diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index c7bc753..0a53d2f 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -4,10 +4,12 @@
"name": "Win32",
"includePath": [
"C:\\Program Files (x86)\\Arduino\\tools\\**",
- "C:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\**"
+ "C:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\**",
+ "c:/Users/k7mdl/Documents/GitHub/k3ng_rotator_controller/libraries/"
],
"forcedInclude": [
- "C:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\cores\\arduino\\Arduino.h"
+ "C:\\Program Files (x86)\\Arduino\\hardware\\arduino\\avr\\cores\\arduino\\Arduino.h",
+ "c:\\Users\\k7mdl/Documents\\GitHub\\k3ng_rotator_controller\\libraries\\TinyGPS\\TinyGPS.h"
],
"intelliSenseMode": "msvc-x64"
}
diff --git a/k3ng_rotator_controller/rotator_debug_log_activation.h b/k3ng_rotator_controller/rotator_debug_log_activation.h
index 7002a1e..5b7d1b3 100644
--- a/k3ng_rotator_controller/rotator_debug_log_activation.h
+++ b/k3ng_rotator_controller/rotator_debug_log_activation.h
@@ -2,7 +2,7 @@
-#define DEFAULT_DEBUG_STATE 0 // 1 = activate debug mode at startup; this should be set to zero unless you're debugging something at startup
+#define DEFAULT_DEBUG_STATE 1 // 1 = activate debug mode at startup; this should be set to zero unless you're debugging something at startup
#define DEBUG_DUMP // normally compile with this activated unless you're really trying to save memory
// #define DEBUG_LOOP
@@ -53,7 +53,7 @@
// #define DEBUG_MEMSIC_2125
// #define DEBUG_SYNC_MASTER_CLOCK_TO_SLAVE
// #define DEBUG_SYNC_MASTER_COORDINATES_TO_SLAVE
-// #define DEBUG_HMC5883L
+#define DEBUG_HMC5883L
// #define DEBUG_POLOLU_LSM303_CALIBRATION
// #define DEBUG_STEPPER
// #define DEBUG_AUTOCORRECT
diff --git a/k3ng_rotator_controller/rotator_features.h b/k3ng_rotator_controller/rotator_features.h
index 699a532..ba1324c 100755
--- a/k3ng_rotator_controller/rotator_features.h
+++ b/k3ng_rotator_controller/rotator_features.h
@@ -113,7 +113,7 @@
//#define FEATURE_ROTATION_INDICATOR_PIN // activate rotation_indication_pin to indicate rotation
//#define FEATURE_LIMIT_SENSE
// #define FEATURE_TIMED_BUFFER // Support for Yaesu timed buffer commands
-// #define OPTION_SERIAL_HELP_TEXT // Yaesu help command prints help
+#define OPTION_SERIAL_HELP_TEXT // Yaesu help command prints help
//#define FEATURE_PARK
//#define FEATURE_AUTOPARK // Requires FEATURE_PARK
#define OPTION_AZ_MANUAL_ROTATE_LIMITS // this option will automatically stop the L and R commands when hitting a CCW or CW limit (settings are AZ_MANUAL_ROTATE_CCW_LIMIT, AZ_MANUAL_ROTATE_CW_LIMIT)
@@ -131,7 +131,7 @@
// #define OPTION_JOYSTICK_REVERSE_Y_AXIS
#define OPTION_EL_SPEED_FOLLOWS_AZ_SPEED // changing the azimith speed with Yaesu X commands or an azimuth speed pot will also change elevation speed
// #define OPTION_PULSE_IGNORE_AMBIGUOUS_PULSES // for azimuth and elevation position pulse input feature, ignore pulses that arrive when no rotation is active
-#define OPTION_BUTTON_RELEASE_NO_SLOWDOWN // disables slowdown when CW or CCW button is released, or stop button is depressed
+// #define OPTION_BUTTON_RELEASE_NO_SLOWDOWN // disables slowdown when CW or CCW button is released, or stop button is depressed
#define OPTION_SYNC_RTC_TO_GPS // if both realtime clock and GPS are present, synchronize realtime clock to GPS
#define OPTION_DISPLAY_STATUS
@@ -160,7 +160,7 @@
// #define OPTION_EXTERNAL_ANALOG_REFERENCE //Activate external analog voltage reference (needed for RemoteQTH.com unit)
