Bussola con adafruit LIS3MDL

International Italiano Software
1

ciao a tutti
volevo creare una bussola che mi dicesse dov'è il nord con il sensore adafruit LIS3MDL
ho provato con questo codice

// Basic demo for magnetometer readings from Adafruit LIS3MDL

#include <Wire.h>
#include <Adafruit_LIS3MDL.h>
#include <Adafruit_Sensor.h>

Adafruit_LIS3MDL lis3mdl;
#define LIS3MDL_CLK 13
#define LIS3MDL_MISO 12
#define LIS3MDL_MOSI 11
#define LIS3MDL_CS 10

void setup(void) {
  Serial.begin(115200);
  while (!Serial) delay(10);     // will pause Zero, Leonardo, etc until serial console opens

  Serial.println("Adafruit LIS3MDL test!");
  
  // Try to initialize!
  if (! lis3mdl.begin_I2C()) {          // hardware I2C mode, can pass in address & alt Wire
  //if (! lis3mdl.begin_SPI(LIS3MDL_CS)) {  // hardware SPI mode
  //if (! lis3mdl.begin_SPI(LIS3MDL_CS, LIS3MDL_CLK, LIS3MDL_MISO, LIS3MDL_MOSI)) { // soft SPI
    Serial.println("Failed to find LIS3MDL chip");
    while (1) { delay(10); }
  }
  Serial.println("LIS3MDL Found!");

  lis3mdl.setPerformanceMode(LIS3MDL_MEDIUMMODE);
  Serial.print("Performance mode set to: ");
  switch (lis3mdl.getPerformanceMode()) {
    case LIS3MDL_LOWPOWERMODE: Serial.println("Low"); break;
    case LIS3MDL_MEDIUMMODE: Serial.println("Medium"); break;
    case LIS3MDL_HIGHMODE: Serial.println("High"); break;
    case LIS3MDL_ULTRAHIGHMODE: Serial.println("Ultra-High"); break;
  }

  lis3mdl.setOperationMode(LIS3MDL_CONTINUOUSMODE);
  Serial.print("Operation mode set to: ");
  // Single shot mode will complete conversion and go into power down
  switch (lis3mdl.getOperationMode()) {
    case LIS3MDL_CONTINUOUSMODE: Serial.println("Continuous"); break;
    case LIS3MDL_SINGLEMODE: Serial.println("Single mode"); break;
    case LIS3MDL_POWERDOWNMODE: Serial.println("Power-down"); break;
  }

  lis3mdl.setDataRate(LIS3MDL_DATARATE_155_HZ);
  // You can check the datarate by looking at the frequency of the DRDY pin
  Serial.print("Data rate set to: ");
  switch (lis3mdl.getDataRate()) {
    case LIS3MDL_DATARATE_0_625_HZ: Serial.println("0.625 Hz"); break;
    case LIS3MDL_DATARATE_1_25_HZ: Serial.println("1.25 Hz"); break;
    case LIS3MDL_DATARATE_2_5_HZ: Serial.println("2.5 Hz"); break;
    case LIS3MDL_DATARATE_5_HZ: Serial.println("5 Hz"); break;
    case LIS3MDL_DATARATE_10_HZ: Serial.println("10 Hz"); break;
    case LIS3MDL_DATARATE_20_HZ: Serial.println("20 Hz"); break;
    case LIS3MDL_DATARATE_40_HZ: Serial.println("40 Hz"); break;
    case LIS3MDL_DATARATE_80_HZ: Serial.println("80 Hz"); break;
    case LIS3MDL_DATARATE_155_HZ: Serial.println("155 Hz"); break;
    case LIS3MDL_DATARATE_300_HZ: Serial.println("300 Hz"); break;
    case LIS3MDL_DATARATE_560_HZ: Serial.println("560 Hz"); break;
    case LIS3MDL_DATARATE_1000_HZ: Serial.println("1000 Hz"); break;
  }
  
  lis3mdl.setRange(LIS3MDL_RANGE_4_GAUSS);
  Serial.print("Range set to: ");
  switch (lis3mdl.getRange()) {
    case LIS3MDL_RANGE_4_GAUSS: Serial.println("+-4 gauss"); break;
    case LIS3MDL_RANGE_8_GAUSS: Serial.println("+-8 gauss"); break;
    case LIS3MDL_RANGE_12_GAUSS: Serial.println("+-12 gauss"); break;
    case LIS3MDL_RANGE_16_GAUSS: Serial.println("+-16 gauss"); break;
  }

  lis3mdl.setIntThreshold(500);
  lis3mdl.configInterrupt(false, false, true, // enable z axis
                          true, // polarity
                          false, // don't latch
                          true); // enabled!
}
int a;
float rad;
void loop() {
  lis3mdl.read();      // get X Y and Z data at once
  // Then print out the raw data 

  /* Or....get a new sensor event, normalized to uTesla */
  sensors_event_t event; 
  lis3mdl.getEvent(&event);  
  rad = atan2(lis3mdl.y, lis3mdl.x);
  a = rad * (180.0 / PI);
  if (a < 0)
  {
    a = 360 + a;
  }
  if (a > 360)
  {
    a= a-360;  
  }
  Serial.println(String(a));
  delay(100); 
  Serial.println();
}

non essendo un matematico non so dove sbaglio
forse sembra che funzioni ma su altro asse
avete qualche esempio?grazie

2

Hai seguito le istruzioni dal loro sito? Adafruit ha degli ottimi tutorial

3

si ma il problema penso che sia in questa parte del codice

 lis3mdl.getEvent(&event);  
  rad = atan2(lis3mdl.y, lis3mdl.x);
  a = rad * (180.0 / PI);
  if (a < 0)
  {
    a = 360 + a;
  }
  if (a > 360)
  {
    a= a-360;  
  }
4

Spiega meglio. Cosa ottieni come numeri?

