/* ******************************************************************************* * Copyright (c) 2022 by M5Stack * Equipped with M5Core sample source code * 配套 M5Core 示例源代码 * Visit for more information: https://docs.m5stack.com/en/core/gray * 获取更多资料请访问: https://docs.m5stack.com/zh_CN/core/gray * * Describe: bmm150--Magnetometer 三轴磁力计 * Date: 2021/7/21 ******************************************************************************* */ #include #include "M5Stack.h" #include "M5_BMM150.h" #include "M5_BMM150_DEFS.h" #include "Preferences.h" #include "math.h" Preferences prefs; struct bmm150_dev dev; bmm150_mag_data mag_offset; // Compensation magnetometer float data storage // 储存补偿磁强计浮子数据 bmm150_mag_data mag_max; bmm150_mag_data mag_min; TFT_eSprite img = TFT_eSprite(&M5.Lcd); int8_t i2c_read(uint8_t dev_id, uint8_t reg_addr, uint8_t *read_data, uint16_t len) { if (M5.I2C.readBytes( dev_id, reg_addr, len, read_data)) { // Check whether the device ID, address, data exist. return BMM150_OK; //判断器件的Id、地址、数据是否存在 } else { return BMM150_E_DEV_NOT_FOUND; } } int8_t i2c_write(uint8_t dev_id, uint8_t reg_addr, uint8_t *read_data, uint16_t len) { if (M5.I2C.writeBytes(dev_id, reg_addr, read_data, len)) { // Writes data of length len to the specified // device address. return BMM150_OK; //向指定器件地址写入长度为len的数据 } else { return BMM150_E_DEV_NOT_FOUND; } } int8_t bmm150_initialization() { int8_t rslt = BMM150_OK; dev.dev_id = 0x10; // Device address setting. 设备地址设置 dev.intf = BMM150_I2C_INTF; // SPI or I2C interface setup. SPI或I2C接口设置 dev.read = i2c_read; // Read the bus pointer. 读总线指针 dev.write = i2c_write; // Write the bus pointer. 写总线指针 dev.delay_ms = delay; // Set the maximum range range //设置最大范围区间 mag_max.x = -2000; mag_max.y = -2000; mag_max.z = -2000; // Set the minimum range //设置最小范围区间 mag_min.x = 2000; mag_min.y = 2000; mag_min.z = 2000; rslt = bmm150_init(&dev); // Memory chip ID. 存储芯片ID dev.settings.pwr_mode = BMM150_NORMAL_MODE; rslt |= bmm150_set_op_mode( &dev); // Set the sensor power mode. 设置传感器电源工作模式 dev.settings.preset_mode = BMM150_PRESETMODE_ENHANCED; rslt |= bmm150_set_presetmode( &dev); // Set the preset mode of . 设置传感器的预置模式 return rslt; } void bmm150_offset_save() { // Store the data. 存储bmm150的数据 prefs.begin("bmm150", false); prefs.putBytes("offset", (uint8_t *)&mag_offset, sizeof(bmm150_mag_data)); prefs.end(); } void bmm150_offset_load() { // load the data. 加载bmm150的数据 if (prefs.begin("bmm150", true)) { prefs.getBytes("offset", (uint8_t *)&mag_offset, sizeof(bmm150_mag_data)); prefs.end(); Serial.println("bmm150 load offset finish...."); } else { Serial.println("bmm150 load offset failed...."); } } void setup() { M5.begin(true, false, true, false); // Init M5Core(Initialize LCD, serial port). 初始化 // M5Core（初始化LCD、串口） M5.Power.begin(); // Init Power module. 初始化电源设置 Wire.begin( 21, 22, 400000UL); // Set the frequency of the SDA SCL. 设置SDA和SCL的频率 img.setColorDepth(1); // Set bits per pixel for colour. 设置色深为1 img.setTextColor(TFT_WHITE); // Set the font foreground colour (background // is. 