#include <SensorQMC6309.hpp>

Inheritance diagram for SensorQMC6309:

Public Types
enum class	MagSetResetMode { SET_AND_RESET_ON , SET_ONLY_ON , SET_AND_RESET_OFF }

enum class	VoltageMode { KEEP , VDD_MODE1 , VDD_MODE2 }

Public Member Functions
	SensorQMC6309 ()=default
	Default constructor.

	~SensorQMC6309 ()=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	isNVMReady ()
	Checks if the NVM is ready for access.

bool	isNVMLoadDone ()
	Checks if the NVM load is complete.

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

bool	selfTest () override
	Checks if the sensor is functioning correctly.

bool	selfTest (int16_t &x_result, int16_t &y_result, int16_t &z_result)
	Performs a self-test on the sensor.

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

bool	setOutputDataRate (float data_rate_hz) override
	Sets the output data rate for 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
	Sets the downsampling rate of the magnetometer.

bool	setLowPassFilter (MagLowPassFilter lpf)
	Sets the low-pass filter of the magnetometer.

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.

bool	setSetResetMode (MagSetResetMode mode)
	Sets the set/reset mode of the magnetometer.

void	setVoltageMode (VoltageMode mode)
	Set the voltage mode for QMC6309H variant.

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 41 of file sensor/magnetometer/qmc/SensorQMC6309.hpp.

Member Enumeration Documentation

◆ MagSetResetMode

enum class SensorQMC6309::MagSetResetMode

strong

Enumerator
SET_AND_RESET_ON
SET_ONLY_ON
SET_AND_RESET_OFF

Definition at line 45 of file sensor/magnetometer/qmc/SensorQMC6309.hpp.

◆ VoltageMode

enum class SensorQMC6309::VoltageMode

strong

Enumerator
KEEP
VDD_MODE1
VDD_MODE2

Definition at line 51 of file sensor/magnetometer/qmc/SensorQMC6309.hpp.

Constructor & Destructor Documentation

◆ SensorQMC6309()

SensorQMC6309::SensorQMC6309 ( )

default

Default constructor.

Initializes communication and hardware abstraction pointers to nullptr.

Creates a SensorQMC6309 object with no active communication or hardware abstraction instances.

◆ ~SensorQMC6309()

SensorQMC6309::~SensorQMC6309 ( )

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 SensorQMC6309::configMagnetometer	(	OperationMode	mode,
		MagFullScaleRange	range,
		float	data_rate_hz,
		MagOverSampleRatio	osr,
		MagDownSampleRatio	dsr = `MagDownSampleRatio::DSR_1`
	)

inlineoverridevirtual

Configures the magnetometer with multiple parameters.

Note: QMC6309 supports oversampling rate (OSR) settings.

Parameters

mode	SUSPEND, NORMAL, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT
range	FS_8G, FS_16G, FS_32G
data_rate_hz	Allowed values are 1.0, 10.0, 50.0, 100.0 and 200.0HZ.
osr	OSR_8, OSR_4, OSR_2, OSR_1
dsr	QMC6309 does not support downsampling rate settings; this parameter is ignored.

Return values

True	if the configuration was successful, false otherwise.

Implements MagnetometerBase.

Definition at line 497 of file sensor/magnetometer/qmc/SensorQMC6309.hpp.

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

Referenced by setup().

◆ getChipID()

uint8_t SensorQMC6309::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 482 of file sensor/magnetometer/qmc/SensorQMC6309.hpp.

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

◆ isDataOverflow()

bool SensorQMC6309::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 148 of file sensor/magnetometer/qmc/SensorQMC6309.hpp.

References SensorCommWrapper::getRegBit().

◆ isDataReady()

bool SensorQMC6309::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 137 of file sensor/magnetometer/qmc/SensorQMC6309.hpp.

References SensorCommWrapper::getRegBit().

◆ isNVMLoadDone()

bool SensorQMC6309::isNVMLoadDone ( )

inline

Checks if the NVM load is complete.

Note: This function reads the status register to determine if the NVM load is complete.

Return values

True	if the NVM load is complete, false otherwise.

Definition at line 170 of file sensor/magnetometer/qmc/SensorQMC6309.hpp.

References SensorCommWrapper::getRegBit().

