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LIS2MDL implementation

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gorbit99
2025-04-07 19:36:41 +02:00
parent bb652ad8b6
commit 6d7c8253e7
1 changed files with 57 additions and 35 deletions
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92
src/sensors/softfusion/magdriver.cpp
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@@ -25,51 +25,73 @@
namespace SlimeVR::Sensors::SoftFusion {
std::vector<MagDefinition> MagDriver::mags
= {MagDefinition{
.name = "IST8306",
std::vector<MagDefinition> MagDriver::mags = {
MagDefinition{
.name = "IST8306",
.deviceId = 0x19,
.deviceId = 0x19,
.whoAmIReg = 0x00,
.expectedWhoAmI = 0x06,
.whoAmIReg = 0x00,
.expectedWhoAmI = 0x06,
.setup =
[](const I2CWriteFunc& writeI2C) {
writeI2C(0x32, 0x01); // Soft reset
delay(50);
writeI2C(0x30, 0x20); // Noise suppression: low
writeI2C(0x41, 0x2d); // Oversampling: 32X
writeI2C(0x31, 0x02); // Continuous measurement @ 10Hz
},
.setup =
[](const I2CWriteFunc& writeI2C) {
writeI2C(0x32, 0x01); // Soft reset
delay(50);
writeI2C(0x30, 0x20); // Noise suppression: low
writeI2C(0x41, 0x2d); // Oversampling: 32X
writeI2C(0x31, 0x02); // Continuous measurement @ 10Hz
},
.dataReg = 0x11,
.dataWidth = MagDefinition::DataWidth::SixByte,
.dataReg = 0x11,
.dataWidth = MagDefinition::DataWidth::SixByte,
.resolution = 0.3,
},
MagDefinition{
.name = "QMC6309",
.resolution = 0.3,
},
MagDefinition{
.name = "QMC6309",
.deviceId = 0x7c,
.deviceId = 0x7c,
.whoAmIReg = 0x00,
.expectedWhoAmI = 0x90,
.whoAmIReg = 0x00,
.expectedWhoAmI = 0x90,
.setup =
[](const I2CWriteFunc& writeI2C) {
writeI2C(0x0b, 0x80);
writeI2C(0x0b, 0x00); // Soft reset
delay(10);
writeI2C(0x0b, 0x48); // Set/reset on, 8g full range, 200Hz
writeI2C(0x0a, 0x21); // LP filter 2, 8x Oversampling, normal mode
},
.setup =
[](const I2CWriteFunc& writeI2C) {
writeI2C(0x0b, 0x80);
writeI2C(0x0b, 0x00); // Soft reset
delay(10);
writeI2C(0x0b, 0x48); // Set/reset on, 8g full range, 200Hz
writeI2C(0x0a, 0x21); // LP filter 2, 8x Oversampling, normal mode
},
.dataReg = 0x01,
.dataWidth = MagDefinition::DataWidth::SixByte,
.dataReg = 0x01,
.dataWidth = MagDefinition::DataWidth::SixByte,
.resolution = 1 / 4000.0f // @ 8G field range
}};
.resolution = 1 / 4000.0f // @ 8G field range
},
MagDefinition{
.name = "LIS2MDL",
.deviceId = 0x1e,
.whoAmIReg = 0x4f,
.expectedWhoAmI = 0x40,
.setup =
[](const I2CWriteFunc& writeI2C) {
writeI2C(0x60, 0x20); // Soft reset
delay(10);
writeI2C(0x60, 0x8c); // Temp compensation enabled, 100Hz, continuous
writeI2C(0x62, 0x01); // Enable mag, drdy on pin
},
.dataReg = 0x68,
.dataWidth = MagDefinition::DataWidth::SixByte,
.resolution = 1.5f / 1000,
},
};
void MagDriver::init(AuxInterface auxInterface) {
for (auto& mag : mags) {