i ce not menage to work ,
HMC5883L not reading .
when i test HMC5883L on sample it work .
HMC5883L 2 pics . board is mega250 i bay uno board is not working .
leas help
code
on page http://www.blue-felix.de/misc/arduino/autopilot
I do not know where I'm wrong. I think there is a bug in the code. potentiometer works. relay works. displey works. on debug I have no reading from the compass.
reiding it
head 123
1.57 1.57 1.57
and so on
Please post your program here. See How to use the Forum
Also provide as much detail as possible about what happens when you run the program and what you want it to do that is different.
...R
#include <LiquidCrystal.h> //LCD library
LiquidCrystal lcd(12, 11, 9, 8, 7, 6); //define display pins: LiquidCrystal(rs, enable, d4, d5, d6, d7)
//const int lcd_contrast = 10; //LCD contrast voltage via PWM at pin 10
#include <Wire.h> //I2C library
#include <HMC5883L.h> //HMC5883L compass library
HMC5883L compass; //store compass as variable
//adjust software with following parameters:
const int heading_reliability = 1; //factor to detect unreliable heading measurements (1 = 100%)
int heading_offset = 40; //magnetic compass correction (in grad)
int sensitivity_unit = 10; //trigger unit value (in degrees) for course correction, can be alterd by switcher
float sensitivity_factor = 1.5; //factor for course correction (if switcher is enabled)
int steeringduration = 1000; //time unit (in ms) how long rudder is set (i.e. relays are enabled)
const float steeringfactor = 1.0; //factor for steeringduration for rudder backward movement (should normally be <= 1)
const int rudderpause = 1000; //time (in ms) rudder stays in steering position
//end of adjustable parameters
float sensitivity = 0; //trigger value (in degrees) for course correction (calculated)
float heading = 0; //heading
float heading_target = 0; //heading target
float heading_corrected = 0; //magnetic compass correction (in grad) corrected by potentiometer value
int steeringduration_corrected = 0; //time unit how long relays are enabled adjusted by potentiometer value
int delta = 0; //difference between heading target and heading
int trigger = 0; //trigger value for course correction
int poti1_ini = 0; //poti values for heading correction
int poti1_delta = 0;
int poti2_ini = 0; //poti values for steering sensitivity
int poti2_delta = 0;
int switcherstate = 0; //switcher state (pull up rsistor)
const int relay_1 = A0; //relay INT1 at pin A0
const int relay_2 = A1; //relay INT2 at pin A1
const int LEDred = 4; //LED red, port
const int LEDgreen = 5; //LED green, starbord
const int buzzer = 13; //buzzer
const int switcher = A3; //switch
void setup() {
//Serial.begin(9600); //initialize serial port (for debugging only)
pinMode(lcd_contrast, OUTPUT); //define LCD contrast voltage pin
analogWrite(lcd_contrast, 100); //generate contrast voltage: analogWrite(pin, value), value = 0 (always off) ... 255 (always on)
lcd.begin(16, 2); //LCD has 2 lines a 16 chars
Wire.begin(); //start I2C interface
compass = HMC5883L(); //new instance of HMC5883L library (construct a new HMC5883 compass)
setupHMC5883L(); //setup the HMC5883L
If the program is long please just add your .ino file as an attachment.
