GY-801 에 포함되어있는 HMC5883L 센서가 인식을 못하고 있습니다.
현재까지 4개의 제품으로 테스트를 해보았고 모두 동일하게 인식이 되지 않았습니다.
좀 더 확인해본결과 HMC5883L.h의 경우 address를 0x1E 로 설정되어있음과 달리 실제로 i2c 확인한 결과 0x30 으로 인식을 합니다. 그래서 단순히 헤더파일을 수정하면 원하던 값이 나오지 않습니다.
#include "Wire.h"
// I2Cdev and ADXL345 must be installed as libraries, or else the .cpp/.h files
// for both classes must be in the include path of your project
#include "I2Cdev.h"
#include "ADXL345.h"
#include "L3G4200D.h"
#include "BMP085.h"
#include "HMC5883L.h"
// accel
ADXL345 accel;
int16_t ax, ay, az;
// gyro
L3G4200D gyro;
int16_t avx, avy, avz;
// baro
BMP085 baro;
float temperature;
float pressure;
float altitude;
int32_t lastMicros;
// magneto
HMC5883L mag;
int16_t mx, my, mz;
#define LED_PIN 0 // (Arduino is 13, Teensy is 6)
bool blinkState = false;
void setup() {
// join I2C bus (I2Cdev library doesn't do this automatically)
Wire.begin();
// initialize serial communication
Serial.begin(9600);
// initialize device
Serial.println("Initializing I2C devices...");
accel.initialize();
gyro.initialize();
baro.initialize();
mag.initialize();
// verify connection
Serial.println("Testing device connections...");
Serial.println(accel.testConnection() ? "ADXL345 connection successful" : "ADXL345 connection failed");
Serial.println(gyro.testConnection() ? "L3G4200D connection successful" : "L3G4200D connection failed");
Serial.println(baro.testConnection() ? "BMP085 connection successful" : "BMP085 connection failed");
Serial.println(mag.testConnection() ? "HMC5883L connection successful" : "HMC5883L connection failed");
// configure LED for output
pinMode(LED_PIN, OUTPUT);
gyro.setFullScale(2000);
}
void loop() {
accelerometer();
gyroscope();
barometer();
// blink LED to indicate activity
blinkState = !blinkState;
digitalWrite(LED_PIN, blinkState);
// delay 100 msec to allow visually parsing blink and any serial output
delay(1000);
}
void accelerometer(){
// read raw accel measurements from device
accel.getAcceleration(&ax, &ay, &az);
// display tab-separated accel x/y/z values
Serial.print("accel:\t");
Serial.print(ax); Serial.print("\t");
Serial.print(ay); Serial.print("\t");
Serial.println(az);
}
void gyroscope(){
gyro.getAngularVelocity(&avx, &avy, &avz);
Serial.print("angular velocity:\t");
Serial.print(avx); Serial.print("\t");
Serial.print(avy); Serial.print("\t");
Serial.println(avz);
}
void barometer(){
// request temperature
baro.setControl(BMP085_MODE_TEMPERATURE);
// wait appropriate time for conversion (4.5ms delay)
lastMicros = micros();
while (micros() - lastMicros < baro.getMeasureDelayMicroseconds());
// read calibrated temperature value in degrees Celsius
temperature = baro.getTemperatureC();
// request pressure (3x oversampling mode, high detail, 23.5ms delay)
baro.setControl(BMP085_MODE_PRESSURE_3);
while (micros() - lastMicros < baro.getMeasureDelayMicroseconds());
// read calibrated pressure value in Pascals (Pa)
pressure = baro.getPressure();
// calculate absolute altitude in meters based on known pressure
// (may pass a second "sea level pressure" parameter here,
// otherwise uses the standard value of 101325 Pa)
altitude = baro.getAltitude(pressure);
// display measured values if appropriate
Serial.print("T/P/A\t");
Serial.print(temperature); Serial.print("\t");
Serial.print(pressure); Serial.print("\t");
Serial.print(altitude);
Serial.println("");
}
void magneto(){
// read raw heading measurements from device
mag.getHeading(&mx, &my, &mz);
// display tab-separated gyro x/y/z values
Serial.print("mag:\t");
Serial.print(mx); Serial.print("\t");
Serial.print(my); Serial.print("\t");
Serial.print(mz); Serial.print("\t");
// To calculate heading in degrees. 0 degree indicates North
float heading = atan2(my, mx);
if(heading < 0)
heading += 2 * M_PI;
Serial.print("heading:\t");
Serial.println(heading * 180/M_PI);
}
입니다.
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