// #define OPTION_SYNC_MASTER_CLOCK_TO_SLAVE // use when GPS unit is connected to slave unit and you want to synchronize the master unit clock to the slave unit GPS clock
// #define OPTION_SYNC_MASTER_COORDINATES_TO_SLAVE // use when GPS unit is connected to slave unit and you want to synchronize the master unit coordinates to the slave unit GPS
-// #define OPTION_DISABLE_HMC5883L_ERROR_CHECKING
+#define OPTION_DISABLE_HMC5883L_ERROR_CHECKING
// #define OPTION_HAMLIB_EASYCOM_AZ_EL_COMMAND_HACK
// #define OPTION_HAMLIB_EASYCOM_NO_TERMINATOR_CHARACTER_HACK
// #define OPTION_NO_ELEVATION_CHECK_TARGET_DELAY
diff --git a/k3ng_rotator_controller/rotator_pins.h b/k3ng_rotator_controller/rotator_pins.h
index 3051840..75190d1 100755
--- a/k3ng_rotator_controller/rotator_pins.h
+++ b/k3ng_rotator_controller/rotator_pins.h
@@ -139,11 +139,11 @@
#endif //FEATURE_AZ_POSITION_INCREMENTAL_ENCODER
#ifdef FEATURE_EL_POSITION_INCREMENTAL_ENCODER
- #define el_incremental_encoder_pin_phase_a 18 //18 //2 // must be an interrupt capable pin
- #define el_incremental_encoder_pin_phase_b 19 //19 //3 // must be an interrupt capable pin
+ #define el_incremental_encoder_pin_phase_a 2 //18 //2 // must be an interrupt capable pin
+ #define el_incremental_encoder_pin_phase_b 3 //19 //3 // must be an interrupt capable pin
#define el_incremental_encoder_pin_phase_z 0 //22 //4
- #define EL_POSITION_INCREMENTAL_ENCODER_A_PIN_INTERRUPT 5 //5 //0 // Uno: pin 2 = interrupt 0, pin 3 = interrupt 1 ; Mega: pin 2 = interrupt 0, pin 3 = interrupt 1, pin 21 = interrupt 2, pin 20 = interrupt 3, pin 19 = interrupt 4, pin 18 = interrupt 5
- #define EL_POSITION_INCREMENTAL_ENCODER_B_PIN_INTERRUPT 4 //4 //1 // Uno: pin 2 = interrupt 0, pin 3 = interrupt 1 ; Mega: pin 2 = interrupt 0, pin 3 = interrupt 1, pin 21 = interrupt 2, pin 20 = interrupt 3, pin 19 = interrupt 4, pin 18 = interrupt 5
+ #define EL_POSITION_INCREMENTAL_ENCODER_A_PIN_INTERRUPT 0 //5 //0 // Uno: pin 2 = interrupt 0, pin 3 = interrupt 1 ; Mega: pin 2 = interrupt 0, pin 3 = interrupt 1, pin 21 = interrupt 2, pin 20 = interrupt 3, pin 19 = interrupt 4, pin 18 = interrupt 5
+ #define EL_POSITION_INCREMENTAL_ENCODER_B_PIN_INTERRUPT 1 //4 //1 // Uno: pin 2 = interrupt 0, pin 3 = interrupt 1 ; Mega: pin 2 = interrupt 0, pin 3 = interrupt 1, pin 21 = interrupt 2, pin 20 = interrupt 3, pin 19 = interrupt 4, pin 18 = interrupt 5
// read http://arduino.cc/en/Reference/AttachInterrupt for details on hardware and interrupts
#endif //FEATURE_EL_POSITION_INCREMENTAL_ENCODER
diff --git a/k3ng_rotator_controller/rotator_settings.h b/k3ng_rotator_controller/rotator_settings.h
index 9c8b147..21c1f0a 100755
--- a/k3ng_rotator_controller/rotator_settings.h
+++ b/k3ng_rotator_controller/rotator_settings.h
@@ -43,8 +43,8 @@ You can tweak these, but read the online documentation!
#define PWM_SPEED_VOLTAGE_X4 253 // 0 to 255
//AZ
-#define AZ_SLOWSTART_DEFAULT 1 // 0 = off ; 1 = on
-#define AZ_SLOWDOWN_DEFAULT 1 // 0 = off ; 1 = on
+#define AZ_SLOWSTART_DEFAULT 0 // 0 = off ; 1 = on
+#define AZ_SLOWDOWN_DEFAULT 0 // 0 = off ; 1 = on
#define AZ_SLOW_START_UP_TIME 2000 // if slow start is enabled, the unit will ramp up speed for this many milliseconds
#define AZ_SLOW_START_STARTING_PWM 60 // PWM starting value for slow start (must be < 256)
#define AZ_SLOW_START_STEPS 20 // must be < 256
@@ -318,7 +318,7 @@ You can tweak these, but read the online documentation!
