我用的是arduino uno r3板子，但是我想同时读取两个相同的HMC5983磁传感器的时候读数有问题，这个我实在是解决不了了。大神教教我。
[pre lang="arduino" line="4" file="HMC5983的库函数"]
头文件：
/*
HMC983.h - Header file for the HMC5883L Triple Axis Magnetometer Arduino Library.
Copyright (C) 2011 Love Electronics (loveelectronics.co.uk) / 2012 bildr.org (Arduino 1.0 compatible)
This program is free software: you can redistribute it and/or modify
it under the terms of the version 3 GNU General Public License as
published by the Free Software Foundation.
This program 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 General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
WARNING: THE HMC5883L IS NOT IDENTICAL TO THE HMC5883!
Datasheet for HMC5883L:
http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf
*/
#ifndef HMC5983_h
#define HMC5983_h
#include <Arduino.h>
#include <Wire.h>
#define HMC5983_Address 0x1E
#define ConfigurationRegisterA 0x00
#define ConfigurationRegisterB 0x01
#define ModeRegister 0x02
#define DataRegisterBegin 0x03
#define Measurement_Continuous 0x00
#define Measurement_SingleShot 0x01
#define Measurement_Idle 0x03
#define ErrorCode_1 "Entered scale was not valid, valid gauss values are: 0.88, 1.3, 1.9, 2.5, 4.0, 4.7, 5.6, 8.1"
#define ErrorCode_1_Num 1
struct MagnetometerScaled
{
float XAxis;
float YAxis;
float ZAxis;
};
struct MagnetometerRaw
{
int XAxis;
int YAxis;
int ZAxis;
};
class HMC5983
{
public:
HMC5983();
MagnetometerRaw ReadRawAxis();
MagnetometerScaled ReadScaledAxis();
int SetMeasurementMode(uint8_t mode);
int SetScale(float gauss);
char* GetErrorText(int errorCode);
protected:
void Write(int address, int byte);
uint8_t* Read(int address, int length);
private:
float m_Scale;
};
#endif[/code]
源文件
/*
HMC5883L.cpp - Class file for the HMC5883L Triple Axis Magnetometer Arduino Library.
Copyright (C) 2011 Love Electronics (loveelectronics.co.uk)/ 2012 bildr.org (Arduino 1.0 compatible)
This program is free software: you can redistribute it and/or modify
it under the terms of the version 3 GNU General Public License as
published by the Free Software Foundation.
This program 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 General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
WARNING: THE HMC5883L IS NOT IDENTICAL TO THE HMC5883!
Datasheet for HMC5883L:
http://www51.honeywell.com/aero/common/documents/myaerospacecatalog-documents/Defense_Brochures-documents/HMC5883L_3-Axis_Digital_Compass_IC.pdf
*/
#include <Arduino.h>
#include "HMC5983.h"
HMC5983::HMC5983()
{
m_Scale = 0.92;
}
MagnetometerRaw HMC5983::ReadRawAxis()
{
uint8_t* buffer = Read(DataRegisterBegin, 6);
MagnetometerRaw raw = MagnetometerRaw();
raw.XAxis = (buffer[0] << 8) | buffer[1];
raw.ZAxis = (buffer[2] << 8) | buffer[3];
raw.YAxis = (buffer[4] << 8) | buffer[5];
return raw;
}
MagnetometerScaled HMC5983::ReadScaledAxis()
{
MagnetometerRaw raw = ReadRawAxis();
MagnetometerScaled scaled = MagnetometerScaled();
scaled.XAxis = raw.XAxis * m_Scale;
scaled.ZAxis = raw.ZAxis * m_Scale;
scaled.YAxis = raw.YAxis * m_Scale;
return scaled;
}
int HMC5983::SetScale(float gauss)
{
uint8_t regValue = 0x00;
if(gauss == 0.88)
{
regValue = 0x00;
m_Scale = 0.73;
}
else if(gauss == 1.3)
{
regValue = 0x01;
m_Scale = 0.92;
}
else if(gauss == 1.9)
{
regValue = 0x02;
m_Scale = 1.22;
}
else if(gauss == 2.5)
{
regValue = 0x03;
m_Scale = 1.52;
}
else if(gauss == 4.0)
{
regValue = 0x04;
m_Scale = 2.27;
}
else if(gauss == 4.7)
{
regValue = 0x05;
m_Scale = 2.56;
}
else if(gauss == 5.6)
{
regValue = 0x06;
m_Scale = 3.03;
}
else if(gauss == 8.1)
{
regValue = 0x07;
m_Scale = 4.35;
}
else
return ErrorCode_1_Num;
// Setting is in the top 3 bits of the register.
