├── CHANGELOG ├── HMC5883L.cpp ├── HMC5883L.h ├── HMC5883L_calibrate └── HMC5883L_calibrate.ino ├── HMC5883L_calibrate_MPU6050 └── HMC5883L_calibrate_MPU6050.ino ├── HMC5883L_compass └── HMC5883L_compass.ino ├── HMC5883L_compass_MPU6050 └── HMC5883L_compass_MPU6050.ino ├── HMC5883L_compensation_ADXL345 └── HMC5883L_compensation_ADXL345.ino ├── HMC5883L_compensation_MPU6050 └── HMC5883L_compensation_MPU6050.ino ├── HMC5883L_processing └── HMC5883L_processing.ino ├── HMC5883L_processing_MPU6050 └── HMC5883L_processing_MPU6050.ino ├── HMC5883L_simple └── HMC5883L_simple.ino ├── LICENSE ├── Processing ├── HMC5883L_calibrate_processing │ ├── HMC5883L_calibrate_processing.pde │ ├── artificialHorizon.png │ └── artificialHorizonRing.png ├── HMC5883L_compensation_processing │ ├── HMC5883L_compensation_processing.pde │ ├── compass.png │ ├── compassPlateBlack.png │ ├── compassPlateWhite.png │ └── compassRing.png └── HMC5883L_processing │ ├── HMC5883L_processing.pde │ ├── compass.png │ ├── compassPlateBlack.png │ ├── compassPlateWhite.png │ └── compassRing.png ├── README.md ├── keywords.txt └── library.json /CHANGELOG: -------------------------------------------------------------------------------- 1 | HMC5883L Arduino Library 1.1.0 / 26.10.2014 2 | ====================================================================== 3 | 4 | * Adding tilt compensation examples for MPU6050 / ADXL345 5 | * Adding calibrate script and processing 6 | * Adding example to work with GY-86 / GY-87 modules 7 | * Adding setOffset() method for calibration 8 | * Removing fixAngle() from examples 9 | * Cleanups codes 10 | 11 | HMC5883L Arduino Library 1.0.1 / 26.01.2014 12 | ====================================================================== 13 | 14 | * Fix typedefs & structs names 15 | 16 | HMC5883L Arduino Library 1.0.0 / 25.01.2014 17 | ====================================================================== 18 | 19 | * First release 20 | -------------------------------------------------------------------------------- /HMC5883L.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | HMC5883L.cpp - Class file for the HMC5883L Triple Axis Digital Compass Arduino Library. 3 | 4 | Version: 1.1.0 5 | (c) 2014 Korneliusz Jarzebski 6 | www.jarzebski.pl 7 | 8 | This program is free software: you can redistribute it and/or modify 9 | it under the terms of the version 3 GNU General Public License as 10 | published by the Free Software Foundation. 11 | 12 | This program is distributed in the hope that it will be useful, 13 | but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | GNU General Public License for more details. 16 | 17 | You should have received a copy of the GNU General Public License 18 | along with this program. If not, see . 19 | */ 20 | 21 | #if ARDUINO >= 100 22 | #include "Arduino.h" 23 | #else 24 | #include "WProgram.h" 25 | #endif 26 | 27 | #include 28 | 29 | #include "HMC5883L.h" 30 | 31 | bool HMC5883L::begin() 32 | { 33 | Wire.begin(); 34 | 35 | if ((fastRegister8(HMC5883L_REG_IDENT_A) != 0x48) 36 | || (fastRegister8(HMC5883L_REG_IDENT_B) != 0x34) 37 | || (fastRegister8(HMC5883L_REG_IDENT_C) != 0x33)) 38 | { 39 | return false; 40 | } 41 | 42 | setRange(HMC5883L_RANGE_1_3GA); 43 | setMeasurementMode(HMC5883L_CONTINOUS); 44 | setDataRate(HMC5883L_DATARATE_15HZ); 45 | setSamples(HMC5883L_SAMPLES_1); 46 | 47 | mgPerDigit = 0.92f; 48 | 49 | return true; 50 | } 51 | 52 | Vector HMC5883L::readRaw(void) 53 | { 54 | v.XAxis = readRegister16(HMC5883L_REG_OUT_X_M) - xOffset; 55 | v.YAxis = readRegister16(HMC5883L_REG_OUT_Y_M) - yOffset; 56 | v.ZAxis = readRegister16(HMC5883L_REG_OUT_Z_M) - zOffset; 57 | 58 | return v; 59 | } 60 | 61 | Vector HMC5883L::readNormalize(void) 62 | { 63 | v.XAxis = ((float)readRegister16(HMC5883L_REG_OUT_X_M) - xOffset) * mgPerDigit; 64 | v.YAxis = ((float)readRegister16(HMC5883L_REG_OUT_Y_M) - yOffset) * mgPerDigit; 65 | v.ZAxis = ((float)readRegister16(HMC5883L_REG_OUT_Z_M) - zOffset) * mgPerDigit; 66 | 67 | return v; 68 | } 69 | 70 | void HMC5883L::setOffset(int xo, int yo, int zo) 71 | { 72 | xOffset = xo; 73 | yOffset = yo; 74 | zOffset = zo; 75 | } 76 | 77 | void HMC5883L::setRange(hmc5883l_range_t range) 78 | { 79 | switch(range) 80 | { 81 | case HMC5883L_RANGE_0_88GA: 82 | mgPerDigit = 0.073f; 83 | break; 84 | 85 | case HMC5883L_RANGE_1_3GA: 86 | mgPerDigit = 0.92f; 87 | break; 88 | 89 | case HMC5883L_RANGE_1_9GA: 90 | mgPerDigit = 1.22f; 91 | break; 92 | 93 | case HMC5883L_RANGE_2_5GA: 94 | mgPerDigit = 1.52f; 95 | break; 96 | 97 | case HMC5883L_RANGE_4GA: 98 | mgPerDigit = 2.27f; 99 | break; 100 | 101 | case HMC5883L_RANGE_4_7GA: 102 | mgPerDigit = 2.56f; 103 | break; 104 | 105 | case HMC5883L_RANGE_5_6GA: 106 | mgPerDigit = 3.03f; 107 | break; 108 | 109 | case HMC5883L_RANGE_8_1GA: 110 | mgPerDigit = 4.35f; 111 | break; 112 | 113 | default: 114 | break; 115 | } 116 | 117 | writeRegister8(HMC5883L_REG_CONFIG_B, range << 5); 118 | } 119 | 120 | hmc5883l_range_t HMC5883L::getRange(void) 121 | { 122 | return (hmc5883l_range_t)((readRegister8(HMC5883L_REG_CONFIG_B) >> 5)); 123 | } 124 | 125 | void HMC5883L::setMeasurementMode(hmc5883l_mode_t mode) 126 | { 127 | uint8_t value; 128 | 129 | value = readRegister8(HMC5883L_REG_MODE); 130 | value &= 0b11111100; 131 | value |= mode; 132 | 133 | writeRegister8(HMC5883L_REG_MODE, value); 134 | } 135 | 136 | hmc5883l_mode_t HMC5883L::getMeasurementMode(void) 137 | { 138 | uint8_t value; 139 | 140 | value = readRegister8(HMC5883L_REG_MODE); 141 | value &= 0b00000011; 142 | 143 | return (hmc5883l_mode_t)value; 144 | } 145 | 146 | void HMC5883L::setDataRate(hmc5883l_dataRate_t dataRate) 147 | { 148 | uint8_t value; 149 | 150 | value = readRegister8(HMC5883L_REG_CONFIG_A); 151 | value &= 0b11100011; 152 | value |= (dataRate << 2); 153 | 154 | writeRegister8(HMC5883L_REG_CONFIG_A, value); 155 | } 156 | 157 | hmc5883l_dataRate_t HMC5883L::getDataRate(void) 158 | { 159 | uint8_t value; 160 | 161 | value = readRegister8(HMC5883L_REG_CONFIG_A); 162 | value &= 0b00011100; 163 | value >>= 2; 164 | 165 | return (hmc5883l_dataRate_t)value; 166 | } 167 | 168 | void HMC5883L::setSamples(hmc5883l_samples_t samples) 169 | { 170 | uint8_t value; 171 | 172 | value = readRegister8(HMC5883L_REG_CONFIG_A); 173 | value &= 0b10011111; 174 | value |= (samples << 5); 175 | 176 | writeRegister8(HMC5883L_REG_CONFIG_A, value); 177 | } 178 | 179 | hmc5883l_samples_t HMC5883L::getSamples(void) 180 | { 181 | uint8_t value; 182 | 183 | value = readRegister8(HMC5883L_REG_CONFIG_A); 184 | value &= 0b01100000; 185 | value >>= 5; 186 | 187 | return (hmc5883l_samples_t)value; 188 | } 189 | 190 | Vector HMC5883L::selfTest() 191 | { 192 | Vector value; 193 | 194 | setMeasurementMode(HMC5883L_SINGLE); 195 | writeRegister8(HMC5883L_REG_CONFIG_A, 0x00); 196 | writeRegister8(HMC5883L_REG_CONFIG_A, 0x01); 197 | value = readRaw(); 198 | writeRegister8(HMC5883L_REG_CONFIG_A, 0x00); 199 | 200 | return value; 201 | } 202 | 203 | // Write byte to register 204 | void HMC5883L::writeRegister8(uint8_t reg, uint8_t value) 205 | { 206 | Wire.beginTransmission(HMC5883L_ADDRESS); 207 | #if ARDUINO >= 100 208 | Wire.write(reg); 209 | Wire.write(value); 210 | #else 211 | Wire.send(reg); 212 | Wire.send(value); 213 | #endif 214 | Wire.endTransmission(); 215 | } 216 | 217 | // Read byte to register 218 | uint8_t HMC5883L::fastRegister8(uint8_t reg) 219 | { 220 | uint8_t value; 221 | Wire.beginTransmission(HMC5883L_ADDRESS); 222 | #if ARDUINO >= 100 223 | Wire.write(reg); 224 | #else 225 | Wire.send(reg); 226 | #endif 227 | Wire.endTransmission(); 228 | 229 | Wire.requestFrom(HMC5883L_ADDRESS, 1); 230 | #if ARDUINO >= 100 231 | value = Wire.read(); 232 | #else 233 | value = Wire.receive(); 234 | #endif; 235 | Wire.endTransmission(); 236 | 237 | return value; 238 | } 239 | 240 | // Read byte from register 241 | uint8_t HMC5883L::readRegister8(uint8_t reg) 242 | { 243 | uint8_t value; 244 | Wire.beginTransmission(HMC5883L_ADDRESS); 245 | #if ARDUINO >= 100 246 | Wire.write(reg); 247 | #else 248 | Wire.send(reg); 249 | #endif 250 | Wire.endTransmission(); 251 | 252 | Wire.beginTransmission(HMC5883L_ADDRESS); 253 | Wire.requestFrom(HMC5883L_ADDRESS, 1); 254 | while(!Wire.available()) {}; 255 | #if ARDUINO >= 100 256 | value = Wire.read(); 257 | #else 258 | value = Wire.receive(); 259 | #endif; 260 | Wire.endTransmission(); 261 | 262 | return value; 263 | } 264 | 265 | // Read word from register 266 | int16_t HMC5883L::readRegister16(uint8_t reg) 267 | { 268 | int16_t value; 269 | Wire.beginTransmission(HMC5883L_ADDRESS); 270 | #if ARDUINO >= 100 271 | Wire.write(reg); 272 | #else 273 | Wire.send(reg); 274 | #endif 275 | Wire.endTransmission(); 276 | 277 | Wire.beginTransmission(HMC5883L_ADDRESS); 278 | Wire.requestFrom(HMC5883L_ADDRESS, 2); 279 | while(!Wire.available()) {}; 280 | #if ARDUINO >= 100 281 | uint8_t vha = Wire.read(); 282 | uint8_t vla = Wire.read(); 283 | #else 284 | uint8_t vha = Wire.receive(); 285 | uint8_t vla = Wire.receive(); 286 | #endif; 287 | Wire.endTransmission(); 288 | 289 | value = vha << 8 | vla; 290 | 291 | return value; 292 | } 293 | -------------------------------------------------------------------------------- /HMC5883L.h: -------------------------------------------------------------------------------- 1 | /* 2 | HMC5883L.h - Header file for the HMC5883L Triple Axis Digital Compass Arduino Library. 