...R
pinMode(LEDgreen, OUTPUT); digitalWrite(LEDgreen, LOW); //set LED pins as output and switch LEDs off
pinMode(LEDred, OUTPUT); digitalWrite(LEDred, LOW);
pinMode(relay_1,OUTPUT); pinMode(relay_2,OUTPUT); //set relay pins as output
digitalWrite(relay_1,HIGH); digitalWrite(relay_2,HIGH); //relay closes when input is pulled to ground
pinMode(buzzer, OUTPUT); digitalWrite(buzzer, LOW); //define buzzer pin
pinMode(switcher, INPUT);
heading_target = getHeading(); //get heading value and store in heading_target (after reset)
poti1_ini = analogRead(6); //poti value from pin A6
//Serial.println("poti1_ini"); Serial.println(poti1_ini); //value should go from 0 to 1023
poti2_ini = analogRead(7); //poti value from pin A7
//Serial.println("poti2_ini"); Serial.println(poti2_ini); //value should go from 0 to 1023
display_info(); //show software info on LCD
}
void loop() {
heading = getHeading(); //calculate heading in function getHeading and store in variable heading
//Serial.println("heading"); Serial.println(heading);
lcd.setCursor(0, 1); lcd.print(" "); lcd.setCursor(0, 1); lcd.print("heading"); lcd.setCursor(13, 1); lcd.print(heading,0);
poti1_delta = (poti1_ini - analogRead(6))/30; //calculate poti1 (heading) delta and division for smaller value
//Serial.println("poti1 delta"); Serial.println(poti1_delta);
poti2_delta = (analogRead(7) - poti2_ini)*2; //calculate poti2 (rudder) delta and multiplication for larger value
//Serial.println("poti1 delta"); Serial.println(poti2_delta);
steeringduration_corrected = steeringduration - poti2_delta; //duration how long rudder is set
if(steeringduration_corrected <= 0) steeringduration_corrected = 0; //check for values < 0
//Serial.println("steeringduration_corrected"); Serial.println(steeringduration_corrected);
heading_corrected = heading_target - poti1_delta;
if(heading_corrected < 0) heading_corrected += 360; //correct for when signs are reversed
if(heading_corrected > 360) heading_corrected -= 360;
if(heading_corrected == 0) heading_corrected = 360; //set value for north heading to zero
//Serial.println("head.targt"); Serial.println(heading_corrected);
lcd.setCursor(0, 0); lcd.print(" "); lcd.setCursor(0, 0); lcd.print("head.target"); lcd.setCursor(13, 0); lcd.print(heading_corrected,0);
digitalWrite(LEDgreen, LOW); digitalWrite(LEDred, LOW); //swich off LEDs (defined state)
digitalWrite(relay_1,HIGH); digitalWrite(relay_2,HIGH); //switch relays off (defined state); relay opens when input is pulled to ground
switcherstate = digitalRead (switcher); //check if switcher is enabled (i.e. state was pulled to LOW)
if (switcherstate == LOW){sensitivity = sensitivity_unit * sensitivity_factor;} //extend sensitivity value if switcher is enabled
else {sensitivity = sensitivity_unit;}
delta = heading_corrected - heading;
if(delta > 180) {trigger = delta - 360;}
if(delta < -180) {trigger = delta + 360;}
if(delta >= -180 && delta <= 180) {trigger = delta;}
if(trigger < 0 && abs(trigger) >= sensitivity) { //heading has to be corrected to portside
digitalWrite(LEDred, HIGH);
digitalWrite(relay_1,LOW); digitalWrite(relay_2,HIGH); //current flow (= set rudder) by enabling relay
delay(steeringduration_corrected); //wait
digitalWrite(relay_1,HIGH); digitalWrite(relay_2,HIGH); //stop current flow
delay(rudderpause); //leave rudder in steering position for defined time
digitalWrite(relay_1,HIGH); digitalWrite(relay_2,LOW); //reverse current (= set rudder back)
delay(steeringduration_corrected*steeringfactor); //wait (time adjustable, if necessary)
digitalWrite(relay_1,HIGH); digitalWrite(relay_2,HIGH); //stop current flow
}
if(trigger > 0 && abs(trigger) >= sensitivity) { //heading has to be corrected to starbord
digitalWrite(LEDgreen, HIGH);
digitalWrite(relay_1,HIGH); digitalWrite(relay_2,LOW); //current flow (= set rudder) by enabling relay
delay(steeringduration_corrected); //wait
digitalWrite(relay_1,HIGH); digitalWrite(relay_2,HIGH); //stop current flow
delay(rudderpause); //leave rudder in steering position for defined time
digitalWrite(relay_1,LOW); digitalWrite(relay_2,HIGH); //reverse current (= set rudder back)
delay(steeringduration_corrected*steeringfactor); //wait (time adjustable, if necessary)
digitalWrite(relay_1,HIGH); digitalWrite(relay_2,HIGH); //stop current flow
}
if(abs(trigger) > 180) { //error!
