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[driver] Implement QMC5883L driver
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Diff for: ‎README.md

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<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9535">PCA9535</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9548a">PCA9548A</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9685">PCA9685</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-qmc5883l">QMC5883L</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-sh1106">SH1106</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-siemens_s65">SIEMENS-S65</a></td>
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</tr><tr>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-siemens_s65">SIEMENS-S65</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-siemens_s75">SIEMENS-S75</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-sk6812">SK6812</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-sk9822">SK9822</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-ssd1306">SSD1306</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-st7586s">ST7586S</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-st7789">ST7789</a></td>
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</tr><tr>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-st7789">ST7789</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-stts22h">STTS22H</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-stusb4500">STUSB4500</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-sx1276">SX1276</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-sx128x">SX128X</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-tcs3414">TCS3414</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-tcs3472">TCS3472</a></td>
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</tr><tr>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-tcs3472">TCS3472</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-tlc594x">TLC594x</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp102">TMP102</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp12x">TMP12x</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp175">TMP175</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-touch2046">TOUCH2046</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-vl53l0">VL53L0</a></td>
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</tr><tr>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-vl53l0">VL53L0</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-vl6180">VL6180</a></td>
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<td align="center"><a href="https://modm.io/reference/module/modm-driver-ws2812">WS2812</a></td>
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</tr>

Diff for: ‎examples/avr/qmc5883l/main.cpp

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/*
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* Copyright (c) 2023, Alexander Solovets
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*
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* This file is part of the modm project.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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// ----------------------------------------------------------------------------
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#include <modm/architecture/driver/atomic/flag.hpp>
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#include <modm/board.hpp>
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#include <modm/debug/logger.hpp>
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#include <modm/driver/inertial/qmc5883l.hpp>
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using namespace Board;
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using namespace std::chrono_literals;
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using Compass = Qmc5883l<I2cMaster>;
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Compass::Data data;
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Compass compass(data);
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modm::atomic::Flag dataReady(true);
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MODM_ISR(INT2)
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{
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dataReady.set();
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}
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int
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main()
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{
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Board::initialize();
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// DRDY pin must be connected to Board pin 19 (Port D2).
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Board::D19::setInput(Gpio::InputType::PullUp);
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Board::D19::setInputTrigger(Gpio::InputTrigger::RisingEdge);
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Board::D19::enableExternalInterrupt();
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RF_CALL_BLOCKING(compass.initialize());
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auto mode = Compass::Mode_t(Compass::Mode::Continious);
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auto rate = Compass::OutputDataRate_t(Compass::OutputDataRate::_10Hz);
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auto scale = Compass::FullScale_t(Compass::FullScale::_8G);
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RF_CALL_BLOCKING(compass.configure(mode, rate | scale));
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for (;;)
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{
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if (dataReady.testAndSet(false))
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{
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if (RF_CALL_BLOCKING(compass.readData()))
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{
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MODM_LOG_INFO << "X:" << compass.x() << " Y: " << compass.y()
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<< " Z: " << compass.z()
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<< " OVL: " << (compass.status() & Compass::Status::OVL)
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<< modm::endl;
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} else
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{
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serialStream << "readDataBlocking(): Error: " << uint8_t(I2cMaster::getErrorState())
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<< modm::endl;
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}
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}
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}
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}

Diff for: ‎examples/avr/qmc5883l/project.xml

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<library>
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<extends>modm:mega-2560-pro</extends>
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<options>
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<option name="modm:build:build.path">../../../build/avr/qmc5883l</option>
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</options>
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<modules>
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<module>modm:platform:i2c</module>
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<module>modm:driver:qmc5883l</module>
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<module>modm:build:scons</module>
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</modules>
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</library>