#define STALL_CHECK_FREQUENCY_MS_EL 1000
#define STALL_CHECK_DEGREES_THRESHOLD_EL 2
-//#define SET_I2C_BUS_SPEED 800000L // Can set up to 800 kHz, depending on devices. 800000L = 800 khz, 400000L = 400 khz. Default is 100 khz
+#define SET_I2C_BUS_SPEED 400000L // Can set up to 800 kHz, depending on devices. 800000L = 800 khz, 400000L = 400 khz. Default is 100 khz
#define ROTATIONAL_AND_CONFIGURATION_CMD_IGNORE_TIME_MS 5000 // if OPTION_ALLOW_ROTATIONAL_AND_CONFIGURATION_CMDS_AT_BOOT_UP is enabled, ignore configuration and rotational command for this many mS after boot up
@@ -335,16 +335,16 @@ You can tweak these, but read the online documentation!
// Changed in 2020.06.26.02
// Serial Port Settings
#define CONTROL_PORT_MAPPED_TO &Serial // change this line to map the control port to a different serial port (Serial1, Serial2, etc.)
-#define CONTROL_PORT_BAUD_RATE 9600
-//#define REMOTE_PORT Serial3 // used to control remote unit
-#define REMOTE_UNIT_PORT_BAUD_RATE 9600
+#define CONTROL_PORT_BAUD_RATE 115200
+// #define REMOTE_PORT Serial3 // used to control remote unit
+// #define REMOTE_UNIT_PORT_BAUD_RATE 9600
#define GPS_PORT Serial2
-#define GPS_PORT_BAUD_RATE 38400
+#define GPS_PORT_BAUD_RATE 9600
// #define GPS_MIRROR_PORT Serial1 // use this to mirror output from a GPS unit into the Arduino out another port (uncomment to enable)
// #define GPS_MIRROR_PORT_BAUD_RATE 9600
#define nexSerial Serial3
#define NEXTION_SERIAL_BAUD 115200
-#define OPTION_SEND_STRING_OUT_CONTROL_PORT_WHEN_INITIALIZING_STRING ("test\n\r")
+// #define OPTION_SEND_STRING_OUT_CONTROL_PORT_WHEN_INITIALIZING_STRING ("test\n\r")
// Added in 2020.07.19.02
#define SUN_UPDATE_POSITION_INTERVAL_MS 5000
@@ -389,4 +389,3 @@ You can tweak these, but read the online documentation!
#define SATELLITE_CALC_STAGE_1_RESOLUTION_SECS 120
#define SATELLITE_CALC_STAGE_2_RESOLUTION_SECS 10
#define SATELLITE_CALC_STAGE_3_RESOLUTION_SECS 1
-
diff --git a/libraries/Arduino-HMC5883L-master/CHANGELOG b/libraries/Arduino-HMC5883L-master/CHANGELOG
new file mode 100644
index 0000000..0718ff0
--- /dev/null
+++ b/libraries/Arduino-HMC5883L-master/CHANGELOG
@@ -0,0 +1,19 @@
+HMC5883L Arduino Library 1.1.0 / 26.10.2014
+======================================================================
+
+ * Adding tilt compensation examples for MPU6050 / ADXL345
+ * Adding calibrate script and processing
+ * Adding example to work with GY-86 / GY-87 modules
+ * Adding setOffset() method for calibration
+ * Removing fixAngle() from examples
+ * Cleanups codes
+
+HMC5883L Arduino Library 1.0.1 / 26.01.2014
+======================================================================
+
+ * Fix typedefs & structs names
+
+HMC5883L Arduino Library 1.0.0 / 25.01.2014
+======================================================================
+
+ * First release
diff --git a/libraries/Arduino-HMC5883L-master/HMC5883L.cpp b/libraries/Arduino-HMC5883L-master/HMC5883L.cpp
new file mode 100644
index 0000000..e99cc47
--- /dev/null
+++ b/libraries/Arduino-HMC5883L-master/HMC5883L.cpp
@@ -0,0 +1,278 @@
+/*
+HMC5883L.cpp - Class file for the HMC5883L Triple Axis Digital Compass Arduino Library.
+
+Version: 1.1.0
+(c) 2014 Korneliusz Jarzebski
+www.jarzebski.pl
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the version 3 GNU General Public License as
+published by the Free Software Foundation.
+
+This program 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program. If not, see .
