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又稱(chēng)地平經(jīng)度(Azimuth angle，縮寫(xiě)為Az)，是在平面上量度物體之間的角度差的方法之一。是從某點(diǎn)的指北方向線(xiàn)起，依順時(shí)針?lè)较虻侥繕?biāo)方向線(xiàn)之間的水平夾角，用“度”和“密位”表示。常用于判定方位、指示目標(biāo)和保持行進(jìn)方向。

從真子午線(xiàn)起算的為真方位角，通常在精密測(cè)量中使用，從磁子午線(xiàn)起算的方磁方位角，在航空、航海、炮兵射擊、軍隊(duì)行進(jìn)時(shí)廣泛使用，從地形圖的坐標(biāo)縱線(xiàn)起算的為坐標(biāo)方位角，炮兵使用較多。磁方位角與真方位角的關(guān)系式為：磁方位角=真方位角-(±磁偏角)。坐標(biāo)方位角與磁方位角的關(guān)系式為：坐標(biāo)方位角=磁方位角+ (±磁坐偏角)。

從標(biāo)準(zhǔn)方向的北端起,順時(shí)針?lè)较虻街本€(xiàn)的水平角稱(chēng)為該直線(xiàn)的方位角。以北點(diǎn)為起算點(diǎn)，由北點(diǎn)開(kāi)始按順時(shí)針?lè)较蛴?jì)量。方位角的取值范圍為0~360度，北點(diǎn)為0°，東點(diǎn)為90°，南點(diǎn)為180°，西點(diǎn)為270°。

QMC5883L Compass是一個(gè)Arduino庫(kù)，用于將QMC5583L系列模塊使用指南針（電子羅盤(pán)）功能。支持：

1、獲取XYZ軸的值。
2、計(jì)算方位角。
3、獲得16點(diǎn)方位角軸承方向（0-15）。
4、獲取16點(diǎn)方位角軸承名稱(chēng)（N，NNE，NE，ENE，E，ESE，SE，SSE，S，SSW，SW，WSW，W，WNW，NW，NNW）
5、通過(guò)滾動(dòng)平均和最小/最大消除來(lái)平滑XYZ讀數(shù)。
6、任選的芯片組模式。

