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- /***************************************************************************
- This is a library example for the HMC5883 magnentometer/compass
- Designed specifically to work with the Adafruit HMC5883 Breakout
- http://www.adafruit.com/products/1746
- *** You will also need to install the Adafruit_Sensor library! ***
- These displays use I2C to communicate, 2 pins are required to interface.
- Adafruit invests time and resources providing this open source code,
- please support Adafruit andopen-source hardware by purchasing products
- from Adafruit!
- Written by Kevin Townsend for Adafruit Industries with some heading example from
- Love Electronics (loveelectronics.co.uk)
- This program is free software: you can redistribute it and/or modify
- it under the terms of the version 3 GNU General Public License as
- published by the Free Software Foundation.
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
- You should have received a copy of the GNU General Public License
- along with this program. If not, see <http://www.gnu.org/licenses/>.
- ***************************************************************************/
- #include <Wire.h>
- #include <Adafruit_Sensor.h>
- #include <Adafruit_HMC5883_U.h>
- /* Assign a unique ID to this sensor at the same time */
- Adafruit_HMC5883_Unified mag = Adafruit_HMC5883_Unified(12345);
- void displaySensorDetails(void)
- {
- sensor_t sensor;
- mag.getSensor(&sensor);
- Serial.println("------------------------------------");
- Serial.print ("Sensor: "); Serial.println(sensor.name);
- Serial.print ("Driver Ver: "); Serial.println(sensor.version);
- Serial.print ("Unique ID: "); Serial.println(sensor.sensor_id);
- Serial.print ("Max Value: "); Serial.print(sensor.max_value); Serial.println(" uT");
- Serial.print ("Min Value: "); Serial.print(sensor.min_value); Serial.println(" uT");
- Serial.print ("Resolution: "); Serial.print(sensor.resolution); Serial.println(" uT");
- Serial.println("------------------------------------");
- Serial.println("");
- delay(1);
- }
- void setup(void)
- {
- Serial.begin(9600);
- Serial.println("HMC5883 Magnetometer Test"); Serial.println("");
- //
- // /* Initialise the sensor */
- if(!mag.begin())
- {
- // /* There was a problem detecting the HMC5883 ... check your connections */
- Serial.println("Ooops, no HMC5883 detected ... Check your wiring!");
- while(1);
- }
- /* Display some basic information on this sensor */
- displaySensorDetails();
- }
- void loop(void)
- {
- /* Get a new sensor event */
- sensors_event_t event;
- mag.getEvent(&event);
- /* Display the results (magnetic vector values are in micro-Tesla (uT)) */
- Serial.print("X: "); Serial.print(event.magnetic.x); Serial.print(" ");
- Serial.print("Y: "); Serial.print(event.magnetic.y); Serial.print(" ");
- Serial.print("Z: "); Serial.print(event.magnetic.z); Serial.print(" ");Serial.println("uT");
- // Hold the module so that Z is pointing 'up' and you can measure the heading with x&y
- // Calculate heading when the magnetometer is level, then correct for signs of axis.
- float heading = atan2(event.magnetic.y, event.magnetic.x);
- // Once you have your heading, you must then add your 'Declination Angle', which is the 'Error' of the magnetic field in your location.
- // Find yours here: http://www.magnetic-declination.com/
- // Mine is: -13* 2' W, which is ~13 Degrees, or (which we need) 0.22 radians
- // If you cannot find your Declination, comment out these two lines, your compass will be slightly off.
- float declinationAngle = 0.22;
- heading += declinationAngle;
- // Correct for when signs are reversed.
- if(heading < 0)
- heading += 2*PI;
- // Check for wrap due to addition of declination.
- if(heading > 2*PI)
- heading -= 2*PI;
- // Convert radians to degrees for readability.
- float headingDegrees = heading * 180/M_PI;
- Serial.print("Heading (degrees): "); Serial.println(headingDegrees);
- delay(500);
- }
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