Only commits for HMC5883L

examples/HMC5883L/HMC5883L.py

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+'''
+HMC5883L 3 Axis Digital Compass
+datascheet: https://cdn-shop.adafruit.com/datasheets/HMC5883L_3-Axis_Digital_Compass_IC.pdf
+autor: Karol Bieniaszewski
+c: 2017
+The MIT License (MIT)
+Copyright (c) 2017 Karol Bieniaszewski, liviuslivius at op dot pl
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+'''
+
+from machine import I2C
+from array import array
+import math
+import gc
+import time
+
+HMC5883L_sampling_mode_continous = bytes([0x00])
+HMC5883L_sampling_mode_single    = bytes([0x01])
+HMC5883L_sampling_mode_idle      = bytes([0x02])
+
+HMC5883L_samples_1 = 0
+HMC5883L_samples_2 = 32
+HMC5883L_samples_4 = 64
+HMC5883L_samples_8 = 96
+
+HMC5883L_rate_00_75 = 0
+HMC5883L_rate_01_50 = 4
+HMC5883L_rate_03_00 = 8
+HMC5883L_rate_07_50 = 12
+HMC5883L_rate_15_00 = 16
+HMC5883L_rate_75_00 = 20
+
+HMC5883L_measurement_mode_bias_disabled = 0
+HMC5883L_measurement_mode_bias_positive = 1
+HMC5883L_measurement_mode_bias_negative = 2
+
+HMC5883L_gauss_gain = {
+	"0.88": [0, 0.73],
+	"1.3":  [32, 0.92],
+	"1.9":  [64, 1.22],
+	"2.5":  [96, 1.52],
+	"4.0":  [128, 2.27],
+	"4.7":  [160, 2.56],
+	"5.6":  [192, 3.03],
+	"8.1":  [224, 4.35]
+	}
+
+def complement2toInt(value, len):
+	if (value & (1 << len - 1)):
+		value = value - (1<<len)
+	return value
+
+class HMC5883L():
+
+	def __init__(self, busI2C=None, port=0, sensor_address=30, gauss="1.3", declinationDegrees=0, declinationMinutes=0):
+		if busI2C==None:
+			self.bus = I2C(port, I2C.MASTER, baudrate=100000) # max 400000 MR7 can change it
+		else:
+			self.bus = busI2C
+		self.address = sensor_address
+		self.setDeclination(declinationDegrees, declinationMinutes)
+		self.headingDeg = None
+
+		self.__data = bytearray([0]*6)
+		self.x = 0
+		self.y = 0
+		self.z = 0
+		self.__error = -4096
+		self.wasError = 0
+
+		self.samples = HMC5883L_samples_8
+		self.rate = HMC5883L_rate_15_00
+		self.bias = HMC5883L_measurement_mode_bias_disabled
+		self.setRegA()
+
+		self.gauss=gauss
+		self.gauss_mask, self.gauss_scale=HMC5883L_gauss_gain[gauss]
+
+		self.bus.writeto_mem(self.address, 0x01, bytes([self.gauss_mask]))
+		self.setMode(HMC5883L_sampling_mode_continous)
+		time.sleep_ms(67) #1/15 Hz
+
+	def setDeclination(self, degrees, minutes):
+		self.declDegrees = degrees
+		self.declMinutes = minutes
+		self.declination = (degrees + minutes / 60.0) * math.pi / 180.0	
+
+	def setRegA(self):
+		self.bus.writeto_mem(self.address, 0x02, bytes([self.bias | self.samples | self.rate]))	
+
+	def setSamples(self, samples):
+		self.samples = samples
+		self.setRegA()
+
+	def setRate(self, rate):
+		self.rate = rate
+		self.setRegA()	
+
+	def setBias(self, bias):
+		self.bias = bias
+		self.setRegA()
+
+	def setMode(self, mode):
+		self.bus.writeto_mem(self.address, 0x02, mode) 
+
+	def declination(self):
+		return (self.declDegrees, self.declMinutes)
+
+	def convert(self, data, offset):
+		val = complement2toInt(data[offset] << 8 | data[offset+1], 16)
+		if val == self.__error: return None
+		return round(val * self.gauss_scale, 4)
+
+	def readAxes(self):
+		self.wasError = 0
+		self.bus.readfrom_mem_into(self.address, 0x03, self.__data)
+		#self.x = self.convert(self.__data, 0)
+		self.x = self.__data[0] << 8 | self.__data[0+1]
+		if (self.x & (1 << 16 - 1)):
+			self.x-= (1<<16)
+		if self.x == self.__error:
+			self.x=None
+			self.wasError = 1
+		else:
+			self.x=round(self.x * self.gauss_scale, 4)				
+
+		#self.z = self.convert(self.__data, 2)
+		self.z = self.__data[2] << 8 | self.__data[2+1]
+		if (self.z & (1 << 16 - 1)):
+			self.z-= (1<<16)
+		if self.z == self.__error:
+			self.z=None
+			self.wasError = 1
+		else:
+			self.z=round(self.z * self.gauss_scale, 4)		
+
+		#self.y = self.convert(self.__data, 4)
+		self.y = self.__data[4] << 8 | self.__data[4+1]
+		if (self.y & (1 << 16 - 1)):
+			self.y-= (1<<16)
+		if self.y == self.__error:
+			self.y=None
+			self.wasError = 1
+		else:
+			self.y=round(self.y * self.gauss_scale, 4)		
+
+	def heading(self):
+		'''
+		1° to 2° compass heading accuracy
+		first call self.readAxes()
+		'''		
+		headingRad = math.atan2(self.y, self.x)
+		headingRad += self.declination
+
+		# correct to range 0-360
+		if headingRad < 0:
+			headingRad += 2 * math.pi
+		elif headingRad > 2 * math.pi:
+			headingRad -= 2 * math.pi
+
+		self.headingDeg = headingRad * 180 / math.pi
+
+	def __str__(self):
+		'''
+		first call:
+		self.readAxes()
+		self.heading()
+		'''
+		return "X: " + str(self.x) + ", Y: " + str(self.y) + ", Z: " + str(self.z) + " - Heading: " + str(self.headingDeg) + ", Declination: " + str((self.declDegrees,self.declMinutes)) + "\n"

examples/HMC5883L/testCompass.py

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+# execfile('testCompass.py')
+import HMC5883L
+import gc
+import time
+m = HMC5883L.HMC5883L()
+while True:
+	m.readAxes()
+	m.heading()
+	print(m)
+	time.sleep_ms(1000)
+	gc.collect()