/*
HMC5883L_Example.pde - Example sketch for integration with an HMC5883L triple axis magnetomerwe.
Copyright (C) 2011 Love Electronics (loveelectronics.co.uk)
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/>.
*/
// Reference the I2C Library
#include <Wire.h>
// Reference the HMC5883L Compass Library
#include <HMC5883L.h>
// Store our compass as a variable.
HMC5883L compass;
// Record any errors that may occur in the compass.
int error = 0;
// 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 HMC5883L");
compass = HMC5883L(); // Construct a new HMC5883 compass.
Serial.println("Setting scale to +/- 1.3 Ga");
error = compass.SetScale(1.3); // 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));
}
// 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);
// 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 = 0.0215;
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(raw, scaled, heading, 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(MagnetometerRaw raw, MagnetometerScaled scaled, float heading, float headingDegrees)
{
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);
Serial.print(" ");
Serial.print(scaled.YAxis);
Serial.print(" ");
Serial.print(scaled.ZAxis);
Serial.print(" \tHeading:\t");
Serial.print(heading);
Serial.print(" Radians \t");
Serial.print(headingDegrees);
Serial.println(" Degrees \t");
}
This is the error I get when compiling.
C:\Users\Rick\Documents\Arduino\libraries\HMC5883L\HMC5883L.cpp: In member function 'void HMC5883L::Write(int, int)':
C:\Users\Rick\Documents\Arduino\libraries\HMC5883L\HMC5883L.cpp:110: error: 'class TwoWire' has no member named 'send'
C:\Users\Rick\Documents\Arduino\libraries\HMC5883L\HMC5883L.cpp:111: error: 'class TwoWire' has no member named 'send'
C:\Users\Rick\Documents\Arduino\libraries\HMC5883L\HMC5883L.cpp: In member function 'uint8_t* HMC5883L::Read(int, int)':
C:\Users\Rick\Documents\Arduino\libraries\HMC5883L\HMC5883L.cpp:118: error: 'class TwoWire' has no member named 'send'
C:\Users\Rick\Documents\Arduino\libraries\HMC5883L\HMC5883L.cpp:129: error: 'class TwoWire' has no member named 'receive'
I have encountered and successfully addressed the send/write and receive/read issue with previous code. Is this issue inside the library? Can a library be modified/updated manually?
That library is old and created for pre Arduino 1.0 environments.
You will need to do some changes to the library files to use them with current Arduino versions.
Open the file HMC5883L.cpp in a text editor
Replace the line #include <WProgram.h>
with #include <Arduino.h>
The Wire interface has also removed the send and receive methods. The are now called write and read
So replace all orrucenes of Wire.send with Wire.write and all occurences of Wire.receive with wire.read
I opened the cpp file in Notepad and made the changes, yet I sstill get the same errors.
/*
HMC5883L.cpp - Class file for the HMC5883L Triple Axis Magnetometer Arduino Library.
Copyright (C) 2011 Love Electronics (loveelectronics.co.uk)
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 "HMC5883L.h"
HMC5883L::HMC5883L()
{
m_Scale = 1;
}
MagnetometerRaw HMC5883L::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 HMC5883L::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 HMC5883L::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 HMC5883L::SetMeasurementMode(uint8_t mode)
{
Write(ModeRegister, mode);
}
void HMC5883L::Write(int address, int data)
{
Wire.beginTransmission(HMC5883L_Address);
Wire.write(address);
Wire.write(data);
Wire.endTransmission();
}
uint8_t* HMC5883L::Read(int address, int length)
{
Wire.beginTransmission(HMC5883L_Address);
Wire.write(address);
Wire.endTransmission();
Wire.beginTransmission(HMC5883L_Address);
Wire.requestFrom(HMC5883L_Address, length);
uint8_t buffer[length];
if(Wire.available() == length)
{
for(uint8_t i = 0; i < length; i++)
{
buffer[i] = Wire.read();
}
}
Wire.endTransmission();
return buffer;
}
char* HMC5883L::GetErrorText(int errorCode)
{
if(ErrorCode_1_Num == 1)
return ErrorCode_1;
return "Error not defined.";
}
getting the same error while using HMC5883L as a library ..
I m not including.. #include <Arduino.h>
and instead of including wprogram using wire lib.. #include <Wire.h>
pls help me out..
C:\Users\engrr\Documents\Arduino\libraries\HMC5883LL\HMC5883L.cpp: In member function 'void HMC5883L::Write(int, int)':
C:\Users\engrr\Documents\Arduino\libraries\HMC5883LL\HMC5883L.cpp:110: error: 'class TwoWire' has no member named 'send'
C:\Users\engrr\Documents\Arduino\libraries\HMC5883LL\HMC5883L.cpp:111: error: 'class TwoWire' has no member named 'send'
C:\Users\engrr\Documents\Arduino\libraries\HMC5883LL\HMC5883L.cpp: In member function 'uint8_t* HMC5883L::Read(int, int)':
C:\Users\engrr\Documents\Arduino\libraries\HMC5883LL\HMC5883L.cpp:118: error: 'class TwoWire' has no member named 'send'
C:\Users\engrr\Documents\Arduino\libraries\HMC5883LL\HMC5883L.cpp:129: error: 'class TwoWire' has no member named 'receive'
Arduino:1.5.7 (Windows 7), ??"Arduino Uno"
C:\Users\heartacker\Documents\Arduino\libraries\HMC5883L\HMC5883L.cpp: In member function 'uint8_t* HMC5883L::Read(int, int)':
C:\Users\heartacker\Documents\Arduino\libraries\HMC5883L\HMC5883L.cpp:129:17: error: 'wire' was not declared in this scope
buffer[i] = wire.read();
^
???????????
"Show verbose output during compilation"
? ??>??? ???