设置字体的前景色为TFT_WHITE img.createSprite(320, 240); // Create a sprite (bitmap) of defined width // and height 创建一个指定宽度和高度的Sprite图 img.setBitmapColor(TFT_WHITE, 0); // Set the foreground and background // colour. 设置位图的前景色和背景颜色 if (bmm150_initialization() != BMM150_OK) { img.fillSprite(0); // Fill the whole sprite with defined colour. // 用定义的颜色填充整个Sprite图 img.drawCentreString("BMM150 init failed", 160, 110, 4); // Use font 4 in (160,110)draw string. // 使用字体4在(160,110)处绘制字符串 img.pushSprite( 0, 0); // Push the sprite to the TFT at 0, 0. 将Sprite图打印在(0,0)处 for (;;) { delay(100); // delay 100ms. 延迟100ms } } bmm150_offset_load(); } void bmm150_calibrate( uint32_t calibrate_time) { // bbm150 data calibrate. bbm150数据校准 uint32_t calibrate_timeout = 0; calibrate_timeout = millis() + calibrate_time; Serial.printf("Go calibrate, use %d ms \r\n", calibrate_time); // The serial port outputs formatting // characters. 串口输出格式化字符 Serial.printf("running ..."); while (calibrate_timeout > millis()) { bmm150_read_mag_data(&dev); // read the magnetometer data from // registers. 从寄存器读取磁力计数据 if (dev.data.x) { mag_min.x = (dev.data.x < mag_min.x) ? dev.data.x : mag_min.x; mag_max.x = (dev.data.x > mag_max.x) ? dev.data.x : mag_max.x; } if (dev.data.y) { mag_max.y = (dev.data.y > mag_max.y) ? dev.data.y : mag_max.y; mag_min.y = (dev.data.y < mag_min.y) ? dev.data.y : mag_min.y; } if (dev.data.z) { mag_min.z = (dev.data.z < mag_min.z) ? dev.data.z : mag_min.z; mag_max.z = (dev.data.z > mag_max.z) ? dev.data.z : mag_max.z; } delay(100); } mag_offset.x = (mag_max.x + mag_min.x) / 2; mag_offset.y = (mag_max.y + mag_min.y) / 2; mag_offset.z = (mag_max.z + mag_min.z) / 2; bmm150_offset_save(); Serial.printf("\n calibrate finish ... \r\n"); Serial.printf("mag_max.x: %.2f x_min: %.2f \t", mag_max.x, mag_min.x); Serial.printf("y_max: %.2f y_min: %.2f \t", mag_max.y, mag_min.y); Serial.printf("z_max: %.2f z_min: %.2f \r\n", mag_max.z, mag_min.z); } void loop() { char text_string[100]; M5.update(); // Read the press state of the key. 读取按键的状态 bmm150_read_mag_data(&dev); float head_dir = atan2(dev.data.x - mag_offset.x, dev.data.y - mag_offset.y) * 180.0 / M_PI; Serial.printf("Magnetometer data, heading %.2f\n", head_dir); Serial.printf("MAG X : %.2f \t MAG Y : %.2f \t MAG Z : %.2f \n", dev.data.x, dev.data.y, dev.data.z); Serial.printf("MID X : %.2f \t MID Y : %.2f \t MID Z : %.2f \n", mag_offset.x, mag_offset.y, mag_offset.z); img.fillSprite(0); sprintf(text_string, "MAG X: %.2f", dev.data.x); img.drawString(text_string, 10, 20, 4); // draw string with padding. 绘制带有填充的字符串 sprintf(text_string, "MAG Y: %.2f", dev.data.y); img.drawString(text_string, 10, 50, 4); sprintf(text_string, "MAG Z: %.2f", dev.data.z); img.drawString(text_string, 10, 80, 4); sprintf(text_string, "HEAD Angle: %.2f", head_dir); img.drawString(text_string, 10, 110, 4); img.drawCentreString("Press BtnA enter calibrate", 160, 150, 4); img.pushSprite(0, 0); if (M5.BtnA.wasPressed()) { img.fillSprite(0); img.drawCentreString("Flip + rotate core calibration", 160, 110, 4); img.pushSprite(0, 0); bmm150_calibrate(10000); } delay(100); }