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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1993 | - | 1 | /* |
| 2 | HMC5843_basic.pde - Basic reading example for the HMC5843 library |
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| 3 | Copyright (C) 2011 Fabio Varesano <fabio at varesano dot net> |
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| 4 | |||
| 5 | |||
| 6 | This program is free software: you can redistribute it and/or modify |
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| 7 | it under the terms of the version 3 GNU General Public License as |
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| 8 | published by the Free Software Foundation. |
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| 9 | |||
| 10 | This program is distributed in the hope that it will be useful, |
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| 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of |
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| 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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| 13 | GNU General Public License for more details. |
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| 14 | |||
| 15 | You should have received a copy of the GNU General Public License |
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| 16 | along with this program. If not, see <http://www.gnu.org/licenses/>. |
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| 17 | |||
| 18 | */ |
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| 19 | |||
| 20 | #include <Wire.h> |
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| 21 | #include <HMC58X3.h> |
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| 22 | |||
| 23 | HMC58X3 magn; |
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| 24 | |||
| 25 | void setup(void) { |
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| 26 | Serial.begin(9600); |
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| 27 | Wire.begin(); |
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| 28 | |||
| 29 | // no delay needed as we have already a delay(5) in HMC5843::init() |
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| 30 | magn.init(false); // Dont set mode yet, we'll do that later on. |
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| 31 | // Calibrate HMC using self test, not recommended to change the gain after calibration. |
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| 32 | magn.calibrate(1); // Use gain 1=default, valid 0-7, 7 not recommended. |
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| 33 | // Single mode conversion was used in calibration, now set continuous mode |
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| 34 | magn.setMode(0); |
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| 35 | } |
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| 36 | |||
| 37 | void loop() { |
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| 38 | int ix,iy,iz; |
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| 39 | float fx,fy,fz; |
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| 40 | delay(10); |
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| 41 | // Get values, as ints and floats. |
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| 42 | magn.getValues(&ix,&iy,&iz); |
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| 43 | magn.getValues(&fx,&fy,&fz); |
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| 44 | // also available HMC5843::getValues(float *xyz) you can pass to it an array of 3 floats |
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| 45 | |||
| 46 | // Print int values |
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| 47 | Serial.print("Ints x:"); |
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| 48 | Serial.print(ix); |
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| 49 | Serial.print(","); |
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| 50 | Serial.print(iy); |
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| 51 | Serial.print(","); |
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| 52 | Serial.print(iz); |
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| 53 | Serial.print(","); |
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| 54 | |||
| 55 | // Print float values |
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| 56 | Serial.print(" Floats x:"); |
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| 57 | Serial.print(fx); |
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| 58 | Serial.print(" y:"); |
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| 59 | Serial.print(fy); |
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| 60 | Serial.print(" z:"); |
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| 61 | Serial.print(fz); |
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| 62 | |||
| 63 | // a simple heading, assuming it's close to horizontal. See: |
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| 64 | // M.J. Caruso. Applications of magnetic sensors for low cost compass systems. |
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| 65 | // In Position Location and Navigation Symposium, IEEE, 2000. Available from: |
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| 66 | // http://hnc.ru/lib/a%26c%20%28automatic%20%26%20controls%29/sensors/DataSheet/Magnit/Honeywell/lowcost.pdf |
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| 67 | |||
| 68 | Serial.print(" Heading: "); |
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| 69 | float heading = atan2(fy, fx); |
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| 70 | if(heading < 0) { |
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| 71 | heading += 2 * M_PI; |
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| 72 | } |
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| 73 | Serial.println(heading * 180/M_PI); |
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| 74 | // x and y axis are swapped above with respect to the above paper as our Z axis points to the sky while in the paper it points to the bottom |
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| 75 | } |