QMC5883LCompass.cpp 庫(kù)文件

/*
===============================================================================================================
QMC5883LCompass.h
Library for using QMC5583L series chip boards as a compass.
Learn more at [https://github.com/mprograms/QMC5883LCompass]
Supports:
- Getting values of XYZ axis.
- Calculating Azimuth.
- Getting 16 point Azimuth bearing direction (0 - 15).
- Getting 16 point Azimuth bearing Names (N, NNE, NE, ENE, E, ESE, SE, SSE, S, SSW, SW, WSW, W, WNW, NW, NNW)
- Smoothing of XYZ readings via rolling averaging and min / max removal.
- Optional chipset modes (see below)
===============================================================================================================
v1.0 - June 13, 2019
Written by MRPrograms
Github: [https://github.com/mprograms/]
Release under the GNU General Public License v3
[https://www.gnu.org/licenses/gpl-3.0.en.html]
===============================================================================================================
FROM QST QMC5883L Datasheet [https://nettigo.pl/attachments/440]
-----------------------------------------------
MODE CONTROL (MODE)
Standby 0x00
Continuous 0x01
OUTPUT DATA RATE (ODR)
10Hz 0x00
50Hz 0x04
100Hz 0x08
200Hz 0x0C
FULL SCALE (RNG)
2G 0x00
8G 0x10
OVER SAMPLE RATIO (OSR)
512 0x00
256 0x40
128 0x80
64 0xC0
*/
#include "Arduino.h"
#include "QMC5883LCompass.h"
#include <Wire.h>
QMC5883LCompass::QMC5883LCompass() {
}
/**
INIT
Initialize Chip - This needs to be called in the sketch setup() function.
@since v0.1;
**/
void QMC5883LCompass::init(){
Wire.begin();
_writeReg(0x0B,0x01);
setMode(0x01,0x0C,0x10,0X00);
}
/**
SET ADDRESS
Set the I2C Address of the chip. This needs to be called in the sketch setup() function.
@since v0.1;
**/
// Set I2C Address if different then default.
void QMC5883LCompass::setADDR(byte b){
_ADDR = b;
}
/**
REGISTER
Write the register to the chip.
@since v0.1;
**/
// Write register values to chip
void QMC5883LCompass::_writeReg(byte r, byte v){
Wire.beginTransmission(_ADDR);
Wire.write(r);
Wire.write(v);
Wire.endTransmission();
}
/**
CHIP MODE
Set the chip mode.
@since v0.1;
**/
// Set chip mode
void QMC5883LCompass::setMode(byte mode, byte odr, byte rng, byte osr){
_writeReg(0x09,mode|odr|rng|osr);
}
/**
RESET
Reset the chip.
@since v0.1;
**/
// Reset the chip
void QMC5883LCompass::setReset(){
_writeReg(0x0A,0x80);
}
// 1 = Basic 2 = Advanced
void QMC5883LCompass::setSmoothing(byte steps, bool adv){
_smoothUse = true;
_smoothSteps = ( steps > 10) ? 10 : steps;
_smoothAdvanced = (adv == true) ? true : false;
}
/**
SET CALIBRATION
Set calibration values for more accurate readings
@author Claus Näveke - TheNitek [https://github.com/TheNitek]
@since v1.1.0
**/
void QMC5883LCompass::setCalibration(int x_min, int x_max, int y_min, int y_max, int z_min, int z_max){
_calibrationUse = true;
_vCalibration[0][0] = x_min;
_vCalibration[0][1] = x_max;
_vCalibration[1][0] = y_min;
_vCalibration[1][1] = y_max;
_vCalibration[2][0] = z_min;
_vCalibration[2][1] = z_max;
}
/**
READ
Read the XYZ axis and save the values in an array.
@since v0.1;
**/
void QMC5883LCompass::read(){
Wire.beginTransmission(_ADDR);
Wire.write(0x00);
int err = Wire.endTransmission();
if (!err) {
Wire.requestFrom(_ADDR, (byte)6);
_vRaw[0] = (int)(int16_t)(Wire.read() | Wire.read() << 8);
_vRaw[1] = (int)(int16_t)(Wire.read() | Wire.read() << 8);
_vRaw[2] = (int)(int16_t)(Wire.read() | Wire.read() << 8);
if ( _calibrationUse ) {
_applyCalibration();
}
if ( _smoothUse ) {
_smoothing();
}
//byte overflow = Wire.read() & 0x02;
//return overflow << 2;
}
}
/**
APPLY CALIBRATION
This function uses the calibration data provided via @see setCalibration() to calculate more
accurate readings
@author Claus Näveke - TheNitek [https://github.com/TheNitek]
Based on this awesome article:
https://appelsiini.net/2018/calibrate-magnetometer/
@since v1.1.0
**/
void QMC5883LCompass::_applyCalibration(){
int x_offset = (_vCalibration[0][0] + _vCalibration[0][1])/2;
int y_offset = (_vCalibration[1][0] + _vCalibration[1][1])/2;
int z_offset = (_vCalibration[2][0] + _vCalibration[2][1])/2;