+*/
+
+#if ARDUINO >= 100
+#include "Arduino.h"
+#else
+#include "WProgram.h"
+#endif
+
+#include
+
+#include "HMC5883L.h"
+
+bool HMC5883L::begin()
+{
+ Wire.begin();
+
+ if ((fastRegister8(HMC5883L_REG_IDENT_A) != 0x48)
+ || (fastRegister8(HMC5883L_REG_IDENT_B) != 0x34)
+ || (fastRegister8(HMC5883L_REG_IDENT_C) != 0x33))
+ {
+ return false;
+ }
+
+ setRange(HMC5883L_RANGE_1_3GA);
+ setMeasurementMode(HMC5883L_CONTINOUS);
+ setDataRate(HMC5883L_DATARATE_15HZ);
+ setSamples(HMC5883L_SAMPLES_1);
+
+ mgPerDigit = 0.92f;
+
+ return true;
+}
+
+Vector HMC5883L::readRaw(void)
+{
+ v.XAxis = readRegister16(HMC5883L_REG_OUT_X_M) - xOffset;
+ v.YAxis = readRegister16(HMC5883L_REG_OUT_Y_M) - yOffset;
+ v.ZAxis = readRegister16(HMC5883L_REG_OUT_Z_M);
+
+ return v;
+}
+
+Vector HMC5883L::readNormalize(void)
+{
+ v.XAxis = ((float)readRegister16(HMC5883L_REG_OUT_X_M) - xOffset) * mgPerDigit;
+ v.YAxis = ((float)readRegister16(HMC5883L_REG_OUT_Y_M) - yOffset) * mgPerDigit;
+ v.ZAxis = (float)readRegister16(HMC5883L_REG_OUT_Z_M) * mgPerDigit;
+
+ return v;
+}
+
+void HMC5883L::setOffset(int xo, int yo)
+{
+ xOffset = xo;
+ yOffset = yo;
+}
+
+void HMC5883L::setRange(hmc5883l_range_t range)
+{
+ switch(range)
+ {
+ case HMC5883L_RANGE_0_88GA:
+ mgPerDigit = 0.073f;
+ break;
+
+ case HMC5883L_RANGE_1_3GA:
+ mgPerDigit = 0.92f;
+ break;
+
+ case HMC5883L_RANGE_1_9GA:
+ mgPerDigit = 1.22f;
+ break;
+
+ case HMC5883L_RANGE_2_5GA:
+ mgPerDigit = 1.52f;
+ break;
+
+ case HMC5883L_RANGE_4GA:
+ mgPerDigit = 2.27f;
+ break;
+
+ case HMC5883L_RANGE_4_7GA:
+ mgPerDigit = 2.56f;
+ break;
+
+ case HMC5883L_RANGE_5_6GA:
+ mgPerDigit = 3.03f;
+ break;
+
+ case HMC5883L_RANGE_8_1GA:
+ mgPerDigit = 4.35f;
+ break;
+
+ default:
+ break;
+ }
+
+ writeRegister8(HMC5883L_REG_CONFIG_B, range << 5);
+}
+
+hmc5883l_range_t HMC5883L::getRange(void)
+{
+ return (hmc5883l_range_t)((readRegister8(HMC5883L_REG_CONFIG_B) >> 5));
+}
+
+void HMC5883L::setMeasurementMode(hmc5883l_mode_t mode)
+{
+ uint8_t value;
+
+ value = readRegister8(HMC5883L_REG_MODE);
+ value &= 0b11111100;
+ value |= mode;
+
+ writeRegister8(HMC5883L_REG_MODE, value);
+}
+
+hmc5883l_mode_t HMC5883L::getMeasurementMode(void)
+{
+ uint8_t value;
+
+ value = readRegister8(HMC5883L_REG_MODE);
+ value &= 0b00000011;
+
+ return (hmc5883l_mode_t)value;
+}
+
+void HMC5883L::setDataRate(hmc5883l_dataRate_t dataRate)
+{
+ uint8_t value;
+
+ value = readRegister8(HMC5883L_REG_CONFIG_A);
+ value &= 0b11100011;
+ value |= (dataRate << 2);
+
+ writeRegister8(HMC5883L_REG_CONFIG_A, value);
+}
+
+hmc5883l_dataRate_t HMC5883L::getDataRate(void)
+{
+ uint8_t value;
+
+ value = readRegister8(HMC5883L_REG_CONFIG_A);
+ value &= 0b00011100;
+ value >>= 2;
+
+ return (hmc5883l_dataRate_t)value;
+}
+
+void HMC5883L::setSamples(hmc5883l_samples_t samples)
+{
+ uint8_t value;
+
+ value = readRegister8(HMC5883L_REG_CONFIG_A);
+ value &= 0b10011111;
+ value |= (samples << 5);
+
+ writeRegister8(HMC5883L_REG_CONFIG_A, value);
+}
+
+hmc5883l_samples_t HMC5883L::getSamples(void)
+{
+ uint8_t value;
+
+ value = readRegister8(HMC5883L_REG_CONFIG_A);
