3軸磁気センサーQMC5883Lのライブラリを作ってみた。
各軸を360度回転させると自動でキャリブレーションを行う。キャリブレーションの正確さは各軸センサーの最大値と最小値の正しさに依存し毎回キャリブレーションしなくても済むようにキャリブレーションデータの取得と設定が可能となっている。
【スケッチ】
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#include <Wire.h> #include "qmc5883l.h" DECLARE_QMC5883L(Wire) qmc5883l; void setup(void) { Wire.begin(); Wire.setClock(qmc5883l.WIRE_CLOCK); qmc5883l.begin(); if (キャリブレーション保存データあり？) { 読込(qmc5883l.calibration); qmc5883l.setCalibration(qmc5883l.calibration); } qmc5883l.start(); } void loop(void) { qmc5883l.readHeading(qmc5883l.angle); Serial.printf("cal = %02X, yx = %d, zx = %d, zy = %d\n", qmc5883l.calibstatus, qmc5883l.angle.yx, qmc5883l.angle.zx, qmc5883l.angle.zy); if ((qmc5883l.calibstatus & 0x03) == 0x03) /* X&Y軸キャリブレーション完了 */ { /* qmc5883l.calibstatus: */ /* bit0: X軸キャリブレーション完了 */ /* bit1: Y軸キャリブレーション完了 */ /* bit2: Z軸キャリブレーション完了 */ qmc5883l.getCalibration(qmc5883l.calibration); 保存(qmc5883l.calibration); } delay(100); } |
【ライブラリ】
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/* qmc5883l.h - 3-Axis Magnetic Sensor Library for Arduino Copyright (c) 2024 Sasapea's Lab. All right reserved. This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see <https://www.gnu.org/licenses/>. */ #pragma once #include <stdint.h> #include <stdbool.h> #include <string.h> #include <math.h> #if defined(JENNIC_CHIP_FAMILY_JN516x) #undef _BIT_FIELDS_HTOL #define _BIT_FIELDS_HTOL #endif #define DECLARE_QMC5883L(instance) QMC5883L<typeof(instance), instance> template<typename T, T& WIRE> class QMC5883L { public: static constexpr uint32_t WIRE_CLOCK = 400000; static constexpr uint8_t NUM_AXISES = 3; enum { ERR_NONE = 0, ERR_IO = 4, ERR_ARG = 8, }; typedef enum { MODE_STANDBY, MODE_CONTINUOUS, } MODE; typedef enum { ODR_10Hz, ODR_50Hz, ODR_100Hz, ODR_200Hz, } ODR; typedef enum { RNG_2G, RNG_8G, } RNG; typedef enum { OSR_512, OSR_256, OSR_128, OSR_64, } OSR; typedef struct __attribute__((packed)) { #if defined(_BIT_FIELDS_HTOL) uint8_t RSV : 5; uint8_t DOR : 1; /* Data Skip */ uint8_t OVL : 1; /* Overflow flag */ uint8_t DRDY: 1; /* Data Ready */ #else uint8_t DRDY: 1; /* Data Ready */ uint8_t OVL : 1; /* Overflow flag */ uint8_t DOR : 1; /* Data Skip */ uint8_t RSV : 5; #endif } status_t; typedef struct { struct { int16_t min; int16_t max; } axis[NUM_AXISES]; } calibration_t; typedef struct { int16_t axis[NUM_AXISES]; } output_t; typedef struct { int16_t yx; int16_t zx; int16_t zy; } angle_t; /* Free to use variables */ static inline output_t output; static inline status_t status; static inline int16_t temperature; static inline uint8_t chipid; static inline calibration_t calibration; static inline uint8_t calibstatus; static inline angle_t angle; static void begin(void) { /* Initialize Wire with setup() */ resetCalibration(); } static bool start(ODR odr = ODR_200Hz, RNG rng = RNG_8G, OSR osr = OSR_512) { bool rv = setPeriod(0x01); if (rv) { control1_t control1; rv = getControl1(control1); if (rv) { control1.mode = MODE_CONTINUOUS; control1.odr = odr; control1.rng = rng; control1.osr = osr; rv = setControl1(control1); } } return rv; } static bool stop(void) { control1_t control1; bool