digitalWrite(LEDred, HIGH); digitalWrite(LEDgreen, HIGH); //switch on both LEDs to indicate error
digitalWrite(relay_1,HIGH); digitalWrite(relay_2,HIGH); //stop current flow (defined state)
delay(5000); //wait few seconds (for compass sensor to get better value?)
}
delay(500); //wait shortly
}
void setupHMC5883L() { //setup the HMC5883L, and check for errors
int error;
error = compass.SetScale(1.3); //set scale of compass
//if(error != 0) {Serial.println(compass.GetErrorText(error));} //check for errors
error = compass.SetMeasurementMode(Measurement_Continuous); //set measurement mode to Continuous
//if(error != 0) {Serial.println(compass.GetErrorText(error));} //check for errors
}
float getHeading() { //get reading from HMC5883L and calculate heading
start: //label for goto jump
MagnetometerScaled scaled = compass.ReadScaledAxis(); //request scaled values from compass
float heading1 = atan2(scaled.YAxis, scaled.XAxis); delay(500); //calculate angle of rotation for Z axis from length of X, Y vectors
scaled = compass.ReadScaledAxis();
float heading2 = atan2(scaled.YAxis, scaled.XAxis); delay(500);
scaled = compass.ReadScaledAxis();
float heading3 = atan2(scaled.YAxis, scaled.XAxis);
float heading_mean = (heading1 + heading2 + heading3)/3; //calculate arithmetic mean value of single measurements
//Serial.println("head. 123"); Serial.print(heading1);Serial.print(" ");Serial.print(heading2);Serial.print(" ");Serial.println(heading3);
//Serial.println("head_mean"); Serial.println(heading_mean);
if (abs((heading_mean - heading1)/heading1) > heading_reliability) {digitalWrite(buzzer, HIGH); delay(100); digitalWrite(buzzer, LOW); goto start;} //restart measurement if unreliable
if (abs((heading_mean - heading2)/heading2) > heading_reliability) {digitalWrite(buzzer, HIGH); delay(100); digitalWrite(buzzer, LOW); goto start;} //restart measurement if unreliable
if (abs((heading_mean - heading3)/heading3) > heading_reliability) {digitalWrite(buzzer, HIGH); delay(100); digitalWrite(buzzer, LOW); goto start;} //restart measurement if unreliable
heading = heading_mean + (heading_offset * 0.0175); //correct with magnetic offset (converted to radiants)
if(heading < 0) heading += 2PI; //correct for when signs are reversed
if(heading > 2PI) heading -= 2*PI;
heading = heading * RAD_TO_DEG; //calculation to degrees
heading = int (heading + 0.5); //round to integer value for easier calculation
if(heading == 0) heading = 360; //set value for north heading to 360
return heading; //return value to main program
}
void display_info () {
lcd.setCursor(0, 0); lcd.print(" "); lcd.setCursor(0, 1); lcd.print(" "); //clear display
lcd.setCursor(0, 0); lcd.print(" blue felix ");
lcd.setCursor(0, 1); lcd.print(" autopilot v1.0 ");
}
fined atacment . ok tenx
ORGGG_SA_STRANICE.ino (11.9 KB)
Please edit your posts to add code tags, as described in the "How to use this forum" post.
