Module to be able to use an QMC5883L magnetometer.

Intorduction: Honeywell discontinued the HMC5983/HMC5883L in 2016 and licensed the technology to QST Corporation, who now manufacture the replacement QMC5883L. However, while the QMC5883L is pin compatible with HMC, it's registers are not the same as the Honeywell device. It's essentially a different chip.

QST Corporation have produced two versions of the QMC5883L: A completely undocumented 'A' version with "DA 5883" on the QFN package that responds to the I2C address 0x1E. It's identical to the HMC5983/HMC5883L, except that the status register doesn't work. The DA 5883 is not supported by this driver since we have not seen any samples of this DA version in the wild

A documented 'B' version with "DB 5833" on the QFN package that responds to I2C address 0x0D. This works as per the QMC5883L datasheet.

TIP: An arbitrary rotation between the sensor frame and the IMU frame can be compensated with a MAG_TO_IMU rotation, defined by three euler angles. The three angles must be defined to enable this correction. Otherwise it is assumed that the IMU and MAG axis are aligned.

Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="mag_qmc5883l">
  b'<define name="MODULE_QMC5883L_SYNC_SEND" value="TRUE|FALSE" />\n    '
  b'<define name="MODULE_QMC5883L_UPDATE_AHRS" value="TRUE|FALSE" />\n    '
  b'<define name="QMC5883L_CHAN_X_SIGN" value="+|-" />\n    '
  b'<define name="QMC5883L_CHAN_Y_SIGN" value="+|-" />\n    '
  b'<define name="QMC5883L_CHAN_Z_SIGN" value="+|-" />\n    '
  b'<define name="QMC5883L_CHAN_X" value="0|1|2" />\n    '
  b'<define name="QMC5883L_CHAN_Y" value="0|1|2" />\n    '
  b'<define name="QMC5883L_CHAN_Z" value="0|1|2" />\n    '
  b'<configure name="MAG_QMC5883L_I2C_DEV" value="i2c1" />\n    '
</module>

Module configuration options

Configure Options

name: MAG_QMC5883L_I2C_DEV value: i2c1
Description: I2C device to use (e.g. i2c2)

Define Options

name: MODULE_QMC5883L_SYNC_SEND value: TRUE|FALSE
Description: Send IMU_RAW message with each new measurement for debugging purposes (default: FALSE)
name: MODULE_QMC5883L_UPDATE_AHRS value: TRUE|FALSE
Description: Copy measurements to IMU and send as ABI message (default: FALSE)
name: QMC5883L_CHAN_X_SIGN value: +|-
Description: Set the polarity of x axis (default: +)
name: QMC5883L_CHAN_Y_SIGN value: +|-
Description: Set the polarity of y axis (default: +)
name: QMC5883L_CHAN_Z_SIGN value: +|-
Description: Set the polarity of z axis (default: +)
name: QMC5883L_CHAN_X value: 0|1|2
Description: Channel id of x axis (default: 0)
name: QMC5883L_CHAN_Y value: 0|1|2
Description: Channel id of y axis (default: 1)
name: QMC5883L_CHAN_Z value: 0|1|2
Description: Channel id of z axis (default: 2)

Airframe file section

section name: MAG_QMC prefix: QMC5883L_
- name MAG_TO_IMU_PHI value: 0.0
  Description: Rotation between sensor frame and IMU frame (phi angle)
- name MAG_TO_IMU_THETA value: 0.0
  Description: Rotation between sensor frame and IMU frame (theta angle)
- name MAG_TO_IMU_PSI value: 0.0
  Description: Rotation between sensor frame and IMU frame (psi angle)
- name DATA_RATE value: QMC5883L_ODR_200
  Description: Continuous conversion data rate

Module functions

Init Functions

These initialization functions are called once on startup.

mag_qmc5883l_module_init()

Event Functions

These event functions are called in each cycle of the module event loop.

mag_qmc5883l_module_event()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

mag_qmc5883l_module_periodic()
- Frequency in Hz: MAG_QMC5883L_PERIODIC_FREQUENCY
- Autorun: LOCK
  Periodic function automatically starts after init and can't be stopped.
mag_qmc5883l_report()
- Frequency in Hz: 10
- Autorun: FALSE
  Periodic function is started by user command.

Files

Header Files

The following headers are automatically included in modules.h

mag_qmc5883l.h

Source Files

Raw mag_qmc5883l.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="mag_qmc5883l" dir="sensors" task="sensors">
  <doc>
    <description>
      Module to be able to use an QMC5883L magnetometer.
 
