode) {
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Adafruit_BusIO_Register ctrl2_reg = Adafruit_BusIO_Register(i2c_dev, QMC5883P_REG_CONTROL2);
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Adafruit_BusIO_RegisterBits setreset_bits = Adafruit_BusIO_RegisterBits(&ctrl2_reg, 2, 0);
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setreset_bits.write(mode);
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}
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/*!
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* @brief Gets the current set/reset mode
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* @return The current set/reset mode
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*/
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qmc5883p_setreset_t Adafruit_QMC5883P::getSetResetMode() {
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Adafruit_BusIO_Register ctrl2_reg = Adafruit_BusIO_Register(i2c_dev, QMC5883P_REG_CONTROL2);
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Adafruit_BusIO_RegisterBits setreset_bits = Adafruit_BusIO_RegisterBits(&ctrl2_reg, 2, 0);
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return (qmc5883p_setreset_t)setreset_bits.read();
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}
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@ -44,6 +44,73 @@
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#define QMC5883P_REG_CONTROL2 0x0B ///< Control register 2
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/*=========================================================================*/
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/*=========================================================================
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CONTROL REGISTER 1 ENUMS
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-----------------------------------------------------------------------*/
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/*!
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* @brief Operating mode options
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*/
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typedef enum {
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QMC5883P_MODE_SUSPEND = 0x00, ///< Suspend mode
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QMC5883P_MODE_NORMAL = 0x01, ///< Normal mode
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QMC5883P_MODE_SINGLE = 0x02, ///< Single measurement mode
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QMC5883P_MODE_CONTINUOUS = 0x03 ///< Continuous mode
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} qmc5883p_mode_t;
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/*!
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* @brief Output data rate options
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*/
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typedef enum {
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QMC5883P_ODR_10HZ = 0x00, ///< 10 Hz output data rate
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QMC5883P_ODR_50HZ = 0x01, ///< 50 Hz output data rate
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QMC5883P_ODR_100HZ = 0x02, ///< 100 Hz output data rate
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QMC5883P_ODR_200HZ = 0x03 ///< 200 Hz output data rate
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} qmc5883p_odr_t;
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/*!
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* @brief Over sample ratio options
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*/
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typedef enum {
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QMC5883P_OSR_8 = 0x00, ///< Over sample ratio = 8
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QMC5883P_OSR_4 = 0x01, ///< Over sample ratio = 4
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QMC5883P_OSR_2 = 0x02, ///< Over sample ratio = 2
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QMC5883P_OSR_1 = 0x03 ///< Over sample ratio = 1
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} qmc5883p_osr_t;
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/*!
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* @brief Downsample ratio options
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*/
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typedef enum {
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QMC5883P_DSR_1 = 0x00, ///< Downsample ratio = 1
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QMC5883P_DSR_2 = 0x01, ///< Downsample ratio = 2
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QMC5883P_DSR_4 = 0x02, ///< Downsample ratio = 4
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QMC5883P_DSR_8 = 0x03 ///< Downsample ratio = 8
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} qmc5883p_dsr_t;
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/*=========================================================================*/
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/*=========================================================================
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CONTROL REGISTER 2 ENUMS
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-----------------------------------------------------------------------*/
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/*!
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* @brief Field range options
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*/
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typedef enum {
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QMC5883P_RANGE_30G = 0x00, ///< ±30 Gauss range
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QMC5883P_RANGE_12G = 0x01, ///< ±12 Gauss range
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QMC5883P_RANGE_8G = 0x02, ///< ±8 Gauss range
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QMC5883P_RANGE_2G = 0x03 ///< ±2 Gauss range
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} qmc5883p_range_t;
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/*!
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* @brief Set/Reset mode options
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*/
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typedef enum {
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QMC5883P_SETRESET_ON = 0x00, ///< Set and reset on
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QMC5883P_SETRESET_SETONLY = 0x01, ///< Set only on
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QMC5883P_SETRESET_OFF = 0x02 ///< Set and reset off
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} qmc5883p_setreset_t;
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/*=========================================================================*/
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/*!
