“SKU:RB-02S112 電子羅盤”的版本間的差異
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| ? | + | ==Processing指南針== | |
1、測試環(huán)境<br/> | 1、測試環(huán)境<br/> | ||
* 硬件環(huán)境：Arduino 、電子羅盤 | * 硬件環(huán)境：Arduino 、電子羅盤 | ||
2016年12月14日 (三) 15:32的版本
目錄 |
產(chǎn)品概述
電子羅盤，又稱數(shù)字羅盤，在現(xiàn)代技術條件中電子羅盤作為導航儀器或姿態(tài)傳感器已被廣泛應用。此款傳感器是三軸數(shù)字羅盤，采用I2C串行總線接口，芯片選用Honeywell HMC5883L，具有高精度，偏移抑制等特點。此傳感器具有12位ADC、低噪聲、自檢測、低電壓操作和寬磁場范圍等特點，并且內(nèi)置驅(qū)動電路，采用I2C數(shù)字接口，體積小，輕便，操作簡單。
產(chǎn)品參數(shù)
- 產(chǎn)品類型：數(shù)字傳感器
- 接口類型：KF2510
- 工作電壓：5V
- 工作溫度：-25℃～＋85℃
- 產(chǎn)品尺寸（mm）：30x25mm
- 固定孔尺寸（mm）：M3 * 4個
- 固定孔間距：23 * 18 mm
- 重量（g）：3g
基本使用方法
1、測試環(huán)境
- 硬件環(huán)境：Arduino 、電子羅盤
- 軟件環(huán)境：Arduino IDE 1.7.7
2、引腳定義
- SDA：I2C總線的數(shù)據(jù)線引腳
- SCL：2C總線的時鐘信號引腳
- -：電源負極
- +：電源正極
3、硬件連接
4、測試程序
#include <Wire.h>
#include <HMC5883L.h>
HMC5883L compass;
void setup()
{
Serial.begin(9600);
// Initialize HMC5883L
Serial.println("Initialize HMC5883L");
while (!compass.begin())
{
Serial.println("Could not find a valid HMC5883L sensor, check wiring!");
delay(500);
}
// Set measurement range
// +/- 0.88 Ga: HMC5883L_RANGE_0_88GA
// +/- 1.30 Ga: HMC5883L_RANGE_1_3GA (default)
// +/- 1.90 Ga: HMC5883L_RANGE_1_9GA
// +/- 2.50 Ga: HMC5883L_RANGE_2_5GA
// +/- 4.00 Ga: HMC5883L_RANGE_4GA
// +/- 4.70 Ga: HMC5883L_RANGE_4_7GA
// +/- 5.60 Ga: HMC5883L_RANGE_5_6GA
// +/- 8.10 Ga: HMC5883L_RANGE_8_1GA
compass.setRange(HMC5883L_RANGE_1_3GA);
// Set measurement mode
// Idle mode: HMC5883L_IDLE
// Single-Measurement: HMC5883L_SINGLE
// Continuous-Measurement: HMC5883L_CONTINOUS (default)
compass.setMeasurementMode(HMC5883L_CONTINOUS);
// Set data rate
// 0.75Hz: HMC5883L_DATARATE_0_75HZ
// 1.50Hz: HMC5883L_DATARATE_1_5HZ
// 3.00Hz: HMC5883L_DATARATE_3HZ
// 7.50Hz: HMC5883L_DATARATE_7_50HZ
// 15.00Hz: HMC5883L_DATARATE_15HZ (default)
// 30.00Hz: HMC5883L_DATARATE_30HZ
// 75.00Hz: HMC5883L_DATARATE_75HZ
compass.setDataRate(HMC5883L_DATARATE_15HZ);
// Set number of samples averaged
// 1 sample: HMC5883L_SAMPLES_1 (default)
// 2 samples: HMC5883L_SAMPLES_2
// 4 samples: HMC5883L_SAMPLES_4
// 8 samples: HMC5883L_SAMPLES_8
compass.setSamples(HMC5883L_SAMPLES_1);
// Check settings
checkSettings();
}
void checkSettings()
{
Serial.print("Selected range: ");
switch (compass.getRange())
{
case HMC5883L_RANGE_0_88GA: Serial.println("0.88 Ga"); break;
