qmc5883l_get_data.ino

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#include <MagnetometerDrv.hpp>
 
 
#ifndef SENSOR_SDA
#define SENSOR_SDA  27
#endif
 
#ifndef SENSOR_SCL
#define SENSOR_SCL  26
#endif
 
SensorQMC5883L magnetometer;
 
void setup()
{
    Serial.begin(115200);
    while (!Serial);
 
    if (!magnetometer.begin(Wire, QMC5883L_SLAVE_ADDRESS, SENSOR_SDA, SENSOR_SCL)) {
        while (1) {
            Serial.println("Failed to find QMC5883L - check your wiring!");
            delay(1000);
        }
    }
 
    // The desired output data rate in Hz.  Allowed values are 10.0, 50.0, 100.0 and 200.0HZ.
    float data_rate_hz = 200.0f;
    // op_mode: Allowed values are SUSPEND, NORMAL, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT
    OperationMode op_mode = OperationMode::CONTINUOUS_MEASUREMENT;
    // full_scale: Allowed values are FS_2G, FS_8G
    MagFullScaleRange full_scale = MagFullScaleRange::FS_2G;
    // over_sample_ratio: Allowed values are OSR_1, OSR_2, OSR_4, OSR_8
    MagOverSampleRatio over_sample_ratio = MagOverSampleRatio::OSR_1;
 
    /* Config Magnetometer */
    if (magnetometer.configMagnetometer(
                op_mode,
                full_scale,
                data_rate_hz,
                over_sample_ratio)) {
        Serial.println("Magnetometer configured successfully.");
    } else {
        Serial.println("Magnetometer configuration failed.");
        while (1);
    }
 
    SensorInfo info = magnetometer.getSensorInfo();
    Serial.print("Manufacturer: "); Serial.println(info.manufacturer);
    Serial.print("Model: "); Serial.println(info.model);
    Serial.print("I2C Address: 0x"); Serial.println(info.i2c_address, HEX);
    Serial.print("Version: "); Serial.println(info.version);
    Serial.print("UID: 0x"); Serial.println(info.uid);
    Serial.print("Type: "); Serial.println(SensorUtils::typeToString(info.type));
 
    SensorConfig cfg = magnetometer.getConfig();
    Serial.print("DataRate: "); Serial.println(cfg.sample_rate);
    Serial.print("FullScaleRange: "); Serial.println(cfg.range);
    Serial.print("Mode: "); Serial.println((uint8_t)cfg.mode);
    Serial.println();
 
    //Find the magnetic declination : https://www.magnetic-declination.com/
    float declination_deg = MagnetometerUtils::dmsToDecimalDegrees(-3, 20);   // -3.3333
 
    magnetometer.setDeclination(declination_deg);
 
    Serial.print(" Magnetic Declination: ");
    Serial.print(declination_deg, 2);
    Serial.println("°");
 
    Serial.print(" Sensitivity: ");
    Serial.print(magnetometer.getSensitivity(), 6);
    Serial.println(" Gauss/LSB");
 
    delay(3000);
 
    Serial.println("Read data now...");
}
 
 
void loop()
{
    MagnetometerData data;
 
    if (magnetometer.readData(data)) {
 
        // Gauss to μT
        float x = MagnetometerUtils::gaussToMicroTesla(data.magnetic_field.x);
        float y = MagnetometerUtils::gaussToMicroTesla(data.magnetic_field.y);
        float z = MagnetometerUtils::gaussToMicroTesla(data.magnetic_field.z);
 
        Serial.print("Mag:");
        Serial.print(" X:"); Serial.print(x);
        Serial.print(" Y:"); Serial.print(y);
        Serial.print(" Z:"); Serial.print(z);
        Serial.print(" μT");
 
        Serial.print(" Sensitivity: ");
        Serial.print(magnetometer.getSensitivity(), 6);
        Serial.print(" Gauss/LSB");
 
        Serial.print(" Metadata:");
        Serial.print(" X:");
        Serial.print(data.raw.x);
        Serial.print(" Y:");
        Serial.print(data.raw.y);
        Serial.print(" Z:");
        Serial.print(data.raw.z);
 
        Serial.print(" Heading (rad): ");
        Serial.print(data.heading, 6);
        Serial.print(" rad");
 
        Serial.print(" Heading (deg): ");
        Serial.print(data.heading_degrees, 2);
        Serial.print("°");
 
        float strength = MagnetometerUtils::calculateMagneticStrength(data);
        strength = MagnetometerUtils::gaussToMicroTesla(strength);
        Serial.print(" Magnetic Strength: ");
        Serial.print(strength, 2);
        Serial.println(" μT");
 
        if (data.overflow) {
            Serial.println("\tWarning: Data Overflow occurred!");
        }
        if (data.skip_data) {
            Serial.println("\tWarning: Data Skip occurred!");
        }
    }
    delay(50);
}