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](https://www.dfrobot.com.cn/goods-4007.html") # 1.产品简介这款BMM350 三轴数字地磁传感器。可测量三个空间轴上的磁场强度，具有低功耗（200uA），低噪声（190nT rms@xy轴 450nT rms@z轴），高量程（±2000μT），高采样率（400~25/16Hz，可选）的特点。其采用了TMR（隧道磁阻）技术，并具有独特的场冲击恢复功能。此功能使该设备对外部磁场具有很强的鲁棒性，从而在周遭磁场的冲击下始终确保高精度。可用于室内外导航与定位，电子罗盘，AR/VR设备应用开发。 ## 2.产品特性 - 1个可编程中断引脚 - 低功耗（200uA） - 低噪声（190nT rms@xy轴 450nT rms@z轴） - 高量程（±2000μT） ## 3.应用场景 - 无人机 - 指南针/电子罗盘 - 室内/室外导航 - 头部运动追踪 - 增强现实 - 倾斜补偿的电子地图 ## 4.引脚排列图

| **引脚** | **功能描述** | | -------- | ------------ | | VCC | DC3.3V-5V | | GND | 接地 | | SCL | I2C时钟线 | | SDA | I2C数据线 | | INT | 中断引脚 | ## 5.规格参数 - 供电电压：3.3V-5V - 正常工作温度范围：-40~85°C - 接口协议：I2C - 分辨率：0.1uT - 零度漂移：±40uT/±2uT(软件优化后) - 非线性：< 1%FS - 磁力测量范围：±2000μT - 工作电流：200uA(Normal mode) - 低噪声：190nT rms@xy轴 450nT rms@z轴 - 精度：30uT水平磁场分量 ±2.5° - 启动时间：3ms ## 6.尺寸图

## 7.使用教程 ## 7.1 硬件准备 - [FireBeetle ESP32-E主控板](https://www.dfrobot.com.cn/goods-3009.html) (SKU:DFR0654) ×1 - BMM350三轴磁力计传感器（SKU:SEN0529）×1 - 杜邦线若干 ## 7.2 软件准备 - 下载Arduino IDE： [点击下载Arduino IDE](https://www.arduino.cc/en/software "Arduino IDE") - 安装SDK：点击进入[FireBeetle ESP32-E主控板 WIKI页面](https://wiki.dfrobot.com.cn/_SKU_DFR0654_FireBeetle_Board_ESP32_E) 查找SDK安装教程 - 下载Arduino库：[DFRobot_BMM350库文件下载](https://gitee.com/dfrobot/DFRobot_BMM350)， - 关于如何安装库文件： [如何加载库文件](https://mc.dfrobot.com.cn/thread-1854-1-1.html "如何加载库文件") ## 7.3 硬件连接 ![连线图](https://img.dfrobot.com.cn/wiki/60c1e008bddfc41c3293de80/112083ea897e4e3e27209bbcb5ba8a61.png "连线图") Gravity I2C BMM150模块：VCC---(连接)---ESP32-E主控：3V3; Gravity I2C BMM150模块：GND---(连接)---ESP32-E主控：GND; Gravity I2C BMM150模块：SCL---(连接)---ESP32-E主控：SCL; Gravity I2C BMM150模块：SDA---(连接)---ESP32-E主控：SDA; ## 7.4 演示代码 **样例代码** - [样例代码1-获取配置状态(getAllState.ino)](#ino1) - [样例代码2-获取三轴地磁数据、罗盘角度(getGeomagneticData.ino)](#ino2) - [样例代码3-阈值中断功能(thresholdInterrupt.ino)](#ino7) #### 样例代码1-获取配置状态(getAllState.ino) - 烧录程序 ```c /*! * @file getAllState.ino * @brief Get all the config status, self test status; the sensor turns to sleep mode from normal mode after reset * @n Experimental phenomenon: serial print the sensor config information and the self-test information * @copyright Copyright (c) 2010 DFRobot Co.Ltd (http://www.dfrobot.com) * @license The MIT License (MIT) * @author [GDuang](yonglei.ren@dfrobot.com) * @version V1.0.0 * @date 2024-05-06 * @url https://github.com/dfrobot/DFRobot_BMM350 */ #include "DFRobot_BMM350.h" DFRobot_BMM350_I2C bmm350(&Wire, 0x14); void setup() { Serial.begin(115200); while(!Serial); while(bmm350.begin()){ Serial.println("bmm350 init failed, Please try again!"); delay(1000); } Serial.println("bmm350 init success!"); /**! * 传感器自检，返回字符串表示自检结果 */ Serial.println(bmm350.selfTest()); /**! * 设置传感器运行模式 * opMode: * BMM350_SUSPEND_MODE // suspend mode: Suspend mode is the default power mode of BMM350 after the chip is powered, Current consumption in suspend mode is minimal, * so, this mode is useful for periods when data