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LilyGo-LoRa-Series/examples/Sensor/QMC63xx_GetDataExample/QMC63xx_GetDataExample.ino

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/**
*
* @license MIT License
*
* Copyright (c) 2026 lewis he
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
* @file QMC63xx_GetDataExample.ino
* @author Lewis He (lewishe@outlook.com)
* @date 2026-04-08
*
*/
#include <SensorQMC6310.hpp>
#include <SensorQMC6309.hpp>
#include <SensorWireHelper.h>
#include "LoRaBoards.h"
void calibrate();
MagnetometerBase *magnetometer;
void setup()
{
Serial.begin(115200);
while (!Serial);
setupBoards();
// The desired output data rate in Hz. Allowed values are 1.0, 10.0, 50.0, 100.0 and 200.0HZ.
float data_rate_hz = 200.0f;
// op_mode: Allowed values are SUSPEND, NORMAL, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT
OperationMode op_mode = OperationMode::CONTINUOUS_MEASUREMENT;
// full_scale: Allowed values are FS_8G, FS_16G ,FS_32G
MagFullScaleRange full_scale = MagFullScaleRange::FS_8G;
// over_sample_ratio: Allowed values are OSR_1, OSR_2, OSR_4, OSR_8
MagOverSampleRatio over_sample_ratio = MagOverSampleRatio::OSR_1;
// down_sample_ratio: QMC6309 does not support downsampling rate settings; this parameter is ignored.
MagDownSampleRatio down_sample_ratio = MagDownSampleRatio::DSR_1;
SensorWireHelper::dumpDevices(Wire);
if (magnetometer == nullptr) {
magnetometer = new SensorQMC6310();
if (!static_cast<SensorQMC6310*>(magnetometer)->begin(Wire, QMC6310U_SLAVE_ADDRESS, I2C_SDA, I2C_SCL)) {
Serial.println("Failed to find QMC6310U - check your wiring!");
delete magnetometer;
magnetometer = nullptr;
} else {
Serial.println("QMC6310U found!");
// The desired output data rate in Hz. Allowed values are 10.0, 50.0, 100.0 and 200.0HZ.
data_rate_hz = 200.0f;
// op_mode: Allowed values are SUSPEND, NORMAL, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT
op_mode = OperationMode::CONTINUOUS_MEASUREMENT;
// full_scale: Allowed values are FS_2G, FS_8G, FS_12G ,FS_30G
full_scale = MagFullScaleRange::FS_8G;
// over_sample_ratio: Allowed values are OSR_1, OSR_2, OSR_4, OSR_8
over_sample_ratio = MagOverSampleRatio::OSR_1;
// down_sample_ratio: Allowed values are DSR_1, DSR_2, DSR_4, DSR_8
down_sample_ratio = MagDownSampleRatio::DSR_1;
}
}
if (magnetometer == nullptr) {
magnetometer = new SensorQMC6310();
if (!static_cast<SensorQMC6310*>(magnetometer)->begin(Wire, QMC6310N_SLAVE_ADDRESS, I2C_SDA, I2C_SCL)) {
Serial.println("Failed to find QMC6310 - check your wiring!");
delete magnetometer;
magnetometer = nullptr;
} else {
Serial.println("QMC6310N found!");
// The desired output data rate in Hz. Allowed values are 10.0, 50.0, 100.0 and 200.0HZ.
