255 lines
7.7 KiB
C++
255 lines
7.7 KiB
C++
/**
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*
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* @license MIT License
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*
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* Copyright (c) 2022 lewis he
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*
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* @file QMC6310_GetDataExample.ino
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* @author Lewis He (lewishe@outlook.com)
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* @date 2022-10-16
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*
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*/
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#include <Wire.h>
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#include <SPI.h>
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#include <Arduino.h>
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#if defined(ARDUINO_ARCH_ESP32)
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#include "SensorQMC6310.hpp"
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#include "SH1106Wire.h" //Oled display from https://github.com/ThingPulse/esp8266-oled-ssd1306
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#ifdef ARDUINO_T_BEAM_S3_SUPREME
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#include <XPowersAXP2101.tpp> //PMU Library https://github.com/lewisxhe/XPowersLib.git
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#endif
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#ifndef SENSOR_SDA
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#define SENSOR_SDA 17
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#endif
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#ifndef SENSOR_SCL
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#define SENSOR_SCL 18
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#endif
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#ifndef OLED_SDA
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#define OLED_SDA 22 // Display Wire SDA Pin
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#endif
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#ifndef OLED_SCL
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#define OLED_SCL 21 // Display Wire SCL Pin
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#endif
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SH1106Wire display(0x3c, OLED_SDA, OLED_SCL);
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SensorQMC6310 qmc;
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int last_dx, last_dy, dx, dy, angle;
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const int centreX = 32;
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const int centreY = 30;
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const int radius = 22;
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//Compass application from https://github.com/G6EJD/ESP8266_micro_compass_HMC5883_OLED
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void arrow(int x2, int y2, int x1, int y1, int alength, int awidth, OLEDDISPLAY_COLOR color)
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{
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display.setColor(color);
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float distance;
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int dx, dy, x2o, y2o, x3, y3, x4, y4, k;
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distance = sqrt(pow((x1 - x2), 2) + pow((y1 - y2), 2));
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dx = x2 + (x1 - x2) * alength / distance;
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dy = y2 + (y1 - y2) * alength / distance;
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k = awidth / alength;
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x2o = x2 - dx;
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y2o = dy - y2;
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x3 = y2o * k + dx;
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y3 = x2o * k + dy;
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x4 = dx - y2o * k;
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y4 = dy - x2o * k;
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display.drawLine(x1, y1, x2, y2);
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display.drawLine(x1, y1, dx, dy);
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display.drawLine(x3, y3, x4, y4);
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display.drawLine(x3, y3, x2, y2);
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display.drawLine(x2, y2, x4, y4);
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}
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void beginPower()
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{
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// T_BEAM_S3_SUPREME The PMU voltage needs to be turned on to use the sensor
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#if defined(ARDUINO_T_BEAM_S3_SUPREME)
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XPowersAXP2101 power;
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power.begin(Wire1, AXP2101_SLAVE_ADDRESS, 42, 41);
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power.disableALDO1();
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power.disableALDO2();
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delay(250);
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power.setALDO1Voltage(3300);
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power.enableALDO1();
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power.setALDO2Voltage(3300);
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power.enableALDO2();
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#endif
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}
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void setup()
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{
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Serial.begin(115200);
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while (!Serial);
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beginPower();
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if (!qmc.begin(Wire, QMC6310U_SLAVE_ADDRESS, SENSOR_SDA, SENSOR_SCL)) {
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Serial.println("Failed to find QMC6310 - check your wiring!");
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while (1) {
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delay(1000);
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}
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}
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display.init();
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last_dx = centreX;
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last_dy = centreY;
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/* Get Magnetometer chip id*/
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Serial.print("Device ID:");
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Serial.println(qmc.getChipID(), HEX);
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/* Config Magnetometer */
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int r = qmc.configMagnetometer(
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/*
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* Run Mode
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* MODE_SUSPEND
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* MODE_NORMAL
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* MODE_SINGLE
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* MODE_CONTINUOUS
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* * */
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SensorQMC6310::MODE_NORMAL,
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/*
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* Full Range