conversion is not needed. Read and write of all registers is possible. * BMM350_NORMAL_MODE // normal mode Get geomagnetic data normally. * BMM350_FORCED_MODE // forced mode Single measurement, the sensor restores to suspend mode when the measurement is done. * BMM350_FORCED_MODE_FAST // To reach ODR = 200Hz is only possible by using FM_ FAST. */ bmm350.setOperationMode(BMM350_NORMAL_MODE); /**! * 设置预设模式，方便用户配置传感器以获取地磁数据（获取地磁数据的默认速率为 12.5Hz）。 * presetMode: * BMM350_PRESETMODE_LOWPOWER // Low power mode, get a fraction of data and take the mean value. * BMM350_PRESETMODE_REGULAR // Regular mode, get a number of data and take the mean value. * BMM350_PRESETMODE_ENHANCED // Enhanced mode, get a plenty of data and take the mean value. * BMM350_PRESETMODE_HIGHACCURACY // High accuracy mode, get a huge number of take and draw the mean value. */ bmm350.setPresetMode(BMM350_PRESETMODE_HIGHACCURACY); /**! * 设置获取地磁数据的速率，速率越高，速度越快（无延迟功能） * rate: * BMM350_DATA_RATE_1_5625HZ * BMM350_DATA_RATE_3_125HZ * BMM350_DATA_RATE_6_25HZ * BMM350_DATA_RATE_12_5HZ (default rate) * BMM350_DATA_RATE_25HZ * BMM350_DATA_RATE_50HZ * BMM350_DATA_RATE_100HZ * BMM350_DATA_RATE_200HZ * BMM350_DATA_RATE_400HZ */ bmm350.setRate(BMM350_DATA_RATE_25HZ); /**! * 启用 x 轴、y 轴和 z 轴的测量，默认为启用，无需配置，禁用时 x、y 和 z 轴的地磁数据将不准确。 * 如果要配置更多参数，请参阅 .h 文件中的 setMeasurementXYZ() 函数。 */ bmm350.setMeasurementXYZ(); /**! * 获取配置数据速率单位： Hz */ float rate = bmm350.getRate(); Serial.print("rate is "); Serial.print(rate); Serial.println(" HZ"); /**! * 获取 x 轴、y 轴和 z 轴的测量状态，并以字符串形式返回测量状态 */ Serial.println(bmm350.getMeasurementStateXYZ()); /**! * 获取传感器运行模式，以字符串形式返回传感器运行状态 */ Serial.println(bmm350.getOperationMode()); /**! * 软件复位后，进入suspend模式。 */ bmm350.softReset(); } void loop() { /**! * 获取传感器运行模式，以字符串形式返回传感器运行状态 */ Serial.println(bmm350.getOperationMode()); delay(3000); } ``` #### 结果烧录示例程序，串口打印出传感器目前的配置状态

#### 样例代码2-获取三轴地磁数据、罗盘角度(getGeomagneticData.ino) - 烧录程序 ```cpp /*! * @file getGeomagneticData.ino * @brief Get the geomagnetic data at 3 axis (x, y, z), get the compass degree * @n "Compass Degree", the angle formed when the needle rotates counterclockwise from the current position to the true north * @n Experimental phenomenon: serial print the geomagnetic data of x-axis, y-axis and z-axis and the compass degree * @copyright Copyright (c) 2010 DFRobot Co.Ltd (http://www.dfrobot.com) * @license The MIT License (MIT) * @author [GDuang](yonglei.ren@dfrobot.com) * @version V1.0.0 * @date 2024-05-06 * @url https://github.com/dfrobot/DFRobot_BMM350 */ #include "DFRobot_BMM350.h" DFRobot_BMM350_I2C bmm350(&Wire, 0x14); void setup() { Serial.begin(115200); while(!Serial); while(bmm350.begin()){ Serial.println("bmm350 init failed, Please try again!"); delay(1000); } Serial.println("bmm350 init success!"); //Normal bmm350.setOperationMode(BMM350_NORMAL_MODE); /**! * Set preset mode, make it easier for users to configure sensor to get geomagnetic data (The