◆ isNVMReady()

bool SensorQMC6309::isNVMReady ( )

inline

Checks if the NVM is ready for access.

Note: This function reads the status register to determine if the NVM is ready.

Return values

True	if the NVM is ready, false otherwise.

Definition at line 159 of file sensor/magnetometer/qmc/SensorQMC6309.hpp.

References SensorCommWrapper::getRegBit().

◆ readData()

bool SensorQMC6309::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 81 of file sensor/magnetometer/qmc/SensorQMC6309.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, SENSORLIB_LOG_W, SensorVector::x, RawVector::x, SensorVector::y, RawVector::y, SensorVector::z, and RawVector::z.

Referenced by loop().

◆ reset()

bool SensorQMC6309::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 181 of file sensor/magnetometer/qmc/SensorQMC6309.hpp.

References sensorlib::_isBitSet(), DeviceBeginCommon::hal, SensorCommWrapper::readReg(), SENSORLIB_LOG_E, and SensorCommWrapper::writeReg().

◆ selfTest() [1/2]

bool SensorQMC6309::selfTest ( )

inlineoverridevirtual

Checks if the sensor is functioning correctly.

Note: This function performs a self-test by comparing the magnetic field readings before and after enabling self-test mode.

Return values

True	if the self-test passed, false otherwise.

Implements MagnetometerBase.

Definition at line 213 of file sensor/magnetometer/qmc/SensorQMC6309.hpp.

References selfTest().

Referenced by selfTest(), and setup().

◆ selfTest() [2/2]

bool SensorQMC6309::selfTest	(	int16_t &	x_result,
		int16_t &	y_result,
		int16_t &	z_result
	)

inline

Performs a self-test on the sensor.

Parameters

&x_result	Self-test X-axis value from register 0x13
&y_result	Self-test Y-axis value from register 0x14
&z_result	Self-test Z-axis value from register 0x15

Return values

True	if the self-test passed, false otherwise.

Definition at line 226 of file sensor/magnetometer/qmc/SensorQMC6309.hpp.

References CONTINUOUS_MEASUREMENT, SensorCommWrapper::getRegBit(), DeviceBeginCommon::hal, SensorCommWrapper::readReg(), SENSORLIB_LOG_E, SENSORLIB_LOG_W, setOperationMode(), SUSPEND, and SensorCommWrapper::writeReg().

◆ setDownsamplingRate()

bool SensorQMC6309::setDownsamplingRate ( MagDownSampleRatio dsr )

inlineoverridevirtual

Sets the downsampling rate of the magnetometer.

Return values

True	if the downsampling rate was set successfully, false otherwise.

Implements MagnetometerBase.

Definition at line 438 of file sensor/magnetometer/qmc/SensorQMC6309.hpp.

References SENSORLIB_LOG_E.

◆ setFullScaleRange()

bool SensorQMC6309::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_8G, FS_16G, FS_32G

Return values

True	if the range was set successfully, false otherwise.

Implements MagnetometerBase.

Definition at line 292 of file sensor/magnetometer/qmc/SensorQMC6309.hpp.

References SensorBase< MagnetometerData >::_config, SensorBase< MagnetometerData >::_sensitivity, FS_16G, FS_32G, FS_8G, SensorConfig::range, SENSORLIB_LOG_E, and SensorCommWrapper::updateBits().

Referenced by configMagnetometer().

◆ setLowPassFilter()

bool SensorQMC6309::setLowPassFilter ( MagLowPassFilter lpf )

inline

Sets the low-pass filter of the magnetometer.

Note: This function configures the magnetometer's low-pass filter, affecting the trade-off between noise and measurement speed.

Parameters

lpf	LPF_1, LPF_2, LPF_4, LPF_8, LPF_16

Return values

True	if the low-pass filter was set successfully, false otherwise.

Definition at line 451 of file sensor/magnetometer/qmc/SensorQMC6309.hpp.

References LPF_1, LPF_16, LPF_2, LPF_4, LPF_8, SENSORLIB_LOG_E, and SensorCommWrapper::updateBits().

◆ setOperationMode()

bool SensorQMC6309::setOperationMode ( OperationMode mode )

inlineoverridevirtual

Sets the operation mode of the magnetometer.