int x_avg_delta = (_vCalibration[0][1] - _vCalibration[0][0])/2;
int y_avg_delta = (_vCalibration[1][1] - _vCalibration[1][0])/2;
int z_avg_delta = (_vCalibration[2][1] - _vCalibration[2][0])/2;
int avg_delta = (x_avg_delta + y_avg_delta + z_avg_delta) / 3;
float x_scale = (float)avg_delta / x_avg_delta;
float y_scale = (float)avg_delta / y_avg_delta;
float z_scale = (float)avg_delta / z_avg_delta;
_vCalibrated[0] = (_vRaw[0] - x_offset) * x_scale;
_vCalibrated[1] = (_vRaw[1] - y_offset) * y_scale;
_vCalibrated[2] = (_vRaw[2] - z_offset) * z_scale;
}
/**
SMOOTH OUTPUT
This function smooths the output for the XYZ axis. Depending on the options set in
@see setSmoothing(), we can run multiple methods of smoothing the sensor readings.
First we store (n) samples of sensor readings for each axis and store them in a rolling array.
As each new sensor reading comes in we replace it with a new reading. Then we average the total
of all (n) readings.
Advanced Smoothing
If you turn advanced smoothing on, we will select the min and max values from our array
of (n) samples. We then subtract both the min and max from the total and average the total of all
(n - 2) readings.
NOTE: This function does several calculations and can cause your sketch to run slower.
@since v0.3;
**/
void QMC5883LCompass::_smoothing(){
byte max = 0;
byte min = 0;
if ( _vScan > _smoothSteps - 1 ) { _vScan = 0; }
for ( int i = 0; i < 3; i++ ) {
if ( _vTotals[i] != 0 ) {
_vTotals[i] = _vTotals[i] - _vHistory[_vScan][i];
}
_vHistory[_vScan][i] = ( _calibrationUse ) ? _vCalibrated[i] : _vRaw[i];
_vTotals[i] = _vTotals[i] + _vHistory[_vScan][i];
if ( _smoothAdvanced ) {
max = 0;
for (int j = 0; j < _smoothSteps - 1; j++) {
max = ( _vHistory[j][i] > _vHistory[max][i] ) ? j : max;
}
min = 0;
for (int k = 0; k < _smoothSteps - 1; k++) {
min = ( _vHistory[k][i] < _vHistory[min][i] ) ? k : min;
}
_vSmooth[i] = ( _vTotals[i] - (_vHistory[max][i] + _vHistory[min][i]) ) / (_smoothSteps - 2);
} else {
_vSmooth[i] = _vTotals[i] / _smoothSteps;
}
}
_vScan++;
}
/**
GET X AXIS
Read the X axis
@since v0.1;
@return int x axis
**/
int QMC5883LCompass::getX(){
return _get(0);
}
/**
GET Y AXIS
Read the Y axis
@since v0.1;
@return int y axis
**/
int QMC5883LCompass::getY(){
return _get(1);
}
/**
GET Z AXIS
Read the Z axis
@since v0.1;
@return int z axis
**/
int QMC5883LCompass::getZ(){
return _get(2);
}
/**
GET SENSOR AXIS READING
Get the smoothed, calibration, or raw data from a given sensor axis
@since v1.1.0
@return int sensor axis value
**/
int QMC5883LCompass::_get(int i){
if ( _smoothUse )
return _vSmooth[i];
if ( _calibrationUse )
return _vCalibrated[i];
return _vRaw[i];
}
/**
GET AZIMUTH
Calculate the azimuth (in degrees);
@since v0.1;
@return int azimuth
**/
int QMC5883LCompass::getAzimuth(){
int a = atan2( getY(), getX() ) * 180.0 / PI;
return a < 0 ? 360 + a : a;
}
/**
GET BEARING
Divide the 360 degree circle into 16 equal parts and then return the a value of 0-15
based on where the azimuth is currently pointing.
@since v1.0.1 - function now requires azimuth parameter.
@since v0.2.0 - initial creation
@return byte direction of bearing
*/
byte QMC5883LCompass::getBearing(int azimuth){
unsigned long a = azimuth / 22.5;
unsigned long r = a - (int)a;
byte sexdec = 0;
sexdec = ( r >= .5 ) ? ceil(a) : floor(a);
return sexdec;
}
/**
This will take the location of the azimuth as calculated in getBearing() and then
produce an array of chars as a text representation of the direction.
NOTE: This function does not return anything since it is not possible to return an array.
Values must be passed by reference back to your sketch.
Example:
( if direction is in 1 / NNE)
char myArray[3];
compass.getDirection(myArray, azimuth);
Serial.print(myArray[0]); // N
Serial.print(myArray[1]); // N
Serial.print(myArray[2]); // E
@see getBearing();
@since v1.0.1 - function now requires azimuth parameter.
@since v0.2.0 - initial creation
*/
void QMC5883LCompass::getDirection(char* myArray, int azimuth){
int d = getBearing(azimuth);
myArray[0] = _bearings[d][0];
myArray[1] = _bearings[d][1];
myArray[2] = _bearings[d][2];
}