rv = getControl1(control1); if (rv) { control1.mode = MODE_STANDBY; rv = setControl1(control1); } return rv; } static bool readRaw(output_t &output) { return readRaw(output, status); } static bool readRaw(output_t &output, status_t &status) { bool rv = getStatus(status); if (rv && status.DRDY) rv = read(offsetof(regmap_t, Output), _regmap.Output, offsetof(regmap_t, Status) - offsetof(regmap_t, Output)); if (rv) { for (uint8_t i = 0; i < NUM_AXISES; ++i) output.axis[i] = (((int16_t)_regmap.Output[i].MSB) << 8) | _regmap.Output[i].LSB; } return rv; } static bool getTemperature(int16_t &value) { /* only relative temperature value is accurate (100 LSB/C) */ bool rv = read(offsetof(regmap_t, Temperature), &_regmap.Temperature, sizeof(_regmap.Temperature)); if (rv) value = (((int16_t)_regmap.Temperature.MSB << 8) | _regmap.Temperature.LSB); return rv; } static bool getChipID(uint8_t &value) { /* not supported ? */ bool rv = read(offsetof(regmap_t, ChipID), &_regmap.ChipID, sizeof(_regmap.ChipID)); if (rv) value = _regmap.ChipID; return rv; } static bool interrupt(bool enable) { control2_t control2; bool rv = getControl2(control2); if (rv) { control2.INT_ENB = !enable; rv = setControl2(control2); } return rv; } static bool rollOver(bool enable) { control2_t control2; bool rv = getControl2(control2); if (rv) { control2.ROL_PNT = enable; rv = setControl2(control2); } return rv; } static bool reset(void) { control2_t control2; bool rv = getControl2(control2); if (rv) { control2.SOFT_RST = 1; rv = setControl2(control2); } return rv; } static bool readHeading(angle_t &angle, uint8_t calibration = 0xFF) { return readHeading(angle, calibstatus, calibration); } static bool readHeading(angle_t &angle, uint8_t& status, uint8_t calibration = 0xFF) { float axis[2][NUM_AXISES]; bool rv = readRaw(output); if (rv) { uint8_t i; for (i = 0; i < NUM_AXISES; ++i) { int16_t raw = axis[0][i] = output.axis[i]; if (_calibration.axis[i].min > raw) _calibration.axis[i].min = raw; if (_calibration.axis[i].max < raw) _calibration.axis[i].max = raw; if ((_calibration.axis[i].max < THRESHOLD) || (-THRESHOLD < _calibration.axis[i].min)) calibration &= ~(1 << i); if (calibration & (1 << i)) axis[1][i] = (axis[0][i] - (_calibration.axis[i].max + _calibration.axis[i].min) / 2) / (_calibration.axis[i].max - _calibration.axis[i].min); } status = calibration & ((1 << NUM_AXISES) - 1); i = (calibration & 0b011) == 0b011; angle.yx = atan2(axis[i][1], axis[i][0]) * 180 / M_PI; i = (calibration & 0b101) == 0b101; angle.zx = atan2(axis[i][2], axis[i][0]) * 180 / M_PI; i = (calibration & 0b110) == 0b110; angle.zy = atan2(axis[i][2], axis[i][1]) * 180 / M_PI; if (angle.yx < 0) angle.yx += 360; if (angle.zx < 0) angle.zx += 360; if (angle.zy < 0) angle.zy += 360; } return rv; } static void resetCalibration(void) { memset(_regmap.Output, 0, sizeof(_regmap.Output)); memset(&_calibration, 0, sizeof(_calibration)); } static void getCalibration(calibration_t &value) { value = _calibration; } static void setCalibration(calibration_t &value) { _calibration = value; } static int errcode(void) { return _errcode; } private: static constexpr uint8_t DEVICE = 0x0D; static constexpr int16_t THRESHOLD = 500; /* [TODO] */ typedef struct __attribute__((packed)) { uint8_t LSB; int8_t MSB; } word_t; typedef struct __attribute__((packed)) { #if defined(_BIT_FIELDS_HTOL) OSR osr : 2; /* Over sample Rate */ RNG rng : 2; /* Range (Sensitivity of the magnetic sensor) */ ODR odr : 2; /* Output data rate */ MODE mode: 2; /* Transfer mode */ #else MODE mode: 2; /* Transfer mode */ ODR odr : 2; /* Output data rate */ RNG rng : 2; /* Range (Sensitivity of the magnetic sensor) */ OSR osr : 2; /* Over sample Rate */ #endif } control1_t; typedef struct __attribute__((packed)) { #if defined(_BIT_FIELDS_HTOL) uint8_t SOFT_RST: 1; /* Soft reset */ uint8_t ROL_PNT : 1; /* Enable pointer roll-over function */ uint8_t RSV : 5; uint8_t INT_ENB : 1; /* Interrupt enabling */ #else uint8_t INT_ENB : 1; /* Interrupt enabling */ uint8_t RSV : 5; uint8_t ROL_PNT : 1; /* Enable pointer roll-over function */ uint8_t SOFT_RST: 1; /* Soft reset */ #endif } control2_t; typedef struct __attribute__((packed)) { word_t Output[NUM_AXISES]; /* RO */ status_t Status; /* RO */ word_t Temperature; /* RO */ control1_t Control1; /* RW */ control2_t Control2; /* RW */ uint8_t Period; /* RW */ uint8_t Reserved; /* RO */ uint8_t ChipID; /* RO */ } regmap_t; /* static inline is C++17 and later */ static inline int _errcode; static inline regmap_t _regmap; static inline calibration_t _calibration; static bool read(uint8_t addr, void *buf, size_t len) { if (!write(addr, nullptr, 0, false)) return false; WIRE.requestFrom(DEVICE, len); return (_errcode = WIRE.readBytes((uint8_t *)buf, len) == len ? ERR_NONE : ERR_IO) == ERR_NONE; } static bool write(uint8_t addr, const void *buf, size_t len, uint8_t sendStop = true) { WIRE.beginTransmission(DEVICE); WIRE.write(&addr, sizeof(addr)); if (buf && len) WIRE.write((const uint8_t *)buf, len); return (_errcode = WIRE.endTransmission(sendStop)) == ERR_NONE; } static bool getStatus(status_t &value) { value = {}; return read(offsetof(regmap_t, Status), &value, sizeof(value)); } static bool getControl1(control1_t &value) { bool rv = read(offsetof(regmap_t, Control1), &_regmap.Control1, sizeof(_regmap.Control1)); if (rv) value = _regmap.Control1; return rv; } static bool setControl1(control1_t value) { bool rv = write(offsetof(regmap_t, Control1), &value, sizeof(value)); if (rv) _regmap.Control1 = value; return rv; } static bool getControl2(control2_t &value) { bool rv = read(offsetof(regmap_t, Control2), &_regmap.Control2, sizeof(_regmap.Control2)); if (rv) value = _regmap.Control2; return rv; } static bool setControl2(control2_t value) { bool rv = write(offsetof(regmap_t, Control2), &value, sizeof(value)); if (rv) { value.SOFT_RST = 0; _regmap.Control2 = value; } return rv; } static bool getPeriod(uint8_t &value) { bool rv = read(offsetof(regmap_t, Period), &_regmap.Period, sizeof(_regmap.Period)); if (rv) value = _regmap.Period; return rv; } static bool setPeriod(uint8_t value) { bool rv = write(offsetof(regmap_t, Period), &value, sizeof(value)); if (rv) _regmap.Period = value; return rv; } }; |