default rate for obtaining geomagnetic data is 12.5Hz) * presetMode: * BMM350_PRESETMODE_LOWPOWER // Low power mode, get a fraction of data and take the mean value. * BMM350_PRESETMODE_REGULAR // Regular mode, get a number of data and take the mean value. * BMM350_PRESETMODE_ENHANCED // Enhanced mode, get a plenty of data and take the mean value. * BMM350_PRESETMODE_HIGHACCURACY // High accuracy mode, get a huge number of take and draw the mean value. */ bmm350.setPresetMode(BMM350_PRESETMODE_HIGHACCURACY); /**! * Set the rate of obtaining geomagnetic data, the higher, the faster(without delay function) * rate: * BMM350_DATA_RATE_1_5625HZ * BMM350_DATA_RATE_3_125HZ * BMM350_DATA_RATE_6_25HZ * BMM350_DATA_RATE_12_5HZ (default rate) * BMM350_DATA_RATE_25HZ * BMM350_DATA_RATE_50HZ * BMM350_DATA_RATE_100HZ * BMM350_DATA_RATE_200HZ * BMM350_DATA_RATE_400HZ */ bmm350.setRate(BMM350_DATA_RATE_25HZ); /**! * Enable the measurement at x-axis, y-axis and z-axis, default to be enabled, no config required, the geomagnetic data at x, y and z will be inaccurate when disabled. * Refer to setMeasurementXYZ() function in the .h file if you want to configure more parameters. */ bmm350.setMeasurementXYZ(); } void loop() { sBmm350MagData_t magData = bmm350.getGeomagneticData(); Serial.print("mag x = "); Serial.print(magData.x); Serial.println(" uT"); Serial.print("mag y = "); Serial.print(magData.y); Serial.println(" uT"); Serial.print("mag z = "); Serial.print(magData.z); Serial.println(" uT"); // float type data //Serial.print("mag x = "); Serial.print(magData.float_x); Serial.println(" uT"); //Serial.print("mag y = "); Serial.print(magData.float_y); Serial.println(" uT"); //Serial.print("mag z = "); Serial.print(magData.float_z); Serial.println(" uT"); float compassDegree = bmm350.getCompassDegree(); Serial.print("the angle between the pointing direction and north (counterclockwise) is:"); Serial.println(compassDegree); Serial.println("--------------------------------"); delay(3000); } ``` #### 结果烧录示例程序，串口打印出传感器获取的地磁数据和罗盘角度数据

#### 样例代码3-阈值中断功能(thresholdInterrupt.ino) - 烧录程序 ```cpp /*! * @file thresholdInterrupt.ino * @brief Set the interrupt to be triggered when beyond/below threshold, when the interrupt at a axis occur, the relevant data will be printed in the serial port. * @n Experimental phenomenon: when the geomagnetic data at 3 axis (x, y, z) beyond/below threshold, serial print the geomagnetic data, unit (uT) * @n Experimental phenomenon: the main controller interrupt will be triggered by level change caused by INT pin interrupt, then the geomagnetic data can be obtained * @copyright Copyright (c) 2010 DFRobot Co.Ltd (http://www.dfrobot.com) * @license The MIT License (MIT) * @author [GDuang](yonglei.ren@dfrobot.com) * @version V1.0.0 * @date 2024-05-06 * @url https://github.com/dfrobot/DFRobot_BMM350 */ #include "DFRobot_BMM350.h" DFRobot_BMM350_I2C bmm350(&Wire, 0x14); volatile uint8_t