[WIP] QMC5883 Magnetometer Driver #11140
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boards/px4/fmu-v2/init/rc.board
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| @@ -43,6 +43,7 @@ fi | |||
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| # External I2C bus | |||
| hmc5883 -C -T -X start | |||
| qmc5883 -C -T -X start | |||
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This command fails to start the driver. Still have to manually start at the command line.
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Fixed this issue in the probe() command for i2c. Have to read 0x00 once first before you can read the ID registers reliably.
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I also added a while loop to check a number of retries.
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| int QMC5883::calibrate(struct file *filp, unsigned enable) |
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Need to confirm that QMC5883::calibrate does anything
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Calibrate is removed. The QMC5883 does not have a self-test mode with an induced field to calibrate against.
removed extraneous PX4_INFO calls
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| if (range_bits_in != _range_bits << 4) { | ||
| perf_count(_range_errors); | ||
| ret = write_reg(QMC5883_ADDR_CONTROL_1, (_range_bits << 4)); |
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@dagar I think this is why it was going STALE. The first 2 bits of the control address (0x09) are the data rate which are getting written over here and putting it back into standby mode.
| // apply user specified rotation | ||
| rotate_3f(_rotation, xraw_f, yraw_f, zraw_f); | ||
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| new_report.x = ((xraw_f * _range_scale) - _scale.x_offset) * _scale.x_scale; |
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_range_scale always seems to just equal 0, (when I try printf or PX4_INFO). Getting ok values on the console though, but typing "listener sensor_mag -I 1" always shows scale = 0.0001
| check that the configuration register has the right value. This is | ||
| done periodically to cope with I2C bus noise causing the | ||
| configuration of the compass to change. | ||
| */ |
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removed get and check range and just hardcoded the +/-2G range
boards/px4/fmu-v2/init/rc.board
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| @@ -43,6 +43,7 @@ fi | |||
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| # External I2C bus | |||
| hmc5883 -C -T -X start | |||
| qmc5883 -X start | |||
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Removed the calibration option on this command.
| * change | ||
| */ | ||
| void check_conf(void); | ||
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Removed the calibration function - QMC5883 doesn't have a self-test function with an induced magnetic field like the HMC5983 has.
| /* Set Register */ | ||
| #define QMC5883_SET_DEFAULT (1 << 0) | ||
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| #define QMC5883_TEMP_OFFSET 50 /* deg celsius */ |
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Temp offset is not calibrated on sensor at the factory so this is a pretty rough estimate to get ballpark sensor temp. All temp calibration is happening on chip by default.
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There are several GPS on the market that is pending this driver. @dagar @DanielePettenuzzo could you review? |
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We are considering this part for an upcoming board design. Will be interested to evaluate once this PR goes through. |
| bool read_valid = false; | ||
| bool id_valid = false; | ||
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| while(count > 0){ |
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I added a number of retries to probe for in cases of poor wiring or i2c interference. This has helped with the driver not starting on boot.
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| /* Max measurement rate is 200Hz */ | ||
| #define QMC5883_CONVERSION_INTERVAL (1000000 / 150) /* microseconds */ |
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@dagar I made the denominator 150 to match the HMC driver, but I recently noticed that the HMC5883 driver is actually polling at 50hz (measuring on a logic analyzer). I think this is due to the HMC5883:calibrate function here setting the polling rate to 50hz and never getting corrected.
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I think this could use a bit more work, but it looks safe to merge. I've updated with latest master and disabled the autostart for now. Let's test it a bit more before enabling by default. Nice work! |
Please use PX4 Discuss or Slack to align on pull requests if necessary.
Test data / coverage
sensors status
listener sensor_mag -i 0
tests sensors
Magnetometer plots - QMC5883 External mag is sensor_mag_1
X axis plot comparison
Y axis plot comparison
Z axis plot comparison
Describe problem solved by the proposed pull request
A driver for the QMC5883 is required as many manufacturers have moved away from the now obsolete HMC5883.
Describe your preferred solution
The QMC5883 driver is implemented with basic functionality. Currently runs at a fixed range (+/- 2Gauss), oversampling (512) and bitrate (200hz). The next steps are to implement functionality to change these configuration options and implement a self-test. Doesn't work with current stable branch dues to the use of MAGIOSELFTEST, will result in preflight check errors.
Describe possible alternatives
Write another driver
Additional context