#include <SensorQMC5883L.hpp>

Inheritance diagram for SensorQMC5883L:

Public Member Functions
	SensorQMC5883L ()=default
	Default constructor.

	~SensorQMC5883L ()=default
	Destructor.

bool	readData (MagnetometerData &data) override
	Reads the magnetic field data from the sensor.

bool	isDataReady () override
	Checks if new data is available from the sensor.

bool	isDataOverflow ()
	Checks if data overflow has occurred.

bool	isDataSkipped ()
	Checks if data has been skipped.

bool	reset () override
	Resets the sensor to its default state.

bool	selfTest () override
	QMC5883L does not support self-test checks.

bool	setFullScaleRange (MagFullScaleRange range) override
	Sets the full-scale range of the magnetometer.

bool	setOutputDataRate (float data_rate_hz) override
	Sets the bandwidth of the magnetometer.

bool	setOperationMode (OperationMode mode) override
	Sets the operation mode of the magnetometer.

bool	setOversamplingRate (MagOverSampleRatio osr) override
	Sets the oversampling rate of the magnetometer.

bool	setDownsamplingRate (MagDownSampleRatio dsr) override
	QM5883L does not support downsampling.

bool	getTemperature (float &temperature, int16_t &raw_temp)
	Gets the temperature reading from the sensor.

uint8_t	getChipID () const
	Gets the chip ID of the magnetometer.

bool	configMagnetometer (OperationMode mode, MagFullScaleRange range, float data_rate_hz, MagOverSampleRatio osr, MagDownSampleRatio dsr=MagDownSampleRatio::DSR_1) override
	Configures the magnetometer with multiple parameters.

Public Member Functions inherited from MagnetometerBase
	MagnetometerBase ()
	Constructor for the MagnetometerBase class.

virtual	~MagnetometerBase ()=default
	Destructor for the MagnetometerBase class.

virtual float	getFullScaleRange () const
	Gets the full-scale range for the magnetometer.

virtual OperationMode	getOperationMode () const
	Gets the operation mode for the magnetometer.

virtual uint16_t	getOversamplingRate () const
	Gets the oversampling rate for the magnetometer.

virtual void	setDeclination (float declination_deg)
	Set the magnetic declination correction value.

virtual float	getDeclinationDeg () const
	Get the currently set magnetic declination in degrees.

virtual float	getDeclinationRad () const
	Get the currently set magnetic declination in radians.

Public Member Functions inherited from SensorBase< MagnetometerData >
	SensorBase (const SensorBase &)=delete

SensorBase &	operator= (const SensorBase &)=delete

void	setOffset (int16_t x, int16_t y, int16_t z)
	Set sensor calibration offsets.

float	getSensitivity () const
	Get sensor sensitivity.

SensorInfo	getSensorInfo () const
	Get sensor information.

virtual SensorConfig	getConfig () const
	Get current sensor configuration.

Public Member Functions inherited from I2CDeviceWithHal
bool	begin (SensorCommCustom::CustomCallback cb, SensorCommCustomHal::CustomHalCallback hal_cb, uint8_t addr)
	Initialize the sensor using custom callback interface.

Public Member Functions inherited from DeviceBeginCommon
virtual	~DeviceBeginCommon ()

uint8_t	getAddress () const

uint8_t	getInterface () const

Public Member Functions inherited from SensorCommWrapper
	SensorCommWrapper ()=default

int	readReg (uint8_t reg) const

int	readRegBuff (uint8_t reg, uint8_t *buf, size_t len) const

int	readBuff (uint8_t *buf, size_t len) const

int	writeReg (uint8_t reg, uint8_t val)

int	writeRegBuff (uint8_t reg, uint8_t *buf, size_t len)

int	writeBuff (uint8_t *buf, size_t len)

int	writeThenRead (const uint8_t write_buffer, size_t write_len, uint8_t read_buffer, size_t read_len)

bool	setRegBit (uint8_t reg, uint8_t bit)

bool	clrRegBit (uint8_t reg, uint8_t bit)

bool	getRegBit (uint8_t reg, uint8_t bit)

int	updateBits (uint8_t reg, uint8_t mask, uint8_t value_shifted)

void	setAddress (uint8_t address)

void	setAck (bool enable)

Public Member Functions inherited from SensorCommInterface
virtual	~SensorCommInterface ()=default

Additional Inherited Members
Protected Member Functions inherited from SensorBase< MagnetometerData >
	SensorBase (SensorType sensor_type=SensorType::UNKNOWN)
	Construct a new SensorBase object.

virtual	~SensorBase ()=default
	Virtual destructor for proper polymorphic cleanup.

