Added spaces between comma and function parameter

src/W800 SDK v1.00.08/app/drivers/i2c/QMC5883L.c

@@ -1,11 +1,34 @@
+#include <math.h>
 #include "i2c.h"
 #include "QMC5883L.h"
 
+#ifndef PI
+#define PI                 3.14159265358979f
+#endif
+
+typedef struct
+{
+    int16_t x_min;
+    int16_t x_max;
+    int16_t y_min;
+    int16_t y_max;
+    int16_t z_min;
+    int16_t z_max;
+} _QMC5883L_calibration_data;
+
+static _QMC5883L_calibration_data calibration_data = {0};
+
+
 bool QMC5883L_init(void)
 {
     return i2c_write_reg(QMC5883L_I2C_ADDR, QMC5883L_SETRES_REG, 0x01);
 }
 
+bool QMC5883L_software_reset(void)
+{
+    return i2c_write_reg(QMC5883L_I2C_ADDR, QMC5883L_CTRL2_REG, 0x80);
+}
+
 float QMC5883L_get_temperature(void)
 {
     uint8_t data;
@@ -31,7 +54,17 @@ bool QMC5883L_is_data_available(void)
     return data & QMC5883L_DRDY_BIT ? true : false;
 }
 
-QMC5883L_MData_t QMC5883L_get_MFields(void)
+void QMC5883L_set_calibration_data(int16_t x_min, int16_t x_max, int16_t y_min, int16_t y_max, int16_t z_min, int16_t z_max)
+{
+    calibration_data.x_min = x_min;
+    calibration_data.x_max = x_max;
+    calibration_data.y_min = y_min;
+    calibration_data.y_max = y_max;
+    calibration_data.z_min = z_min;
+    calibration_data.z_max = z_max;
+}
+
+QMC5883L_MData_t QMC5883L_get_MFields_raw(void)
 {
     uint8_t data[6];
     QMC5883L_MData_t Mdata = {.MFieldX = -1, .MFieldY = -1, .MFieldZ = -1};
@@ -46,6 +79,61 @@ QMC5883L_MData_t QMC5883L_get_MFields(void)
     return Mdata;
 }
 
+QMC5883L_MData_calibrated_t QMC5883L_get_MFields_calibrated(void)
+{
+    uint8_t data[6];
+    QMC5883L_MData_calibrated_t Mdata = {.MFieldX = -1, .MFieldY = -1, .MFieldZ = -1};
+
+    if(i2c_read(QMC5883L_I2C_ADDR, QMC5883L_DATA_X_LSB_REG, data, sizeof data))
+    {
+        Mdata.MFieldX = (data[1] << 8) | data[0];
+        Mdata.MFieldY = (data[3] << 8) | data[2];
+        Mdata.MFieldZ = (data[5] << 8) | data[4];
+    }
+
+    int x_offset = (calibration_data.x_min + calibration_data.x_max) / 2;
+    int y_offset = (calibration_data.y_min + calibration_data.y_max) / 2;
+    int z_offset = (calibration_data.z_min + calibration_data.z_max) / 2;
+    int x_avg_delta = (calibration_data.x_max - calibration_data.x_min) / 2;
+    int y_avg_delta = (calibration_data.y_max - calibration_data.y_min) / 2;
+    int z_avg_delta = (calibration_data.z_max - calibration_data.z_min) / 2;
+
+    int avg_delta = (x_avg_delta + y_avg_delta + z_avg_delta) / 3;
+    
+    float x_scale = (float)avg_delta / x_avg_delta;
+	float y_scale = (float)avg_delta / y_avg_delta;
+	float z_scale = (float)avg_delta / z_avg_delta;
+
+    Mdata.MFieldX = (Mdata.MFieldX - x_offset) * x_scale;
+    Mdata.MFieldY = (Mdata.MFieldY - y_offset) * y_scale;
+    Mdata.MFieldZ = (Mdata.MFieldZ - z_offset) * z_scale;
+
+    return Mdata;
+}
+
+int16_t QMC5883L_get_azimuth(const QMC5883L_MData_calibrated_t data)
+{
+    int16_t angle = atan2(data.MFieldY, data.MFieldX) * 180.0 / PI;
+    return angle < 0 ? 360 + angle : angle;
+}
+
+bool QMC5883L_configure_1(QMC5883L_Output_Data_Rate_e ODR, QMC5883L_Full_Scale_e RNG, QMC5883L_Over_Sample_Ratio_e OSR)
+{
+    uint8_t data;
+
+    if(!i2c_read_reg(QMC5883L_I2C_ADDR, QMC5883L_CTRL1_REG, &data))return false;
+
+    data &= 0x03;
+    data |= OSR << 6 | RNG << 4 | ODR << 2;
+
+    return i2c_write_reg(QMC5883L_I2C_ADDR, QMC5883L_CTRL1_REG, data);
+}
+
+bool QMC5883L_configure_2(bool rolling_ptr, bool data_ready_int)
+{
+    return i2c_write_reg(QMC5883L_I2C_ADDR, QMC5883L_CTRL2_REG, rolling_ptr << 6 | data_ready_int);
+}
+
 bool QMC5883L_set_power_mode(QMC5883L_Mode_Control_e MC)
 {
     uint8_t data;