data_rate_hz = 200.0f;
// op_mode: Allowed values are SUSPEND, NORMAL, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT
op_mode = OperationMode::CONTINUOUS_MEASUREMENT;
// full_scale: Allowed values are FS_2G, FS_8G, FS_12G ,FS_30G
full_scale = MagFullScaleRange::FS_8G;
// over_sample_ratio: Allowed values are OSR_1, OSR_2, OSR_4, OSR_8
over_sample_ratio = MagOverSampleRatio::OSR_1;
// down_sample_ratio: Allowed values are DSR_1, DSR_2, DSR_4, DSR_8
down_sample_ratio = MagDownSampleRatio::DSR_1;
}
}
if (magnetometer == nullptr) {
magnetometer = new SensorQMC6309();
if (!static_cast<SensorQMC6309*>(magnetometer)->begin(Wire, QMC6309_SLAVE_ADDRESS, I2C_SDA, I2C_SCL)) {
Serial.println("Failed to find QMC6309 - check your wiring!");
delete magnetometer;
magnetometer = nullptr;
} else {
Serial.println("QMC6309 found!");
// The desired output data rate in Hz. Allowed values are 1.0, 10.0, 50.0, 100.0 and 200.0HZ.
data_rate_hz = 200.0f;
// op_mode: Allowed values are SUSPEND, NORMAL, SINGLE_MEASUREMENT, CONTINUOUS_MEASUREMENT
op_mode = OperationMode::CONTINUOUS_MEASUREMENT;
// full_scale: Allowed values are FS_8G, FS_16G ,FS_32G
full_scale = MagFullScaleRange::FS_8G;
// over_sample_ratio: Allowed values are OSR_1, OSR_2, OSR_4, OSR_8
over_sample_ratio = MagOverSampleRatio::OSR_1;
// down_sample_ratio: QMC6309 does not support downsampling rate settings; this parameter is ignored.
down_sample_ratio = MagDownSampleRatio::DSR_1;
}
}
while (magnetometer == nullptr) {
Serial.println("No magnetometer found!");
delay(1000);
}
/* Config Magnetometer */
if (magnetometer->configMagnetometer(
op_mode,
full_scale,
data_rate_hz,
over_sample_ratio,
down_sample_ratio)) {
Serial.println("Magnetometer configured successfully.");
} else {
Serial.println("Magnetometer configuration failed.");
while (1);
}
// Calibration algorithm reference from
// https://github.com/CoreElectronics/CE-PiicoDev-QMC6310-MicroPython-Module
calibrate();
Serial.println("Calibration done.");
delay(5000);
SensorInfo info = magnetometer->getSensorInfo();
Serial.print("Manufacturer: "); Serial.println(info.manufacturer);
Serial.print("Model: "); Serial.println(info.model);
Serial.print("I2C Address: 0x"); Serial.println(info.i2c_address, HEX);
Serial.print("Version: "); Serial.println(info.version);
Serial.print("UID: 0x"); Serial.println(info.uid);
Serial.print("Type: "); Serial.println(SensorUtils::typeToString(info.type));
SensorConfig cfg = magnetometer->getConfig();
Serial.print("DataRate: "); Serial.println(cfg.sample_rate);
Serial.print("FullScaleRange: "); Serial.println(cfg.range);
Serial.print("Mode: "); Serial.println((uint8_t)cfg.mode);
Serial.println();
//Find the magnetic declination : https://www.magnetic-declination.com/
float declination_deg = MagnetometerUtils::dmsToDecimalDegrees(-3, 20); // -3.3333
magnetometer->setDeclination(declination_deg);
Serial.print(" Magnetic Declination: ");
Serial.print(declination_deg, 2);
Serial.println("°");
Serial.print(" Sensitivity: ");
Serial.print(magnetometer->getSensitivity(), 6);
Serial.println(" Gauss/LSB");
delay(3000);
Serial.println("Read data now...");
}
void loop()
{
MagnetometerData data;
if (magnetometer->readData(data)) {
// Gauss to μT
float x = MagnetometerUtils::gaussToMicroTesla(data.magnetic_field.x);
float y = MagnetometerUtils::gaussToMicroTesla(data.magnetic_field.y);