3 | 4 | Version: 1.1.0 5 | (c) 2014 Korneliusz Jarzebski 6 | www.jarzebski.pl 7 | 8 | This program is free software: you can redistribute it and/or modify 9 | it under the terms of the version 3 GNU General Public License as 10 | published by the Free Software Foundation. 11 | 12 | This program is distributed in the hope that it will be useful, 13 | but WITHOUT ANY WARRANTY; without even the implied warranty of 14 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 15 | GNU General Public License for more details. 16 | 17 | You should have received a copy of the GNU General Public License 18 | along with this program. If not, see . 19 | */ 20 | 21 | #ifndef HMC5883L_h 22 | #define HMC5883L_h 23 | 24 | #if ARDUINO >= 100 25 | #include "Arduino.h" 26 | #else 27 | #include "WProgram.h" 28 | #endif 29 | 30 | #define HMC5883L_ADDRESS (0x1E) 31 | #define HMC5883L_REG_CONFIG_A (0x00) 32 | #define HMC5883L_REG_CONFIG_B (0x01) 33 | #define HMC5883L_REG_MODE (0x02) 34 | #define HMC5883L_REG_OUT_X_M (0x03) 35 | #define HMC5883L_REG_OUT_X_L (0x04) 36 | #define HMC5883L_REG_OUT_Z_M (0x05) 37 | #define HMC5883L_REG_OUT_Z_L (0x06) 38 | #define HMC5883L_REG_OUT_Y_M (0x07) 39 | #define HMC5883L_REG_OUT_Y_L (0x08) 40 | #define HMC5883L_REG_STATUS (0x09) 41 | #define HMC5883L_REG_IDENT_A (0x0A) 42 | #define HMC5883L_REG_IDENT_B (0x0B) 43 | #define HMC5883L_REG_IDENT_C (0x0C) 44 | 45 | typedef enum 46 | { 47 | HMC5883L_SAMPLES_8 = 0b11, 48 | HMC5883L_SAMPLES_4 = 0b10, 49 | HMC5883L_SAMPLES_2 = 0b01, 50 | HMC5883L_SAMPLES_1 = 0b00 51 | } hmc5883l_samples_t; 52 | 53 | typedef enum 54 | { 55 | HMC5883L_DATARATE_75HZ = 0b110, 56 | HMC5883L_DATARATE_30HZ = 0b101, 57 | HMC5883L_DATARATE_15HZ = 0b100, 58 | HMC5883L_DATARATE_7_5HZ = 0b011, 59 | HMC5883L_DATARATE_3HZ = 0b010, 60 | HMC5883L_DATARATE_1_5HZ = 0b001, 61 | HMC5883L_DATARATE_0_75_HZ = 0b000 62 | } hmc5883l_dataRate_t; 63 | 64 | typedef enum 65 | { 66 | HMC5883L_RANGE_8_1GA = 0b111, 67 | HMC5883L_RANGE_5_6GA = 0b110, 68 | HMC5883L_RANGE_4_7GA = 0b101, 69 | HMC5883L_RANGE_4GA = 0b100, 70 | HMC5883L_RANGE_2_5GA = 0b011, 71 | HMC5883L_RANGE_1_9GA = 0b010, 72 | HMC5883L_RANGE_1_3GA = 0b001, 73 | HMC5883L_RANGE_0_88GA = 0b000 74 | } hmc5883l_range_t; 75 | 76 | typedef enum 77 | { 78 | HMC5883L_IDLE = 0b10, 79 | HMC5883L_SINGLE = 0b01, 80 | HMC5883L_CONTINOUS = 0b00 81 | } hmc5883l_mode_t; 82 | 83 | #ifndef VECTOR_STRUCT_H 84 | #define VECTOR_STRUCT_H 85 | struct Vector 86 | { 87 | float XAxis; 88 | float YAxis; 89 | float ZAxis; 90 | }; 91 | #endif 92 | 93 | class HMC5883L 94 | { 95 | public: 96 | 97 | bool begin(void); 98 | 99 | Vector readRaw(void); 100 | Vector readNormalize(void); 101 | 102 | void setOffset(int xo, int yo, int zo); 103 | 104 | void setRange(hmc5883l_range_t range); 105 | hmc5883l_range_t getRange(void); 106 | 107 | void setMeasurementMode(hmc5883l_mode_t mode); 108 | hmc5883l_mode_t getMeasurementMode(void); 109 | 110 | void setDataRate(hmc5883l_dataRate_t dataRate); 111 | hmc5883l_dataRate_t getDataRate(void); 112 | 113 | void setSamples(hmc5883l_samples_t samples); 114 | hmc5883l_samples_t getSamples(void); 115 | 116 | Vector selfTest(); 117 | 118 | private: 119 | 120 | float mgPerDigit; 121 | Vector v; 122 | int xOffset, yOffset, zOffset; 123 | 124 | void writeRegister8(uint8_t reg, uint8_t value); 125 | uint8_t readRegister8(uint8_t reg); 126 | uint8_t fastRegister8(uint8_t reg); 127 | int16_t readRegister16(uint8_t reg); 128 | }; 129 | 130 | #endif 131 | -------------------------------------------------------------------------------- /HMC5883L_calibrate/HMC5883L_calibrate.ino: -------------------------------------------------------------------------------- 1 | /* 2 | Calibrate HMC5883L. Output for HMC5883L_calibrate_processing.pde 3 | Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html 4 | GIT: https://github.com/jarzebski/Arduino-HMC5883L 5 | Web: http://www.jarzebski.pl 6 | (c) 2014 by Korneliusz Jarzebski 7 | */ 8 | 9 | #include 10 | #include 11 | 12 | HMC5883L compass; 13 | 14 | int minX = 0; 15 | int maxX = 0; 16 | int minY = 0; 17 | int maxY = 0; 18 | int minZ = 0; 19 | int maxZ = 0; 20 | int offX = 0; 21 | int offY = 0; 22 | int offZ = 0; 23 | 24 | void setup() 25 | { 26 | Serial.begin(9600); 27 | 28 | // Initialize Initialize HMC5883L 29 | while (!compass.begin()) 30 | { 31 | delay(500); 32 | } 33 | 34 | // Set measurement range 35 | compass.setRange(HMC5883L_RANGE_1_3GA); 36 | 37 | // Set measurement mode 38 | compass.setMeasurementMode(HMC5883L_CONTINOUS); 39 | 40 | // Set data rate 41 | compass.setDataRate(HMC5883L_DATARATE_30HZ); 42 | 43 | // Set number of samples averaged 44 | compass.setSamples(HMC5883L_SAMPLES_8); 45 | } 46 | 47 | void loop() 48 | { 49 | Vector mag = compass.readRaw(); 50 | 51 | // Determine Min / Max values 52 | if (mag.XAxis < minX) minX = mag.XAxis; 53 | if (mag.XAxis > maxX) maxX = mag.XAxis; 54 | if (mag.YAxis < minY) minY = mag.YAxis; 55 | if (mag.YAxis > maxY) maxY = mag.YAxis; 56 | if (mag.ZAxis < minZ) minZ = mag.ZAxis; 57 | if (mag.ZAxis > maxZ) maxZ = mag.ZAxis; 58 | 59 | // Calculate offsets 60 | offX = (maxX + minX)/2; 61 | offY = (maxY + minY)/2; 62 | offZ = (maxZ + minZ)/2; 63 | 64 | Serial.print(mag.XAxis); 65 | Serial.print(":"); 66 | Serial.print(mag.YAxis); 67 | Serial.print(":"); 68 | Serial.print(minX); 69 | Serial.print(":"); 70 | Serial.print(maxX); 71 | Serial.print(":"); 72 | Serial.print(minY); 73 | Serial.print(":"); 74 | Serial.print(maxY); 75 | Serial.print(":"); 76 | Serial.print(minZ); 77 | Serial.print(":"); 78 | Serial.print(maxZ); 79 | Serial.print(":"); 80 | Serial.print(offX); 81 | Serial.print(":"); 82 | Serial.print(offY); 83 | Serial.print(":"); 84 | Serial.print(offZ); 85 | Serial.print("\n"); 86 | } 87 | -------------------------------------------------------------------------------- /HMC5883L_calibrate_MPU6050/HMC5883L_calibrate_MPU6050.ino: -------------------------------------------------------------------------------- 1 | /* 2 | Calibrate HMC5883L + MPU6050 (GY-86 / GY-87). Output for HMC5883L_calibrate_processing.pde 3 | Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html 4 | GIT: https://github.com/jarzebski/Arduino-HMC5883L 5 | Web: http://www.jarzebski.pl 6 | (c) 2014 by Korneliusz Jarzebski 7 | */ 8 | 9 | #include 10 | #include 11 | #include 12 | 13 | HMC5883L compass; 14 | MPU6050 mpu; 15 | 16 | int minX = 0; 17 | int maxX = 0; 18 | int minY = 0; 19 | int maxY = 0; 20 | int minZ = 0; 21 | int maxZ = 0; 22 | int offX = 0; 23 | int offY = 0; 24 | int offZ = 0; 25 | 26 | void setup() 27 | { 28 | Serial.begin(9600); 29 | 30 | // Initialize MPU6050 31 | while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G)) 32 | { 33 | delay(500); 34 | } 35 | 36 | // Enable bypass mode 37 | mpu.setI2CMasterModeEnabled(false); 38 | mpu.setI2CBypassEnabled(true); 39 | mpu.setSleepEnabled(false); 40 | 41 | // Initialize Initialize HMC5883L 42 | while (!compass.begin()) 43 | { 44 | delay(500); 45 | } 46 | 47 | // Set measurement range 48 | compass.setRange(HMC5883L_RANGE_1_3GA); 49 | 50 | // Set measurement mode 51 | compass.setMeasurementMode(HMC5883L_CONTINOUS); 52 | 53 | // Set data rate 54 | compass.setDataRate(HMC5883L_DATARATE_30HZ); 55 | 56 | // Set number of samples averaged 57 | compass.setSamples(HMC5883L_SAMPLES_8); 58 | } 59 | 60 | void loop() 61 | { 62 | Vector mag = compass.readRaw(); 63 | 64 | // Determine Min / Max values 65 | if (mag.XAxis < minX) minX = mag.XAxis; 66 | if (mag.XAxis > maxX) maxX = mag.XAxis; 67 | if (mag.YAxis < minY) minY = mag.YAxis; 68 | if (mag.YAxis > maxY) maxY = mag.YAxis; 69 | if (mag.ZAxis < minZ) minZ = mag.ZAxis; 70 | if (mag.ZAxis > maxZ) maxZ = mag.ZAxis; 71 | 72 | // Calculate offsets 73 | offX = (maxX + minX)/2; 74 | offY = (maxY + minY)/2; 75 | offZ = (maxZ + minZ)/2; 76 | 77 | Serial.print(mag.XAxis); 78 | Serial.print(":"); 79 | Serial.print(mag.YAxis); 80 | Serial.print(":"); 81 | Serial.print(minX); 82 | Serial.print(":"); 83 | Serial.print(maxX); 84 | Serial.print(":"); 85 | Serial.print(minY); 86 | Serial.print(":"); 87 | Serial.print(maxY); 88 | Serial.print(":"); 89 | Serial.print(minZ); 90 | Serial.print(":"); 91 | Serial.print(maxZ); 92 | Serial.print(":"); 93 | Serial.print(offX); 94 | Serial.print(":"); 95 | Serial.print(offY); 96 | Serial.print(":"); 97 | Serial.print(offZ); 98 | Serial.print("\n"); 99 | } 100 | -------------------------------------------------------------------------------- /HMC5883L_compass/HMC5883L_compass.ino: -------------------------------------------------------------------------------- 1 | /* 2 | HMC5883L Triple Axis Digital Compass. Compass Example. 