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* RANGE_30G
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* RANGE_12G
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* RANGE_8G
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* RANGE_2G
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* * */
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SensorQMC6310::RANGE_2G,
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/*
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* Output data rate
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* DATARATE_10HZ
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* DATARATE_50HZ
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* DATARATE_100HZ
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* DATARATE_200HZ
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* * */
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SensorQMC6310::DATARATE_100HZ,
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/*
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* Over sample Ratio1
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* OSR_8
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* OSR_4
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* OSR_2
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* OSR_1
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* * * */
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SensorQMC6310::OSR_1,
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/*
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* Down sample Ratio1
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* DSR_8
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* DSR_4
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* DSR_2
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* DSR_1
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* * */
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SensorQMC6310::DSR_1);
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if (r < 0) {
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Serial.println("Device config failed!");
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while (1)delay(1000);
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}
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// Print register configuration information
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qmc.dumpCtrlRegister();
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Serial.println("Read data now...");
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}
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void loop()
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{
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//Wait data ready
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if (qmc.isDataReady()) {
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qmc.readData();
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display.drawString(29, 0, "N");
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display.drawString( 0, 28, "W");
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display.drawString(60, 28, "E");
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display.drawString(29, 53, "S");
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display.drawLine(1, 1, 7, 7);
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display.drawLine(62, 1, 56, 7);
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display.drawLine(1, 62, 7, 56);
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display.drawLine(56, 56, 62, 62);
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//Compass application from https://github.com/G6EJD/ESP8266_micro_compass_HMC5883_OLED
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float heading = atan2(qmc.getY(), qmc.getX()); // Result is in radians
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// Now add the 'Declination Angle' for you location. Declination is the variation in magnetic field at your location.
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// Find your declination here: http://www.magnetic-declination.com/
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// At my location it is : -2° 20' W, or -2.33 Degrees, which needs to be in radians so = -2.33 / 180 * PI = -0.041 West is + E is -
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// Make declination = 0 if you can't find your Declination value, the error is negible for nearly all locations
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float declination = -0.041;
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heading = heading + declination;
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if (heading < 0) heading += 2 * PI; // Correct for when signs are reversed.
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if (heading > 2 * PI) heading -= 2 * PI; // Correct for when heading exceeds 360-degree, especially when declination is included
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angle = int(heading * 180 / M_PI); // Convert radians to degrees for more a more usual result
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// For the screen -X = up and +X = down and -Y = left and +Y = right, so does not follow coordinate conventions
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dx = (0.7 * radius * cos((angle - 90) * 3.14 / 180)) + centreX; // calculate X position for the screen coordinates - can be confusing!
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dy = (0.7 * radius * sin((angle - 90) * 3.14 / 180)) + centreY; // calculate Y position for the screen coordinates - can be confusing!
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arrow(last_dx, last_dy, centreX, centreY, 2, 2, BLACK); // Erase last arrow
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arrow(dx, dy, centreX, centreY, 2, 2, WHITE); // Draw arrow in new position
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display.setColor(BLACK);
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display.fillRect(80, 50, 25, 48);
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display.setColor(WHITE);
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display.drawString(80, 50, String(angle) + "°");
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display.display();
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last_dx = dx;
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last_dy = dy;
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// for debug.
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Serial.print("GYR: ");
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Serial.print("X:");
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Serial.print(qmc.getX());
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Serial.print(" Y:");
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Serial.print(qmc.getY());
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Serial.print(" Z:");
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Serial.print(qmc.getZ());
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Serial.println(" uT");
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}
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delay(100);
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}
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#else
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void setup()
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{
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Serial.begin(115200);
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}
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void loop()
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{
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Serial.println("The graphics library may not be supported on the esp32 platform"); delay(1000);
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}
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#endif
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