تم نشر هذا المشروع لجميع الأشخاص المهتمين في مجال تصنيع وابتكار المشاريع الإلكترونية والبرمجية، و نود التنويه أن موقع انا الكتروني يخلي مسؤوليته التامة في حال لم يعمل المشروع لدى العميل أو في حال الاستخدام الخاطئ للمكونات الإلكترونية والكهربائية التي قد تؤدي لحدوث أي مشكلة لا سمح الله.

تنويه: استخدم لوحة Bread board لتوصيل الوحدات بمنفذ 5V و GND

• للتعرف على تجهيز لوحة أردوينو للبرمجة قم بزيارة الرابط التالي.
• للإطلاع على كيفية تحميل وتنصيب المكتبات قم بزيارة الرابط التالي.
• قبل تحميل الكود البرمجي، عليك تحميل المكتبات التالية:
• Wire.h
• HMC5883L.h من هنا
• Streaming.h
• في حال لم يعمل هذا الكود البرمجي، قم بتحميل ملف الكود بالضغط على زر التحميل الموجود في الأسفل.

/*****************************************************************************/
// Function: Get the Geographic direction of the X-axis.
// If X-axis points to the North, it is 0 degree.
// If X-axis points to the East, it is 90 degrees.
// If X-axis points to the South, it is 180 degrees.
// If X-axis points to the West, it is 270 degrees.
// Hardware: Grove – 3-Axis Digital Compass
//
// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version.
//
// This library 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
// Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
//
/*******************************************************************************/

// Reference the I2C Library
#include <Wire.h>
// Reference the HMC5883L Compass Library
#include <HMC5883L.h>

//#include “Streaming.h”

// Store our compass as a variable.
HMC5883L compass;
// Record any errors that may occur in the compass.
int error = 0;

MagnetometerScaled valueOffset;

// Out setup routine, here we will configure the microcontroller and compass.
void setup()
{
// Initialize the serial port.
Serial.begin(115200);
delay(2000);
Serial.println(“Starting the I2C interface.”);
Wire.begin(); // Start the I2C interface.

Serial.println(“Constructing new HMC5883L”);

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));

compassCalibrate();
}

// calibrate offset of x, y and z
void compassCalibrate(void)
{
//Serial << “>>>> calibrate the compass\n”;
Serial.println(“calibrate the compass”);
MagnetometerScaled valueMax = {0, 0, 0};
MagnetometerScaled valueMin = {0, 0, 0};

// calculate x, y and z offset

//Serial << “please rotate the compass” << endl;
Serial.println(“please rotate the compass”);
int xcount = 0;
int ycount = 0;
int zcount = 0;
boolean xZero = false;
boolean yZero = false;
boolean zZero = false;
MagnetometerScaled value;
while (xcount < 3 || ycount < 3 || zcount < 3) {
value = compass.readScaledAxis();
if ((fabs(value.XAxis) > 600) || (fabs(value.YAxis) > 600) || (fabs(value.ZAxis) > 600)) {
continue;
}

if (valueMin.XAxis > value.XAxis) {
valueMin.XAxis = value.XAxis;
} else if (valueMax.XAxis < value.XAxis) {
valueMax.XAxis = value.XAxis;
}

if (valueMin.YAxis > value.YAxis) {
valueMin.YAxis = value.YAxis;
} else if (valueMax.YAxis < value.YAxis) {
valueMax.YAxis = value.YAxis;
}

if (valueMin.ZAxis > value.ZAxis) {
valueMin.ZAxis = value.ZAxis;
} else if (valueMax.ZAxis < value.ZAxis) {
valueMax.ZAxis = value.ZAxis;
}

if (xZero) {
if (fabs(value.XAxis) > 50) {
xZero = false;
xcount++;
}
} else {
if (fabs(value.XAxis) < 40) {
xZero = true;
}
}

if (yZero) {
if (fabs(value.YAxis) > 50) {
yZero = false;
ycount++;
}
} else {
if (fabs(value.YAxis) < 40) {
yZero = true;
}
}

if (zZero) {
if (fabs(value.ZAxis) > 50) {
zZero = false;
zcount++;
}
} else {
if (fabs(value.ZAxis) < 40) {
zZero = true;
}
}

delay(30);
}

valueOffset.XAxis = (valueMax.XAxis + valueMin.XAxis) / 2;
valueOffset.YAxis = (valueMax.YAxis + valueMin.YAxis) / 2;
valueOffset.ZAxis = (valueMax.ZAxis + valueMin.ZAxis) / 2;
#if 0
Serial << “max: ” << valueMax.XAxis << ‘\t’ << valueMax.YAxis << ‘\t’ << valueMax.ZAxis << endl;
Serial << “min: ” << valueMin.XAxis << ‘\t’ << valueMin.YAxis << ‘\t’ << valueMin.ZAxis << endl;
Serial << “offset: ” << valueOffset.XAxis << ‘\t’ << valueOffset.YAxis << ‘\t’ << valueOffset.ZAxis << endl;

Serial << “<<<<” << endl;
#endif
Serial.print(“max: “);
Serial.print(valueMax.XAxis);
Serial.print(valueMax.YAxis);
Serial.println(valueMax.ZAxis);
Serial.print(“min: “);
Serial.print(valueMin.XAxis);
Serial.print(valueMin.YAxis);
Serial.println(valueMin.ZAxis);
Serial.print(“offset: “);
Serial.print(valueOffset.XAxis);
Serial.print(valueOffset.YAxis);
Serial.println(valueOffset.ZAxis);
}

// 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();

scaled.XAxis -= valueOffset.XAxis;
scaled.YAxis -= valueOffset.YAxis;
scaled.ZAxis -= valueOffset.ZAxis;

// 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 yxHeading = atan2(scaled.YAxis, scaled.XAxis);
float zxHeading = atan2(scaled.ZAxis, scaled.XAxis);

float heading = yxHeading;

// 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′ 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 = -0.0457;
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;

float yxHeadingDegrees = yxHeading * 180 / M_PI;
float zxHeadingDegrees = zxHeading * 180 / M_PI;

// Output the data via the serial port.
// Output(raw, scaled, heading, headingDegrees);

// Serial << scaled.XAxis << ‘ ‘ << scaled.YAxis << ‘ ‘ << scaled.ZAxis << endl;
// Serial << “arctan y/x: ” << yxHeadingDegrees << ” \tarctan z/x: ” << zxHeadingDegrees << endl;

Serial.print(scaled.XAxis);
Serial.print(scaled.YAxis);
Serial.println(scaled.ZAxis);

Serial.print(“arctan y/x: “);
Serial.print(yxHeadingDegrees);
Serial.print(“arctan z/x: “);
Serial.print(zxHeadingDegrees);

// 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(1000);//of course it can be delayed longer.
}

// 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”);
}