case HMC5883L_RANGE_1_3GA: Serial.println("1.3 Ga"); break;
case HMC5883L_RANGE_1_9GA: Serial.println("1.9 Ga"); break;
case HMC5883L_RANGE_2_5GA: Serial.println("2.5 Ga"); break;
case HMC5883L_RANGE_4GA: Serial.println("4 Ga"); break;
case HMC5883L_RANGE_4_7GA: Serial.println("4.7 Ga"); break;
case HMC5883L_RANGE_5_6GA: Serial.println("5.6 Ga"); break;
case HMC5883L_RANGE_8_1GA: Serial.println("8.1 Ga"); break;
default: Serial.println("Bad range!");
}
Serial.print("Selected Measurement Mode: ");
switch (compass.getMeasurementMode())
{
case HMC5883L_IDLE: Serial.println("Idle mode"); break;
case HMC5883L_SINGLE: Serial.println("Single-Measurement"); break;
case HMC5883L_CONTINOUS: Serial.println("Continuous-Measurement"); break;
default: Serial.println("Bad mode!");
}
Serial.print("Selected Data Rate: ");
switch (compass.getDataRate())
{
case HMC5883L_DATARATE_0_75_HZ: Serial.println("0.75 Hz"); break;
case HMC5883L_DATARATE_1_5HZ: Serial.println("1.5 Hz"); break;
case HMC5883L_DATARATE_3HZ: Serial.println("3 Hz"); break;
case HMC5883L_DATARATE_7_5HZ: Serial.println("7.5 Hz"); break;
case HMC5883L_DATARATE_15HZ: Serial.println("15 Hz"); break;
case HMC5883L_DATARATE_30HZ: Serial.println("30 Hz"); break;
case HMC5883L_DATARATE_75HZ: Serial.println("75 Hz"); break;
default: Serial.println("Bad data rate!");
}
Serial.print("Selected number of samples: ");
switch (compass.getSamples())
{
case HMC5883L_SAMPLES_1: Serial.println("1"); break;
case HMC5883L_SAMPLES_2: Serial.println("2"); break;
case HMC5883L_SAMPLES_4: Serial.println("4"); break;
case HMC5883L_SAMPLES_8: Serial.println("8"); break;
default: Serial.println("Bad number of samples!");
}
}
void loop()
{
Vector raw = compass.readRaw();
Vector norm = compass.readNormalize();
Serial.print(" Xraw = ");
Serial.print(raw.XAxis);
Serial.print(" Yraw = ");
Serial.print(raw.YAxis);
Serial.print(" Zraw = ");
Serial.print(raw.ZAxis);
Serial.print(" Xnorm = ");
Serial.print(norm.XAxis);
Serial.print(" Ynorm = ");
Serial.print(norm.YAxis);
Serial.print(" ZNorm = ");
Serial.print(norm.ZAxis);
Serial.println();
delay(100);
}
5、程序效果
在串口監(jiān)控窗口中分別打印X、Y、Z軸輸出值,如圖所示：
Processing指南針
1、測試環(huán)境
- 硬件環(huán)境：Arduino 、電子羅盤
- 軟件環(huán)境：Arduino IDE 1.7.7、Processing 3.0.2軟件
2、硬件連接
3、例子程序
- Processing 例程代碼
/*
HMC5883L Triple Axis Digital Compass.
