#include <SensorQSTMagnetic.hpp>

Inheritance diagram for SensorQSTMagnetic:

Public Types
enum	ChipType { CHIP_QMC6310U , CHIP_QMC6310N , CHIP_QMC5883P , CHIP_UNKNOWN }
	Enumeration defining the types of supported magnetic sensor chips. More...

Public Member Functions
	SensorQSTMagnetic ()
	Default constructor.

	~SensorQSTMagnetic ()=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	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 odr) 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.

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

bool	configMagnetometer (OperationMode mode, MagFullScaleRange range, float odr, MagOverSampleRatio osr, MagDownSampleRatio dsr) 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 SensorQSTMagnetic.hpp.

Member Enumeration Documentation

◆ ChipType

enum SensorQSTMagnetic::ChipType

Enumeration defining the types of supported magnetic sensor chips.

Enumerator
CHIP_QMC6310U	Represents the QMC6310U chip type.
CHIP_QMC6310N	Represents the QMC6310N chip type.
CHIP_QMC5883P	Represents the QMC5883P chip type.
CHIP_UNKNOWN	Represents an unknown or unsupported chip type.

Definition at line 45 of file SensorQSTMagnetic.hpp.

Constructor & Destructor Documentation

◆ SensorQSTMagnetic()

SensorQSTMagnetic::SensorQSTMagnetic ( )

inline

Default constructor.

Initializes communication and hardware abstraction pointers to nullptr.

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

Definition at line 58 of file SensorQSTMagnetic.hpp.

◆ ~SensorQSTMagnetic()

SensorQSTMagnetic::~SensorQSTMagnetic ( )

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 SensorQSTMagnetic::configMagnetometer	(	OperationMode	mode,
		MagFullScaleRange	range,
		float	odr,
		MagOverSampleRatio	osr,
		MagDownSampleRatio	dsr
	)

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, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT
range	FS_2G, FS_8G, FS_12G, FS_30G
odr	Allowed values are 10.0, 50.0, 100.0 and 200.0HZ.
osr	OSR_8, OSR_4, OSR_2, OSR_1
dsr	DSR_1, DSR_2, DSR_4, DSR_8

Return values

True	if the configuration was successful, false otherwise.

Implements MagnetometerBase.

Definition at line 427 of file SensorQSTMagnetic.hpp.

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

Referenced by setup().

◆ getChipID()

uint8_t SensorQSTMagnetic::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 411 of file SensorQSTMagnetic.hpp.

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

◆ isDataOverflow()

bool SensorQSTMagnetic::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 SensorQSTMagnetic.hpp.

References SensorCommWrapper::getRegBit().

◆ isDataReady()

bool SensorQSTMagnetic::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 SensorQSTMagnetic.hpp.

References SensorCommWrapper::getRegBit().

Referenced by calibrate().

◆ readData()

bool SensorQSTMagnetic::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 76 of file SensorQSTMagnetic.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, MagnetometerData::skip_data, x, SensorVector::x, RawVector::x, y, SensorVector::y, RawVector::y, SensorVector::z, and RawVector::z.

Referenced by calibrate(), loop(), and selfTest().

◆ reset()

bool SensorQSTMagnetic::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 159 of file SensorQSTMagnetic.hpp.

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

◆ selfTest() [1/2]

bool SensorQSTMagnetic::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 173 of file SensorQSTMagnetic.hpp.

References selfTest().

Referenced by selfTest().

◆ selfTest() [2/2]

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

inline

Performs a self-test on the sensor.

Note: This function compares the magnetic field readings before and after enabling self-test mode to determine if the sensor is functioning correctly.

Parameters

&x_result	Return the difference between before and after self-check.
&y_result	Return the difference between before and after self-check.
&z_result	Return the difference between before and after self-check.

Return values

True	if the self-test passed, false otherwise.

Definition at line 189 of file SensorQSTMagnetic.hpp.

References SensorCommWrapper::clrRegBit(), CONTINUOUS_MEASUREMENT, DeviceBeginCommon::hal, MagnetometerData::raw, readData(), SENSORLIB_LOG_E, setOperationMode(), SensorCommWrapper::setRegBit(), SUSPEND, RawVector::x, RawVector::y, and RawVector::z.

◆ setDownsamplingRate()

bool SensorQSTMagnetic::setDownsamplingRate ( MagDownSampleRatio dsr )

inlineoverridevirtual

Sets the downsampling rate of the magnetometer.

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

Parameters

dsr	DSR_1, DSR_2, DSR_4, DSR_8

Return values

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

Implements MagnetometerBase.

Definition at line 383 of file SensorQSTMagnetic.hpp.

References DSR_1, DSR_2, DSR_4, DSR_8, SENSORLIB_LOG_E, and SensorCommWrapper::updateBits().

Referenced by configMagnetometer().

◆ setFullScaleRange()

bool SensorQSTMagnetic::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, FS_12G, FS_30G

Return values