[转载] [Arduino模块]CMPS10 倾斜补偿的电子罗盘
CMPS10模块是一个倾斜补偿的电子罗盘。采用一个3轴磁强计、一个3轴加速计和一个强大的16位处理器，CMPS10一直旨在消除由PCB的倾斜引起的误差 。CMPS10输出的0-3599代表0-359.9或0到255。测量X，Y和z分量的磁场，俯仰和横滚三个传感器的输出被用来计算磁场角度，这些组件也取得了在那里的原始形式 。CMPS10模块需要3.3- 5V的电源以及25毫安电流。
代码示例：
/****************************************************************
* Arduino CMPS10 example code *
* CMPS10 running I2C mode *
* by James Henderson, 2012 *
*****************************************************************/
#include <Wire.h>
#include <SoftwareSerial.h>
#define ADDRESS 0x60 // Defines address of CMPS10
#define LCD_RX 0x02 // RX and TX pins used for LCD0303 serial port
#define LCD_TX 0x03
#define LCD03_HIDE_CUR 0x04
#define LCD03_CLEAR 0x0C
#define LCD03_SET_CUR 0x02
SoftwareSerial lcd03 =SoftwareSerial(LCD_RX, LCD_TX); // Defines software serial port for LCD03
void setup(){
Wire.begin(); // Conects I2C
lcd03.begin(9600);
lcd03.write(LCD03_HIDE_CUR);
lcd03.write(LCD03_CLEAR);
}
void loop(){
byte highByte, lowByte, fine; // highByte and lowByte store high and low bytes of the bearing and fine stores decimal place of bearing
char pitch, roll; // Stores pitch and roll values of CMPS10, chars are used because they support signed value
int bearing; // Stores full bearing
Wire.beginTransmission(ADDRESS); //starts communication with CMPS10
Wire.write(2); //Sends the register we wish to start reading from
Wire.endTransmission();
Wire.requestFrom(ADDRESS, 4); // Request 4 bytes from CMPS10
while(Wire.available() < 4); // Wait for bytes to become available
highByte = Wire.read();
lowByte = Wire.read();
pitch = Wire.read();
roll = Wire.read();
bearing = ((highByte<<8)+lowByte)/10; // Calculate full bearing
fine = ((highByte<<8)+lowByte)%10; // Calculate decimal place of bearing
display_data(bearing, fine, pitch, roll);// Display data to the LCD03
delay(100);
}
void display_data(int b, int f, int p, int r){ // pitch and roll (p, r) are recieved as ints instead oif bytes so that they will display corectly as signed values.
lcd03.write(LCD03_SET_CUR); // Set the LCD03 cursor position
lcd03.write(1);
lcd03.print("CMPS10 Example V:");
lcd03.print(soft_ver()); // Display software version of the CMPS10
delay(5); // Delay to allow LCD03 to proscess data
lcd03.write(LCD03_SET_CUR);
lcd03.write(21);
lcd03.print("Bearing = "); // Display the full bearing and fine bearing seperated by a decimal poin on the LCD03
lcd03.print(b);
lcd03.print(".");
lcd03.print(f);
lcd03.print("");
delay(5);
lcd03.write(LCD03_SET_CUR); // Display the Pitch value to the LCD03
lcd03.write(41);
lcd03.print("Pitch = ");
lcd03.print(p);
lcd03.print(" ");
delay(5);
lcd03.write(LCD03_SET_CUR); // Display the roll value to the LCD03
lcd03.write(61);
lcd03.print("Roll = ");
lcd03.print(r);
lcd03.print(" ");
}
int soft_ver(){
int data; // Software version ofCMPS10 is read into data and then returned
Wire.beginTransmission(ADDRESS);
// Values of 0 being sent with write need to be masked as a byte so they are not misinterpreted as NULL this is a bug in arduino 1.0
Wire.write((byte)0); // Sends the register we wish to start reading from
Wire.endTransmission();
Wire.requestFrom(ADDRESS, 1); // Request byte from CMPS10
while(Wire.available() < 1);
data = Wire.read();
return(data);
}
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