interruptFlag = 0; void myInterrupt(void) { interruptFlag = 1; // Interrupt flag #if defined(ESP32) || defined(ESP8266) || defined(ARDUINO_SAM_ZERO) detachInterrupt(13); // Detach interrupt #else detachInterrupt(0); // Detach interrupt #endif } void setup() { Serial.begin(115200); while(!Serial); delay(5000); while(bmm350.begin()){ Serial.println("bmm350 init failed, Please try again!"); delay(1000); } Serial.println("bmm350 init success!"); /**! * Set sensor operation mode * opMode: * BMM350_SUSPEND_MODE // suspend mode: Suspend mode is the default power mode of BMM350 after the chip is powered, Current consumption in suspend mode is minimal, * so, this mode is useful for periods when data conversion is not needed. Read and write of all registers is possible. * BMM350_NORMAL_MODE // normal mode Get geomagnetic data normally. * BMM350_FORCED_MODE // forced mode Single measurement, the sensor restores to suspend mode when the measurement is done. * BMM350_FORCED_MODE_FAST // To reach ODR = 200Hz is only possible by using FM_ FAST. */ bmm350.setOperationMode(BMM350_NORMAL_MODE); /**! * Set preset mode, make it easier for users to configure sensor to get geomagnetic data (The default rate for obtaining geomagnetic data is 12.5Hz) * presetMode: * BMM350_PRESETMODE_LOWPOWER // Low power mode, get a fraction of data and take the mean value. * BMM350_PRESETMODE_REGULAR // Regular mode, get a number of data and take the mean value. * BMM350_PRESETMODE_ENHANCED // Enhanced mode, get a plenty of data and take the mean value. * BMM350_PRESETMODE_HIGHACCURACY // High accuracy mode, get a huge number of take and draw the mean value. */ bmm350.setPresetMode(BMM350_PRESETMODE_HIGHACCURACY); /**! * Set the rate of obtaining geomagnetic data, the higher, the faster(without delay function) * rate: * BMM350_DATA_RATE_1_5625HZ * BMM350_DATA_RATE_3_125HZ * BMM350_DATA_RATE_6_25HZ * BMM350_DATA_RATE_12_5HZ (default rate) * BMM350_DATA_RATE_25HZ * BMM350_DATA_RATE_50HZ * BMM350_DATA_RATE_100HZ * BMM350_DATA_RATE_200HZ * BMM350_DATA_RATE_400HZ */ bmm350.setRate(BMM350_DATA_RATE_25HZ); /**! * Enable the measurement at x-axis, y-axis and z-axis, default to be enabled, no config required, the geomagnetic data at x, y and z will be inaccurate when disabled. * Refer to setMeasurementXYZ() function in the .h file if you want to configure more parameters. */ bmm350.setMeasurementXYZ(); /*! * HIGH_THRESHOLD_INTERRUPT：超出设置阈值范围才会触发中断 * 4：该参数为16倍参数，比如将这个参数设置为1，那么地磁参数超过16的时候就会触发中断 * BMM350_ACTIVE_HIGH：中断引脚设置为高电平触发 */ bmm350.setThresholdInterrupt(HIGH_THRESHOLD_INTERRUPT, 4, BMM350_ACTIVE_HIGH); #if defined(ESP32) || defined(ESP8266) /**! Select according to the set DADY pin polarity INPUT_PULLUP // Low polarity, set pin 13 to pull-up input INPUT_PULLDOWN // High polarity, set pin 13 to pull-down input interput io All pins can be used. Pin 13 is recommended */ pinMode(/*Pin */13 ,INPUT_PULLUP); attachInterrupt(/*interput