3 | Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html 4 | GIT: https://github.com/jarzebski/Arduino-HMC5883L 5 | Web: http://www.jarzebski.pl 6 | (c) 2014 by Korneliusz Jarzebski 7 | */ 8 | 9 | #include 10 | #include 11 | 12 | HMC5883L compass; 13 | 14 | void setup() 15 | { 16 | Serial.begin(9600); 17 | 18 | // Initialize Initialize HMC5883L 19 | Serial.println("Initialize HMC5883L"); 20 | while (!compass.begin()) 21 | { 22 | Serial.println("Could not find a valid HMC5883L sensor, check wiring!"); 23 | delay(500); 24 | } 25 | 26 | // Set measurement range 27 | compass.setRange(HMC5883L_RANGE_1_3GA); 28 | 29 | // Set measurement mode 30 | compass.setMeasurementMode(HMC5883L_CONTINOUS); 31 | 32 | // Set data rate 33 | compass.setDataRate(HMC5883L_DATARATE_30HZ); 34 | 35 | // Set number of samples averaged 36 | compass.setSamples(HMC5883L_SAMPLES_8); 37 | 38 | // Set calibration offset. See HMC5883L_calibration.ino 39 | compass.setOffset(0, 0, 0); 40 | } 41 | 42 | void loop() 43 | { 44 | Vector norm = compass.readNormalize(); 45 | 46 | // Calculate heading 47 | float heading = atan2(norm.YAxis, norm.XAxis); 48 | 49 | // Set declination angle on your location and fix heading 50 | // You can find your declination on: http://magnetic-declination.com/ 51 | // (+) Positive or (-) for negative 52 | // For Bytom / Poland declination angle is 4'26E (positive) 53 | // Formula: (deg + (min / 60.0)) / (180 / M_PI); 54 | float declinationAngle = (4.0 + (26.0 / 60.0)) / (180 / M_PI); 55 | heading += declinationAngle; 56 | 57 | // Correct for heading < 0deg and heading > 360deg 58 | if (heading < 0) 59 | { 60 | heading += 2 * PI; 61 | } 62 | 63 | if (heading > 2 * PI) 64 | { 65 | heading -= 2 * PI; 66 | } 67 | 68 | // Convert to degrees 69 | float headingDegrees = heading * 180/M_PI; 70 | 71 | // Output 72 | Serial.print(" Heading = "); 73 | Serial.print(heading); 74 | Serial.print(" Degress = "); 75 | Serial.print(headingDegrees); 76 | Serial.println(); 77 | 78 | delay(100); 79 | } 80 | 81 | -------------------------------------------------------------------------------- /HMC5883L_compass_MPU6050/HMC5883L_compass_MPU6050.ino: -------------------------------------------------------------------------------- 1 | /* 2 | HMC5883L Triple Axis Digital Compass + MPU6050 (GY-86 / GY-87). Compass Example. 3 | Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html 4 | GIT: https://github.com/jarzebski/Arduino-HMC5883L 5 | Web: http://www.jarzebski.pl 6 | (c) 2014 by Korneliusz Jarzebski 7 | */ 8 | 9 | #include 10 | #include 11 | #include 12 | 13 | HMC5883L compass; 14 | MPU6050 mpu; 15 | 16 | void setup() 17 | { 18 | Serial.begin(9600); 19 | 20 | // If you have GY-86 or GY-87 module. 21 | // To access HMC5883L you need to disable the I2C Master Mode and Sleep Mode, and enable I2C Bypass Mode 22 | 23 | while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G)) 24 | { 25 | Serial.println("Could not find a valid MPU6050 sensor, check wiring!"); 26 | delay(500); 27 | } 28 | 29 | mpu.setI2CMasterModeEnabled(false); 30 | mpu.setI2CBypassEnabled(true) ; 31 | mpu.setSleepEnabled(false); 32 | 33 | // Initialize Initialize HMC5883L 34 | Serial.println("Initialize HMC5883L"); 35 | while (!compass.begin()) 36 | { 37 | Serial.println("Could not find a valid HMC5883L sensor, check wiring!"); 38 | delay(500); 39 | } 40 | 41 | // Set measurement range 42 | compass.setRange(HMC5883L_RANGE_1_3GA); 43 | 44 | // Set measurement mode 45 | compass.setMeasurementMode(HMC5883L_CONTINOUS); 46 | 47 | // Set data rate 48 | compass.setDataRate(HMC5883L_DATARATE_30HZ); 49 | 50 | // Set number of samples averaged 51 | compass.setSamples(HMC5883L_SAMPLES_8); 52 | 53 | // Set calibration offset. See HMC5883L_calibration.ino 54 | compass.setOffset(0, 0, 0); 55 | } 56 | 57 | void loop() 58 | { 59 | Vector norm = compass.readNormalize(); 60 | 61 | // Calculate heading 62 | float heading = atan2(norm.YAxis, norm.XAxis); 63 | 64 | // Set declination angle on your location and fix heading 65 | // You can find your declination on: http://magnetic-declination.com/ 66 | // (+) Positive or (-) for negative 67 | // For Bytom / Poland declination angle is 4'26E (positive) 68 | // Formula: (deg + (min / 60.0)) / (180 / M_PI); 69 | float declinationAngle = (4.0 + (26.0 / 60.0)) / (180 / M_PI); 70 | heading += declinationAngle; 71 | 72 | // Correct for heading < 0deg and heading > 360deg 73 | if (heading < 0) 74 | { 75 | heading += 2 * PI; 76 | } 77 | 78 | if (heading > 2 * PI) 79 | { 80 | heading -= 2 * PI; 81 | } 82 | 83 | // Convert to degrees 84 | float headingDegrees = heading * 180/M_PI; 85 | 86 | // Output 87 | Serial.print(" Heading = "); 88 | Serial.print(heading); 89 | Serial.print(" Degress = "); 90 | Serial.print(headingDegrees); 91 | Serial.println(); 92 | 93 | delay(100); 94 | } 95 | -------------------------------------------------------------------------------- /HMC5883L_compensation_ADXL345/HMC5883L_compensation_ADXL345.ino: -------------------------------------------------------------------------------- 1 | /* 2 | Tilt compensated HMC5883L + ADXL345 (GY-80). Output for HMC5883L_compensation_processing.pde 3 | Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html 4 | GIT: https://github.com/jarzebski/Arduino-HMC5883L 5 | Web: http://www.jarzebski.pl 6 | (c) 2014 by Korneliusz Jarzebski 7 | */ 8 | 9 | #include 10 | #include 11 | #include 12 | 13 | HMC5883L compass; 14 | ADXL345 accelerometer; 15 | 16 | float heading1; 17 | float heading2; 18 | 19 | void setup() 20 | { 21 | Serial.begin(9600); 22 | 23 | // Initialize ADXL345 24 | 25 | if (!accelerometer.begin()) 26 | { 27 | delay(500); 28 | } 29 | 30 | accelerometer.setRange(ADXL345_RANGE_2G); 31 | 32 | // Initialize Initialize HMC5883L 33 | while (!compass.begin()) 34 | { 35 | delay(500); 36 | } 37 | 38 | // Set measurement range 39 | compass.setRange(HMC5883L_RANGE_1_3GA); 40 | 41 | // Set measurement mode 42 | compass.setMeasurementMode(HMC5883L_CONTINOUS); 43 | 44 | // Set data rate 45 | compass.setDataRate(HMC5883L_DATARATE_30HZ); 46 | 47 | // Set number of samples averaged 48 | compass.setSamples(HMC5883L_SAMPLES_8); 49 | 50 | // Set calibration offset. See HMC5883L_calibration.ino 51 | compass.setOffset(0, 0, 0); 52 | } 53 | 54 | // No tilt compensation 55 | float noTiltCompensate(Vector mag) 56 | { 57 | float heading = atan2(mag.YAxis, mag.XAxis); 58 | return heading; 59 | } 60 | 61 | // Tilt compensation 62 | float tiltCompensate(Vector mag, Vector normAccel) 63 | { 64 | // Pitch & Roll 65 | 66 | float roll; 67 | float pitch; 68 | 69 | roll = asin(normAccel.YAxis); 70 | pitch = asin(-normAccel.XAxis); 71 | 72 | if (roll > 0.78 || roll < -0.78 || pitch > 0.78 || pitch < -0.78) 73 | { 74 | return -1000; 75 | } 76 | 77 | // Some of these are used twice, so rather than computing them twice in the algorithem we precompute them before hand. 78 | float cosRoll = cos(roll); 79 | float sinRoll = sin(roll); 80 | float cosPitch = cos(pitch); 81 | float sinPitch = sin(pitch); 82 | 83 | // Tilt compensation 84 | float Xh = mag.XAxis * cosPitch + mag.ZAxis * sinPitch; 85 | float Yh = mag.XAxis * sinRoll * sinPitch + mag.YAxis * cosRoll - mag.ZAxis * sinRoll * cosPitch; 86 | 87 | float heading = atan2(Yh, Xh); 88 | 89 | return heading; 90 | } 91 | 92 | // Correct