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pr_adding gy-87 QMC5883 Chinese clone #28

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pr_adding gy-87 QMC5883 Chinese clone #28

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44 changes: 43 additions & 1 deletion Sensors.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1117,6 +1117,43 @@ void Device_Mag_getADC() {
}
#endif
#endif


// ************************************************************************************************************
// I2C Compass QMC5883L
// ************************************************************************************************************
// I2C adress: 0x0D (7bit)
// ************************************************************************************************************
#if defined(QMC5883)

#define MAG_ADDRESS 0x0D
#define MAG_DATA_REGISTER 0x00

//REG CONTROL

#define MAG_CTRL_REG1 0x09
#define QMC_MODE 0xC1 // 11 00 00 01OSR=64(11); Range=2G(00); ODR=10Hz(00); MODE=Cont(01)
#define MAG_CTRL_REG2 0x0A

void Mag_init() {
i2c_writeReg(MAG_ADDRESS,0x0B,0x01);
i2c_writeReg(MAG_ADDRESS,MAG_CTRL_REG1,QMC_MODE);
}


static void getADC() {
i2c_getSixRawADC(MAG_ADDRESS,MAG_DATA_REGISTER);
MAG_ORIENTATION( ((rawADC[1]<<8) | rawADC[0]) ,
((rawADC[3]<<8) | rawADC[2]) ,
((rawADC[5]<<8) | rawADC[4]) );
}

#if !defined(MPU6050_I2C_AUX_MASTER)
static void Device_Mag_getADC() {
getADC();
}
#endif
#endif


// ************************************************************************************************************
Expand Down Expand Up @@ -1217,6 +1254,11 @@ void ACC_getADC () {
((rawADC[2]<<8) | rawADC[3]) ,
((rawADC[4]<<8) | rawADC[5]) );
#endif
#if defined(QMC5883)
MAG_ORIENTATION( ((rawADC[1]<<8) | rawADC[0]) ,
((rawADC[3]<<8) | rawADC[2]) ,
((rawADC[5]<<8) | rawADC[4]) );
#endif
}
#endif
#endif
Expand Down Expand Up @@ -1536,4 +1578,4 @@ void initSensors() {
initS();
if (i2c_errors_count == 0) break; // no error during init => init ok
}
}
}
3 changes: 2 additions & 1 deletion config.h
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Expand Up @@ -133,6 +133,7 @@
//#define GY_80 // Chinese 10 DOF with L3G4200D ADXL345 HMC5883L BMP085, LLC
//#define GY_85 // Chinese 9 DOF with ITG3205 ADXL345 HMC5883L LLC
//#define GY_86 // Chinese 10 DOF with MPU6050 HMC5883L MS5611, LLC
//#define GY_87 // Chinese 10 DOF with MPU6050 & QMC5883L
//#define GY_88 // Chinese 10 DOF with MPU6050 HMC5883L BMP085, LLC
//#define GY_521 // Chinese 6 DOF with MPU6050, LLC
//#define INNOVWORKS_10DOF // with ITG3200, BMA180, HMC5883, BMP085 available here http://www.diymulticopter.com
Expand Down Expand Up @@ -1228,4 +1229,4 @@ Also note, that maqgnetic declination changes with time, so recheck your value e
/*************************************************************************************************/

#endif /* CONFIG_H_ */

18 changes: 15 additions & 3 deletions def.h
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Expand Up @@ -1329,6 +1329,18 @@
#undef INTERNAL_I2C_PULLUPS
#endif

#if defined(GY_87)
//https://forum.arduino.cc/index.php?topic=556590.0
#define MPU6050
#define QMC5883
#define BMP085
#define ACC_ORIENTATION(X, Y, Z) {imu.accADC[ROLL] = -X; imu.accADC[PITCH] = -Y; imu.accADC[YAW] = Z;}
#define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[ROLL] = Y; imu.gyroADC[PITCH] = -X; imu.gyroADC[YAW] = -Z;}
#define MAG_ORIENTATION(X, Y, Z) {imu.magADC[ROLL] = X; imu.magADC[PITCH] = Y; imu.magADC[YAW] = -Z;}
#define MPU6050_I2C_AUX_MASTER // MAG connected to the AUX I2C bus of MPU6050
#undef INTERNAL_I2C_PULLUPS
#endif

#if defined(GY_88)
#define MPU6050
#define HMC5883
Expand Down Expand Up @@ -1674,8 +1686,8 @@
#define ACC 0
#endif

#if defined(HMC5883) || defined(HMC5843) || defined(AK8975) || defined(MAG3110)
#define MAG 1
#if defined(HMC5883) || defined(HMC5843) || defined(AK8975) || defined(MAG3110) || defined(QMC5883)
#define MAG 1
#else
#define MAG 0
#endif
Expand Down Expand Up @@ -2029,4 +2041,4 @@
#error "you use one feature that is no longer supported or has undergone a name change"
#endif

#endif /* DEF_H_ */
#endif /* DEF_H_ */