io*/13, myInterrupt, ONLOW); #elif defined(ARDUINO_SAM_ZERO) pinMode(/*Pin */13 ,INPUT_PULLUP); attachInterrupt(/*interput io*/13, myInterrupt, LOW); #else /**! The Correspondence Table of AVR Series Arduino Interrupt Pins And Terminal Numbers * --------------------------------------------------------------------------------------- * | | Pin | 2 | 3 | | * | Uno, Nano, Mini, other 328-based |--------------------------------------------| * | | Interrupt No | 0 | 1 | | * |-------------------------------------------------------------------------------------| * | | Pin | 2 | 3 | 21 | 20 | 19 | 18 | * | Mega2560 |--------------------------------------------| * | | Interrupt No | 0 | 1 | 2 | 3 | 4 | 5 | * |-------------------------------------------------------------------------------------| * | | Pin | 3 | 2 | 0 | 1 | 7 | | * | Leonardo, other 32u4-based |--------------------------------------------| * | | Interrupt No | 0 | 1 | 2 | 3 | 4 | | * |-------------------------------------------------------------------------------------- */ /**! The Correspondence Table of micro:bit Interrupt Pins And Terminal Numbers * --------------------------------------------------------------------------------------------------------------------------------------------- * | micro:bit | DigitalPin |P0-P20 can be used as an external interrupt | * | (When using as an external interrupt, |---------------------------------------------------------------------------------------------| * |no need to set it to input mode with pinMode)|Interrupt No|Interrupt number is a pin digital value, such as P0 interrupt number 0, P1 is 1 | * |-------------------------------------------------------------------------------------------------------------------------------------------| */ /**! Select according to the set DADY pin polarity INPUT_PULLUP // Low polarity, set pin 2 to pull-up input */ pinMode(/*Pin */2 ,INPUT_PULLUP); /**! Set the pin to interrupt mode // Open the external interrupt 0, connect INT1/2 to the digital pin of the main control: function callback function state LOW // When the pin is at low level, the interrupt occur, enter interrupt function */ attachInterrupt(/*Interrupt No*/0, /*function*/myInterrupt ,/*state*/LOW ); #endif } void loop() { /**! * Get the data that threshold interrupt occured and interrupt status (get the data ready status through software) * Returns the structure for storing geomagnetic data, the structure stores the data of 3 axis and interrupt status, * No interrupt triggered when the data at x-axis, y-axis and z-axis is NO_DATA * Refer to .h file if you want to check interrupt status. */ /* sBmm350ThresholdData_t thresholdData = bmm350.getThresholdData(); if(thresholdData.mag_x != NO_DATA){ Serial.print("mag x = "); Serial.print(thresholdData.mag_x); Serial.println(" uT"); } if(thresholdData.mag_y != NO_DATA){ Serial.print("mag y = "); Serial.print(thresholdData.mag_y); Serial.println(" uT"); } if(thresholdData.mag_z != NO_DATA){ Serial.print("mag z = "); Serial.print(thresholdData.mag_z); Serial.println(" uT"); } Serial.println(); */ /**! When the interrupt occur in INT IO, get the threshold interrupt data (get the threshold interrupt status through hardware) */ if(interruptFlag == 1){ sBmm350ThresholdData_t thresholdData = bmm350.getThresholdData(); if(thresholdData.mag_x != NO_DATA){ Serial.print("mag x = "); Serial.print(thresholdData.mag_x); Serial.println(" uT"); } if(thresholdData.mag_y != NO_DATA){ Serial.print("mag y = "); Serial.print(thresholdData.mag_y); Serial.println(" uT"); } if(thresholdData.mag_z != NO_DATA){ Serial.print("mag z = "); Serial.print(thresholdData.mag_z); Serial.println(" uT"); } Serial.println(); interruptFlag = 0; #if defined(ESP32) || defined(ESP8266) attachInterrupt(13, myInterrupt, ONLOW); #elif defined(ARDUINO_SAM_ZERO) attachInterrupt(13, myInterrupt, LOW); #else attachInterrupt(0, myInterrupt, LOW); #endif } delay(3000); } ``` #### 结果烧录示例程序，将磁性物质靠近传感器，串口打印变化数据 ![image-20240522150050898](C:\Users\roger\AppData\Roaming\Typora\typora-user-images\image-20240522150050898.png) ## 8. API函数 ```cpp /** * @fn softReset * @brief 软件复位,软件复位后先恢复为挂起模式 */ void softReset(void); /** * @fn setOperationMode * @brief 设置传感器的执行模式 * @param opMode mode * @n BMM350_SUSPEND_MODE 挂起模式:挂起模式是芯片上电后BMM350的默认电源模式，在挂起模式下电流消耗最小，因此该模式适用于不需要数据转换的时期（所有寄存器的读写都是可能的） * @n BMM350_NORMAL_MODE 常规模式: 获取地磁数据 * @n BMM350_FORCED_MODE 强制模式: 单次测量，测量完成后传感器恢复到暂停模式 * @n BMM350_FORCED_MODE_FAST 只有使用FM_FAST时，ODR才能达到200Hz */ void setOperationMode(uint8_t opMode); /** * @fn getOperationMode * @brief 获取传感器的执行模式 * @return result 返回字符串为传感器的执行模式 */ String getOperationMode(void); /** * @fn setPresetMode * @brief 设置预置模式,使用户更简单的配置传感器来获取地磁数据（默认的采集速率为12.5Hz） * @param presetMode * @n BMM350_PRESETMODE_LOWPOWER 低功率模式,获取少量的数据取均值 * @n BMM350_PRESETMODE_REGULAR 普通模式,获取中量数据取均值 * @n BMM350_PRESETMODE_ENHANCED 增强模式,获取大量数据取均值 * @n BMM350_PRESETMODE_HIGHACCURACY 高精度模式,获取超大量数据取均值 */ void setPresetMode(uint8_t presetMode, uint8_t rate = BMM350_DATA_RATE_12_5HZ); /** * @fn setRate * @brief 设置获取地磁数据的速率,速率越大获取越快(不加延时函数) * @param rate * @n BMM350_DATA_RATE_1_5625HZ * @n BMM350_DATA_RATE_3_125HZ * @n BMM350_DATA_RATE_6_25HZ * @n BMM350_DATA_RATE_12_5HZ (默认速率) * @n BMM350_DATA_RATE_25HZ * @n BMM350_DATA_RATE_50HZ * @n BMM350_DATA_RATE_100HZ * @n BMM350_DATA_RATE_200HZ * @n BMM350_DATA_RATE_400HZ */ void setRate(uint8_t rate); /** * @fn getRate * @brief 获取配置的数据速率单位：HZ * @return rate */ uint8_t getRate(void); /** * @fn selfTest * @brief 传感器自测,返回值表明自检结果 * @param testMode: * @n eBMM350_SELF_TEST_NORMAL 常规自检，检查x轴、y轴、z轴是否接通或短路 * @return result 返回的字符串为自测的结果 */ String selfTest(eBMM350_SELFTEST testMode = eBMM350_SELF_TEST_NORMAL); /** * @fn setMeasurementXYZ * @brief 使能x y z 轴的测量,默认设置为使能,禁止后xyz轴的地磁数据不准确 * @param en_x * @n BMM350_X_EN 使能 x 轴的测量 * @n BMM350_X_DIS 禁止 x 轴的测量 * @param en_y * @n BMM350_Y_EN 使能 y 轴的测量 * @n