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