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* @brief Class for hardware interfacing with the QMC5883P 3-axis magnetometer
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*/
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@ -53,6 +120,24 @@ public:
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~Adafruit_QMC5883P(void);
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bool begin(uint8_t i2c_addr = QMC5883P_DEFAULT_ADDR, TwoWire *wire = &Wire);
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bool getRawMagnetic(int16_t *x, int16_t *y, int16_t *z);
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bool getGaussField(float *x, float *y, float *z);
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bool isDataReady();
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bool isOverflow();
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void setMode(qmc5883p_mode_t mode);
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qmc5883p_mode_t getMode();
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void setODR(qmc5883p_odr_t odr);
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qmc5883p_odr_t getODR();
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void setOSR(qmc5883p_osr_t osr);
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qmc5883p_osr_t getOSR();
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void setDSR(qmc5883p_dsr_t dsr);
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qmc5883p_dsr_t getDSR();
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bool softReset();
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bool selfTest();
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void setRange(qmc5883p_range_t range);
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qmc5883p_range_t getRange();
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void setSetResetMode(qmc5883p_setreset_t mode);
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qmc5883p_setreset_t getSetResetMode();
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private:
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Adafruit_I2CDevice *i2c_dev; ///< Pointer to I2C bus interface
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@ -20,8 +20,180 @@ void setup() {
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}
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Serial.println("QMC5883P Found!");
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// Set to normal mode
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qmc.setMode(QMC5883P_MODE_NORMAL);
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qmc5883p_mode_t currentMode = qmc.getMode();
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Serial.print("Mode: ");
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switch(currentMode) {
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case QMC5883P_MODE_SUSPEND:
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Serial.println("Suspend");
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break;
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case QMC5883P_MODE_NORMAL:
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Serial.println("Normal");
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break;
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case QMC5883P_MODE_SINGLE:
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Serial.println("Single");
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break;
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case QMC5883P_MODE_CONTINUOUS:
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Serial.println("Continuous");
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break;
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default:
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Serial.println("Unknown");
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break;
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}
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// Set ODR (Output Data Rate) to 50Hz
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qmc.setODR(QMC5883P_ODR_50HZ);
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qmc5883p_odr_t currentODR = qmc.getODR();
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Serial.print("ODR (Output Data Rate): ");
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switch(currentODR) {
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case QMC5883P_ODR_10HZ:
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Serial.println("10Hz");
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break;
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case QMC5883P_ODR_50HZ:
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Serial.println("50Hz");