+ value &= 0b01100000;
+ value >>= 5;
+
+ return (hmc5883l_samples_t)value;
+}
+
+// Write byte to register
+void HMC5883L::writeRegister8(uint8_t reg, uint8_t value)
+{
+ Wire.beginTransmission(HMC5883L_ADDRESS);
+ #if ARDUINO >= 100
+ Wire.write(reg);
+ Wire.write(value);
+ #else
+ Wire.send(reg);
+ Wire.send(value);
+ #endif
+ Wire.endTransmission();
+}
+
+// Read byte to register
+uint8_t HMC5883L::fastRegister8(uint8_t reg)
+{
+ uint8_t value;
+ Wire.beginTransmission(HMC5883L_ADDRESS);
+ #if ARDUINO >= 100
+ Wire.write(reg);
+ #else
+ Wire.send(reg);
+ #endif
+ Wire.endTransmission();
+
+ Wire.requestFrom(HMC5883L_ADDRESS, 1);
+ #if ARDUINO >= 100
+ value = Wire.read();
+ #else
+ value = Wire.receive();
+ #endif;
+ Wire.endTransmission();
+
+ return value;
+}
+
+// Read byte from register
+uint8_t HMC5883L::readRegister8(uint8_t reg)
+{
+ uint8_t value;
+ Wire.beginTransmission(HMC5883L_ADDRESS);
+ #if ARDUINO >= 100
+ Wire.write(reg);
+ #else
+ Wire.send(reg);
+ #endif
+ Wire.endTransmission();
+
+ Wire.beginTransmission(HMC5883L_ADDRESS);
+ Wire.requestFrom(HMC5883L_ADDRESS, 1);
+ while(!Wire.available()) {};
+ #if ARDUINO >= 100
+ value = Wire.read();
+ #else
+ value = Wire.receive();
+ #endif;
+ Wire.endTransmission();
+
+ return value;
+}
+
+// Read word from register
+int16_t HMC5883L::readRegister16(uint8_t reg)
+{
+ int16_t value;
+ Wire.beginTransmission(HMC5883L_ADDRESS);
+ #if ARDUINO >= 100
+ Wire.write(reg);
+ #else
+ Wire.send(reg);
+ #endif
+ Wire.endTransmission();
+
+ Wire.beginTransmission(HMC5883L_ADDRESS);
+ Wire.requestFrom(HMC5883L_ADDRESS, 2);
+ while(!Wire.available()) {};
+ #if ARDUINO >= 100
+ uint8_t vha = Wire.read();
+ uint8_t vla = Wire.read();
+ #else
+ uint8_t vha = Wire.receive();
+ uint8_t vla = Wire.receive();
+ #endif;
+ Wire.endTransmission();
+
+ value = vha << 8 | vla;
+
+ return value;
+}
\ No newline at end of file
diff --git a/libraries/Arduino-HMC5883L-master/HMC5883L.h b/libraries/Arduino-HMC5883L-master/HMC5883L.h
new file mode 100644
index 0000000..16afe77
--- /dev/null
+++ b/libraries/Arduino-HMC5883L-master/HMC5883L.h
@@ -0,0 +1,128 @@
+/*
+HMC5883L.h - Header file for the HMC5883L Triple Axis Digital Compass Arduino Library.
+
+Version: 1.1.0
+(c) 2014 Korneliusz Jarzebski
+www.jarzebski.pl
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the version 3 GNU General Public License as
+published by the Free Software Foundation.
+
+This program 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program. If not, see .
+*/
+
+#ifndef HMC5883L_h
+#define HMC5883L_h
+
+#if ARDUINO >= 100
+#include "Arduino.h"
+#else
+#include "WProgram.h"
+#endif
+
+#define HMC5883L_ADDRESS (0x1E)
+#define HMC5883L_REG_CONFIG_A (0x00)
+#define HMC5883L_REG_CONFIG_B (0x01)
+#define HMC5883L_REG_MODE (0x02)
+#define HMC5883L_REG_OUT_X_M (0x03)
+#define HMC5883L_REG_OUT_X_L (0x04)
+#define HMC5883L_REG_OUT_Z_M (0x05)
+#define HMC5883L_REG_OUT_Z_L (0x06)
+#define HMC5883L_REG_OUT_Y_M (0x07)
+#define HMC5883L_REG_OUT_Y_L (0x08)
+#define HMC5883L_REG_STATUS (0x09)
+#define HMC5883L_REG_IDENT_A (0x0A)