angle 93 | float correctAngle(float heading) 94 | { 95 | if (heading < 0) { heading += 2 * PI; } 96 | if (heading > 2 * PI) { heading -= 2 * PI; } 97 | 98 | return heading; 99 | } 100 | 101 | void loop() 102 | { 103 | // Read vectors 104 | Vector mag = compass.readNormalize(); 105 | Vector acc = accelerometer.readScaled(); 106 | 107 | // Calculate headings 108 | heading1 = noTiltCompensate(mag); 109 | heading2 = tiltCompensate(mag, acc); 110 | 111 | if (heading2 == -1000) 112 | { 113 | heading2 = heading1; 114 | } 115 | 116 | // Set declination angle on your location and fix heading 117 | // You can find your declination on: http://magnetic-declination.com/ 118 | // (+) Positive or (-) for negative 119 | // For Bytom / Poland declination angle is 4'26E (positive) 120 | // Formula: (deg + (min / 60.0)) / (180 / M_PI); 121 | float declinationAngle = (4.0 + (26.0 / 60.0)) / (180 / M_PI); 122 | heading1 += declinationAngle; 123 | heading2 += declinationAngle; 124 | 125 | // Correct for heading < 0deg and heading > 360deg 126 | heading1 = correctAngle(heading1); 127 | heading2 = correctAngle(heading2); 128 | 129 | // Convert to degrees 130 | heading1 = heading1 * 180/M_PI; 131 | heading2 = heading2 * 180/M_PI; 132 | 133 | // Output 134 | Serial.print(heading1); 135 | Serial.print(":"); 136 | Serial.println(heading2); 137 | 138 | delay(100); 139 | } 140 | 141 | -------------------------------------------------------------------------------- /HMC5883L_compensation_MPU6050/HMC5883L_compensation_MPU6050.ino: -------------------------------------------------------------------------------- 1 | /* 2 | Tilt compensated HMC5883L + MPU6050 (GY-86 / GY-87). Output for HMC5883L_compensation_processing.pde 3 | Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html 4 | GIT: https://github.com/jarzebski/Arduino-HMC5883L 5 | Web: http://www.jarzebski.pl 6 | (c) 2014 by Korneliusz Jarzebski 7 | */ 8 | 9 | #include 10 | #include 11 | #include 12 | 13 | HMC5883L compass; 14 | MPU6050 mpu; 15 | 16 | float heading1; 17 | float heading2; 18 | 19 | void setup() 20 | { 21 | Serial.begin(9600); 22 | 23 | // Initialize MPU6050 24 | while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G)) 25 | { 26 | delay(500); 27 | } 28 | 29 | // Enable bypass mode 30 | mpu.setI2CMasterModeEnabled(false); 31 | mpu.setI2CBypassEnabled(true) ; 32 | mpu.setSleepEnabled(false); 33 | 34 | // Initialize Initialize HMC5883L 35 | while (!compass.begin()) 36 | { 37 | delay(500); 38 | } 39 | 40 | // Set measurement range 41 | compass.setRange(HMC5883L_RANGE_1_3GA); 42 | 43 | // Set measurement mode 44 | compass.setMeasurementMode(HMC5883L_CONTINOUS); 45 | 46 | // Set data rate 47 | compass.setDataRate(HMC5883L_DATARATE_30HZ); 48 | 49 | // Set number of samples averaged 50 | compass.setSamples(HMC5883L_SAMPLES_8); 51 | 52 | // Set calibration offset. See HMC5883L_calibration.ino 53 | compass.setOffset(0, 0); 54 | } 55 | 56 | // No tilt compensation 57 | float noTiltCompensate(Vector mag) 58 | { 59 | float heading = atan2(mag.YAxis, mag.XAxis); 60 | return heading; 61 | } 62 | 63 | // Tilt compensation 64 | float tiltCompensate(Vector mag, Vector normAccel) 65 | { 66 | // Pitch & Roll 67 | 68 | float roll; 69 | float pitch; 70 | 71 | roll = asin(normAccel.YAxis); 72 | pitch = asin(-normAccel.XAxis); 73 | 74 | if (roll > 0.78 || roll < -0.78 || pitch > 0.78 || pitch < -0.78) 75 | { 76 | return -1000; 77 | } 78 | 79 | // Some of these are used twice, so rather than computing them twice in the algorithem we precompute them before hand. 80 | float cosRoll = cos(roll); 81 | float sinRoll = sin(roll); 82 | float cosPitch = cos(pitch); 83 | float sinPitch = sin(pitch); 84 | 85 | // Tilt compensation 86 | float Xh = mag.XAxis * cosPitch + mag.ZAxis * sinPitch; 87 | float Yh = mag.XAxis * sinRoll * sinPitch + mag.YAxis * cosRoll - mag.ZAxis * sinRoll * cosPitch; 88 | 89 | float heading = atan2(Yh, Xh); 90 | 91 | return heading; 92 | } 93 | 94 | // Correct angle 95 | float correctAngle(float heading) 96 | { 97 | if (heading < 0) { heading += 2 * PI; } 98 | if (heading > 2 * PI) { heading -= 2 * PI; } 99 | 100 | return heading; 101 | } 102 | 103 | void loop() 104 | { 105 | // Read vectors 106 | Vector mag = compass.readNormalize(); 107 | Vector acc = mpu.readScaledAccel(); 108 | 109 | // Calculate headings 110 | heading1 = noTiltCompensate(mag); 111 | heading2 = tiltCompensate(mag, acc); 112 | 113 | if (heading2 == -1000) 114 | { 115 | heading2 = heading1; 116 | } 117 | 118 | // Set declination angle on your location and fix heading 119 | // You can find your declination on: http://magnetic-declination.com/ 120 | // (+) Positive or (-) for negative 121 | // For Bytom / Poland declination angle is 4'26E (positive) 122 | // Formula: (deg + (min / 60.0)) / (180 / M_PI); 123 | float declinationAngle = (4.0 + (26.0 / 60.0)) / (180 / M_PI); 124 | heading1 += declinationAngle; 125 | heading2 += declinationAngle; 126 | 127 | // Correct for heading < 0deg and heading > 360deg 128 | heading1 = correctAngle(heading1); 129 | heading2 = correctAngle(heading2); 130 | 131 | // Convert to degrees 132 | heading1 = heading1 * 180/M_PI; 133 | heading2 = heading2 * 180/M_PI; 134 | 135 | // Output 136 | Serial.print(heading1); 137 | Serial.print(":"); 138 | Serial.println(heading2); 139 | 140 | delay(100); 141 | } 142 | 143 | -------------------------------------------------------------------------------- /HMC5883L_processing/HMC5883L_processing.ino: -------------------------------------------------------------------------------- 1 | /* 2 | HMC5883L Triple Axis Digital Compass. Output for HMC5883L_processing.pde 3 | Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html 4 | GIT: https://github.com/jarzebski/Arduino-HMC5883L 5 | Web: http://www.jarzebski.pl 6 | (c) 2014 by Korneliusz Jarzebski 7 | */ 8 | 9 | #include 10 | #include 11 | 12 | HMC5883L compass; 13 | 14 | int previousDegree; 15 | 16 | void setup() 17 | { 18 | Serial.begin(9600); 19 | 20 | // Initialize HMC5883L 21 | while (!compass.begin()) 22 | { 23 | delay(500); 24 | } 25 | 26 | // Set measurement range 27 | compass.setRange(HMC5883L_RANGE_1_3GA); 28 | 29 | // Set measurement mode 30 | compass.setMeasurementMode(HMC5883L_CONTINOUS); 31 | 32 | // Set data rate 33 | compass.setDataRate(HMC5883L_DATARATE_30HZ); 34 | 35 | // Set number of samples averaged 36 | compass.setSamples(HMC5883L_SAMPLES_8); 37 | 38 | // Set calibration offset. See HMC5883L_calibration.ino 39 | compass.setOffset(0, 0, 0); 40 | } 41 | 42 | void loop() 43 | { 44 | long x = micros(); 45 | Vector norm = compass.readNormalize(); 46 | 47 | // Calculate heading 48 | float heading = atan2(norm.YAxis, norm.XAxis); 49 | 50 | // Set declination angle on your location and fix heading 51 | // You can find your declination on: http://magnetic-declination.com/ 52 | // (+) Positive or (-) for negative 53 | // For Bytom / Poland declination angle is 4'26E (positive) 54 | // Formula: (deg + (min / 60.0)) / (180 / M_PI); 55 | float declinationAngle = (4.0 + (26.0 / 60.0)) / (180 / M_PI); 56 | heading += declinationAngle; 57 | 58 | // Correct for heading < 0deg and heading > 360deg 59 | if (heading < 0) 60 | { 61 | heading += 2 * PI; 62 | } 63 | 64 | if (heading > 2 * PI) 65 | { 66 | heading -= 2 * PI; 67 | } 68 | 69 | // Convert to degrees 70 | float headingDegrees = heading * 180/M_PI; 71 | 72 | // Fix HMC5883L issue with angles 73 | float fixedHeadingDegrees; 74 | 75 | if (headingDegrees >= 1 && headingDegrees < 240) 76 | { 77 | fixedHeadingDegrees = map(headingDegrees, 0, 239, 0, 179); 78 | } else 79 | if (headingDegrees >= 240) 80 | { 81 | fixedHeadingDegrees = map(headingDegrees, 240, 360, 180, 360); 82 | } 83 | 84 | // Smooth angles rotation for +/- 3deg 85 | int smoothHeadingDegrees = round(fixedHeadingDegrees); 86 | 87 | if (smoothHeadingDegrees < (previousDegree + 3) && smoothHeadingDegrees > (previousDegree - 3)) 88 | { 89 | smoothHeadingDegrees = previousDegree; 90 | } 91 | 92 | previousDegree = smoothHeadingDegrees; 93 | 94 | // Output 95 | Serial.print(norm.XAxis); 96 | Serial.print(":"); 97 | Serial.print(norm.YAxis); 98 | Serial.print(":"); 99 | Serial.print(norm.ZAxis); 100 | Serial.print(":"); 101 | Serial.print(headingDegrees); 102 | Serial.print(":"); 103 | Serial.print(fixedHeadingDegrees); 104 | Serial.print(":"); 105 | Serial.print(smoothHeadingDegrees); 106 | Serial.println(); 107 | 108 | // One loop: ~5ms @ 115200 serial. 