Processing for HMC5883L_processing.ino
Processing for HMC5883L_processing_MPU6050.ino
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
*/
import processing.serial.*;
Serial myPort;
// Data samples
int actualSample = 0;
int maxSamples = 400;
int sampleStep = 1;
boolean hasData = false;
// Charts
PGraphics pgChart;
int[] colors = { #ff4444, #33ff99, #5588ff };
String[] magneticSeries = { "XAxis", "YAxis", "ZAxis" };
String[] headingSeries = { "Normal", "Fixed", "Smooth" };
// Data for compare
float[][] magneticValues = new float[3][maxSamples];
float[][] headingValues = new float[3][maxSamples];
// Artificial Horizon
PGraphics pgCompassPlate;
PImage imgCompass;
PImage imgCompassRing;
PImage imgCompassPlateWhite;
PImage imgCompassPlateBlack;
int compassWidth;
int compassHeight;
void setup ()
{
size(755, 550, P2D);
background(0);
// Init
initCompass();
// Serial
myPort = new Serial(this, Serial.list()[0], 9600);
myPort.bufferUntil(10);
}
void drawChart(String title, String[] series, float[][] chart, int x, int y, int h, boolean symmetric, boolean fixed, int fixedMin, int fixedMax, int hlines)
{
int actualColor = 0;
int maxA = 0;
int maxB = 0;
int maxAB = 0;
int min = 0;
int max = 0;
int step = 0;
int divide = 0;
if (fixed)
{
min = fixedMin;
max = fixedMax;
step = hlines;
} else
{
if (hlines > 2)
{
divide = (hlines - 2);
} else
{
divide = 1;
}
if (symmetric)
{
maxA = (int)abs(getMin(chart));
maxB = (int)abs(getMax(chart));
maxAB = max(maxA, maxB);
step = (maxAB * 2) / divide;
min = -maxAB-step;
max = maxAB+step;
} else
{
min = (int)(getMin(chart));
max = (int)(getMax(chart));
if ((max >= 0) && (min <= 0)) step = (abs(min) + abs(max)) / divide;
if ((max < 0) && (min < 0)) step = abs(min - max) / divide;
if ((max > 0) && (min > 0)) step = (max - min) / divide;
if (divide > 1)
{
min -= step;
max += step;
}
}
}
pgChart = createGraphics((maxSamples*sampleStep)+50, h+60);
pgChart.beginDraw();
// Draw chart area and title
pgChart.background(0);
pgChart.strokeWeight(1);
pgChart.noFill();
pgChart.stroke(50);
pgChart.rect(0, 0, (maxSamples*sampleStep)+49, h+59);
pgChart.text(title, ((maxSamples*sampleStep)/2)-(textWidth(title)/2)+40, 20);
// Draw chart description
String Description[] = new String[chart.length];
int DescriptionWidth[] = new int[chart.length];
int DesctiptionTotalWidth = 0;
int DescriptionOffset = 0;
for (int j = 0; j < chart.length; j++)
{
Description[j] = " "+series[j]+" = ";
DescriptionWidth[j] += textWidth(Description[j]+"+0000.00");
Description[j] += nf(chart[j][actualSample-1], 0, 2)+" ";
DesctiptionTotalWidth += DescriptionWidth[j];
}
actualColor = 0;
for (int j = 0; j < chart.length; j++)
{
pgChart.fill(colors[actualColor]);
pgChart.text(Description[j], ((maxSamples*sampleStep)/2)-(DesctiptionTotalWidth/2)+DescriptionOffset+40, h+50);
DescriptionOffset += DescriptionWidth[j];
actualColor++;
if (actualColor >= colors.length) actualColor = 0;
}
// Draw H-Lines
pgChart.stroke(100);
for (float t = min; t <= max; t=t+step)
{
float line = map(t, min, max, 0, h);
pgChart.line(40, h-line+30, (maxSamples*sampleStep)+40, h-line+30);
pgChart.fill(200, 200, 200);
pgChart.textSize(12);
pgChart.text(int(t), 5, h-line+34);
}
// Draw data series
pgChart.strokeWeight(2);
for (int i = 1; i < actualSample; i++)
{
actualColor = 0;
for (int j = 0; j < chart.length; j++)
{
pgChart.stroke(colors[actualColor]);
float d0 = chart[j][i-1];
float d1 = chart[j][i];
if (d0 < min) d0 = min;
if (d0 > max) d0 = max;
if (d1 < min) d1 = min;