Note: This function configures the magnetometer to operate in a specific mode, affecting its power consumption and measurement behavior.

Parameters

mode	SUSPEND, NORMAL, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT

Return values

True	if the mode was set successfully, false otherwise.

Implements MagnetometerBase.

Definition at line 372 of file sensor/magnetometer/qmc/SensorQMC6309.hpp.

References SensorBase< MagnetometerData >::_config, CONTINUOUS_MEASUREMENT, SensorConfig::mode, NORMAL, SENSORLIB_LOG_E, SINGLE_MEASUREMENT, SUSPEND, and SensorCommWrapper::updateBits().

Referenced by configMagnetometer(), and selfTest().

◆ setOutputDataRate()

bool SensorQMC6309::setOutputDataRate ( float data_rate_hz )

inlineoverridevirtual

Sets the output data rate for the magnetometer.

Note: This function should be called to configure the sensor's output data rate.

Parameters

data_rate_hz The desired output data rate in Hz. Allowed values are 1.0, 10.0, 50.0, 100.0 and 200.0HZ.

Return values

True	if the output data rate was set successfully, false otherwise.

Implements MagnetometerBase.

Definition at line 333 of file sensor/magnetometer/qmc/SensorQMC6309.hpp.

References SensorBase< MagnetometerData >::_config, SensorConfig::sample_rate, SENSORLIB_LOG_E, and SensorCommWrapper::updateBits().

Referenced by configMagnetometer().

◆ setOversamplingRate()

bool SensorQMC6309::setOversamplingRate ( MagOverSampleRatio osr )

inlineoverridevirtual

Sets the oversampling rate of the magnetometer.

Note: This function configures the magnetometer's oversampling rate, affecting the trade-off between noise and measurement speed.

Parameters

osr	OSR_8, OSR_4, OSR_2, OSR_1

Return values

True	if the oversampling rate was set successfully, false otherwise.

Implements MagnetometerBase.

Definition at line 407 of file sensor/magnetometer/qmc/SensorQMC6309.hpp.

References MagnetometerBase::_oversampling_rate, OSR_1, OSR_2, OSR_4, OSR_8, SENSORLIB_LOG_E, and SensorCommWrapper::updateBits().

Referenced by configMagnetometer().

◆ setSetResetMode()

bool SensorQMC6309::setSetResetMode ( MagSetResetMode mode )

inline

Sets the set/reset mode of the magnetometer.

Note

According to datasheet section 9.2.4, there are 3 modes:

SET_AND_RESET_ON: Both set and reset enabled (default)
SET_ONLY_ON: Only set enabled
SET_AND_RESET_OFF: Both disabled Note: Value 0b10 is reserved.

Parameters

mode	The desired set/reset mode.

Return values

True	if the mode was set successfully, false otherwise.

Definition at line 525 of file sensor/magnetometer/qmc/SensorQMC6309.hpp.

References SENSORLIB_LOG_E, SET_AND_RESET_OFF, SET_AND_RESET_ON, SET_ONLY_ON, and SensorCommWrapper::updateBits().

◆ setVoltageMode()

void SensorQMC6309::setVoltageMode ( VoltageMode mode )

inline

Set the voltage mode for QMC6309H variant.

Note: This function configures the voltage mode for the QMC6309H variant. QMC6309 invalid this setting.

Parameters

mode	The desired voltage mode. see VoltageMode

Return values

None

Definition at line 551 of file sensor/magnetometer/qmc/SensorQMC6309.hpp.

The documentation for this class was generated from the following file:

sensor/magnetometer/qmc/SensorQMC6309.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ MagSetResetMode

◆ VoltageMode

Constructor & Destructor Documentation

◆ SensorQMC6309()

◆ ~SensorQMC6309()

Member Function Documentation

◆ configMagnetometer()

◆ getChipID()

◆ isDataOverflow()

◆ isDataReady()

◆ isNVMLoadDone()

◆ isNVMReady()

◆ readData()

◆ reset()

◆ selfTest() [1/2]

◆ selfTest() [2/2]

◆ setDownsamplingRate()

◆ setFullScaleRange()

◆ setLowPassFilter()

◆ setOperationMode()

◆ setOutputDataRate()

◆ setOversamplingRate()

◆ setSetResetMode()

◆ setVoltageMode()