Hello, I like some help about this code. I´m having trouble running - It´s for building a Magnetometer. I´m new in arduino programing

Using Arduino Programming Questions
1

#include <Wire.h>
#include <LIS3MDL.h>
#include <SPI.h>
#include <SD.h>
#include <TinyGPS++.h>
#define CONFIG 0
#define STANDBY 1
#define COMPENSACAO 2
#define TESTES 3
#define GRAVAR 4
#define BUTTON1 2
#define BUTTON2 3
#define BUTTON3 4
#define RED 5
#define GREEN 6
#define BLUE 7
LIS3MDL mag;
int state = STANDBY;
//#define ARDUINO_SD_CS 4 //SD Shield 3.0
#define ARDUINO_SD_CS 10 //Adafruit Breakout Micro-SD
int fileCount = 0;
int testCount = 0;
int countValues = 0;
unsigned long initialTime = millis();
boolean calibrated = false;
//arduino example code for getting the calibrated magnetometer data
//calibrated_values[3] is the global array where the calibrated data will be placed
//calibrated_values[3]: [0]=Xc, [1]=Yc, [2]=Zc float calibrated_values[3];
float magBias[3],magScale[3];
float mRes = 10.*4912./32760.0;
//transformation(float uncalibrated_values[3]) is the function of the magnetometer data correction
//uncalibrated_values[3] is the array of the non calibrated magnetometer data
//uncalibrated_values[3]: [0]=Xnc, [1]=Ync, [2]=Znc

float uncalibrated_values[3];
/////////////////////////
// Log File Defintions //
/////////////////////////
// Keep in mind, the SD library has max file name lengths of 8.3 - 8 char prefix,
// and a 3 char suffix.
// Our log files are called "gpslogXX.csv, so "gpslog99.csv" is our max file.
#define LOG_FILE_PREFIX "gpslog" // Name of the log file.
#define MAX_LOG_FILES 100 // Number of log files that can be made
#define MAX_COUNT_VALUES 1500 // Number of log values that can be made for calibration
#define LOG_FILE_SUFFIX "csv" // Suffix of the log file
char logFileName[13]; // Char string to store the log file name
// Data to be logged:
#define LOG_COLUMN_COUNT 13
char * log_col_names[LOG_COLUMN_COUNT] = {"milis", "longitude", "latitude", "altitude", "speed", "course",
"date", "time", "satellites", "X", "Y", "Z", "Mag"}; // log_col_names is printed at the top of the file.
//////////////////////
// Log Rate Control //
//////////////////////
#define LOG_RATE 10 // 10 Hz
unsigned long lastLog = 0; // Global var to keep of last time we logged unsigned long startTime = 0; // Global var to get start time log unsigned long saveSDTime = 0; // Global var to get start time log
/////////////////////////
// TinyGPS Definitions //
/////////////////////////
TinyGPSPlus tinyGPS; // tinyGPSPlus object to be used throughout
#define GPS_BAUD 9600 // GPS module's default baud rate
#define SERIAL_BAUD 115200 // Serial default baud rate
////////////////////////////////////////////////
// Arduino GPS Shield Serial Port Definitions //
////////////////////////////////////////////////
// If you're using an Arduino Uno, Mega, RedBoard, or any board that uses the
// 0/1 UART for programming/Serial monitor-ing, use SoftwareSerial:
#include <SoftwareSerial.h>
#define ARDUINO_GPS_RX 9 // GPS TX, Arduino RX pin
#define ARDUINO_GPS_TX 8 // GPS RX, Arduino TX pin
SoftwareSerial ssGPS(ARDUINO_GPS_RX, ARDUINO_GPS_TX); // Create a
SoftwareSerial
// Set gpsPort to either ssGPS if using SoftwareSerial or Serial1 if using an