109 | // We need delay ~28ms for allow data rate 30Hz (~33ms) 110 | delay(30); 111 | } 112 | 113 | -------------------------------------------------------------------------------- /HMC5883L_processing_MPU6050/HMC5883L_processing_MPU6050.ino: -------------------------------------------------------------------------------- 1 | /* 2 | HMC5883L Triple Axis Digital Compass + MPU6050 (GY-86 / GY-87). Output for HMC5883L_processing.pde 3 | Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html 4 | GIT: https://github.com/jarzebski/Arduino-HMC5883L 5 | Web: http://www.jarzebski.pl 6 | (c) 2014 by Korneliusz Jarzebski 7 | */ 8 | 9 | #include 10 | #include 11 | #include 12 | 13 | HMC5883L compass; 14 | MPU6050 mpu; 15 | 16 | int previousDegree; 17 | 18 | void setup() 19 | { 20 | Serial.begin(9600); 21 | 22 | // Initialize MPU6050 23 | while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G)) 24 | { 25 | delay(500); 26 | } 27 | 28 | // Enable bypass mode 29 | mpu.setI2CMasterModeEnabled(false); 30 | mpu.setI2CBypassEnabled(true); 31 | mpu.setSleepEnabled(false); 32 | 33 | // Initialize HMC5883L 34 | while (!compass.begin()) 35 | { 36 | delay(500); 37 | } 38 | 39 | // Set measurement range 40 | compass.setRange(HMC5883L_RANGE_1_3GA); 41 | 42 | // Set measurement mode 43 | compass.setMeasurementMode(HMC5883L_CONTINOUS); 44 | 45 | // Set data rate 46 | compass.setDataRate(HMC5883L_DATARATE_30HZ); 47 | 48 | // Set number of samples averaged 49 | compass.setSamples(HMC5883L_SAMPLES_8); 50 | 51 | // Set calibration offset. See HMC5883L_calibration.ino 52 | compass.setOffset(0, 0, 0); 53 | } 54 | 55 | void loop() 56 | { 57 | long x = micros(); 58 | Vector norm = compass.readNormalize(); 59 | 60 | // Calculate heading 61 | float heading = atan2(norm.YAxis, norm.XAxis); 62 | 63 | // Set declination angle on your location and fix heading 64 | // You can find your declination on: http://magnetic-declination.com/ 65 | // (+) Positive or (-) for negative 66 | // For Bytom / Poland declination angle is 4'26E (positive) 67 | // Formula: (deg + (min / 60.0)) / (180 / M_PI); 68 | float declinationAngle = (4.0 + (26.0 / 60.0)) / (180 / M_PI); 69 | heading += declinationAngle; 70 | 71 | // Correct for heading < 0deg and heading > 360deg 72 | if (heading < 0) 73 | { 74 | heading += 2 * PI; 75 | } 76 | 77 | if (heading > 2 * PI) 78 | { 79 | heading -= 2 * PI; 80 | } 81 | 82 | // Convert to degrees 83 | float headingDegrees = heading * 180/M_PI; 84 | 85 | // Fix HMC5883L issue with angles 86 | float fixedHeadingDegrees; 87 | 88 | if (headingDegrees >= 1 && headingDegrees < 240) 89 | { 90 | fixedHeadingDegrees = map(headingDegrees, 0, 239, 0, 179); 91 | } else 92 | if (headingDegrees >= 240) 93 | { 94 | fixedHeadingDegrees = map(headingDegrees, 240, 360, 180, 360); 95 | } 96 | 97 | // Smooth angles rotation for +/- 3deg 98 | int smoothHeadingDegrees = round(fixedHeadingDegrees); 99 | 100 | if (smoothHeadingDegrees < (previousDegree + 3) && smoothHeadingDegrees > (previousDegree - 3)) 101 | { 102 | smoothHeadingDegrees = previousDegree; 103 | } 104 | 105 | previousDegree = smoothHeadingDegrees; 106 | 107 | // Output 108 | Serial.print(norm.XAxis); 109 | Serial.print(":"); 110 | Serial.print(norm.YAxis); 111 | Serial.print(":"); 112 | Serial.print(norm.ZAxis); 113 | Serial.print(":"); 114 | Serial.print(headingDegrees); 115 | Serial.print(":"); 116 | Serial.print(fixedHeadingDegrees); 117 | Serial.print(":"); 118 | Serial.print(smoothHeadingDegrees); 119 | Serial.println(); 120 | 121 | // One loop: ~5ms @ 115200 serial. 122 | // We need delay ~28ms for allow data rate 30Hz (~33ms) 123 | delay(30); 124 | } 125 | 126 | -------------------------------------------------------------------------------- /HMC5883L_simple/HMC5883L_simple.ino: -------------------------------------------------------------------------------- 1 | /* 2 | HMC5883L Triple Axis Digital Compass. Simple Example. 3 | Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html 4 | GIT: https://github.com/jarzebski/Arduino-HMC5883L 5 | Web: http://www.jarzebski.pl 6 | (c) 2014 by Korneliusz Jarzebski 7 | */ 8 | 9 | #include 10 | #include 11 | 12 | HMC5883L compass; 13 | 14 | void setup() 15 | { 16 | Serial.begin(9600); 17 | 18 | // Initialize HMC5883L 19 | Serial.println("Initialize HMC5883L"); 20 | while (!compass.begin()) 21 | { 22 | Serial.println("Could not find a valid HMC5883L sensor, check wiring!"); 23 | delay(500); 24 | } 25 | 26 | // Set measurement range 27 | // +/- 0.88 Ga: HMC5883L_RANGE_0_88GA 28 | // +/- 1.30 Ga: HMC5883L_RANGE_1_3GA (default) 29 | // +/- 1.90 Ga: HMC5883L_RANGE_1_9GA 30 | // +/- 2.50 Ga: HMC5883L_RANGE_2_5GA 31 | // +/- 4.00 Ga: HMC5883L_RANGE_4GA 32 | // +/- 4.70 Ga: HMC5883L_RANGE_4_7GA 33 | // +/- 5.60 Ga: HMC5883L_RANGE_5_6GA 34 | // +/- 8.10 Ga: HMC5883L_RANGE_8_1GA 35 | compass.setRange(HMC5883L_RANGE_1_3GA); 36 | 37 | // Set measurement mode 38 | // Idle mode: HMC5883L_IDLE 39 | // Single-Measurement: HMC5883L_SINGLE 40 | // Continuous-Measurement: HMC5883L_CONTINOUS (default) 41 | compass.setMeasurementMode(HMC5883L_CONTINOUS); 42 | 43 | // Set data rate 44 | // 0.75Hz: HMC5883L_DATARATE_0_75HZ 45 | // 1.50Hz: HMC5883L_DATARATE_1_5HZ 46 | // 3.00Hz: HMC5883L_DATARATE_3HZ 47 | // 7.50Hz: HMC5883L_DATARATE_7_50HZ 48 | // 15.00Hz: HMC5883L_DATARATE_15HZ (default) 49 | // 30.00Hz: HMC5883L_DATARATE_30HZ 50 | // 75.00Hz: HMC5883L_DATARATE_75HZ 51 | compass.setDataRate(HMC5883L_DATARATE_15HZ); 52 | 53 | // Set number of samples averaged 54 | // 1 sample: HMC5883L_SAMPLES_1 (default) 55 | // 2 samples: HMC5883L_SAMPLES_2 56 | // 4 samples: HMC5883L_SAMPLES_4 57 | // 8 samples: HMC5883L_SAMPLES_8 58 | compass.setSamples(HMC5883L_SAMPLES_1); 59 | 60 | // Check settings 61 | checkSettings(); 62 | } 63 | 64 | void checkSettings() 65 | { 66 | Serial.print("Selected range: "); 67 | 68 | switch (compass.getRange()) 69 | { 70 | case HMC5883L_RANGE_0_88GA: Serial.println("0.88 Ga"); break; 71 | case HMC5883L_RANGE_1_3GA: Serial.println("1.3 Ga"); break; 72 | case HMC5883L_RANGE_1_9GA: Serial.println("1.9 Ga"); break; 73 | case HMC5883L_RANGE_2_5GA: Serial.println("2.5 Ga"); break; 74 | case HMC5883L_RANGE_4GA: Serial.println("4 Ga"); break; 75 | case HMC5883L_RANGE_4_7GA: Serial.println("4.7 Ga"); break; 76 | case HMC5883L_RANGE_5_6GA: Serial.println("5.6 Ga"); break; 77 | case HMC5883L_RANGE_8_1GA: Serial.println("8.1 Ga"); break; 78 | default: Serial.println("Bad range!"); 79 | } 80 | 81 | Serial.print("Selected Measurement Mode: "); 82 | switch (compass.getMeasurementMode()) 83 | { 84 | case HMC5883L_IDLE: Serial.println("Idle mode"); break; 85 | case HMC5883L_SINGLE: Serial.println("Single-Measurement"); break; 86 | case HMC5883L_CONTINOUS: Serial.println("Continuous-Measurement"); break; 87 | default: Serial.println("Bad mode!"); 88 | } 89 | 90 | Serial.print("Selected Data Rate: "); 91 | switch (compass.getDataRate()) 92 | { 93 | case HMC5883L_DATARATE_0_75_HZ: Serial.println("0.75 Hz"); break; 94 | case HMC5883L_DATARATE_1_5HZ: Serial.println("1.5 Hz"); break; 95 | case HMC5883L_DATARATE_3HZ: Serial.println("3 Hz"); break; 96 | case HMC5883L_DATARATE_7_5HZ: Serial.println("7.5 Hz"); break; 97 | case HMC5883L_DATARATE_15HZ: Serial.println("15 Hz"); break; 98 | case HMC5883L_DATARATE_30HZ: Serial.println("30 Hz"); break; 99 | case HMC5883L_DATARATE_75HZ: Serial.println("75 Hz"); break; 100 | default: Serial.println("Bad data rate!"); 101 | } 102 | 103 | Serial.print("Selected number of samples: "); 104 | switch (compass.getSamples()) 105 | { 106 | case HMC5883L_SAMPLES_1: Serial.println("1"); break; 107 | case HMC5883L_SAMPLES_2: Serial.println("2"); break; 108 | case HMC5883L_SAMPLES_4: Serial.println("4"); break; 109 | case HMC5883L_SAMPLES_8: Serial.println("8"); break; 110 | default: Serial.println("Bad number of samples!"); 111 | } 112 | 113 | } 114 | 115 | void loop() 116 | { 117 | Vector raw = compass.readRaw(); 118 | Vector norm = compass.readNormalize(); 119 | 120 | Serial.print(" Xraw = "); 121 | Serial.print(raw.XAxis); 122 | Serial.print(" Yraw = "); 123 | Serial.print(raw.YAxis); 124 | Serial.print(" Zraw = "); 125 | Serial.print(raw.ZAxis); 126 | Serial.print(" Xnorm = "); 127 | Serial.print(norm.XAxis); 128 | Serial.print(" Ynorm = "); 129 | Serial.print(norm.YAxis); 130 | Serial.print(" ZNorm = "); 131 | Serial.print(norm.ZAxis); 132 | Serial.println(); 133 | 134 | delay(100); 135 | } 136 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | {one line to give the program's name and a brief idea of what it does.