regValue = regValue << 5;
Write(ConfigurationRegisterB, regValue);
}
int HMC5983::SetMeasurementMode(uint8_t mode)
{
Write(ModeRegister, mode);
}
void HMC5983::Write(int address, int data)
{
Wire.beginTransmission(HMC5983_Address);
Wire.write(address);
Wire.write(data);
Wire.endTransmission();
}
uint8_t* HMC5983::Read(int address, int length)
{
Wire.beginTransmission(HMC5983_Address);
Wire.write(address);
Wire.endTransmission();
Wire.beginTransmission(HMC5983_Address);
Wire.requestFrom(HMC5983_Address, length);
uint8_t buffer[length];
if(Wire.available() == length)
{
for(uint8_t i = 0; i < length; i++)
{
buffer = Wire.read();
}
}
Wire.endTransmission();
return buffer;
}
char* HMC5983::GetErrorText(int errorCode)
{
if(ErrorCode_1_Num == 1)
return ErrorCode_1;
return "Error not defined.";
}
好像是应该改地址，但是这个我不会改，新手求教导。
这是arduino IDE编写的读一个传感器的程序
#include <Wire.h>
// Reference the HMC5883L Compass Library
#include <HMC5983.h>
// Store our compass as a variable.
HMC5983 compass;
// Record any errors that may occur in the compass.
int error = 0;
unsigned long time=millis();
// Out setup routine, here we will configure the microcontroller and compass.
void setup()
{
// Initialize the serial port.
Serial.begin(9600);
//Serial.println("Starting the I2C interface.");
Wire.begin(); // Start the I2C interface.
//Serial.println("Constructing new HMC5983");
compass = HMC5983(); // Construct a new HMC5883 compass.
//Serial.println("Setting scale to +/- 8.0 Ga");
//error = compass.SetScale(8.0); // Set the scale of the compass.
//if(error != 0) // If there is an error, print it out.
// Serial.println(compass.GetErrorText(error));
//Serial.println("Setting measurement mode to continous.");
error = compass.SetMeasurementMode(Measurement_Continuous); // Set the measurement mode to Continuous
//if(error != 0) // If there is an error, print it out.
// Serial.println(compass.GetErrorText(error));
//Serial.println("\t\tTime,\t\tXAxis,\t\tYAxis,\t\tZAxis,\t\tTotalMagnetic,\t\tDeclination(C)\t");
}
// Our main program loop.
void loop()
{
// Retrive the raw values from the compass (not scaled).
MagnetometerRaw raw = compass.ReadRawAxis();
// Retrived the scaled values from the compass (scaled to the configured scale).
MagnetometerScaled scaled = compass.ReadScaledAxis();
// Values are accessed like so:
int MilliGauss_OnThe_XAxis = scaled.XAxis;// (or YAxis, or ZAxis)
// Calculate heading when the magnetometer is level, then correct for signs of axis.
float heading = atan2(scaled.YAxis, scaled.XAxis);
float totalmagnetic=sqrt((scaled.XAxis*scaled.XAxis)+(scaled.YAxis*scaled.YAxis)+(scaled.ZAxis*scaled.ZAxis));
// Once you have your heading, you must then add your 'Declination Angle', which is the 'Error' of the magnetic field in your location.
// Find yours here: http://www.magnetic-declination.com/
// Mine is: 2� 37' W, which is 2.617 Degrees, or (which we need) 0.0456752665 radians, I will use 0.0457
// If you cannot find your Declination, comment out these two lines, your compass will be slightly off.
float declinationAngle = -0.1044;
heading += declinationAngle;
// Correct for when signs are reversed.
if(heading < 0)
heading += 2*PI;
// Check for wrap due to addition of declination.
if(heading > 2*PI)
heading -= 2*PI;
// Convert radians to degrees for readability.
float headingDegrees = heading * 180/M_PI;
// Output the data via the serial port.
Output(time,scaled,totalmagnetic,headingDegrees);
// Normally we would delay the application by 66ms to allow the loop
// to run at 15Hz (default bandwidth for the HMC5883L).
// However since we have a long serial out (104ms at 9600) we will let
// it run at its natural speed.
// delay(66);
}
// Output the data down the serial port.
void Output(unsigned long time,MagnetometerScaled scaled, float totalmagnetic,float headingDegrees)
{
// Serial.print("\t\t");
Serial.print((millis())/1000.f);
Serial.print(",");
//Serial.print("Raw:\t");
//Serial.print(raw.XAxis);
//Serial.print(" ");
// Serial.print(raw.YAxis);
//Serial.print(" ");
//Serial.print(raw.ZAxis);
//Serial.print(" \tScaled:\t");
Serial.print((scaled.XAxis)/100);
Serial.print(",");
Serial.print((scaled.YAxis)/100);
Serial.print(",");
Serial.print((scaled.ZAxis)/100);
Serial.print(",");
Serial.println((totalmagnetic)/100);
//Serial.print(",");
//Serial.println(headingDegrees);
//Serial.print("\t\t");
//Serial.print(" \tHeading:\t");
//Serial.print(heading);
// Serial.print(" Radians \t");
//Serial.println(" Degrees \t");
delay(500);
}
我想同时实现读两个或者更多HMC5983磁传感器，这个怎么实现，大神求指导！
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发表于 2015-1-10 00:02:16
楼主