Protected Member Functions inherited from I2CDeviceWithHal
bool	ensureValid () const override
	Ensure the communication interface is valid.

Protected Member Functions inherited from DeviceBeginCommon
	DeviceBeginCommon ()=default

virtual SensorCommBase *	getComm () const override

virtual void	beforeBegin ()

virtual void	afterCommReady ()

virtual void	afterInitSuccess (uint8_t param)

virtual void	onBeginFail ()

bool	fail ()

void	clearCommState ()

template<typename CreateComm >
bool	beginLifecycle (uint8_t addr, uint8_t iface, uint8_t initParam, CreateComm createComm)

Protected Attributes inherited from MagnetometerBase
uint16_t	_oversampling_rate

float	_declination_rad

Protected Attributes inherited from SensorBase< MagnetometerData >
SensorConfig	_config
	Current configuration.

SensorInfo	_info
	Sensor information.

int16_t	_x_offset

int16_t	_y_offset

int16_t	_z_offset

float	_sensitivity

Protected Attributes inherited from DeviceBeginCommon
std::unique_ptr< SensorCommBase >	comm

std::unique_ptr< SensorHal >	hal

std::unique_ptr< SensorCommStatic >	staticComm

uint8_t	_addr = 0

uint8_t	_iface = COMM_CUSTOM

Detailed Description

Definition at line 39 of file sensor/magnetometer/qmc/SensorQMC5883L.hpp.

Constructor & Destructor Documentation

◆ SensorQMC5883L()

SensorQMC5883L::SensorQMC5883L ( )

default

Default constructor.

Initializes communication and hardware abstraction pointers to nullptr.

Creates a SensorQMC5883L object with no active communication or hardware abstraction instances.

◆ ~SensorQMC5883L()

SensorQMC5883L::~SensorQMC5883L ( )

default

Destructor.

Deinitializes the communication object if it exists.

Ensures proper cleanup by deinitializing the communication interface when the sensor object is destroyed.

Member Function Documentation

◆ configMagnetometer()

bool SensorQMC5883L::configMagnetometer	(	OperationMode	mode,
		MagFullScaleRange	range,
		float	data_rate_hz,
		MagOverSampleRatio	osr,
		MagDownSampleRatio	dsr = `MagDownSampleRatio::DSR_1`
	)

inlineoverridevirtual

Configures the magnetometer with multiple parameters.

Note: This function sets the operation mode, full-scale range, output data rate, oversampling ratio, and downsampling ratio of the magnetometer.

Parameters

mode	SUSPEND, NORMAL, CONTINUOUS_MEASUREMENT
range	FS_2G, FS_8G
data_rate_hz	The desired output data rate in Hz. Allowed values are 10.0, 50.0, 100.0 and 200.0HZ.
osr	OSR_8, OSR_4, OSR_2, OSR_1
dsr	Placeholder parameters, meaningless

Return values

True	if the configuration was successful, false otherwise.

Implements MagnetometerBase.

Definition at line 382 of file sensor/magnetometer/qmc/SensorQMC5883L.hpp.

References SENSORLIB_LOG_E, setFullScaleRange(), setOperationMode(), setOutputDataRate(), and setOversamplingRate().

Referenced by setup().

◆ getChipID()

uint8_t SensorQMC5883L::getChipID ( ) const

inline

Gets the chip ID of the magnetometer.

Note: This function retrieves the chip ID from the sensor.

Return values

The chip ID.

Definition at line 366 of file sensor/magnetometer/qmc/SensorQMC5883L.hpp.

References SensorBase< MagnetometerData >::_info, and SensorInfo::uid.

◆ getTemperature()

bool SensorQMC5883L::getTemperature	(	float &	temperature,
		int16_t &	raw_temp
	)

inline

Gets the temperature reading from the sensor.

Todo:: The actual test result was 0, which may be due to a chip problem.

Note: This function retrieves the temperature data from the sensor.

Parameters

&temperature	The temperature value in degrees Celsius.
&raw_temp	The raw temperature value from the sensor.

Return values

True	if the temperature was read successfully, false otherwise.

Definition at line 346 of file sensor/magnetometer/qmc/SensorQMC5883L.hpp.