if (d1 > max) d1 = max;
float v0 = map(d0, min, max, 0, h);
float v1 = map(d1, min, max, 0, h);
pgChart.line(((i-1)*sampleStep)+40, h-v0+30, (i*sampleStep)+40, h-v1+30);
actualColor++;
if (actualColor >= colors.length) actualColor = 0;
}
}
pgChart.endDraw();
image(pgChart, x, y);
}
void initCompass()
{
imgCompass = loadImage("compass.png");
imgCompassRing = loadImage("compassRing.png");
imgCompassPlateWhite = loadImage("compassPlateWhite.png");
imgCompassPlateBlack = loadImage("compassPlateBlack.png");
compassWidth = imgCompass.width;
compassHeight = imgCompass.height;
}
void drawCompass(int x, int y, float[][] head, PImage plate)
{
pgCompassPlate = createGraphics(compassWidth, compassWidth);
float heading = head[2][actualSample-1];
float north = 180 + heading;
pgCompassPlate.beginDraw();
pgCompassPlate.clear();
pgCompassPlate.translate(100,100);
pgCompassPlate.rotate(-radians(heading));
pgCompassPlate.image(plate, -100, -100);
pgCompassPlate.endDraw();
image(pgCompassPlate, x+30, y+30);
image(imgCompass, x, y);
image(imgCompassRing, x, y);
textAlign(CENTER);
text((int)heading+" deg", x+130, y+265);
textAlign(LEFT);
}
void draw()
{
if (!hasData) return;
background(0);
drawChart("Magnetic field [mG]", magneticSeries, magneticValues, 10, 10, 200, false, false, 0, 0, 10);
drawChart("Heading [deg]", headingSeries, headingValues, 10, 280, 200, true, true, 0, 360, 30);
drawCompass(480, 5, headingValues, imgCompassPlateWhite);
drawCompass(480, 275, headingValues, imgCompassPlateBlack);
}
float getMin(float[][] chart)
{
float minValue = 0;
float[] testValues = new float[chart.length];
float testMin = 0;
for (int i = 0; i < actualSample; i++)
{
for (int j = 0; j < testValues.length; j++)
{
testValues[j] = chart[j][i];
}
testMin = min(testValues);
if (i == 0)
{
minValue = testMin;
} else
{
if (minValue > testMin) minValue = testMin;
}
}
return ceil(minValue)-1;
}
float getMax(float[][] chart)
{
float maxValue = 0;
float[] testValues = new float[chart.length];
float testMax = 0;
for (int i = 0; i < actualSample; i++)
{
for (int j = 0; j < testValues.length; j++)
{
testValues[j] = chart[j][i];
}
testMax = max(testValues);
if (i == 0)
{
maxValue = testMax;
} else
{
if (maxValue < testMax) maxValue = testMax;
}
}
return ceil(maxValue);
}
void nextSample(float[][] chart)
{
for (int j = 0; j < chart.length; j++)
{
float last = chart[j][maxSamples-1];
for (int i = 1; i < maxSamples; i++)
{
chart[j][i-1] = chart[j][i];
}
chart[j][(maxSamples-1)] = last;
}
}
void serialEvent (Serial myPort)
{
String inString = myPort.readStringUntil(10);
if (inString != null)
{
inString = trim(inString);
String[] list = split(inString, ':');
String testString = trim(list[0]);
if (list.length != 6) return;
// Magnetic field
magneticValues[0][actualSample] = (float(list[0]));
magneticValues[1][actualSample] = (float(list[1]));
magneticValues[2][actualSample] = (float(list[2]));
// Headings
headingValues[0][actualSample] = (float(list[3]));
headingValues[1][actualSample] = (float(list[4]));
headingValues[2][actualSample] = (float(list[5]));
if (actualSample > 1)
{
hasData = true;
}
if (actualSample == (maxSamples-1))
{
nextSample(magneticValues);
nextSample(headingValues);
} else
{
actualSample++;
}
}
}
- Arduino 例程代碼
/*
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 = (4.0 + (26.0 / 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);
}
4、程序效果
將 Arduino 例程代碼上傳到 Arduino 控制器中，然后在 Processing 編譯器中運行例程代碼，會看到如下效果
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