} 635 | Copyright (C) {year} {name of author} 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | {project} Copyright (C) {year} {fullname} 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /Processing/HMC5883L_calibrate_processing/HMC5883L_calibrate_processing.pde: -------------------------------------------------------------------------------- 1 | /* 2 | HMC5883L Triple Axis Digital Compass. 3 | Processing for HMC5883L_calibrate.ino 4 | Processing for HMC5883L_calibrate_MPU6050.ino 5 | Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html 6 | GIT: https://github.com/jarzebski/Arduino-HMC5883L 7 | Web: http://www.jarzebski.pl 8 | (c) 2014 by Korneliusz Jarzebski 9 | */ 10 | 11 | import processing.serial.*; 12 | 13 | Serial myPort; 14 | 15 | // Data samples 16 | float x = 0; 17 | float y = 0; 18 | 19 | float minX = 0; 20 | float maxX = 0; 21 | float minY = 0; 22 | float maxY = 0; 23 | float offX = 0; 24 | float offY = 0; 25 | 26 | void setup () 27 | { 28 | size(500, 500, P2D); 29 | background(0); 30 | stroke(255); 31 | 32 | strokeWeight(2); 33 | 34 | line(250, 0, 250, 500); 35 | line(0, 250, 500, 250); 36 | 37 | strokeWeight(3); 38 | textSize(12); 39 | 40 | myPort = new Serial(this, Serial.list()[0], 9600); 41 | myPort.bufferUntil(10); 42 | } 43 | 44 | void draw() 45 | { 46 | strokeWeight(0); 47 | fill(0); // Set fill to white 48 | rect(0, 0, 240, 50); 49 | 50 | strokeWeight(2); 51 | fill(255); // Set fill to white 52 | text(minX+" "+maxX+" = "+offX, 10, 20); 53 | text(minY+" "+maxY+" = "+offY, 10, 35); 54 | point((x*0.5)+250, (y*0.5)+250); 55 | } 56 | 57 | void serialEvent (Serial myPort) 58 | { 59 | String inString = myPort.readStringUntil(10); 60 | 61 | if (inString != null) 62 | { 63 | inString = trim(inString); 64 | String[] list = split(inString, ':'); 65 | String testString = trim(list[0]); 66 | 67 | if (list.length != 8) return; 68 | 69 | x = (float(list[0])); 70 | y = (float(list[1])); 71 | minX = (float(list[2])); 72 | maxX = (float(list[3])); 73 | minY = (float(list[4])); 74 | maxY = (float(list[5])); 75 | offX = (float(list[6])); 76 | offY = (float(list[7])); 77 | } 78 | } 79 | -------------------------------------------------------------------------------- /Processing/HMC5883L_calibrate_processing/artificialHorizon.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jarzebski/Arduino-HMC5883L/c7b8d83d944db7be708f246e90d7fbaae9196a45/Processing/HMC5883L_calibrate_processing/artificialHorizon.png -------------------------------------------------------------------------------- /Processing/HMC5883L_calibrate_processing/artificialHorizonRing.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jarzebski/Arduino-HMC5883L/c7b8d83d944db7be708f246e90d7fbaae9196a45/Processing/HMC5883L_calibrate_processing/artificialHorizonRing.png -------------------------------------------------------------------------------- /Processing/HMC5883L_compensation_processing/HMC5883L_compensation_processing.pde: -------------------------------------------------------------------------------- 1 | /* 2 | HMC5883L Triple Axis Digital Compass. 3 | Processing for HMC5883L_compensation_MPU6050.ino 4 | Processing for HMC5883L_compensation_ADXL345.ino 5 | Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html 6 | GIT: https://github.com/jarzebski/Arduino-HMC5883L 7 | Web: http://www.jarzebski.pl 8 | (c) 2014 by Korneliusz Jarzebski 9 | */ 10 | 11 | import processing.serial.*; 12 | 13 | Serial myPort; 14 | 15 | // Data samples 16 | int actualSample = 0; 17 | int maxSamples = 500; 18 | int sampleStep = 1; 19 | boolean hasData = false; 20 | 21 | // Charts 22 | PGraphics pgChart; 23 | int[] colors = { #ff4444, #33ff99 }; 24 | String[] headingSeries = { "Normal", "Compensated"}; 25 | 26 | // Data for compare 27 | float[][] headingValues = new float[2][maxSamples]; 28 | 29 | // Artificial Horizon 30 | PGraphics pgCompassPlate; 31 | PImage imgCompass; 32 | PImage imgCompassRing; 33 | PImage imgCompassPlateWhite; 34 | PImage imgCompassPlateBlack; 35 | int compassWidth; 36 | int compassHeight; 37 | 38 | void setup () 39 | { 40 | size(570, 550, P2D); 41 | background(0); 42 | 43 | // Init 44 | initCompass(); 45 | 46 | // Serial 47 | myPort = new Serial(this, Serial.list()[0], 9600); 48 | myPort.bufferUntil(10); 49 | } 50 | 51 | void drawChart(String title, String[] series, float[][] chart, int x, int y, int h, boolean symmetric, boolean fixed, int fixedMin, int fixedMax, int hlines) 52 | { 53 | int actualColor = 0; 54 | 55 | int maxA = 0; 56 | int maxB = 0; 57 | int maxAB = 0; 58 | 59 | int min = 0; 60 | int max = 0; 61 | int step = 0; 62 | int divide = 0; 63 | 64 | if (fixed) 65 | { 66 | min = fixedMin; 67 | max = fixedMax; 68 | step = hlines; 69 | } else 70 | { 71 | if (hlines > 2) 72 | { 73 | divide = (hlines - 2); 74 | } else 75 | { 76 | divide = 1; 77 | } 78 | 79 | if (symmetric) 80 | { 81 | maxA = (int)abs(getMin(chart)); 82 | maxB = (int)abs(getMax(chart)); 83 | maxAB = max(maxA, maxB); 84 | step = (maxAB * 2) / divide; 85 | min = -maxAB-step; 86 | max = maxAB+step; 87 | } else 88 | { 89 | min = (int)(getMin(chart)); 90 | max = (int)(getMax(chart)); 91 | 92 | if ((max >= 0) && (min <= 0)) step = (abs(min) + abs(max)) / divide; 93 | if ((max < 0) && (min < 0)) step = abs(min - max) / divide; 94 | if ((max > 0) && (min > 0)) step = (max - min) / divide; 95 | 96 | if (divide > 1) 97 | { 98 | min -= step; 99 | max += step; 100 | } 101 | } 102 | } 103 | 104 | pgChart = createGraphics((maxSamples*sampleStep)+50, h+60); 105 | 106 | pgChart.beginDraw(); 107 | 108 | // Draw chart area and title 109 | pgChart.background(0); 110 | pgChart.strokeWeight(1); 111 | pgChart.noFill(); 112 | pgChart.stroke(50); 113 | pgChart.rect(0, 0, (maxSamples*sampleStep)+49, h+59); 114 | pgChart.text(title, ((maxSamples*sampleStep)/2)-(textWidth(title)/2)+40, 20); 115 | 116 | // Draw chart description 117 | String Description[] = new String[chart.length]; 118 | int DescriptionWidth[] = new int[chart.length]; 119 | int DesctiptionTotalWidth = 0; 120 | int DescriptionOffset = 0; 121 | 122 | for (int j = 0; j < chart.length; j++) 123 | { 124 | Description[j] = " "+series[j]+" = "; 125 | DescriptionWidth[j] += textWidth(Description[j]+"+0000.00"); 126 | Description[j] += nf(chart[j][actualSample-1], 0, 2)+" "; 127 | DesctiptionTotalWidth += DescriptionWidth[j]; 128 | } 129 | 130 | actualColor = 0; 131 | 132 | for (int j = 0; j < chart.length; j++) 133 | { 134 | pgChart.fill(colors[actualColor]); 135 | pgChart.text(Description[j], ((maxSamples*sampleStep)/2)-(DesctiptionTotalWidth/2)+DescriptionOffset+40, h+50); 136 | DescriptionOffset += DescriptionWidth[j]; 137 | actualColor++; 138 | if (actualColor >= colors.length) actualColor = 0; 139 | } 140 | 141 | // Draw H-Lines 142 | pgChart.stroke(100); 143 | 144 | for (float t = min; t <= max; t=t+step) 145 | { 146 | float line = map(t, min, max, 0, h); 147 | pgChart.line(40, h-line+30, (maxSamples*sampleStep)+40, h-line+30); 148 | pgChart.fill(200, 200, 200); 149 | pgChart.textSize(12); 150 | pgChart.text(int(t), 5, h-line+34); 151 | } 152 | 153 | // Draw data series 154 | pgChart.strokeWeight(2); 155 | 156 | for (int i = 1; i < actualSample; i++) 157 | { 158 | actualColor = 0; 159 | 160 | for (int j = 0; j < chart.length; j++) 161 | { 162 | pgChart.stroke(colors[actualColor]); 163 | 164 | float d0 = chart[j][i-1]; 165 | float d1 = chart[j][i]; 166 | 167 | if (d0 < min) d0 = min; 168 | if (d0 > max) d0 = max; 169 | if (d1 < min) d1 = min; 170 | if (d1 > max) d1 = max; 171 | 172 | float v0 = map(d0, min, max, 0, h); 173 | float v1 = map(d1, min, max, 0, h); 174 | 175 | pgChart.line(((i-1)*sampleStep)+40, h-v0+30, (i*sampleStep)+40, h-v1+30); 176 | 177 | actualColor++; 178 | 179 | if (actualColor >= colors.length) actualColor = 0; 180 | } 181 | } 182 | 183 | pgChart.endDraw(); 184 | 185 | image(pgChart, x, y); 186 | } 187 | 188 | void initCompass() 189 | { 190 | imgCompass = loadImage("compass.png"); 191 | imgCompassRing = loadImage("compassRing.png"); 192 | imgCompassPlateWhite = loadImage("compassPlateWhite.png"); 193 | imgCompassPlateBlack = loadImage("compassPlateBlack.png"); 194 | compassWidth = imgCompass.width; 195 | compassHeight = imgCompass.height; 196 | } 197 | 198 | void drawCompass(int x, int y, float[] head, PImage plate) 199 | { 200 | pgCompassPlate = createGraphics(compassWidth, compassWidth); 201 | 202 | float heading = head[actualSample-1]; 203 | float north = 180 + heading; 204 | 205 | pgCompassPlate.beginDraw(); 206 | pgCompassPlate.clear(); 207 | pgCompassPlate.translate(100,100); 208 | pgCompassPlate.rotate(-radians(heading)); 209 | pgCompassPlate.image(plate, -100, -100); 210 | pgCompassPlate.endDraw(); 211 | 212 | image(pgCompassPlate, x+30, y+30); 213 | image(imgCompass, x, y); 214 | image(imgCompassRing, x, y); 215 | 216 | textAlign(CENTER); 217 | text((int)heading+" deg", x+130, y+265); 218 | textAlign(LEFT); 219 | } 220 | 221 | void draw() 222 | { 223 | if (!hasData) return; 224 | 225 | background(0); 226 | 227 | drawChart("Heading [deg]", headingSeries, headingValues, 10, 280, 200, true, true, 0, 360, 30); 228 | drawCompass(10, 5, headingValues[0], imgCompassPlateWhite); 229 | drawCompass(295, 5, headingValues[1], imgCompassPlateWhite); 230 | } 231 | 232 | float getMin(float[][] chart) 233 | { 234 | float minValue = 0; 235 | float[] testValues = new float[chart.length]; 236 | float testMin = 0; 237 | 238 | for (int i = 0; i < actualSample; i++) 239 | { 240 | for (int j = 0; j < testValues.length; j++) 241 | { 242 | testValues[j] = chart[j][i]; 243 | } 244 | 245 | testMin = min(testValues); 246 | 247 | if (i == 0) 248 | { 249 | minValue = testMin; 250 | } else 251 | { 252 | if (minValue > testMin) minValue = testMin; 253 | } 254 | } 255 | 256 | return ceil(minValue)-1; 257 | } 258 | 259 | float getMax(float[][] chart) 260 | { 261 | float maxValue = 0; 262 | float[] testValues = new float[chart.length]; 263 | float testMax = 0; 264 | 265 | for (int i = 0; i < actualSample; i++) 266 | { 267 | for (int j = 0; j < testValues.length; j++) 268 | { 269 | testValues[j] = chart[j][i]; 270 | } 271 | 272 | testMax = max(testValues); 273 | 274 | if (i == 0) 275 | { 276 | maxValue = testMax; 277 | } else 278 | { 279 | if (maxValue < testMax) maxValue = testMax; 280 | } 281 | } 282 | 283 | return ceil(maxValue); 284 | } 285 | 286 | void nextSample(float[][] chart) 287 | { 288 | for (int j = 0; j < chart.length; j++) 289 | { 290 | float last = chart[j][maxSamples-1]; 291 | 292 | for (int i = 1; i < maxSamples; i++) 293 | { 294 | chart[j][i-1] = chart[j][i]; 295 | } 296 | 297 | chart[j][(maxSamples-1)] = last; 298 | } 299 | } 300 | 301 | void serialEvent (Serial myPort) 302 | { 303 | String inString = myPort.readStringUntil(10); 304 | 305 | if (inString != null) 306 | { 307 | inString = trim(inString); 308 | String[] list = split(inString, ':'); 309 | String testString = trim(list[0]); 310 | 311 | if (list.length != 2) return; 312 | 313 | // Headings 314 | headingValues[0][actualSample] = (float(list[0])); 315 | headingValues[1][actualSample] = (float(list[1])); 316 | 317 | if (actualSample > 1) 318 | { 319 | hasData = true; 320 | } 321 | 322 | if (actualSample == (maxSamples-1)) 323 | { 324 | nextSample(headingValues); 325 | } else 326 | { 327 | actualSample++; 328 | } 329 | } 330 | } 331 | -------------------------------------------------------------------------------- /Processing/HMC5883L_compensation_processing/compass.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jarzebski/Arduino-HMC5883L/c7b8d83d944db7be708f246e90d7fbaae9196a45/Processing/HMC5883L_compensation_processing/compass.png -------------------------------------------------------------------------------- /Processing/HMC5883L_compensation_processing/compassPlateBlack.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jarzebski/Arduino-HMC5883L/c7b8d83d944db7be708f246e90d7fbaae9196a45/Processing/HMC5883L_compensation_processing/compassPlateBlack.png -------------------------------------------------------------------------------- /Processing/HMC5883L_compensation_processing/compassPlateWhite.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jarzebski/Arduino-HMC5883L/c7b8d83d944db7be708f246e90d7fbaae9196a45/Processing/HMC5883L_compensation_processing/compassPlateWhite.png -------------------------------------------------------------------------------- /Processing/HMC5883L_compensation_processing/compassRing.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jarzebski/Arduino-HMC5883L/c7b8d83d944db7be708f246e90d7fbaae9196a45/Processing/HMC5883L_compensation_processing/compassRing.png -------------------------------------------------------------------------------- /Processing/HMC5883L_processing/HMC5883L_processing.pde: -------------------------------------------------------------------------------- 1 | /* 2 | HMC5883L Triple Axis Digital Compass. 3 | Processing for HMC5883L_processing.ino 4 | Processing for HMC5883L_processing_MPU6050.ino 5 | Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html 6 | GIT: https://github.com/jarzebski/Arduino-HMC5883L 7 | Web: http://www.jarzebski.pl 8 | (c) 2014 by Korneliusz Jarzebski 9 | */ 10 | 11 | import processing.serial.*; 12 | 13 | Serial myPort; 14 | 15 | // Data samples 16 | int actualSample = 0; 17 | int maxSamples = 400; 18 | int sampleStep = 1; 19 | boolean hasData = false; 20 | 21 | // Charts 22 | PGraphics pgChart; 23 | int[] colors = { #ff4444, #33ff99, #5588ff }; 24 | String[] magneticSeries = { "XAxis", "YAxis", "ZAxis" }; 25 | String[] headingSeries = { "Normal", "Fixed", "Smooth" }; 26 | 27 | // Data for compare 28 | float[][] magneticValues = new float[3][maxSamples]; 29 | float[][] headingValues = new float[3][maxSamples]; 30 | 31 | // Artificial Horizon 32 | PGraphics pgCompassPlate; 33 | PImage imgCompass; 34 | PImage imgCompassRing; 35 | PImage imgCompassPlateWhite; 36 | PImage imgCompassPlateBlack; 37 | int compassWidth; 38 | int compassHeight; 39 | 40 | void setup () 41 | { 42 | size(755, 550, P2D); 43 | background(0); 44 | 45 | // Init 46 | initCompass(); 47 | 48 | // List all the available serial ports: 49 | printArray(args); 50 | printArray(Serial.list()); 51 | // Serial 52 | myPort = new Serial(this, Serial.list()[4], 9600); 53 | myPort.bufferUntil(10); 54 | } 55 | 56 | void drawChart(String title, String[] series, float[][] chart, int x, int y, int h, boolean symmetric, boolean fixed, int fixedMin, int fixedMax, int hlines) 57 | { 58 | int actualColor = 0; 59 | 60 | int maxA = 0; 61 | int maxB = 0; 62 | int maxAB = 0; 63 | 64 | int min = 0; 65 | int max = 0; 66 | int step = 0; 67 | int divide = 0; 68 | 69 | if (fixed) 70 | { 71 | min = fixedMin; 72 | max = fixedMax; 73 | step = hlines; 74 | } else 75 | { 76 | if (hlines > 2) 77 | { 78 | divide = (hlines - 2); 79 | } else 80 | { 81 | divide = 1; 82 | } 83 | 84 | if (symmetric) 85 | { 86 | maxA = (int)abs(getMin(chart)); 87 | maxB = (int)abs(getMax(chart)); 88 | maxAB = max(maxA, maxB); 89 | step = (maxAB * 2) / divide; 90 | min = -maxAB-step; 91 | max = maxAB+step; 92 | } else 93 | { 94 | min = (int)(getMin(chart)); 95 | max = (int)(getMax(chart)); 96 | 97 | if ((max >= 0) && (min <= 0)) step = (abs(min) + abs(max)) / divide; 98 | if ((max < 0) && (min < 0)) step = abs(min - max) / divide; 99 | if ((max > 0) && (min > 0)) step = (max - min) / divide; 100 | 101 | if (divide > 1) 102 | { 103 | min -= step; 104 | max += step; 105 | } 106 | } 107 | } 108 | 109 | pgChart = createGraphics((maxSamples*sampleStep)+50, h+60); 110 | 111 | pgChart.beginDraw(); 112 | 113 | // Draw chart area and title 114 | pgChart.background(0); 115 | pgChart.strokeWeight(1); 116 | pgChart.noFill(); 117 | pgChart.stroke(50); 118 | pgChart.rect(0, 0, (maxSamples*sampleStep)+49, h+59); 119 | pgChart.text(title, ((maxSamples*sampleStep)/2)-(textWidth(title)/2)+40, 20); 120 | 121 | // Draw chart description 122 | String Description[] = new String[chart.length]; 123 | int DescriptionWidth[] = new int[chart.length]; 124 | int DesctiptionTotalWidth = 0; 125 | int DescriptionOffset = 0; 126 | 127 | for (int j = 0; j < chart.length; j++) 128 | { 129 | Description[j] = " "+series[j]+" = "; 130 | DescriptionWidth[j] += textWidth(Description[j]+"+0000.00"); 131 | Description[j] += nf(chart[j][actualSample-1], 0, 2)+" "; 132 | DesctiptionTotalWidth += DescriptionWidth[j]; 133 | } 134 | 135 | actualColor = 0; 136 | 137 | for (int j = 0; j < chart.length; j++) 138 | { 139 | pgChart.fill(colors[actualColor]); 140 | pgChart.text(Description[j], ((maxSamples*sampleStep)/2)-(DesctiptionTotalWidth/2)+DescriptionOffset+40, h+50); 141 | DescriptionOffset += DescriptionWidth[j]; 142 | actualColor++; 143 | if (actualColor >= colors.length) actualColor = 0; 144 | } 145 | 146 | // Draw H-Lines 147 | pgChart.stroke(100); 148 | 149 | for (float t = min; t <= max; t=t+step) 150 | { 151 | float line = map(t, min, max, 0, h); 152 | pgChart.line(40, h-line+30, (maxSamples*sampleStep)+40, h-line+30); 153 | pgChart.fill(200, 200, 200); 154 | pgChart.textSize(12); 155 | pgChart.text(int(t), 5, h-line+34); 156 | } 157 | 158 | // Draw data series 159 | pgChart.strokeWeight(2); 160 | 161 | for (int i = 1; i < actualSample; i++) 162 | { 163 | actualColor = 0; 164 | 165 | for (int j = 0; j < chart.length; j++) 166 | { 167 | pgChart.stroke(colors[actualColor]); 168 | 169 | float d0 = chart[j][i-1]; 170 | float d1 = chart[j][i]; 171 | 172 | if (d0 < min) d0 = min; 173 | if (d0 > max) d0 = max; 174 | if (d1 < min) d1 = min; 175 | if (d1 > max) d1 = max; 176 | 177 | float v0 = map(d0, min, max, 0, h); 178 | float v1 = map(d1, min, max, 0, h); 179 | 180 | pgChart.line(((i-1)*sampleStep)+40, h-v0+30, (i*sampleStep)+40, h-v1+30); 181 | 182 | actualColor++; 183 | 184 | if (actualColor >= colors.length) actualColor = 0; 185 | } 186 | } 187 | 188 | pgChart.endDraw(); 189 | 190 | image(pgChart, x, y); 191 | } 192 | 193 | void initCompass() 194 | { 195 | imgCompass = loadImage("compass.png"); 196 | imgCompassRing = loadImage("compassRing.png"); 197 | imgCompassPlateWhite = loadImage("compassPlateWhite.png"); 198 | imgCompassPlateBlack = loadImage("compassPlateBlack.png"); 199 | compassWidth = imgCompass.width; 200 | compassHeight = imgCompass.height; 201 | } 202 | 203 | void drawCompass(int x, int y, float[][] head, PImage plate) 204 | { 205 | pgCompassPlate = createGraphics(compassWidth, compassWidth); 206 | 207 | float heading = head[2][actualSample-1]; 208 | float north = 180 + heading; 209 | 210 | pgCompassPlate.beginDraw(); 211 | pgCompassPlate.clear(); 212 | pgCompassPlate.translate(100,100); 213 | pgCompassPlate.rotate(-radians(heading)); 214 | pgCompassPlate.image(plate, -100, -100); 215 | pgCompassPlate.endDraw(); 216 | 217 | image(pgCompassPlate, x+30, y+30); 218 | image(imgCompass, x, y); 219 | image(imgCompassRing, x, y); 220 | 221 | textAlign(CENTER); 222 | text((int)heading+" deg", x+130, y+265); 223 | textAlign(LEFT); 224 | } 225 | 226 | void draw() 227 | { 228 | if (!hasData) return; 229 | 230 | background(0); 231 | 232 | drawChart("Magnetic field [mG]", magneticSeries, magneticValues, 10, 10, 200, false, false, 0, 0, 10); 233 | drawChart("Heading [deg]", headingSeries, headingValues, 10, 280, 200, true, true, 0, 360, 30); 234 | drawCompass(480, 5, headingValues, imgCompassPlateWhite); 235 | drawCompass(480, 275, headingValues, imgCompassPlateBlack); 236 | 237 | } 238 | 239 | float getMin(float[][] chart) 240 | { 241 | float minValue = 0; 242 | float[] testValues = new float[chart.length]; 243 | float testMin = 0; 244 | 245 | for (int i = 0; i < actualSample; i++) 246 | { 247 | for (int j = 0; j < testValues.length; j++) 248 | { 249 | testValues[j] = chart[j][i]; 250 | } 251 | 252 | testMin = min(testValues); 253 | 254 | if (i == 0) 255 | { 256 | minValue = testMin; 257 | } else 258 | { 259 | if (minValue > testMin) minValue = testMin; 260 | } 261 | } 262 | 263 | return ceil(minValue)-1; 264 | } 265 | 266 | float getMax(float[][] chart) 267 | { 268 | float maxValue = 0; 269 | float[] testValues = new float[chart.length]; 270 | float testMax = 0; 271 | 272 | for (int i = 0; i < actualSample; i++) 273 | { 274 | for (int j = 0; j < testValues.length; j++) 275 | { 276 | testValues[j] = chart[j][i]; 277 | } 278 | 279 | testMax = max(testValues); 280 | 281 | if (i == 0) 282 | { 283 | maxValue = testMax; 284 | } else 285 | { 286 | if (maxValue < testMax) maxValue = testMax; 287 | } 288 | } 289 | 290 | return ceil(maxValue); 291 | } 292 | 293 | void nextSample(float[][] chart) 294 | { 295 | for (int j = 0; j < chart.length; j++) 296 | { 297 | float last = chart[j][maxSamples-1]; 298 | 299 | for (int i = 1; i < maxSamples; i++) 300 | { 301 | chart[j][i-1] = chart[j][i]; 302 | } 303 | 304 | chart[j][(maxSamples-1)] = last; 305 | } 306 | } 307 | 308 | void serialEvent (Serial myPort) 309 | { 310 | String inString = myPort.readStringUntil(10); 311 | 312 | if (inString != null) 313 | { 314 | inString = trim(inString); 315 | String[] list = split(inString, ':'); 316 | String testString = trim(list[0]); 317 | 318 | if (list.length != 6) return; 319 | 320 | // Magnetic field 321 | magneticValues[0][actualSample] = (float(list[0])); 322 | magneticValues[1][actualSample] = (float(list[1])); 323 | magneticValues[2][actualSample] = (float(list[2])); 324 | 325 | // Headings 326 | headingValues[0][actualSample] = (float(list[3])); 327 | headingValues[1][actualSample] = (float(list[4])); 328 | headingValues[2][actualSample] = (float(list[5])); 329 | 330 | if (actualSample > 1) 331 | { 332 | hasData = true; 333 | } 334 | 335 | if (actualSample == (maxSamples-1)) 336 | { 337 | nextSample(magneticValues); 338 | nextSample(headingValues); 339 | } else 340 | { 341 | actualSample++; 342 | } 343 | } 344 | } 345 | -------------------------------------------------------------------------------- /Processing/HMC5883L_processing/compass.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jarzebski/Arduino-HMC5883L/c7b8d83d944db7be708f246e90d7fbaae9196a45/Processing/HMC5883L_processing/compass.png -------------------------------------------------------------------------------- /Processing/HMC5883L_processing/compassPlateBlack.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jarzebski/Arduino-HMC5883L/c7b8d83d944db7be708f246e90d7fbaae9196a45/Processing/HMC5883L_processing/compassPlateBlack.png -------------------------------------------------------------------------------- /Processing/HMC5883L_processing/compassPlateWhite.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jarzebski/Arduino-HMC5883L/c7b8d83d944db7be708f246e90d7fbaae9196a45/Processing/HMC5883L_processing/compassPlateWhite.png -------------------------------------------------------------------------------- /Processing/HMC5883L_processing/compassRing.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/jarzebski/Arduino-HMC5883L/c7b8d83d944db7be708f246e90d7fbaae9196a45/Processing/HMC5883L_processing/compassRing.png -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | Arduino-HMC5883L 2 | ================ 3 | 4 | HMC5883L Triple Axis Digital Compass Arduino Library 5 | 6 | ![HMC5883L Processing](http://www.jarzebski.pl/media/big/publish/2014/01/hmc5883l-processing.png "HMC5883L Processing") 7 | 8 | Tutorials: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html 9 | 10 | YouTube: http://www.youtube.com/watch?v=zG3uzQW3wc0 11 | 12 | This library use I2C to communicate, 2 pins are required to interface. 13 | -------------------------------------------------------------------------------- /keywords.txt: -------------------------------------------------------------------------------- 1 | ########################################### 2 | # Syntax Coloring Map For HMC5883L 3 | ########################################### 4 | 5 | ########################################### 6 | # Datatypes (KEYWORD1) 7 | ########################################### 8 | 9 | HMC5883L KEYWORD1 10 | Vector KEYWORD1 11 | 12 | ########################################### 13 | # Methods and Functions (KEYWORD2) 14 | ########################################### 15 | begin KEYWORD2 16 | readRaw KEYWORD2 17 | readNormalize KEYWORD2 18 | setRange KEYWORD2 19 | getRange KEYWORD2 20 | setMeasurementMode KEYWORD2 21 | getMeasurementMode KEYWORD2 22 | setDataRate KEYWORD2 23 | getDataRate KEYWORD2 24 | setSamples KEYWORD2 25 | getSamples KEYWORD2 26 | selfTest KEYWORD2 27 | ########################################### 28 | # Constants (LITERAL1) 29 | ########################################### 30 | -------------------------------------------------------------------------------- /library.json: -------------------------------------------------------------------------------- 1 | { 2 | "name": "Arduino-HMC5883L", 3 | "keywords": "HMC5883L, sensor, magnetometer, i2c, wire", 4 | "description": "Arduino library for HMC5883L magnetometer", 5 | "repository": { 6 | "type": "git", 7 | "url": "https://github.com/jarzebski/Arduino-HMC5883L" 8 | }, 9 | "authors": { 10 | "name": "Korneliusz Jarzębski", 11 | "url": "http://www.jarzebski.pl/" 12 | }, 13 | "version": "1.1.0", 14 | "frameworks": "arduino", 15 | "platforms": "*" 16 | } 17 | --------------------------------------------------------------------------------