rtvservis:
fined atacment . ok tenx
Your code is very hard to read. Please use the AutoFormat tool to indent it properly and please make sure that you have only one statement on each line and no statements on the same line after a {
...R
i em hardware gay . not gud for coding
i think it is problem on code
void setupHMC5883L() //setup the HMC5883L, and check for errors
{
int error;
error = compass.setScale(1.3); //set scale of compass HEAR GET EROR
//if(error != 0) {Serial.println(compass.GetErrorText(error));} //check for errors
error = compass.setMeasurementMode(MEASUREMENT_CONTINUOUS); //set measurement mode to Continuous
//if(error != 0) {Serial.println(compass.GetErrorText(error));} //check for errors
}
float getHeading() //get reading from HMC5883L and calculate heading
{
start: //label for goto jump
MagnetometerScaled scaled = compass.readScaledAxis(); //request scaled values from compass
float heading1 = atan2(scaled.YAxis, scaled.XAxis); delay(500); //calculate angle of rotation for Z axis from length of X, Y vectors
scaled = compass.readScaledAxis();
float heading2 = atan2(scaled.YAxis, scaled.XAxis); delay(500);
scaled = compass.readScaledAxis();
float heading3 = atan2(scaled.YAxis, scaled.XAxis);
float heading_mean = (heading1 + heading2 + heading3)/3; //calculate arithmetic mean value of single measurements
Serial.println("head. 123"); Serial.print(heading1);Serial.print(" ");Serial.print(heading2);Serial.print(" ");Serial.println(heading3);
Serial.println("head_mean"); Serial.println(heading_mean);
if (abs((heading_mean - heading1)/heading1) > heading_reliability) {digitalWrite(buzzer, HIGH); delay(100); digitalWrite(buzzer, LOW); goto start;} //restart measurement if unreliable
if (abs((heading_mean - heading2)/heading2) > heading_reliability) {digitalWrite(buzzer, HIGH); delay(100); digitalWrite(buzzer, LOW); goto start;} //restart measurement if unreliable
if (abs((heading_mean - heading3)/heading3) > heading_reliability) {digitalWrite(buzzer, HIGH); delay(100); digitalWrite(buzzer, LOW); goto start;} //restart measurement if unreliable
heading = heading_mean + (heading_offset * 0.0175); //correct with magnetic offset (converted to radiants)
if(heading < 0) heading += 2PI; //correct for when signs are reversed
if(heading > 2PI) heading -= 2*PI;
heading = heading * RAD_TO_DEG; //calculation to degrees
heading = int (heading + 0.5); //round to integer value for easier calculation
if(heading == 0) heading = 360; //set value for north heading to 360
return heading; //return value to main program
}
fined problem. has more libery about the HMC5883L. I got from the manufacturer code. They do not deal with software. Can the code be rectified?
#include <Wire.h> //I2C Arduino Library
#define address 0x1E //0011110b, I2C 7bit address of HMC5883L
void setup()
{
//Initialize Serial and I2C communications
Serial.begin(9600);
Wire.begin();
//Put the HMC5883L IC into the correct operating mode:
Wire.beginTransmission(address);//Open communication with HMC5883L.
Wire.write(0x02);//Select mode register.
Wire.write(0x00);//Continuous measurement mode.
Wire.endTransmission();
}
void loop()
{
int x,y,z;//Triple axis data.
Wire.beginTransmission(address);//Tell the HMC5883L where to begin reading data.
Wire.write(0x3);//Select register 3, X MSB register.
Wire.endTransmission();
//Read data from each axis, 2 registers per axis:
Wire.requestFrom(address, 6);
if(6<=Wire.available())
{
x = Wire.read()<<8;//X msb.
x |= Wire.read();//X lsb.
z = Wire.read()<<8;//Z msb.
z |= Wire.read();//Z lsb.
y = Wire.read()<<8;//Y msb.
y |= Wire.read();//Y lsb.
}
float heading = atan2(y, x);//Calculate Heading in Radians.
//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;
float headingDegrees = heading * 180/M_PI;//Convert radians to degrees.
Serial.print("Heading: ");
Serial.println(headingDegrees);
delay(1000);
wit lot of diferent project and code . solwed working
working code
alterntiv_okkkk.ino (8.08 KB)
Thanks for sharing.
...R