【CurieNano】对于此板指南针的个人研究

#include<Wire.h>
const uint8_t HMC5883 = 0x1E;               //有L没L都是这个地址了
uint8_t outputData[6];           //这个一定要是 unsigned的，有LSB会装在里面，这是一个buffer

void setup() {
  Serial.begin(9600);

  Wire.begin();
  Wire.beginTransmission(HMC5883);
  Wire.write(0x00);       //Configuration Resgister A
  Wire.write(0b00010100); //30HZ
  Wire.endTransmission();

  Wire.beginTransmission(HMC5883);
  Wire.write(0x01);     //Configuration Resgister B
  Wire.write(0b01000000);       // +/- 1.9Ga Range
  Wire.endTransmission();

  Wire.beginTransmission(HMC5883);
  Wire.write(0x02);     //Mode Register
  Wire.write(0x00);     // Continuous-Measurement Mode
  Wire.endTransmission();   
}


void loop() {
  int16_t x,y,z;           //这里不能直接int。一般int是16位的但是intel这个int好像是32位的，所以用int会把MSB的第一个正负号bit变成数字，这里只能short或int16_t 。


  Wire.beginTransmission(HMC5883);
  Wire.write(0x03);         // 从0x03开始读，参考datasheet p11
  Wire.endTransmission();    
  delay(30);
  Wire.requestFrom(HMC5883, 6);


  if(6 <= Wire.available()) // If the number of bytes available for reading be <=6.
    {
        for(int i=0;i<6;i++)
        {
            outputData=Wire.read();  //Store the data in outputData buffer
        }
    }
    Wire.endTransmission();

    //下面这里看p11啦
    x=outputData[0] << 8 | outputData[1]; //Combine MSB and LSB of X Data output register
    z=outputData[2] << 8 | outputData[3]; //Combine MSB and LSB of Z Data output register
    y=outputData[4] << 8 | outputData[5]; //Combine MSB and LSB of Y Data output register


    Serial.print(x);
    Serial.print(" ");
    Serial.print(y);
    Serial.print(" ");
    Serial.println(z);
}
复制代码

#define MAG0MAX 575
#define MAG0MIN -265

#define MAG1MAX 586
#define MAG1MIN -265

#define MAG2MAX 378
#define MAG2MIN -393
复制代码

float magOffset[3] = { (MAG0MAX + MAG0MIN) / 2, (MAG1MAX + MAG1MIN) / 2, (MAG2MAX + MAG2MIN) / 2 };
mx = (x-magOffset[0])/(MAG0MAX - MAG0MIN);
my = (y-magOffset[1])/(MAG1MAX - MAG1MIN);
mz = (z-magOffset[2])/(MAG2MAX - MAG2MIN);
复制代码

#include<Wire.h>

const uint8_t HMC5883 = 0x1E;
uint8_t outputData[6];

int16_t maxmagx = 0;
int16_t minmagx = 0;
int16_t maxmagy = 0;
int16_t minmagy = 0;
int16_t maxmagz = 0;
int16_t minmagz = 0;

void setup() {
  Serial.begin(9600);

  Wire.begin();
  Wire.beginTransmission(HMC5883);
  Wire.write(0x00);       //Configuration Resgister A
  Wire.write(0b00010100); //30HZ
  Wire.endTransmission();

  Wire.beginTransmission(HMC5883);
  Wire.write(0x01);
  Wire.write(0b01000000);
  Wire.endTransmission();

  Wire.beginTransmission(HMC5883);
  Wire.write(0x02);
  Wire.write(0x00);
  Wire.endTransmission();   
}

void loop() {
  int16_t x,y,z;


  Wire.beginTransmission(HMC5883);
  Wire.write(0x03);
  Wire.endTransmission();    
  delay(30);
  Wire.requestFrom(HMC5883, 6);


  if(6 <= Wire.available()) // If the number of bytes available for reading be <=6.
    {
        for(int i=0;i<6;i++)
        {
<i style="background-color: initial;">            outputData=Wire.read();  //Store the data in outputData buffer
        }
    }
    Wire.endTransmission();

    x=outputData[0] << 8 | outputData[1]; //Combine MSB and LSB of X Data output register
    z=outputData[2] << 8 | outputData[3]; //Combine MSB and LSB of Z Data output register
    y=outputData[4] << 8 | outputData[5]; //Combine MSB and LSB of Y Data output register

    if (x > maxmagx) maxmagx = x;
    else if (x < minmagx) minmagx = x;

    if (y > maxmagy) maxmagy = y;
    else if (y < minmagy) minmagy = y;

    if (z > maxmagz) maxmagz = z;
    else if (z < minmagz) minmagz = z;

    Serial.print("Orientation: ");
    Serial.print(maxmagx);
    Serial.print(" ");
    Serial.print(minmagx);
    Serial.print(" ");
    Serial.print(maxmagy);
    Serial.print(" ");
    Serial.print(minmagy);
    Serial.print(" ");
    Serial.print(maxmagz);
    Serial.print(" ");
    Serial.println(minmagz);
}</i>
复制代码

我看论坛有个老哥搞蓝牙跟6轴的，然后想搞9轴，我希望我这个文章可以帮到你。对于您抖动的情况， 那个setgyrorate跟setAccelxxxxxRate可以把它弄到50，filter.begin(50) 然后下面microsPerReading = 1000000 / 50。 如果你想快速roll跟pitch，可以把那个setxxxxrange调高， 下图。不过在convertRaw的方程里面你要把相应的数字放进去。