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3 Axis Digital Compass With Arduino

arduino compass

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145 views7 pages

3 Axis Digital Compass With Arduino

arduino compass

Uploaded by

andrelvo
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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3 Axis Compass With Arduino

3-Axis Compass module, a member of Grove family uses IC based Honeywell


HMC5883L digital compass. This ASIC is equipped with high resolution
HMC118X magneto-resistive sensors and a 12-bit ADC. It provides compass
heading accuracy up to 1 to 2. Signal conditioning like amplification, automatic
degaussing strap drivers and offset cancellation are inbuilt. This module also
includes a MIC5205-3.3 for power supply requirement. Hence user can connect
any 3.3V to 6V DC power supply.

Hardware Installation
1. For Arduino Uno connect SDA pin to analog input pin 4 and SCL to
analog pin 5
2. For Arduino Mega connect SDA to digital pin 20 and SCL to digital pin
21

Future Electronics Egypt Ltd. (Arduino Egypt).

Programming
he following sketch demonstrates a simple application of reading the angle
between X axis and South direction. To use / test this application, please keep
the compass on a leveled surface.
Algorithm:

Include wire.h function in your program

IC connection is established with HMC5883

Mode resister of HMC5883 is set to Continuous Measurement Mode.

The values from Data Output registers are read.

The angle between X axis and South direction is calculated


mathematically.

Demo Sketch:
Please read the comments in the below demo program. All necessary operations
and logic involved with HMC5883 are explained in detail.

/*
3-Axis Compass Module (HMC5883) Demo code.
2010 Copyright (c) Seeed Technology Inc. All right
reserved.

Original Author: Leo


Contribution: Visweswara R ( Code Redesign and Comments)

This demo code is free software; you can redistribute it


and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation;
either
version 2.1 of the License, or (at your option) any later
version.
Future Electronics Egypt Ltd. (Arduino Egypt).


This library is distributed in the hope that it will be
useful,
but WITHOUT ANY WARRANTY; without even the implied warranty
of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See
the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General


Public
License along with this library; if not, write to the Free
Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA
02110-1301 USA

For more details about the product please check http://


www.seeedstudio.com/depot/
*/

#include <Wire.h>
#include <math.h>

// Shift the device's documented slave address (0x3C) for


write operation
// 1 bit right.This compensates for how the TWI library
only wants the
// 7 most significant bits (with the high bit padded with
0)

#define HMC5883_WriteAddress 0x1E // i.e 0x3C >> 1


#define HMC5883_ModeRegisterAddress 0x02
#define HMC5883_ContinuousModeCommand 0x00
#define HMC5883_DataOutputXMSBAddress 0x03

int regb=0x01;
int regbdata=0x40;

int outputData[6];

Future Electronics Egypt Ltd. (Arduino Egypt).

void setup()
{
Serial.begin(9600);
Wire.begin();
//Initiate the Wire library and
join the I2C bus as a master

void loop() {

int i,x,y,z;
double angle;

Wire.beginTransmission(HMC5883_WriteAddress);
Wire.send(regb);
Wire.send(regbdata);
Wire.endTransmission();

delay(1000);
Wire.beginTransmission(HMC5883_WriteAddress); //
Initiate a transmission with HMC5883 (Write address).
Wire.send(HMC5883_ModeRegisterAddress);
//Place
the Mode Register Address in send-buffer.
Wire.send(HMC5883_ContinuousModeCommand);
//Place
the command for Continuous operation Mode in send-buffer.
Wire.endTransmission();
//Send
the send-buffer to HMC5883 and end the I2C transmission.
delay(100);

Wire.beginTransmission(HMC5883_WriteAddress); //
Initiate a transmission with HMC5883 (Write address).
Wire.requestFrom(HMC5883_WriteAddress,6);
//
Request 6 bytes of data from the address specified.

delay(500);

//Read the value of magnetic components X,Y and Z

Future Electronics Egypt Ltd. (Arduino Egypt).

if(6 <= Wire.available()) // If the number of bytes


available for reading be <=6.
{
for(i=0;i<6;i++)
{
outputData[i]=Wire.receive(); //Store the data
in outputData buffer
}
}

x=outputData[0] << 8 | outputData[1]; //Combine MSB and


LSB of X Data output register
z=outputData[2] << 8 | outputData[3]; //Combine MSB and
LSB of Z Data output register
y=outputData[4] << 8 | outputData[5]; //Combine MSB and
LSB of Y Data output register

angle= atan2((double)y,(double)x) * (180 / 3.14159265)


+ 180; // angle in degrees

/*

Refer the following application note for heading


calculation.
http://www.ssec.honeywell.com/magnetic/datasheets/
lowcost.pdf
--------------------------------------------------------------------------------------atan2(y, x) is the angle in radians between the positive
x-axis of a plane and the point
given by the coordinates (x, y) on it.
--------------------------------------------------------------------------------------
This sketch does not utilize the magnetic component Z as
tilt compensation can not be done without an Accelerometer

Future Electronics Egypt Ltd. (Arduino Egypt).

----------------->y
|
|
|
|
|
|
\/
x

N
NW | NE
|
W----------E
|
SW | SE
S

*/

//Print the approximate direction

Serial.print("You are heading ");


if((angle < 22.5) || (angle > 337.5 ))
Serial.print("South");
if((angle > 22.5) && (angle < 67.5 ))
Serial.print("South-West");
if((angle > 67.5) && (angle < 112.5 ))
Serial.print("West");
if((angle > 112.5) && (angle < 157.5 ))
Serial.print("North-West");
if((angle > 157.5) && (angle < 202.5 ))
Serial.print("North");
if((angle > 202.5) && (angle < 247.5 ))
Serial.print("NorthEast");
if((angle > 247.5) && (angle < 292.5 ))
Serial.print("East");
Future Electronics Egypt Ltd. (Arduino Egypt).

if((angle > 292.5) && (angle < 337.5 ))


Serial.print("SouthEast");

Serial.print(": Angle between X-axis and the South


direction ");
if((0 < angle) && (angle < 180) )
{
angle=angle;
}
else
{
angle=360-angle;
}
Serial.print(angle,2);
Serial.println(" Deg");
delay(100);
}

The results should look like this:

Future Electronics Egypt Ltd. (Arduino Egypt).

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