5

dei numeri da 0 a 360 solo se lo giro alto basso
io vorrei sinistra destra come funziona una bussola

6

Dipende a come hai posizionato il sensore presumo...
Di solito sulla serigrafia del PCB viene stampato il riferimento degli assi, o comunque trovi le informazioni sul datasheet

Comunque tutto quel gruppo di if nella funzione in questione si poteva sostituire con un più semplice

a = a % 360;

7

In rad = atan2(lis3mdl.y, lis3mdl.x); prova a usare z al posto di x o di y.

8

non funziona

questo è l'intero codice c'è forse qualche opzione da impostare?

#include <Wire.h>
#include <Adafruit_LIS3MDL.h>
#include <Adafruit_Sensor.h>
Adafruit_LIS3MDL lis3mdl;
#define LIS3MDL_CLK 13
#define LIS3MDL_MISO 12
#define LIS3MDL_MOSI 11
#define LIS3MDL_CS 10
void setup(void) {
  Serial.begin(115200);
  while (!Serial) 
  delay(10);  
  Serial.println("Adafruit LIS3MDL test!");
  if (! lis3mdl.begin_I2C()) {          
   Serial.println("Failed to find LIS3MDL chip");
    while (1) { delay(10); }
  }
  Serial.println("LIS3MDL Found!");
  lis3mdl.setPerformanceMode(LIS3MDL_MEDIUMMODE);
  Serial.print("Performance mode set to: ");
  switch (lis3mdl.getPerformanceMode()) {
    case LIS3MDL_LOWPOWERMODE: Serial.println("Low"); break;
    case LIS3MDL_MEDIUMMODE: Serial.println("Medium"); break;
    case LIS3MDL_HIGHMODE: Serial.println("High"); break;
    case LIS3MDL_ULTRAHIGHMODE: Serial.println("Ultra-High"); break;
  }
  lis3mdl.setOperationMode(LIS3MDL_CONTINUOUSMODE);
  Serial.print("Operation mode set to: ");
  // Single shot mode will complete conversion and go into power down
  switch (lis3mdl.getOperationMode()) {
    case LIS3MDL_CONTINUOUSMODE: Serial.println("Continuous"); break;
    case LIS3MDL_SINGLEMODE: Serial.println("Single mode"); break;
    case LIS3MDL_POWERDOWNMODE: Serial.println("Power-down"); break;
  }
  lis3mdl.setDataRate(LIS3MDL_DATARATE_155_HZ);
  Serial.print("Data rate set to: ");
  switch (lis3mdl.getDataRate()) {
    case LIS3MDL_DATARATE_0_625_HZ: Serial.println("0.625 Hz"); break;
    case LIS3MDL_DATARATE_1_25_HZ: Serial.println("1.25 Hz"); break;
    case LIS3MDL_DATARATE_2_5_HZ: Serial.println("2.5 Hz"); break;
    case LIS3MDL_DATARATE_5_HZ: Serial.println("5 Hz"); break;
    case LIS3MDL_DATARATE_10_HZ: Serial.println("10 Hz"); break;
    case LIS3MDL_DATARATE_20_HZ: Serial.println("20 Hz"); break;
    case LIS3MDL_DATARATE_40_HZ: Serial.println("40 Hz"); break;
    case LIS3MDL_DATARATE_80_HZ: Serial.println("80 Hz"); break;
    case LIS3MDL_DATARATE_155_HZ: Serial.println("155 Hz"); break;
    case LIS3MDL_DATARATE_300_HZ: Serial.println("300 Hz"); break;
    case LIS3MDL_DATARATE_560_HZ: Serial.println("560 Hz"); break;
    case LIS3MDL_DATARATE_1000_HZ: Serial.println("1000 Hz"); break;
  }  
  lis3mdl.setRange(LIS3MDL_RANGE_4_GAUSS);
  Serial.print("Range set to: ");
  switch (lis3mdl.getRange()) {
    case LIS3MDL_RANGE_4_GAUSS: Serial.println("+-4 gauss"); break;
    case LIS3MDL_RANGE_8_GAUSS: Serial.println("+-8 gauss"); break;
    case LIS3MDL_RANGE_12_GAUSS: Serial.println("+-12 gauss"); break;
    case LIS3MDL_RANGE_16_GAUSS: Serial.println("+-16 gauss"); break;
  }
  lis3mdl.setIntThreshold(500);
  lis3mdl.configInterrupt(false, false, true, // enable z axis
                          true, // polarity
                          false, // don't latch
                          true); // enabled!
}
int a;
float rad;
void loop() {
  lis3mdl.read();    
  sensors_event_t event; 
  lis3mdl.getEvent(&event);
  rad = atan2(lis3mdl.y, lis3mdl.x);
  a = rad * (180.0 / PI); 
  Serial.println(String(a));
  Serial.println();
  delay(100); 
}
9

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