float z = MagnetometerUtils::gaussToMicroTesla(data.magnetic_field.z);
Serial.print("Mag:");
Serial.print(" X:"); Serial.print(x);
Serial.print(" Y:"); Serial.print(y);
Serial.print(" Z:"); Serial.print(z);
Serial.print(" μT");
Serial.print(" Metadata:");
Serial.print(" X:");
Serial.print(data.raw.x);
Serial.print(" Y:");
Serial.print(data.raw.y);
Serial.print(" Z:");
Serial.print(data.raw.z);
Serial.print(" Heading (rad): ");
Serial.print(data.heading, 6);
Serial.print(" rad");
Serial.print(" Heading (deg): ");
Serial.print(data.heading_degrees, 2);
Serial.print("°");
float strength = MagnetometerUtils::calculateMagneticStrength(data);
strength = MagnetometerUtils::gaussToMicroTesla(strength);
Serial.print(" Magnetic Strength: ");
Serial.print(strength, 2);
Serial.println(" μT");
if (data.overflow) {
Serial.println("\tWarning: Data Overflow occurred!");
}
}
delay(10);
}
void calibrate()
{
if (!magnetometer)return;
if (!magnetometer->setOutputDataRate(200.0f)) {
Serial.println("Failed to set output data rate");
return ;
}
Serial.println("========================================");
Serial.println("Calibration Instructions:");
Serial.println("1. Rotate sensor in FIGURE-8 pattern");
Serial.println("2. Cover all axes (X, Y, Z directions)");
Serial.println("3. Rotate slowly and completely");
Serial.println("4. Wait for progress bar to complete");
Serial.println("5. Expected: Magnetic Strength ~25-65 uT");
Serial.println("========================================");
Serial.println();
Serial.println("Place the sensor on the plane and slowly rotate the sensor...");
Serial.println("Rotate in FIGURE-8 pattern to cover all directions!");
Serial.println();
int32_t x_min = 65535;
int32_t x_max = -65535;
int32_t y_min = 65535;
int32_t y_max = -65535;
int32_t z_min = 65535;
int32_t z_max = -65535;
int32_t range = 1000;
int32_t i = 0;
int32_t x = 0, y = 0, z = 0;;
int16_t x_offset = 0;
int16_t y_offset = 0;
int16_t z_offset = 0;
MagnetometerData data;
while (i < range) {
i += 1;
if (magnetometer->isDataReady()) {
magnetometer->readData(data);
x = (data.raw.x + x) / 2;
y = (data.raw.y + y) / 2;
z = (data.raw.z + z) / 2;
if (x < x_min) {
x_min = x;
i = 0;
}
if (x > x_max) {
x_max = x;
i = 0;
}
if (y < y_min) {
y_min = y;
i = 0;
}
if (y > y_max) {
y_max = y;
i = 0;
}
if (z < z_min) {
z_min = z;
i = 0;
}
if (z > z_max) {
z_max = z;
i = 0;
}
int j = round(10 * i / range);
Serial.print("[");
for (int k = 0; k < j; ++k) {
Serial.print("*");
}
Serial.println("]");
}
delay(5);
}
x_offset = (x_max + x_min) / 2;
y_offset = (y_max + y_min) / 2;
z_offset = (z_max + z_min) / 2;
Serial.print("x_min:");
Serial.println(x_min);
Serial.print("x_max:");
Serial.println(x_max);
Serial.print("y_min:");
Serial.println(y_min);
Serial.print("y_max:");
Serial.println(y_max);
Serial.print("z_min:");
Serial.println(z_min);
Serial.print("z_max:");
Serial.println(z_max);
Serial.print("x_offset:");
Serial.println(x_offset);
Serial.print("y_offset:");
Serial.println(y_offset);
Serial.print("z_offset:");
Serial.println(z_offset);
// Set the calibration value and the user calculates the deviation
magnetometer->setOffset(x_offset, y_offset, z_offset);
Serial.println();
Serial.println("Calibration complete!");
Serial.println("Check if Magnetic Strength is ~25-65 uT");
Serial.println("If too low, repeat calibration with better rotation");
}
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