+#define HMC5883L_REG_IDENT_B (0x0B)
+#define HMC5883L_REG_IDENT_C (0x0C)
+
+typedef enum
+{
+ HMC5883L_SAMPLES_8 = 0b11,
+ HMC5883L_SAMPLES_4 = 0b10,
+ HMC5883L_SAMPLES_2 = 0b01,
+ HMC5883L_SAMPLES_1 = 0b00
+} hmc5883l_samples_t;
+
+typedef enum
+{
+ HMC5883L_DATARATE_75HZ = 0b110,
+ HMC5883L_DATARATE_30HZ = 0b101,
+ HMC5883L_DATARATE_15HZ = 0b100,
+ HMC5883L_DATARATE_7_5HZ = 0b011,
+ HMC5883L_DATARATE_3HZ = 0b010,
+ HMC5883L_DATARATE_1_5HZ = 0b001,
+ HMC5883L_DATARATE_0_75_HZ = 0b000
+} hmc5883l_dataRate_t;
+
+typedef enum
+{
+ HMC5883L_RANGE_8_1GA = 0b111,
+ HMC5883L_RANGE_5_6GA = 0b110,
+ HMC5883L_RANGE_4_7GA = 0b101,
+ HMC5883L_RANGE_4GA = 0b100,
+ HMC5883L_RANGE_2_5GA = 0b011,
+ HMC5883L_RANGE_1_9GA = 0b010,
+ HMC5883L_RANGE_1_3GA = 0b001,
+ HMC5883L_RANGE_0_88GA = 0b000
+} hmc5883l_range_t;
+
+typedef enum
+{
+ HMC5883L_IDLE = 0b10,
+ HMC5883L_SINGLE = 0b01,
+ HMC5883L_CONTINOUS = 0b00
+} hmc5883l_mode_t;
+
+#ifndef VECTOR_STRUCT_H
+#define VECTOR_STRUCT_H
+struct Vector
+{
+ float XAxis;
+ float YAxis;
+ float ZAxis;
+};
+#endif
+
+class HMC5883L
+{
+ public:
+
+ bool begin(void);
+
+ Vector readRaw(void);
+ Vector readNormalize(void);
+
+ void setOffset(int xo, int yo);
+
+ void setRange(hmc5883l_range_t range);
+ hmc5883l_range_t getRange(void);
+
+ void setMeasurementMode(hmc5883l_mode_t mode);
+ hmc5883l_mode_t getMeasurementMode(void);
+
+ void setDataRate(hmc5883l_dataRate_t dataRate);
+ hmc5883l_dataRate_t getDataRate(void);
+
+ void setSamples(hmc5883l_samples_t samples);
+ hmc5883l_samples_t getSamples(void);
+
+ private:
+
+ float mgPerDigit;
+ Vector v;
+ int xOffset, yOffset;
+
+ void writeRegister8(uint8_t reg, uint8_t value);
+ uint8_t readRegister8(uint8_t reg);
+ uint8_t fastRegister8(uint8_t reg);
+ int16_t readRegister16(uint8_t reg);
+};
+
+#endif
\ No newline at end of file
diff --git a/libraries/Arduino-HMC5883L-master/HMC5883L_calibrate/HMC5883L_calibrate.ino b/libraries/Arduino-HMC5883L-master/HMC5883L_calibrate/HMC5883L_calibrate.ino
new file mode 100644
index 0000000..93b65af
--- /dev/null
+++ b/libraries/Arduino-HMC5883L-master/HMC5883L_calibrate/HMC5883L_calibrate.ino
@@ -0,0 +1,74 @@
+/*
+ Calibrate HMC5883L. Output for HMC5883L_calibrate_processing.pde
+ Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html
+ GIT: https://github.com/jarzebski/Arduino-HMC5883L
+ Web: http://www.jarzebski.pl
+ (c) 2014 by Korneliusz Jarzebski
+*/
+
+#include
+#include
+
+HMC5883L compass;
+
+int minX = 0;
+int maxX = 0;
+int minY = 0;
+int maxY = 0;
+int offX = 0;
+int offY = 0;
+
+void setup()
+{
+ Serial.begin(9600);
+
+ // Initialize Initialize HMC5883L
+ while (!compass.begin())
+ {
+ delay(500);
+ }
+
+ // Set measurement range
+ compass.setRange(HMC5883L_RANGE_1_3GA);
+
+ // Set measurement mode
+ compass.setMeasurementMode(HMC5883L_CONTINOUS);
+
+ // Set data rate
+ compass.setDataRate(HMC5883L_DATARATE_30HZ);
+
+ // Set number of samples averaged
+ compass.setSamples(HMC5883L_SAMPLES_8);
+}
+
+void loop()
+{
+ Vector mag = compass.readRaw();
+
+ // Determine Min / Max values
+ if (mag.XAxis < minX) minX = mag.XAxis;