BMM350_Y_DIS 禁止 y 轴的测量 * @param en_z * @n BMM350_Z_EN 使能 z 轴的测量 * @n BMM350_Z_DIS 禁止 z 轴的测量 */ void setMeasurementXYZ(enum bmm350_x_axis_en_dis en_x = BMM350_X_EN, enum bmm350_y_axis_en_dis en_y = BMM350_Y_EN, enum bmm350_z_axis_en_dis en_z = BMM350_Z_EN); /** * @fn getMeasurementStateXYZ * @brief 获取 x y z 轴的使能状态 * @return result 返回字符串为使能的状态 */ String getMeasurementStateXYZ(void); /** * @fn getGeomagneticData * @brief 获取x y z 三轴的地磁数据 * @return 地磁的数据的结构体,单位：微特斯拉（uT） */ sBmm350MagData_t getGeomagneticData(void); /** * @fn getCompassDegree * @brief 获取罗盘方向 * @return 罗盘方向 (0° - 360°) * @n 0° = North, 90° = East, 180° = South, 270° = West. */ float getCompassDegree(void); /** * @fn setDataReadyPin * @brief 使能或者禁止数据准备中断引脚 * @n 使能后有数据来临DRDY引脚跳变 * @n 禁止后有数据来临DRDY不进行跳变 * @n 高极性：高电平为活动电平,默认为低电平,触发中断时电平变为高 * @n 低极性：低电平为活动电平,默认为高电平,触发中断时电平变为低 * @param modes * @n BMM350_ENABLE_INTERRUPT 使能DRDY * @n BMM350_DISABLE_INTERRUPT 禁止DRDY * @param polarity * @n BMM350_ACTIVE_HIGH 高极性 * @n BMM350_ACTIVE_LOW 低极性 */ void setDataReadyPin(uint8_t modes, uint8_t polarity=POLARITY_HIGH); /** * @fn getDataReadyState * @brief 获取数据准备的状态,用来判断数据是否准备好 * @return status * @n true 数据准备好了 * @n false 数据没有准备好 */ bool getDataReadyState(void); /** * @fn setThresholdInterrupt(uint8_t modes, int8_t threshold, uint8_t polarity) * @brief 设置阈值中断,当某个通道的地磁值高/低于阈值时触发中断 * @n 高极性：高电平为活动电平,默认为低电平,触发中断时电平变为高 * @n 低极性：低电平为活动电平,默认为高电平,触发中断时电平变为低 * @param modes * @n LOW_THRESHOLD_INTERRUPT 低阈值中断模式 * @n HIGH_THRESHOLD_INTERRUPT 高阈值中断模式 * @param threshold * @n 阈值,默认扩大16倍,例如：低阈值模式下传入阈值1,实际低于16的地磁数据都会触发中断 * @param polarity * @n POLARITY_HIGH 高极性 * @n POLARITY_LOW 低极性 */ void setThresholdInterrupt(uint8_t modes, int8_t threshold, enum bmm350_intr_polarity polarity); /** * @fn getThresholdData * @brief 获取发生阈值中断的数据 * @return 返回存放地磁数据的结构体,结构体存放三轴当数据和中断状态, * @n xyz轴的数据为 NO_DATA 时,未触发中断 * @n mag_x、mag_y、mag_z 存放地磁数据 * @n interrupt_x、interrupt_y、interrupt_z 存放轴中断状态 */ sBmm350ThresholdData_t getThresholdData(void); ``` ## 9. 更多资料 - [BMM350数据手册](https://img.dfrobot.com.cn/wikicn/62b2fb5caa613609f271523c/43714862aeeb6205133509087580c201.pdf "BMM350数据手册") - [原理图](https://img.dfrobot.com.cn/wikicn/62b2fb5caa613609f271523c/7f70d310cfca46b412dcfa14fc38a8b1.pdf "原理图") - [布局图](https://img.dfrobot.com.cn/wikicn/62b2fb5caa613609f271523c/c9e3fc7358c368359cd2df1e3c7ee0f5.pdf "布局图") ## 10. 常见问题 Q1：为什么有时候获取的数据范围超过量程？ A1：BMM350 的测量范围有限制，即每个轴的绝对值之和应小于此值。即，SQRT(Hx^2 + Hy^2 + Hz^2) = 2000uT 可以参考上方的BMM350 datasheet的5.3小节。 ![DFshopping_car1.png](http://imgtest.dfrobot.com.cn/DFRobotCnWikiImage/DFshopping_car1.png "DFshopping_car1.png") [DFRobot商城购买链接](https://www.dfrobot.com.cn/goods-4007.html "DFRobot商城购买链接") ## WIKI文档修改历史 | 文档版本号 | 修改时间 | 修改人 | 修改内容 | | ---------- | ---------- | ------ | ---------- | | V1.0 | 2024.05.22 | 叶紫彬 | 第一版发布 | ## **产品修改历史** | 产品版本号 | 修改时间 | 修改人 | 产品修改内容 | | -------------- | -------- | ------ | ------------ | | V1.02024.05.22 | | 叶紫彬 | 第一版发布 |