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break;
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case QMC5883P_ODR_100HZ:
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Serial.println("100Hz");
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break;
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case QMC5883P_ODR_200HZ:
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Serial.println("200Hz");
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break;
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default:
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Serial.println("Unknown");
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break;
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}
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// Set OSR (Over Sample Ratio) to 4
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qmc.setOSR(QMC5883P_OSR_4);
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qmc5883p_osr_t currentOSR = qmc.getOSR();
|
||||
Serial.print("OSR (Over Sample Ratio): ");
|
||||
switch(currentOSR) {
|
||||
case QMC5883P_OSR_8:
|
||||
Serial.println("8");
|
||||
break;
|
||||
case QMC5883P_OSR_4:
|
||||
Serial.println("4");
|
||||
break;
|
||||
case QMC5883P_OSR_2:
|
||||
Serial.println("2");
|
||||
break;
|
||||
case QMC5883P_OSR_1:
|
||||
Serial.println("1");
|
||||
break;
|
||||
default:
|
||||
Serial.println("Unknown");
|
||||
break;
|
||||
}
|
||||
|
||||
// Set DSR (Downsample Ratio) to 2
|
||||
qmc.setDSR(QMC5883P_DSR_2);
|
||||
qmc5883p_dsr_t currentDSR = qmc.getDSR();
|
||||
Serial.print("DSR (Downsample Ratio): ");
|
||||
switch(currentDSR) {
|
||||
case QMC5883P_DSR_1:
|
||||
Serial.println("1");
|
||||
break;
|
||||
case QMC5883P_DSR_2:
|
||||
Serial.println("2");
|
||||
break;
|
||||
case QMC5883P_DSR_4:
|
||||
Serial.println("4");
|
||||
break;
|
||||
case QMC5883P_DSR_8:
|
||||
Serial.println("8");
|
||||
break;
|
||||
default:
|
||||
Serial.println("Unknown");
|
||||
break;
|
||||
}
|
||||
|
||||
// Set Range to 8G
|
||||
qmc.setRange(QMC5883P_RANGE_8G);
|
||||
qmc5883p_range_t currentRange = qmc.getRange();
|
||||
Serial.print("Range: ");
|
||||
switch(currentRange) {
|
||||
case QMC5883P_RANGE_30G:
|
||||
Serial.println("±30G");
|
||||
break;
|
||||
case QMC5883P_RANGE_12G:
|
||||
Serial.println("±12G");
|
||||
break;
|
||||
case QMC5883P_RANGE_8G:
|
||||
Serial.println("±8G");
|
||||
break;
|
||||
case QMC5883P_RANGE_2G:
|
||||
Serial.println("±2G");
|
||||
break;
|
||||
default:
|
||||
Serial.println("Unknown");
|
||||
break;
|
||||
}
|
||||
|
||||
// Set SetReset mode to On
|
||||
qmc.setSetResetMode(QMC5883P_SETRESET_ON);
|
||||
qmc5883p_setreset_t currentSetReset = qmc.getSetResetMode();
|
||||
Serial.print("Set/Reset Mode: ");
|
||||
switch(currentSetReset) {
|
||||
case QMC5883P_SETRESET_ON:
|
||||
Serial.println("Set and Reset On");
|
||||
break;
|
||||
case QMC5883P_SETRESET_SETONLY:
|
||||
Serial.println("Set Only On");
|
||||
break;
|
||||
case QMC5883P_SETRESET_OFF:
|
||||
Serial.println("Set and Reset Off");
|
||||
break;
|
||||
default:
|
||||
Serial.println("Unknown");
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void loop() {
|
||||
delay(1000);
|
||||
static int range_counter = 0;
|
||||
static unsigned long last_range_change = 0;
|
||||
|
||||
// Change range every 3 seconds
|
||||
if (millis() - last_range_change > 3000) {
|
||||
qmc5883p_range_t ranges[] = {QMC5883P_RANGE_2G, QMC5883P_RANGE_8G, QMC5883P_RANGE_12G, QMC5883P_RANGE_30G};
|
||||
const char* range_names[] = {"±2G", "±8G", "±12G", "±30G"};
|
||||
|
||||
qmc.setRange(ranges[range_counter]);
|
||||
Serial.print("*** Changed to range: ");
|
||||
Serial.println(range_names[range_counter]);
|
||||
|
||||
range_counter = (range_counter + 1) % 4;
|
||||
last_range_change = millis();
|
||||
delay(100); // Let range change settle
|
||||
}
|
||||
|
||||
if (qmc.isDataReady()) {
|
||||
int16_t x, y, z;
|
||||
float gx, gy, gz;
|
||||
|
||||
if (qmc.getRawMagnetic(&x, &y, &z)) {
|
||||
Serial.print("Raw - X: "); Serial.print(x);
|
||||
Serial.print(" Y: "); Serial.print(y);
|
||||
Serial.print(" Z: "); Serial.print(z);
|
||||
|
||||
if (qmc.getGaussField(&gx, &gy, &gz)) {
|
||||
Serial.print(" | Gauss - X: "); Serial.print(gx, 3);
|
||||
Serial.print(" Y: "); Serial.print(gy, 3);
|
||||
Serial.print(" Z: "); Serial.println(gz, 3);
|
||||
} else {
|
||||
Serial.println(" | Failed to convert to Gauss");
|
||||
}
|
||||
|
||||
if (qmc.isOverflow()) {
|
||||
Serial.println("WARNING: Data overflow detected!");
|
||||
}
|
||||
} else {
|
||||
Serial.println("Failed to read magnetic data");
|
||||
}
|
||||
}
|
||||
|
||||
delay(200);
|
||||
}
|
||||
Loading…
Reference in a new issue