// Arduino with a dedicated hardware serial port
//#define gpsPort ssGPS // Alternatively, use Serial1 on the Leonardo
// Define the serial monitor port. On the Uno, Mega, and Leonardo this is 'Serial'
// on other boards this may be 'SerialUSB'
#define SerialMonitor Serial
File logFile; // Open the log file void setup()
{ SerialMonitor.begin(SERIAL_BAUD); Wire.begin(); pinMode(BUTTON1,INPUT_PULLUP); pinMode(BUTTON2,INPUT_PULLUP); pinMode(BUTTON3,INPUT_PULLUP); pinMode(RED,OUTPUT); pinMode(GREEN,OUTPUT); pinMode(BLUE,OUTPUT);
if (!mag.init())
{
SerialMonitor.println("Failed to detect and initialize magnetometer!");
while (1);
} mag.enableDefault(); delay(500); ssGPS.begin(GPS_BAUD); delay(500);
SerialMonitor.print("Initializing SD card...");
// see if the card is present and can be initialized: if (!SD.begin(ARDUINO_SD_CS)) { SerialMonitor.println("Card failed, or not present");
// don't do anything more:
return;
}
SerialMonitor.println("Card initialized.");
delay(500);
}
void loop()
{
automato();
}
void medirValores()
{
mag.read();
uncalibrated_values[0] = mag.m.x / 100.0;

uncalibrated_values[1] = mag.m.y / 100.0;
uncalibrated_values[2] = mag.m.z / 100.0;
// Calculate the magnetometer values in milliGauss
// Include factory calibration per data sheet and user environmental corrections
//uncalibrated_values[0] = (float)mag.m.xmRes - magBias[0]; // get actual magnetometer value, this depends on scale being set
//uncalibrated_values[1] = (float)mag.m.ymRes - magBias[1];
//uncalibrated_values[2] = (float)mag.m.z*mRes - magBias[2];
transformation(uncalibrated_values);
}
void magValues()
{
if(countValues==0){
logFile = SD.open("calibValues.csv", FILE_WRITE);
logFile.println("X,Y,Z");
}
mag.read();
uncalibrated_values_for_calib[0] = mag.m.x / 100.0; uncalibrated_values_for_calib[1] = mag.m.y / 100.0; uncalibrated_values_for_calib[2] = mag.m.z / 100.0; logFile.print(uncalibrated_values_for_calib[0]); logFile.print(','); logFile.print(uncalibrated_values_for_calib[1]); logFile.print(','); logFile.print(uncalibrated_values_for_calib[2]); logFile.println();
logFile.close();
logFile = SD.open(logFileName, FILE_WRITE);
}
void mostrarValores()
{
//Serial.flush();
if ((lastLog + 1000/LOG_RATE) <= millis())
{
lastLog = millis(); // Update the lastLog variable SerialMonitor.print(millis() - startTime); SerialMonitor.print(","); SerialMonitor.print(tinyGPS.location.lng(),7); SerialMonitor.print(","); SerialMonitor.print(tinyGPS.location.lat(),7); SerialMonitor.print(","); SerialMonitor.print(tinyGPS.altitude.meters()); SerialMonitor.print(",");

SerialMonitor.print(tinyGPS.speed.kmph()); SerialMonitor.print(","); SerialMonitor.print(tinyGPS.course.deg()); SerialMonitor.print(","); SerialMonitor.print(tinyGPS.date.value()); SerialMonitor.print(","); SerialMonitor.print(tinyGPS.time.value()); SerialMonitor.print(","); SerialMonitor.print(tinyGPS.satellites.value()); SerialMonitor.print(","); SerialMonitor.print(calibrated_values[0]); SerialMonitor.print(","); SerialMonitor.print(calibrated_values[1]); SerialMonitor.print(","); SerialMonitor.print(calibrated_values[2]); SerialMonitor.print(",");
SerialMonitor.print(sqrt(sq(calibrated_values[0]) + sq(calibrated_values[1])