Diff for: ‎src/modm/driver/inertial/qmc5883l.hpp

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#pragma once
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#include <algorithm>
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#include <modm/architecture/interface/i2c_device.hpp>
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#include <modm/architecture/interface/register.hpp>
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#include <modm/math/utils/endianness.hpp>
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template<typename I2cMaster>
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class Qmc5883l;
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struct Qmc5883lRegisters
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{
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protected:
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/// @cond
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/// The addresses of the Configuration and Data Registers
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enum class Register : uint8_t
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{
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DataX_Lsb = 0x00,
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DataX_Msb = 0x01,
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DataY_Lsb = 0x02,
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DataY_Msb = 0x03,
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DataZ_Lsb = 0x04,
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DataZ_Msb = 0x05,
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Status = 0x06,
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Tout_Lsb = 0x07,
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Tout_Msb = 0x08,
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Control1 = 0x09,
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Control2 = 0x0a,
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SetReset = 0x0b,
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};
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/// @endcond
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public:
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enum class Status : uint8_t
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{
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DOR = modm::Bit2,
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OVL = modm::Bit1,
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DRDY = modm::Bit0,
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};
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MODM_FLAGS8(Status);
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public:
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enum class Control1 : uint8_t
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{
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OSR1 = modm::Bit7,
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OSR0 = modm::Bit6,
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OversampleRate_Mask = OSR1 | OSR0,
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RNG1 = modm::Bit5,
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RNG0 = modm::Bit4,
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FullScale_Mask = RNG1 | RNG0,
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ODR1 = modm::Bit3,
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ODR0 = modm::Bit2,
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OutputDataRate_Mask = ODR1 | ODR0,
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MODE1 = modm::Bit1,
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MODE0 = modm::Bit0,
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Mode_Mask = MODE1 | MODE0,
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};
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MODM_FLAGS8(Control1);
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enum class Control2 : uint8_t
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{
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SOFT_RST = modm::Bit7,
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ROL_PNT = modm::Bit6,
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INT_ENB = modm::Bit0,
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};
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MODM_FLAGS8(Control2);
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public:
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enum class OversampleRate : uint8_t
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{
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_512 = 0,
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_256 = int(Control1::OSR0),
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_128 = int(Control1::OSR1),
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_64 = int(Control1::OSR0) | int(Control1::OSR1),
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};
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MODM_FLAGS_CONFIG(Control1, OversampleRate);
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enum class FullScale : uint8_t
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{
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_2G = 0,
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_8G = int(Control1::RNG0),
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};
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MODM_FLAGS_CONFIG(Control1, FullScale);
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enum class OutputDataRate : uint8_t
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{
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_10Hz = 0,
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_50Hz = int(Control1::ODR0),
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_100Hz = int(Control1::ODR1),
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_200Hz = int(Control1::ODR0) | int(Control1::ODR1),
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};
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MODM_FLAGS_CONFIG(Control1, OutputDataRate);
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enum class Mode : uint8_t
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{
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StandBy = 0,
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Continious = int(Control1::MODE0),
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};
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MODM_FLAGS_CONFIG(Control1, Mode);
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public:
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struct modm_packed Data
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{
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template<class I2cMaster>
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friend class Qmc5883l;
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protected:
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uint8_t data[7];
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template<Register R, uint8_t Offset = uint8_t(R)>
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int16_t inline getWord()
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{
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static_assert(Offset < sizeof data);
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const auto value = reinterpret_cast<int16_t *>(data + Offset);
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return modm::fromLittleEndian(*value);
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}
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};
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};
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template<class I2cMaster>
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class Qmc5883l : public Qmc5883lRegisters, public modm::I2cDevice<I2cMaster>
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{
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/// @cond
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Data &data;
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/// @endcond
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uint8_t buffer[sizeof data.data];
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modm::ResumableResult<bool>
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writeRegister(Register reg, uint8_t value)
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{
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RF_BEGIN();
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buffer[0] = uint8_t(reg);
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buffer[1] = value;
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this->transaction.configureWrite(buffer, 2);
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RF_END_RETURN_CALL(this->runTransaction());
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}
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public:
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Qmc5883l(Data &data, uint8_t address = 0x0d) : modm::I2cDevice<I2cMaster>(address), data(data)
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{}
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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:
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modm::ResumableResult<bool>
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initialize()
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{
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// Per datasheet:
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// wihtout any additional explanations recommended to set to 0x01.
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return writeRegister(Register::SetReset, 0x01);
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}
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modm::ResumableResult<bool>
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configure(Mode_t mode, Control1_t control)
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{
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control |= mode;
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return writeRegister(Register::Control1, control.value);
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}
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modm::ResumableResult<bool>
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configure(Control2_t control)
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{
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return writeRegister(Register::Control2, control.value);
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}
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modm::ResumableResult<bool>
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readData()
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{
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RF_BEGIN();
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buffer[0] = uint8_t(Register::DataX_Lsb);
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this->transaction.configureWriteRead(buffer, 1, buffer, sizeof buffer);
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if (RF_CALL(this->runTransaction()))
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{
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std::copy_n(buffer, sizeof data.data, data.data);
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RF_RETURN(true);
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}
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RF_END_RETURN(false);
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}
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};

Diff for: ‎src/modm/driver/inertial/qmc5883l.lb

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#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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#
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# Copyright (c) 2023, Alexander Solovets
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#
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# This file is part of the modm project.
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#
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# This Source Code Form is subject to the terms of the Mozilla Public
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# License, v. 2.0. If a copy of the MPL was not distributed with this
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# file, You can obtain one at http://mozilla.org/MPL/2.0/.
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# -----------------------------------------------------------------------------
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def init(module):
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module.name = ":driver:qmc5883l"
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module.description = """\
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# QMC5883L 3-Axis Digital Magnetometer
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The QMC5883L is a multi-chip three-axis magnetic sensor. This surface-mount,
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small sized chip has integrated magnetic sensors with signal condition ASIC,
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targeted for high precision applications such as compassing, navigation and
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gaming in drone, robot, mobile and personal hand-held devices.
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The QMC5883L is based on state-of-the-art, high resolution, magneto-resistive
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technology licensed from Honeywell AMR technology. Along with custom-designed
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16-bit ADC ASIC, it offers the advantages of low noise, high accuracy, low
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power consumption, offset cancellation and temperature compensation. QMC5883L
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enables 1° to 2° compass heading accuracy. The I²C serial bus allows for easy
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interface.
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"""
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def prepare(module, options):
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module.depends(
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":architecture:i2c.device",
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":architecture:register",
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":math:utils")
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return True
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def build(env):
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env.outbasepath = "modm/src/modm/driver/inertial"
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env.copy("qmc5883l.hpp")

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