      Intorduction: Honeywell discontinued the HMC5983/HMC5883L in 2016 and licensed the technology to QST Corporation, who now manufacture the replacement QMC5883L.
      However, while the QMC5883L is pin compatible with HMC, it's registers are not the same as the Honeywell device. It's essentially a different chip.
 
      QST Corporation have produced two versions of the QMC5883L:
      A completely undocumented 'A' version with "DA 5883" on the QFN package that responds to the I2C address 0x1E.
      It's identical to the HMC5983/HMC5883L, except that the status register doesn't work.
      The DA 5883 is not supported by this driver since we have not seen any samples of this DA version in the wild
 
      A documented 'B' version with "DB 5833" on the QFN package that responds to I2C address 0x0D. This works as per the QMC5883L datasheet.
      
      TIP:
      An arbitrary rotation between the sensor frame and the IMU frame can be compensated with a MAG_TO_IMU rotation, defined by three euler angles. 
      The three angles must be defined to enable this correction. Otherwise it is assumed that the IMU and MAG axis are aligned.
    </description>
    <configure name="MAG_QMC5883L_I2C_DEV" value="i2c1" description="I2C device to use (e.g. i2c2)"/>
    <define name="MODULE_QMC5883L_SYNC_SEND" value="TRUE|FALSE" description="Send IMU_RAW message with each new measurement for debugging purposes (default: FALSE)"/>
    <define name="MODULE_QMC5883L_UPDATE_AHRS" value="TRUE|FALSE" description="Copy measurements to IMU and send as ABI message (default: FALSE)"/>
    <define name="QMC5883L_CHAN_X_SIGN" value="+|-" description="Set the polarity of x axis (default: +)"/>
    <define name="QMC5883L_CHAN_Y_SIGN" value="+|-" description="Set the polarity of y axis (default: +)"/>
    <define name="QMC5883L_CHAN_Z_SIGN" value="+|-" description="Set the polarity of z axis (default: +)"/>
    <define name="QMC5883L_CHAN_X" value="0|1|2" description="Channel id of x axis (default: 0)"/>
    <define name="QMC5883L_CHAN_Y" value="0|1|2" description="Channel id of y axis (default: 1)"/>
    <define name="QMC5883L_CHAN_Z" value="0|1|2" description="Channel id of z axis (default: 2)"/>
    <section name="MAG_QMC" prefix="QMC5883L_">
      <define name="MAG_TO_IMU_PHI" value="0.0" description="Rotation between sensor frame and IMU frame (phi angle)"/>
      <define name="MAG_TO_IMU_THETA" value="0.0" description="Rotation between sensor frame and IMU frame (theta angle)"/>
      <define name="MAG_TO_IMU_PSI" value="0.0" description="Rotation between sensor frame and IMU frame (psi angle)"/>
      <define name="DATA_RATE" value="QMC5883L_ODR_200" description="Continuous conversion data rate"/>
    </section>
  </doc>
  <dep>
    <depends>i2c,@imu</depends>
    <provides>mag</provides>
  </dep>
  <header>
    <file name="mag_qmc5883l.h"/>
  </header>
  <init fun="mag_qmc5883l_module_init()"/>
  <periodic fun="mag_qmc5883l_module_periodic()" freq="MAG_QMC5883L_PERIODIC_FREQUENCY"/>
  <periodic fun="mag_qmc5883l_report()" freq="10" autorun="FALSE"/>
  <event fun="mag_qmc5883l_module_event()"/>
  <makefile target="ap">
    <file name="mag_qmc5883l.c"/>
    <file name="qmc5883l.c" dir="peripherals"/>
    <raw>
      ifeq ($(MAG_QMC5883L_I2C_DEV),)
        $(error mag_qmc5883l module error: please configure MAG_QMC5883L_I2C_DEV)
      endif
    </raw>
    <configure name="MAG_QMC5883L_PERIODIC_FREQUENCY" default="50"/>
    <configure name="MAG_QMC5883L_I2C_DEV" case="upper|lower"/>
    <define name="MAG_QMC5883L_PERIODIC_FREQUENCY" value="$(MAG_QMC5883L_PERIODIC_FREQUENCY)"/>
    <define name="USE_$(MAG_QMC5883L_I2C_DEV_UPPER)"/>
    <define name="MAG_QMC5883L_I2C_DEV" value="$(MAG_QMC5883L_I2C_DEV_LOWER)"/>
    <test>
      <define name="MAG_QMC5883L_I2C_DEV" value="i2c1"/>
      <define name="USE_I2C1"/>
      <define name="DOWNLINK_TRANSPORT" value="pprz_tp"/>
      <define name="DOWNLINK_DEVICE" value="uart1"/>
      <define name="USE_UART1"/>
    </test>
  </makefile>
</module>