fusion_hat.modules.magnetometer module

class fusion_hat.modules.magnetometer.MagnetometerType(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: Enum

mag_QMC6310 = 1

mag_QMC5883P = 2

mag_QMC5883L = 3

mag_HMC5883L = 4

fusion_hat.modules.magnetometer.convert_2_int16(value)

fusion_hat.modules.magnetometer.i2c_ack(bus, addr)

Check if a device responds at the specified I2C address

Parameters:

• bus – SMBus instance

• addr – I2C address to check

Returns:

True if the device responds, False otherwise

Return type:

bool

class fusion_hat.modules.magnetometer.QMC6310(bus: smbus2.SMBus, addr: int = 28, field_range='8G')

Bases: object

DEF_ADDR = 28

# Define register address of QMC6310 compass sensor

QMC6310_REG_DATA_START = 1

QMC6310_REG_DTAT_X = 1

QMC6310_REG_DTAT_Y = 3

QMC6310_REG_DTAT_Z = 5

QMC6310_REG_STATUS = 9

QMC6310_REG_CONTROL_1 = 10

QMC6310_REG_CONTROL_2 = 11

# Define the register parameter configuration of the sensor

QMC6310_VAL_MODE_SUSPEND = 0

QMC6310_VAL_MODE_NORMAL = 1

QMC6310_VAL_MODE_SINGLE = 2

QMC6310_VAL_MODE_CONTINUOUS = 3

QMC6310_VAL_ODR_10HZ = 0

QMC6310_VAL_ODR_50HZ = 4

QMC6310_VAL_ODR_100HZ = 8

QMC6310_VAL_ODR_200HZ = 12

QMC6310_VAL_OSR1_8 = 0

QMC6310_VAL_OSR1_4 = 16

QMC6310_VAL_OSR1_2 = 32

QMC6310_VAL_OSR1_1 = 48

QMC6310_VAL_OSR2_1 = 0

QMC6310_VAL_OSR2_2 = 64

QMC6310_VAL_OSR2_4 = 128

QMC6310_VAL_OSR2_8 = 192

QMC6310_VAL_MODE_SET_RESET_ON = 0

QMC6310_VAL_MODE_SET_ON = 1

QMC6310_VAL_MODE_SET_RESET_OFF = 2

RANGE = {'12G': 4, '2G': 12, '30G': 0, '8G': 8}

LSB = {'12G': 2.5, '2G': 15, '30G': 1, '8G': 3.75}

QMC6310_VAL_SELF_TEST_ON = 64

QMC6310_VAL_SELF_TEST_OFF = 0

QMC6310_VAL_SOFT_RST_ON = 128

QMC6310_VAL_SOFT_RST_OFF = 0

read_raw()

Read raw magnetometer data

Returns:

[x, y, z] raw magnetic field values

Return type:

list

read_magnet()

Read magnetometer data in Gauss units (consistent with other magnetometer classes)

Returns:

(x, y, z) magnetic field values in Gauss

Return type:

tuple

class fusion_hat.modules.magnetometer.HMC5883L(bus: smbus2.SMBus, addr: int = 30)

Bases: object

HMC5883L 3-axis magnetometer sensor driver class Used to measure Earth’s magnetic field strength, suitable for direction detection and heading angle calculation

DEF_ADDR = 30

REG_CONFIG_A = 0

REG_CONFIG_B = 1

REG_MODE = 2

REG_OUT_X_H = 3

_read_word(reg_h)

Read a signed 16-bit integer from the sensor

Parameters:

reg_h – high-byte register address

Returns:

converted signed 16-bit integer

Return type:

val

read_magnet()

Read magnetometer data

Returns:

X, Y, Z axis magnetic field strength values (unit: Gauss) Note: HMC5883L data register order is X, Z, Y

Return type:

x, y, z

class fusion_hat.modules.magnetometer.QMC5883L(bus: smbus2.SMBus, addr: int = 13)

Bases: object

QMC5883L 3-axis magnetometer sensor driver class Used to measure Earth’s magnetic field strength, is a common alternative to HMC5883L

DEF_ADDR = 13

REG_CONTROL = 9

REG_SET_RESET = 11

REG_OUT_X_L = 0

_read_word_le(reg_l)

Read a signed 16-bit integer from the sensor in little-endian format Note: QMC5883L uses little-endian format to store data

Parameters:

reg_l – Low byte register address

Returns:

Converted signed 16-bit integer

Return type:

val

read_magnet()

Read magnetometer data

Returns:

X, Y, Z axis magnetic field strength values (unit: Gauss) Note: QMC5883L data register order is X, Y, Z (different from HMC5883L)

Return type:

x, y, z

class fusion_hat.modules.magnetometer.QMC5883P(bus: smbus2.SMBus, addr: int = 44)

Bases: object

QMC5883P 3-axis magnetometer sensor driver class Another version of the QMC5883 series with I2C address 0x2C

DEF_ADDR = 44

REG_X_LSB = 1

REG_STATUS = 9

REG_MODE = 10

REG_CONFIG = 11

static _to_i16(lsb, msb)

Convert two bytes to a 16-bit signed integer

Parameters:

• lsb – Low byte value

• msb – High byte value

Returns:

Converted 16-bit signed integer

Return type:

v

read_magnet()

Read magnetometer data Reads 6 bytes starting from 0x01 register (little-endian signed format) Features: Returns zero on error, does not interrupt main loop

Returns:

X, Y, Z axis magnetic field strength values (unit: Gauss)

Return type:

x, y, z

class fusion_hat.modules.magnetometer.Magnetometer(mag_type=None, field_range='8G')

Bases: object

Magnetometer sensor driver class Integrates QMC6310, HMC5883L, QMC5883L, and QMC5883P magnetometers

read()

Read magnetometer data

Returns:

(x, y, z) magnetic field values in appropriate units based on sensor type None: if no magnetometer is initialized

Return type:

tuple

get_type()

Get the type of initialized magnetometer

Returns:

Magnetometer type

Return type:

str