  • sq(calibrated_values[2]))); SerialMonitor.println();
    }
    }
    void transformation(float uncalibrated_values[3])
    {
    //calibration_matrix[3][3] is the transformation matrix
    //replace M11, M12,..,M33 with your transformation matrix data
    //inicial calibration
    /* double calibration_matrix[3][3] =
    {
    {1.98, 0.144, -0.213},
    {-0.056, 2.047, 0.099},
    {0.073, 0.011, 2.047}
    };
    //bias[3] is the bias
    //replace Bx, By, Bz with your bias data double bias[3] =
    {
    24.986,
    -15.469,
    -7.664
    }; */
    //local calibration (Trajouce)
    double calibration_matrix[3][3] =
    {

{1.548, 0.032, 0.014},
{0.07, 1.61, 0.023},
{0.006, -0.043, 1.646}
};
//bias[3] is the bias
//replace Bx, By, Bz with your bias data double bias[3] =
{
16.907,
-7.197,
-8.028
};
/*//local calibration (Venda Nova)
double calibration_matrix[3][3] =
{
{1.494, 0.02, -0.022},
{0.051, 1.522, 0.102},
{-0.004, -0.06, 1.558}
};
//bias[3] is the bias
//replace Bx, By, Bz with your bias data double bias[3] =
{
16.687,
-7.782,
-7.733
}; */
//calculation
for (int i=0; i<3; ++i) uncalibrated_values[i] = uncalibrated_values[i] - bias[i];
float result[3] = {0, 0, 0};
for (int i=0; i<3; ++i)
for (int j=0; j<3; ++j)
result[i] += calibration_matrix[i][j] * uncalibrated_values[j];
for (int i=0; i<3; ++i) calibrated_values[i] = result[i];
}
void automato()
{ switch(state){ case STANDBY: whiteON();
SerialMonitor.println(state);
if(digitalRead(BUTTON1)==LOW){

SerialMonitor.println("Compensacao");
count = 0;
state = COMPENSACAO;
}
else if(digitalRead(BUTTON2)==LOW){ SerialMonitor.println("Test" + String(testCount) + ":"); state = TESTES;
lastLog = 0;
startTime = millis();
}
else if(digitalRead(BUTTON3)==LOW){
// open the file. note that only one file can be open at a time,
// so you have to close this one before opening another. updateFileName(); // Each time we start, create a new file, increment the number
logFile = SD.open(logFileName, FILE_WRITE); printHeader(); // Print a header at the top of the new file state = GRAVAR;
lastLog = 0;
startTime = millis();
}
break;
case COMPENSACAO:
redON(); if(!calibrated){ if(countValues<MAX_COUNT_VALUES) magValues();
countValues++;
}else{ logFile.close(); calibrated = true;
}
} else{ redOFF(); delay(500);
}
if(digitalRead(BUTTON2)==LOW || digitalRead(BUTTON3)==LOW){
logFile.close(); whiteON(); delay(1000);
state = STANDBY;
}

break;
case TESTES:
greenON();
if(digitalRead(BUTTON1)==LOW || digitalRead(BUTTON3)==LOW){
whiteON();
delay(1000);
state = STANDBY;
} medirValores(); mostrarValores();
//delay(100);
break;
case GRAVAR: blueON(); medirValores(); gpsTracker();
//delay(100);
if(digitalRead(BUTTON1)==LOW || digitalRead(BUTTON2)==LOW){
logFile.close(); whiteON(); fileCount++; delay(1000);
state = STANDBY;
}
break;
}
}
void whiteON(){ digitalWrite(RED,HIGH); digitalWrite(GREEN,HIGH); digitalWrite(BLUE,HIGH);
}
void redON(){ digitalWrite(RED,HIGH); digitalWrite(GREEN,LOW); digitalWrite(BLUE,LOW);
}
void redOFF(){ digitalWrite(RED,LOW); digitalWrite(GREEN,LOW); digitalWrite(BLUE,LOW);
}
void greenON(){