復(fù)制代碼

#ifndef QMC5883L_Compass
#define QMC5883L_Compass
#include "Arduino.h"
#include "Wire.h"
class QMC5883LCompass{
public:
QMC5883LCompass();
void init();
void setADDR(byte b);
void setMode(byte mode, byte odr, byte rng, byte osr);
void setSmoothing(byte steps, bool adv);
void setCalibration(int x_min, int x_max, int y_min, int y_max, int z_min, int z_max);
void setReset();
void read();
int getX();
int getY();
int getZ();
int getAzimuth();
byte getBearing(int azimuth);
void getDirection(char* myArray, int azimuth);
private:
void _writeReg(byte reg,byte val);
int _get(int index);
bool _smoothUse = false;
byte _smoothSteps = 5;
bool _smoothAdvanced = false;
byte _ADDR = 0x0D;
int _vRaw[3] = {0,0,0};
int _vHistory[10][3];
int _vScan = 0;
long _vTotals[3] = {0,0,0};
int _vSmooth[3] = {0,0,0};
void _smoothing();
bool _calibrationUse = false;
int _vCalibration[3][2];
int _vCalibrated[3];
void _applyCalibration();
const char _bearings[16][3] = {
{' ', ' ', 'N'},
{'N', 'N', 'E'},
{' ', 'N', 'E'},
{'E', 'N', 'E'},
{' ', ' ', 'E'},
{'E', 'S', 'E'},
{' ', 'S', 'E'},
{'S', 'S', 'E'},
{' ', ' ', 'S'},
{'S', 'S', 'W'},
{' ', 'S', 'W'},
{'W', 'S', 'W'},
{' ', ' ', 'W'},
{'W', 'N', 'W'},
{' ', 'N', 'W'},
{'N', 'N', 'W'},
};
};
#endif

實(shí)驗(yàn)開(kāi)源代碼，

項(xiàng)目三：通過(guò)串口實(shí)時(shí)繪制電子羅盤(pán)方位角的波形

/*
【Arduino】168種傳感器模塊系列實(shí)驗(yàn)（資料代碼+圖形編程+仿真編程）
實(shí)驗(yàn)一百五十八：QMC5883L電子指南針羅盤(pán)模塊三軸磁場(chǎng)傳感器GY-271
1、安裝庫(kù)：IDE--工具--管理庫(kù)--搜索“QMC5883L”--安裝QMC5883LCompass
2、項(xiàng)目三：通過(guò)串口實(shí)時(shí)繪制電子羅盤(pán)方位角的波形
3、實(shí)驗(yàn)接線(xiàn)：
QMC5883L-------------- UNO
VCC------------------- 5V
GND------------------- GND
SCL ------------------- A5
SDA------------------- A4
DRDY------------------ N/C
*/
#include <QMC5883LCompass.h>
QMC5883LCompass compass;
void setup() {
Serial.begin(9600);
compass.init();
}
void loop() {
int a;
// 讀取羅盤(pán)值
compass.read();
// 返回方位角讀數(shù)
a = compass.getAzimuth();
Serial.print("電子羅盤(pán)方位角: ");
Serial.print(a);
Serial.println();
delay(800);
}

復(fù)制代碼

用手轉(zhuǎn)動(dòng)QMC5883L模塊，串口輸出的實(shí)時(shí)波形，數(shù)值在0--359°之間波動(dòng)，簡(jiǎn)單又直觀。

15.jpg (70.74 KB, 下載次數(shù): 64)

下載附件

2021-1-25 10:17 上傳

QMC5883L Compass庫(kù)函數(shù)的幾個(gè)使用要點(diǎn)

1、QMC5883L與Arduino Uno / Nano的連接

VCC  O ---- O +5v
GND  O ---- O GND
SCL  O ---- O A5
SDA  O ---- O A4
DRDY O ---- X NOT CONNECTED

2、入門(mén)
首先，在程序頂部包括QMC5883L指南針庫(kù)。

#include <QMC5883LCompass.h>
QMC5883LCompass compass;

