Fichier test Magneto avec Arduino

Soft/TestMagneto/Calib/Calib.ino

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+/*
+  Calibrate HMC5883L + MPU6050 (GY-86 / GY-87). Output for HMC5883L_calibrate_processing.pde
+  Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html
+  GIT: https://github.com/jarzebski/Arduino-HMC5883L
+  Web: http://www.jarzebski.pl
+  (c) 2014 by Korneliusz Jarzebski
+*/
+
+#include <Wire.h>
+#include <HMC5883L.h>
+#include <MPU6050.h>
+
+HMC5883L compass;
+MPU6050 mpu;
+
+int minX = 0;
+int maxX = 0;
+int minY = 0;
+int maxY = 0;
+int offX = 0;
+int offY = 0;
+
+void setup()
+{
+  Serial.begin(9600);
+
+  // Initialize MPU6050
+  while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
+  {
+    delay(500);
+  }
+
+  // Enable bypass mode
+  mpu.setI2CMasterModeEnabled(false);
+  mpu.setI2CBypassEnabled(true);
+  mpu.setSleepEnabled(false);
+
+  // Initialize Initialize HMC5883L
+  while (!compass.begin())
+  {
+    delay(500);
+  }
+
+  // Set measurement range
+  compass.setRange(HMC5883L_RANGE_1_3GA);
+
+  // Set measurement mode
+  compass.setMeasurementMode(HMC5883L_CONTINOUS);
+
+  // Set data rate
+  compass.setDataRate(HMC5883L_DATARATE_30HZ);
+
+  // Set number of samples averaged
+  compass.setSamples(HMC5883L_SAMPLES_8);
+}
+
+void loop()
+{
+  Vector mag = compass.readRaw();
+
+  // Determine Min / Max values
+  if (mag.XAxis < minX) minX = mag.XAxis;
+  if (mag.XAxis > maxX) maxX = mag.XAxis;
+  if (mag.YAxis < minY) minY = mag.YAxis;
+  if (mag.YAxis > maxY) maxY = mag.YAxis;
+
+  // Calculate offsets
+  offX = (maxX + minX)/2;
+  offY = (maxY + minY)/2;
+
+  Serial.print(mag.XAxis);
+  Serial.print(":");
+  Serial.print(mag.YAxis);
+  Serial.print(":");
+  Serial.print(minX);
+  Serial.print(":");
+  Serial.print(maxX);
+  Serial.print(":");
+  Serial.print(minY);
+  Serial.print(":");
+  Serial.print(maxY);
+  Serial.print(":");
+  Serial.print(offX);
+  Serial.print(":");
+  Serial.print(offY);
+  Serial.print("\n");
+}

Soft/TestMagneto/Processing/Processing.ino

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+/*
+  HMC5883L Triple Axis Digital Compass. Output for HMC5883L_processing.pde
+  Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html
+  GIT: https://github.com/jarzebski/Arduino-HMC5883L
+  Web: http://www.jarzebski.pl
+  (c) 2014 by Korneliusz Jarzebski
+*/
+
+#include <Wire.h>
+#include <HMC5883L.h>
+
+HMC5883L compass;
+
+int previousDegree;
+
+void setup()
+{
+  Serial.begin(9600);
+
+  // Initialize HMC5883L
+  while (!compass.begin())
+  {
+    delay(500);
+  }
+
+  // Set measurement range
+  compass.setRange(HMC5883L_RANGE_1_3GA);
+
+  // Set measurement mode
+  compass.setMeasurementMode(HMC5883L_CONTINOUS);
+
+  // Set data rate
+  compass.setDataRate(HMC5883L_DATARATE_30HZ);
+
+  // Set number of samples averaged
+  compass.setSamples(HMC5883L_SAMPLES_8);
+
+  // Set calibration offset. See HMC5883L_calibration.ino
+  compass.setOffset(0, 0); 
+}
+
+void loop()
+{
+  long x = micros();
+  Vector norm = compass.readNormalize();
+
+  // Calculate heading
+  float heading = atan2(norm.YAxis, norm.XAxis);
+
+  // Set declination angle on your location and fix heading
+  // You can find your declination on: http://magnetic-declination.com/
+  // (+) Positive or (-) for negative
+  // For Bytom / Poland declination angle is 4'26E (positive)
+  // Formula: (deg + (min / 60.0)) / (180 / M_PI);
+  float declinationAngle = (2.0 + (28.0 / 60.0)) / (180 / M_PI);
+  heading += declinationAngle;
+
+  // Correct for heading < 0deg and heading > 360deg
+  if (heading < 0)
+  {
+    heading += 2 * PI;
+  }
+ 
+  if (heading > 2 * PI)
+  {
+    heading -= 2 * PI;
+  }
+
+  // Convert to degrees
+  float headingDegrees = heading * 180/M_PI; 
+
+  // Fix HMC5883L issue with angles
+  float fixedHeadingDegrees;
+ 
+  if (headingDegrees >= 1 && headingDegrees < 240)
+  {
+    fixedHeadingDegrees = map(headingDegrees, 0, 239, 0, 179);
+  } else
+  if (headingDegrees >= 240)
+  {
+    fixedHeadingDegrees = map(headingDegrees, 240, 360, 180, 360);
+  }
+
+  // Smooth angles rotation for +/- 3deg
+  int smoothHeadingDegrees = round(fixedHeadingDegrees);
+
+  if (smoothHeadingDegrees < (previousDegree + 3) && smoothHeadingDegrees > (previousDegree - 3))
+  {
+    smoothHeadingDegrees = previousDegree;
+  }
+  
+  previousDegree = smoothHeadingDegrees;
+
+  // Output
+  Serial.print(norm.XAxis);
+  Serial.print(":");
+  Serial.print(norm.YAxis);
+  Serial.print(":");
+  Serial.print(norm.ZAxis);
+  Serial.print(":");
+  Serial.print(headingDegrees);
+  Serial.print(":");
+  Serial.print(fixedHeadingDegrees);
+  Serial.print(":");
+  Serial.print(smoothHeadingDegrees);  
+  Serial.println();
+
+  // One loop: ~5ms @ 115200 serial.
+  // We need delay ~28ms for allow data rate 30Hz (~33ms)
+  delay(30);
+}

Soft/TestMagneto/README.txt

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+Librairie https://github.com/jarzebski/Arduino-HMC5883L pas gerer en bibliotheque