script/libs/qmc5883l.lua

   1 --[[
   2 @module qmc5883l
   3 @summary qmc5883l 地磁传感器
   4 @version 1.0
   5 @date    2022.04.12
   6 @author  Dozingfiretruck
   7 @usage
   8 --注意:因使用了sys.wait()所有api需要在协程中使用
   9 -- 用法实例
  10 local qmc5883l = require "qmc5883l"
  11 i2cid = 0
  12 i2c_speed = i2c.FAST
  13 sys.taskInit(function()
  14     i2c.setup(i2cid,i2c_speed)
  15     qmc5883l.init(i2cid)--初始化,传入i2c_id
  16     while 1 do
  17         local qmc5883l_data = qmc5883l.get_data()
  18         log.info("qmc5883l_data", qmc5883l_data.x,qmc5883l_data.y,qmc5883l_data.z,qmc5883l_data.heading,qmc5883l_data.headingDegrees)
  19         sys.wait(1000)
  20     end
  21 end)
  22 ]]
  23
  24
  25 local qmc5883l = {}
  26 local sys = require "sys"
  27 local i2cid
  28
  29 local QMC5883L_ADDRESS_ADR
  30
  31 local QMC5883L_ADDRESS_ADR_LOW   =   0x0C
  32 local QMC5883L_ADDRESS_ADR_HIGH  =   0x0D
  33
  34 local QMC5883L_CHIP_ID_CHECK     =   0x0D
  35 local QMC5883L_CHIP_ID           =   0xFF
  36
  37 ---器件所用地址
  38
  39 local QMC5883L_X_LSB             =   0x00
  40 local QMC5883L_X_MSB             =   0x01
  41 local QMC5883L_Y_LSB             =   0x02
  42 local QMC5883L_Y_MSB             =   0x03
  43 local QMC5883L_Z_LSB             =   0x04
  44 local QMC5883L_Z_MSB             =   0x05
  45 local QMC5883L_STATUS            =   0x06
  46 local QMC5883L_T_LSB             =   0x07
  47 local QMC5883L_T_MSB             =   0x08
  48 local QMC5883L_CONTROL1          =   0x09
  49 local QMC5883L_CONTROL2          =   0x0A
  50 local QMC5883L_PERIOD            =   0x0B
  51
  52 --器件ID检测
  53 local function chip_check()
  54     i2c.send(i2cid, QMC5883L_ADDRESS_ADR_HIGH, QMC5883L_CHIP_ID_CHECK)--读器件地址
  55     local revData = i2c.recv(i2cid, QMC5883L_ADDRESS_ADR_HIGH, 1)
  56     if revData:byte() ~= nil then
  57         QMC5883L_ADDRESS_ADR = QMC5883L_ADDRESS_ADR_HIGH
  58     else
  59         i2c.send(i2cid, QMC5883L_ADDRESS_ADR_LOW, QMC5883L_CHIP_ID_CHECK)--读器件地址
  60         sys.wait(50)
  61         local revData = i2c.recv(i2cid, QMC5883L_ADDRESS_ADR_LOW, 1)
  62         if revData:byte() ~= nil then
  63             QMC5883L_ADDRESS_ADR = QMC5883L_ADDRESS_ADR_LOW
  64         else
  65             log.info("Can't find QMC5883L device")
  66             return false
  67         end
  68     end
  69
  70     i2c.send(i2cid, QMC5883L_ADDRESS_ADR, QMC5883L_CHIP_ID_CHECK)--读器件地址
  71     local revData = i2c.recv(i2cid, QMC5883L_ADDRESS_ADR, 1)
  72     if revData:byte() == QMC5883L_CHIP_ID then
  73         log.info("Device i2c id is: QMC5883L")
  74         return true
  75     else
  76         log.info("Can't find QMC5883L device")
  77         return false
  78     end
  79 end
  80
  81 --[[
  82 qmc5883l 初始化
  83 @api qmc5883l.init(i2c_id)
  84 @number 所在的i2c总线id
  85 @return bool   成功返回true
  86 @usage
  87 qmc5883l.init(0)
  88 ]]
  89 function qmc5883l.init(i2c_id)
  90     i2cid = i2c_id
  91     if chip_check() then
  92         i2c.send(i2cid, QMC5883L_ADDRESS_ADR, {QMC5883L_PERIOD,0x01})
  93         i2c.send(i2cid, QMC5883L_ADDRESS_ADR, {QMC5883L_CONTROL1,0x1D})
  94     end
  95     return true
  96 end
  97
  98 --[[
  99 获取 qmc5883l 数据
 100 @api qmc5883l.get_data()
 101 @return table qmc5883l 数据
 102 @usage
 103 local qmc5883l_data = qmc5883l.get_data()
 104 log.info("qmc5883l_data", qmc5883l_data.x,qmc5883l_data.y,qmc5883l_data.z,qmc5883l_data.heading,qmc5883l_data.headingDegrees)
 105 ]]
 106 function qmc5883l.get_data()
 107     local qmc5883l_data = {}
 108     i2c.send(i2cid, QMC5883L_ADDRESS_ADR,QMC5883L_X_LSB)
 109     local data = i2c.recv(i2cid, QMC5883L_ADDRESS_ADR, 6)
 110     _, qmc5883l_data.x, qmc5883l_data.y, qmc5883l_data.z = pack.unpack(data, "<h3")
 111     local heading = math.atan (qmc5883l_data.y ,qmc5883l_data.x)
 112     qmc5883l_data.heading = heading
 113     local declinationAngle = 0.0404
 114     heading = heading+declinationAngle
 115     if heading < 0 then heading = heading+2*math.pi end
 116     if heading > 2*math.pi then heading = heading-2*math.pi end
 117     qmc5883l_data.headingDegrees = heading * 180/math.pi
 118     return qmc5883l_data
 119 end
 120
 121 return qmc5883l
 122
 123