src/W800 SDK v1.00.08/app/drivers/i2c/QMC5883L.h

@@ -55,9 +55,15 @@ typedef struct
     int16_t MFieldZ;
 } QMC5883L_MData_t;
 
+typedef struct
+{
+    int16_t MFieldX;
+    int16_t MFieldY;
+    int16_t MFieldZ;
+} QMC5883L_MData_calibrated_t;
+
 
 /* QMC5883L Driver API */
-
 bool QMC5883L_init(void);
 
 bool QMC5883L_software_reset(void);
@@ -66,7 +72,13 @@ float QMC5883L_get_temperature(void);
 
 bool QMC5883L_is_data_available(void);
 
-QMC5883L_MData_t QMC5883L_get_MFields(void);
+void QMC5883L_set_calibration_data(int16_t x_min, int16_t x_max, int16_t y_min, int16_t y_max, int16_t z_min, int16_t z_max);
+
+QMC5883L_MData_t QMC5883L_get_MFields_raw(void);
+
+QMC5883L_MData_calibrated_t QMC5883L_get_MFields_calibrated(void);
+
+int16_t QMC5883L_get_azimuth(const QMC5883L_MData_calibrated_t data);
 
 bool QMC5883L_configure_1(QMC5883L_Output_Data_Rate_e ODR, QMC5883L_Full_Scale_e RNG, QMC5883L_Over_Sample_Ratio_e OSR);
 
@@ -74,5 +86,4 @@ bool QMC5883L_configure_2(bool rolling_ptr, bool data_ready_int);
 
 bool QMC5883L_set_power_mode(QMC5883L_Mode_Control_e MC);
 
-
 #endif //QMC5883L_H

src/W800 SDK v1.00.08/app/drivers/i2c/i2c.c

@@ -10,13 +10,6 @@ void i2c_init(enum tls_io_name SDAPin, enum tls_io_name SCLPin, uint32_t frequen
     tls_i2c_init(frequency);
 }
 
-bool i2c_write(uint8_t address, const uint8_t *data, size_t length, bool sendStop)
-{
-    if(!data)return false;
-
-    return true;
-}
-
 bool i2c_write_reg(uint8_t address, uint8_t reg, uint8_t data)
 {
     //First we send the address followed by the register we want to write to:

src/W800 SDK v1.00.08/app/drivers/i2c/i2c.h

@@ -8,8 +8,6 @@
 
 void i2c_init(enum tls_io_name SDAPin, enum tls_io_name SCLPin, uint32_t frequency);
 
-//bool i2c_write(uint8_t address, const uint8_t *data, size_t length);
-
 bool i2c_write_reg(uint8_t address, uint8_t reg, uint8_t data);
 
 bool i2c_read(uint8_t address, uint8_t reg, uint8_t * const data, size_t length);

src/W800 SDK v1.00.08/app/main.c

@@ -22,7 +22,7 @@ void user_task_main(void *param)
 {
 
 	/* Creating the gfx task */
-	if(tls_os_task_create(&gfx_task_handle,"gfx_task",&(gfx_task), NULL, gfx_task_stack, GFX_STACK_SIZE_IN_BYTES, GFX_STACK_PRIORITY, 0 /*not used anyway*/) != TLS_OS_SUCCESS)
+	if(tls_os_task_create(&gfx_task_handle, "gfx_task", &(gfx_task), NULL, gfx_task_stack, GFX_STACK_SIZE_IN_BYTES, GFX_STACK_PRIORITY, 0 /*not used anyway*/) != TLS_OS_SUCCESS)
 	{
 		APP_LOG_ERROR("Failed to create GFX_TASK !");
 	}