References SensorCommWrapper::readRegBuff(), SENSORLIB_LOG_E, and temperature().

◆ isDataOverflow()

bool SensorQMC5883L::isDataOverflow ( )

inline

Checks if data overflow has occurred.

Note: This function reads the status register to determine if the magnetic field data has overflowed.

Return values

True	if data overflow has occurred, false otherwise.

Definition at line 144 of file sensor/magnetometer/qmc/SensorQMC5883L.hpp.

References SensorCommWrapper::getRegBit().

◆ isDataReady()

bool SensorQMC5883L::isDataReady ( )

inlineoverridevirtual

Checks if new data is available from the sensor.

Note: This function reads the status register to determine if new magnetic field data is ready to be processed.

Return values

True	if new data is available, false otherwise.

Implements MagnetometerBase.

Definition at line 133 of file sensor/magnetometer/qmc/SensorQMC5883L.hpp.

References SensorCommWrapper::getRegBit().

◆ isDataSkipped()

bool SensorQMC5883L::isDataSkipped ( )

inline

Checks if data has been skipped.

Note: This function reads the status register to determine if the magnetic field data has been skipped.

Return values

True	if data has been skipped, false otherwise.

Definition at line 155 of file sensor/magnetometer/qmc/SensorQMC5883L.hpp.

References SensorCommWrapper::getRegBit().

◆ readData()

bool SensorQMC5883L::readData ( MagnetometerData & data )

inlineoverridevirtual

Reads the magnetic field data from the sensor.

Note: This function retrieves the latest magnetic field measurements from the sensor and stores them in the provided data structure.

Parameters

data	A reference to a MagnetometerData structure to store the retrieved magnetic field data.

Return values

True	if the data was read successfully, false otherwise.

Implements MagnetometerBase.

Definition at line 67 of file sensor/magnetometer/qmc/SensorQMC5883L.hpp.

References MagnetometerBase::_declination_rad, sensorlib::_isBitSet(), SensorBase< MagnetometerData >::_sensitivity, SensorBase< MagnetometerData >::_x_offset, SensorBase< MagnetometerData >::_y_offset, SensorBase< MagnetometerData >::_z_offset, MagnetometerUtils::calculateHeading(), MagnetometerData::heading, MagnetometerData::heading_degrees, M_PI, MagnetometerData::magnetic_field, MagnetometerData::overflow, MagnetometerData::raw, SensorCommWrapper::readReg(), SensorCommWrapper::readRegBuff(), SENSORLIB_LOG_E, MagnetometerData::skip_data, x, SensorVector::x, RawVector::x, y, SensorVector::y, RawVector::y, SensorVector::z, and RawVector::z.

Referenced by loop().

◆ reset()

bool SensorQMC5883L::reset ( )

inlineoverridevirtual

Resets the sensor to its default state.

Note: This function sends a reset command to the sensor and waits for a short period to allow the reset to take effect.

Return values

True	if the reset command was successful, false otherwise.

Implements MagnetometerBase.

Definition at line 166 of file sensor/magnetometer/qmc/SensorQMC5883L.hpp.

References DeviceBeginCommon::hal, and SensorCommWrapper::writeReg().

◆ selfTest()

bool SensorQMC5883L::selfTest ( )

inlineoverridevirtual

QMC5883L does not support self-test checks.

Note: This function is a placeholder and does not perform any actual self-test.

Return values

Always return True.

Implements MagnetometerBase.

Definition at line 179 of file sensor/magnetometer/qmc/SensorQMC5883L.hpp.

References SENSORLIB_LOG_E.

◆ setDownsamplingRate()

bool SensorQMC5883L::setDownsamplingRate ( MagDownSampleRatio dsr )

inlineoverridevirtual

QM5883L does not support downsampling.

Note: This function is a placeholder and does not perform any action.

Return values

always false.

Implements MagnetometerBase.

Definition at line 332 of file sensor/magnetometer/qmc/SensorQMC5883L.hpp.

References SENSORLIB_LOG_E.

◆ setFullScaleRange()

bool SensorQMC5883L::setFullScaleRange ( MagFullScaleRange range )

inlineoverridevirtual

Sets the full-scale range of the magnetometer.

Note: This function configures the magnetometer to operate within a specific range, affecting the sensitivity and maximum measurable magnetic field strength.

Parameters

range FS_2G, FS_8G

Return values