Magnetometer driver

MIDAS/platformio.ini

@@ -13,7 +13,8 @@ build_flags =
 build_unflags =
     -std=gnu++11
 lib_deps =
-    adafruit/Adafruit LIS3MDL@^1.2.1 ; Magnetometer driver
+    adafruit/Adafruit LIS3MDL@^1.2.1 ; Old magnetometer driver, Adafruit_BNO08x fails or else
+    sparkfun/SparkFun MMC5983MA Magnetometer Arduino Library@^1.1.4 ; Magnetometer driver
     sparkfun/SparkFun u-blox GNSS v3@^3.1.8 ; GPS
 
 build_src_filter = +<*> -<silsim/> +<hardware/> -<hilsim>
@@ -33,7 +34,8 @@ build_flags =
 build_unflags =
     -std=gnu++11
 lib_deps =
-    adafruit/Adafruit LIS3MDL@^1.2.1 ; Magnetometer driver
+    adafruit/Adafruit LIS3MDL@^1.2.1 ; Old magnetometer driver, Adafruit_BNO08x fails or else
+    sparkfun/SparkFun MMC5983MA Magnetometer Arduino Library@^1.1.4 ; Magnetometer driver
     sparkfun/SparkFun u-blox GNSS v3@^3.1.8 ; GPS
 
 build_src_filter = +<*> -<silsim/> +<hardware/> -<hilsim>

MIDAS/src/hardware/Magnetometer.cpp

@@ -1,27 +1,29 @@
-#include <Adafruit_LIS3MDL.h>
+#include <SparkFun_MMC5983MA_Arduino_Library.h>
 
 #include "sensors.h"
 #include "hal.h"
 
-Adafruit_LIS3MDL LIS3MDL;           // global static instance of the sensor
+SFE_MMC5983MA MMC5983;           // global static instance of the sensor
 
 ErrorCode MagnetometerSensor::init() {
-    if (!LIS3MDL.begin_SPI(LIS3MDL_CS)) {                     // Checks if sensor is connected
+    if (MMC5983.begin(MMC5983_CS) == false) {                     // Checks if sensor is connected
         return ErrorCode::MagnetometerCouldNotBeInitialized;
     }
-    LIS3MDL.setOperationMode(LIS3MDL_CONTINUOUSMODE);         // Reading continuously, instead of single-shot or off
-    LIS3MDL.setDataRate(LIS3MDL_DATARATE_155_HZ);
-    LIS3MDL.setRange(LIS3MDL_RANGE_4_GAUSS);                  // Earth's magnetic field is 1/2 gauss, can detect high current
     return ErrorCode::NoError;
 }
 
 Magnetometer MagnetometerSensor::read() {
     // read from aforementioned global instance of sensor
-    LIS3MDL.read();
+    uint32_t cx, cy, cz;
+    double X, Y, Z;
 
-    float mx = LIS3MDL.x_gauss;
-    float my = LIS3MDL.y_gauss;
-    float mz = LIS3MDL.z_gauss;
-    Magnetometer reading{mx, my, mz};
+    MMC5983.getMeasurementXYZ(&cx, &cy, &cz);
+
+    double sf = (double)(1 << 17);
+    X = ((double)cx - sf)/sf;
+    Y = ((double)cy - sf)/sf;
+    Z = ((double)cz - sf)/sf;
+
+    Magnetometer reading{X, Y, Z};
     return reading;
 }

MIDAS/src/hardware/main.cpp

@@ -78,7 +78,7 @@ void setup()
     pinMode(LSM6DS3_CS, OUTPUT);
 	pinMode(KX134_CS, OUTPUT);
 	pinMode(ADXL355_CS, OUTPUT);
-	pinMode(LIS3MDL_CS, OUTPUT);
+	pinMode(MMC5983_CS, OUTPUT);
 	pinMode(BNO086_CS, OUTPUT);
 	pinMode(BNO086_RESET, OUTPUT);
 	pinMode(CAN_CS, OUTPUT);
@@ -89,7 +89,7 @@ void setup()
 	digitalWrite(LSM6DS3_CS, HIGH);
 	digitalWrite(KX134_CS, HIGH);
 	digitalWrite(ADXL355_CS, HIGH);
-	digitalWrite(LIS3MDL_CS, HIGH);
+	digitalWrite(MMC5983_CS, HIGH);
 	digitalWrite(BNO086_CS, HIGH);
 	digitalWrite(CAN_CS, HIGH);
 	digitalWrite(E22_CS, HIGH);

MIDAS/src/hardware/pins.h

@@ -18,7 +18,8 @@
 #define ADXL355_CS 44
 
 // magnetometer chip select
-#define LIS3MDL_CS 35
+#define MMC5983_CS 4
+#define MMC5983_INT 7
 
 // orientation chip select, interrupt
 #define BNO086_CS 48
@@ -92,4 +93,4 @@
 #define FLASH_DAT2 15
 #define FLASH_DAT3 16
 
-#define GPIO_RESET 47
+#define GPIO_RESET 47

MIDAS/src/sensor_data.h

@@ -166,9 +166,9 @@ struct GPS {
  * @brief data from the magnetometer
 */
 struct Magnetometer {
-    float mx;
-    float my;
-    float mz;
+    double mx;
+    double my;
+    double mz;
 };
 
 struct Quaternion {
@@ -275,4 +275,4 @@ struct PyroState {
 struct CameraData {
     uint8_t camera_state = 255;
     float camera_voltage = 0;
-};
+};