digitalWrite(RED,LOW); digitalWrite(GREEN,HIGH); digitalWrite(BLUE,LOW);
}
void blueON(){ digitalWrite(RED,LOW); digitalWrite(GREEN,LOW); digitalWrite(BLUE,HIGH);
}
void magCalibration(float * dest1, float * dest2) {
uint16_t ii = 0, sample_count = 0;
int32_t mag_bias[3] = {0, 0, 0}, mag_scale[3] = {0, 0, 0};
int16_t mag_max[3] = {0x8000, 0x8000, 0x8000}, mag_min[3] = {0x7FFF, 0x7FFF,
0x7FFF}, mag_temp[3] = {0, 0, 0};
SerialMonitor.println("Mag Calibration: Wave device in a figure eight until done!");
sample_count = 1500; // at 100 Hz ODR, new mag data is available every 10 ms for(ii = 0; ii < sample_count; ii++) {
mag.read(); // Read the mag data mag_temp[0] = mag.m.x; mag_temp[1] = mag.m.y; mag_temp[2] = mag.m.z;
for (int jj = 0; jj < 3; jj++) { if(mag_temp[jj] > mag_max[jj]) mag_max[jj] = mag_temp[jj]; if(mag_temp[jj] < mag_min[jj]) mag_min[jj] = mag_temp[jj];
}
delay(135); // at 8 Hz ODR, new mag data is available every 125 ms
}
// Get hard iron correction
mag_bias[0] = (mag_max[0] + mag_min[0])/2; // get average x mag bias in counts mag_bias[1] = (mag_max[1] + mag_min[1])/2; // get average y mag bias in counts mag_bias[2] = (mag_max[2] + mag_min[2])/2; // get average z mag bias in counts dest1[0] = (float) mag_bias[0]*mRes; // save mag biases in G for main program dest1[1] = (float) mag_bias[1]*mRes;
dest1[2] = (float) mag_bias[2]*mRes;
// Get soft iron correction estimate
mag_scale[0] = (mag_max[0] - mag_min[0])/2; // get average x axis max chord length in counts
mag_scale[1] = (mag_max[1] - mag_min[1])/2; // get average y axis max chord length in counts
mag_scale[2] = (mag_max[2] - mag_min[2])/2; // get average z axis max chord

length in counts
float avg_rad = mag_scale[0] + mag_scale[1] + mag_scale[2];
avg_rad /= 3.0;
dest2[0] = avg_rad/((float)mag_scale[0]); dest2[1] = avg_rad/((float)mag_scale[1]); dest2[2] = avg_rad/((float)mag_scale[2]); SerialMonitor.println("Mag Calibration done!");
}
byte writeSDCard()
{
if (logFile)
{ // Print longitude, latitude, altitude (in feet), speed (in mph), course
// in (degrees), date, time, and number of satellites. logFile.print(millis() - startTime);
logFile.print(','); logFile.print(tinyGPS.location.lng(), 7); logFile.print(','); logFile.print(tinyGPS.location.lat(), 7); logFile.print(','); logFile.print(tinyGPS.altitude.meters(), 1); logFile.print(','); logFile.print(tinyGPS.speed.kmph(), 1); logFile.print(','); logFile.print(tinyGPS.course.deg(), 1);
logFile.print(','); logFile.print(tinyGPS.date.value()); logFile.print(','); logFile.print(tinyGPS.time.value()); logFile.print(','); logFile.print(tinyGPS.satellites.value()); logFile.print(','); logFile.print(calibrated_values[0]); logFile.print(','); logFile.print(calibrated_values[1]); logFile.print(','); logFile.print(calibrated_values[2]);
logFile.print(',');
logFile.print(sqrt(sq(calibrated_values[0]) + sq(calibrated_values[1]) +
sq(calibrated_values[2]))); logFile.println(); logFile.close();
logFile = SD.open(logFileName, FILE_WRITE);