然后在setup（）函數(shù)中添加：

void setup(){
compass.init();
}

3、獲取X，Y或Z軸的數(shù)值

要獲取X，Y或Z傳感器的讀數(shù)，只需調(diào)用所需的功能。

void loop(){
int x = compass.getX();
int y = compass.getY();
int z = compass.getZ();
}

6、更改I2C地址
要在調(diào)用compass.setADDR(BYTE_VALUE);之前更改I2C地址呼叫，compass.init();如下所示：

void setup(){
compass.setADDR(BYTE);
compass.init();
}

7、更改模式，數(shù)據(jù)速率，比例，采樣率
您還可以更改QMC5583L芯片的模式，靈敏度，采樣率和輸出率。等等，只需在調(diào)用compass.setMode(MODE, ODR, RNG, OSR);后調(diào)用即可compass.init()。請(qǐng)注意，每個(gè)值必須是一個(gè)字節(jié)。設(shè)置每個(gè)模式的值在預(yù)設(shè)中，并取自QST QMC5583L數(shù)據(jù)表。

8、精細(xì)QMC5583L傳感器輸出
在傳感器讀數(shù)似乎反彈的情況下，平滑可以提供幫助。QMC5883L指南針庫(kù)使用滾動(dòng)平均值功能來(lái)存儲(chǔ)（N）個(gè)傳感器讀數(shù)并返回每個(gè)軸的平均值。該平均還對(duì)方位角和方向輸出進(jìn)行平滑處理。

如果啟用，該功能的第二部分將采用內(nèi)部滾動(dòng)逐步通過(guò)的當(dāng)前替代和替代，將其從總體上中刪除。這可以幫助消除在錯(cuò)誤的讀數(shù)中可能發(fā)生的替代的高點(diǎn)和低點(diǎn)。

應(yīng)該注意的是，內(nèi)置的平滑功能將導(dǎo)致額外的處理時(shí)間。

compass.setSmoothing(STEPS, ADVANCED);

在循環(huán)之前啟用平滑調(diào)用。

步驟：int，使結(jié)果平滑的步驟數(shù)。1到10的有效值。更高的步長(zhǎng)等于更平滑，但處理時(shí)間縮短。

*：?jiǎn)⒂么斯δ軐⑹蛊交Ч茫幚頃r(shí)間縮短。*

void setup(){
compass.init();
compass.setSmoothing(10, true);
}

9、校準(zhǔn)QMC5583L傳感器
QMC5883LCompass庫(kù)包含校準(zhǔn)功能和實(shí)用程序大綱，可幫助您校準(zhǔn)QMC5883L芯片。校準(zhǔn)是一個(gè)兩步過(guò)程。

步驟1：運(yùn)行校準(zhǔn)程序
a、確保已連接QMC5883L芯片。
b、在示例> QMC5883LCOMPASS>校準(zhǔn)下找到隨附的校準(zhǔn)草圖。
c、將校準(zhǔn)草圖上傳到您的arduino，然后打開(kāi)串行監(jiān)視器。
d、校準(zhǔn)過(guò)程開(kāi)始時(shí)，通過(guò)移動(dòng)傳感器來(lái)伴隨屏幕上的指示。
c、收集完所有校準(zhǔn)數(shù)據(jù)后，復(fù)制副本的代碼

compass.setCalibration(-1537, 1266, -1961, 958, -1342, 1492);

可能需要保存它以備將來(lái)參考。

步驟2：使用校正資料
a、項(xiàng)目的程序，將然后復(fù)制的代碼行直接插入到compass.init()調(diào)用下方。
b、照常使用QMC5883LCompass庫(kù)。

建議您使用提供的校準(zhǔn)草圖來(lái)生成傳感器的預(yù)設(shè)和替代，但也可以使用該

compass.setCalibration(X_MIN, X_MAX, Y_MIN, Y_MAX, Z_MIN, Z_MAX);

函數(shù)添加自己的預(yù)設(shè)和替代。

19.jpg (65.1 KB, 下載次數(shù): 65)

下載附件

2021-1-25 14:08 上傳

串口輸出的指南針?lè)轿粩?shù)值