return 1; // Return success
}
return 0; // If we failed to open the file, return fail
}
// printHeader() - prints our eight column names to the top of our log file void printHeader()
{
if (logFile) // If the log file opened, print our column names to the file
{
int i = 0;
for (; i < LOG_COLUMN_COUNT; i++)
{
logFile.print(log_col_names[i]);
if (i < LOG_COLUMN_COUNT - 1) // If it's anything but the last column logFile.print(','); // print a comma
else // If it's the last column logFile.println(); // print a new line
}
}
}
// updateFileName() - Looks through the log files already present on a card,
// and creates a new file with an incremented file index. void updateFileName()
{
int i = 0;
for (; i < MAX_LOG_FILES; i++)
{
memset(logFileName, 0, strlen(logFileName)); // Clear logFileName string
// Set logFileName to "gpslogXX.csv":
sprintf(logFileName, "%s%d.%s", LOG_FILE_PREFIX, i, LOG_FILE_SUFFIX);
if (!SD.exists(logFileName)) // If a file doesn't exist
{
break; // Break out of this loop. We found our index
}
else // Otherwise:
{ SerialMonitor.print(logFileName);
SerialMonitor.println(" exists"); // Print a debug statement
}
}
SerialMonitor.print("File name: "); SerialMonitor.println(logFileName); // Debug print the file name
}

void gpsTracker()
{
if ((lastLog + 1000/LOG_RATE) <= millis())
{ // If it's been LOG_RATE milliseconds since the last log:
if (tinyGPS.location.isValid()) // If the GPS data is vaild
{
lastLog = millis(); // Update the lastLog variable if (writeSDCard()) // Log the GPS data
{
SerialMonitor.println("GPS logged."); // Print a debug message
}
else // If we failed to log GPS
{ // Print an error, don't update lastLog
SerialMonitor.println("Failed to log new GPS data.");
}
}
else // If GPS data isn't valid
{
// Print a debug message. Maybe we don't have enough satellites yet. SerialMonitor.print("No GPS data. Sats: "); SerialMonitor.println(tinyGPS.satellites.value());
}
}
// If we're not logging, continue to "feed" the tinyGPS object:
while (ssGPS.available())
tinyGPS.encode(ssGPS.read());
}

2

Welcome to the forum!

But first, read and follow the instructions in the How to Use the forum post, and edit your post to add code tags.

Describe the problem(s), what you expected to happen, and what happened instead. Post links to the devices you mention.

BTW most beginners start small, with the Arduino examples, and learn to program before tackling such a large project.

3

@ronon_dex, based on the information provided (none) this sounds more like a programming problem than an Arduino CLI question. Your topic therefore has been moved to a more suitable location on the forum.

4

Welcome to the community. I realize you are new at this but you should step back and think about what you posted and what you expect the community to do.
While doing this remember:

You didn't mention:

  • what board you are using
  • What GPS
  • what magnetometer
  • How things are connected.
  • Where you found the code
  • What is causing your "trouble running" this code.
5

You are welcome on this forum! You are working on an informatic project and what is most needed in an informatic project is information imagine: do the other users here in the forum have a clear picture of what you are trying to do?

To speed up finishing your project you should invest some time into writing additional information I'm 100% sure that this WILL speed up finishing your project.

So please go through this checklist and if you find an item you haven't posted yet post it

  • did you write which exact type of microcontroller you are using?
  • description of your programming skills and knowledge
  • description of your knowledge about electronics
  • description of the functionality you want to have written in normal works avoiding programming terms
  • do you have an oscilloscope? Yes / No
  • do you have a digital multimeter (DMM) Yes / No)
  • your age
  • did you post your complete sketch?
  • if relevant did you post a link to a datasheet of each component you are using?
  • if relevant did you post a handdrawn schematic or your wiring?
  • if you got a compiler-error. Did you post the complete compiler-output into a code-section?

If you don't post all this information because you want a "quick answer" to your detail problem It is very likely to turn out that all that happens is having mutliple waiting-times with mutliple asking back for details until the other users do have a clear picture of what you want to do.

You should post code by using code-tags

There is an automatic function for doing this in the Arduino-IDE
just three steps

  1. press Ctrl-T for autoformatting your code
  2. do a rightclick with the mouse and choose "copy for forum"
  3. paste clipboard into write-window of a posting

best regards Stefan

6

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