+ if (mag.XAxis > maxX) maxX = mag.XAxis;
+ if (mag.YAxis < minY) minY = mag.YAxis;
+ if (mag.YAxis > maxY) maxY = mag.YAxis;
+
+ // Calculate offsets
+ offX = (maxX + minX)/2;
+ offY = (maxY + minY)/2;
+
+ Serial.print(mag.XAxis);
+ Serial.print(":");
+ Serial.print(mag.YAxis);
+ Serial.print(":");
+ Serial.print(minX);
+ Serial.print(":");
+ Serial.print(maxX);
+ Serial.print(":");
+ Serial.print(minY);
+ Serial.print(":");
+ Serial.print(maxY);
+ Serial.print(":");
+ Serial.print(offX);
+ Serial.print(":");
+ Serial.print(offY);
+ Serial.print("\n");
+}
diff --git a/libraries/Arduino-HMC5883L-master/HMC5883L_calibrate_MPU6050/HMC5883L_calibrate_MPU6050.ino b/libraries/Arduino-HMC5883L-master/HMC5883L_calibrate_MPU6050/HMC5883L_calibrate_MPU6050.ino
new file mode 100644
index 0000000..0743d87
--- /dev/null
+++ b/libraries/Arduino-HMC5883L-master/HMC5883L_calibrate_MPU6050/HMC5883L_calibrate_MPU6050.ino
@@ -0,0 +1,87 @@
+/*
+ Calibrate HMC5883L + MPU6050 (GY-86 / GY-87). Output for HMC5883L_calibrate_processing.pde
+ Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html
+ GIT: https://github.com/jarzebski/Arduino-HMC5883L
+ Web: http://www.jarzebski.pl
+ (c) 2014 by Korneliusz Jarzebski
+*/
+
+#include
+#include
+#include
+
+HMC5883L compass;
+MPU6050 mpu;
+
+int minX = 0;
+int maxX = 0;
+int minY = 0;
+int maxY = 0;
+int offX = 0;
+int offY = 0;
+
+void setup()
+{
+ Serial.begin(9600);
+
+ // Initialize MPU6050
+ while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
+ {
+ delay(500);
+ }
+
+ // Enable bypass mode
+ mpu.setI2CMasterModeEnabled(false);
+ mpu.setI2CBypassEnabled(true);
+ mpu.setSleepEnabled(false);
+
+ // Initialize Initialize HMC5883L
+ while (!compass.begin())
+ {
+ delay(500);
+ }
+
+ // Set measurement range
+ compass.setRange(HMC5883L_RANGE_1_3GA);
+
+ // Set measurement mode
+ compass.setMeasurementMode(HMC5883L_CONTINOUS);
+
+ // Set data rate
+ compass.setDataRate(HMC5883L_DATARATE_30HZ);
+
+ // Set number of samples averaged
+ compass.setSamples(HMC5883L_SAMPLES_8);
+}
+
+void loop()
+{
+ Vector mag = compass.readRaw();
+
+ // Determine Min / Max values
+ if (mag.XAxis < minX) minX = mag.XAxis;
+ if (mag.XAxis > maxX) maxX = mag.XAxis;
+ if (mag.YAxis < minY) minY = mag.YAxis;
+ if (mag.YAxis > maxY) maxY = mag.YAxis;
+
+ // Calculate offsets
+ offX = (maxX + minX)/2;
+ offY = (maxY + minY)/2;
+
+ Serial.print(mag.XAxis);
+ Serial.print(":");
+ Serial.print(mag.YAxis);
+ Serial.print(":");
+ Serial.print(minX);
+ Serial.print(":");
+ Serial.print(maxX);
+ Serial.print(":");
+ Serial.print(minY);
+ Serial.print(":");
+ Serial.print(maxY);
+ Serial.print(":");
+ Serial.print(offX);
+ Serial.print(":");
+ Serial.print(offY);
+ Serial.print("\n");
+}
diff --git a/libraries/Arduino-HMC5883L-master/HMC5883L_compass/HMC5883L_compass.ino b/libraries/Arduino-HMC5883L-master/HMC5883L_compass/HMC5883L_compass.ino
new file mode 100644
index 0000000..1bcc012
--- /dev/null
+++ b/libraries/Arduino-HMC5883L-master/HMC5883L_compass/HMC5883L_compass.ino
@@ -0,0 +1,79 @@
+/*
+ HMC5883L Triple Axis Digital Compass. Compass Example.
+ Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html
+ GIT: https://github.com/jarzebski/Arduino-HMC5883L
+ Web: http://www.jarzebski.pl
+ (c) 2014 by Korneliusz Jarzebski
+*/
+
+#include
+#include
+
+HMC5883L compass;
+
+void setup()
+{
+ Serial.begin(115200);
+
+ // Initialize Initialize HMC5883L
+ Serial.println("Initialize HMC5883L");
+ while (!compass.begin())
+ {
+ Serial.println("Could not find a valid HMC5883L sensor, check wiring!");
+ delay(500);
+ }
+
+ // Set measurement range
+ compass.setRange(HMC5883L_RANGE_1_3GA);
+
+ // Set measurement mode
+ compass.setMeasurementMode(HMC5883L_CONTINOUS);
+
+ // Set data rate
+ compass.setDataRate(HMC5883L_DATARATE_30HZ);
+
+ // Set number of samples averaged
+ compass.setSamples(HMC5883L_SAMPLES_8);
+
+ // Set calibration offset. See HMC5883L_calibration.ino
+ compass.setOffset(0, 0);
+}
+
+void loop()
+{
+ Vector norm = compass.readNormalize();
+
+ // Calculate heading
+ float heading = atan2(norm.YAxis, norm.XAxis);
+
+ // Set declination angle on your location and fix heading
+ // You can find your declination on: http://magnetic-declination.com/
+ // (+) Positive or (-) for negative
+ // For Bytom / Poland declination angle is 4'26E (positive)
+ // Formula: (deg + (min / 60.0)) / (180 / M_PI);
+ float declinationAngle = (4.0 + (26.0 / 60.0)) / (180 / M_PI);
+ heading += declinationAngle;
+
+ // Correct for heading < 0deg and heading > 360deg
+ if (heading < 0)
+ {
+ heading += 2 * PI;
+ }
+
+ if (heading > 2 * PI)
+ {
+ heading -= 2 * PI;
+ }
+
+ // Convert to degrees
+ float headingDegrees = heading * 180/M_PI;
+
+ // Output
+ Serial.print(" Heading = ");
+ Serial.print(heading);
+ Serial.print(" Degress = ");
+ Serial.print(headingDegrees);
+ Serial.println();
+
+ delay(100);
+}
diff --git a/libraries/Arduino-HMC5883L-master/HMC5883L_compass_MPU6050/HMC5883L_compass_MPU6050.ino b/libraries/Arduino-HMC5883L-master/HMC5883L_compass_MPU6050/HMC5883L_compass_MPU6050.ino
new file mode 100644
index 0000000..48ba7ea
--- /dev/null
+++ b/libraries/Arduino-HMC5883L-master/HMC5883L_compass_MPU6050/HMC5883L_compass_MPU6050.ino
@@ -0,0 +1,94 @@
+/*
+ HMC5883L Triple Axis Digital Compass + MPU6050 (GY-86 / GY-87). Compass Example.
+ Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html
+ GIT: https://github.com/jarzebski/Arduino-HMC5883L
+ Web: http://www.jarzebski.pl
+ (c) 2014 by Korneliusz Jarzebski
+*/
+
+#include
+#include
+#include
+
+HMC5883L compass;
+MPU6050 mpu;
+
+void setup()
+{
+ Serial.begin(9600);
+
+ // If you have GY-86 or GY-87 module.
+ // To access HMC5883L you need to disable the I2C Master Mode and Sleep Mode, and enable I2C Bypass Mode
+
+ while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
+ {
+ Serial.println("Could not find a valid MPU6050 sensor, check wiring!");
+ delay(500);
+ }
+
+ mpu.setI2CMasterModeEnabled(false);
+ mpu.setI2CBypassEnabled(true) ;
+ mpu.setSleepEnabled(false);
+
+ // Initialize Initialize HMC5883L
+ Serial.println("Initialize HMC5883L");
+ while (!compass.begin())
+ {
+ Serial.println("Could not find a valid HMC5883L sensor, check wiring!");
+ delay(500);
+ }
+
+ // Set measurement range
+ compass.setRange(HMC5883L_RANGE_1_3GA);
+
+ // Set measurement mode
+ compass.setMeasurementMode(HMC5883L_CONTINOUS);
+
+ // Set data rate
+ compass.setDataRate(HMC5883L_DATARATE_30HZ);
+
+ // Set number of samples averaged
+ compass.setSamples(HMC5883L_SAMPLES_8);
+
+ // Set calibration offset. See HMC5883L_calibration.ino
+ compass.setOffset(0, 0);
+}
+
+void loop()
+{
+ Vector norm = compass.readNormalize();
+
+ // Calculate heading
+ float heading = atan2(norm.YAxis, norm.XAxis);
+
+ // Set declination angle on your location and fix heading
+ // You can find your declination on: http://magnetic-declination.com/
+ // (+) Positive or (-) for negative
+ // For Bytom / Poland declination angle is 4'26E (positive)
+ // Formula: (deg + (min / 60.0)) / (180 / M_PI);
+ float declinationAngle = (4.0 + (26.0 / 60.0)) / (180 / M_PI);
+ heading += declinationAngle;
+
+ // Correct for heading < 0deg and heading > 360deg
+ if (heading < 0)
+ {
+ heading += 2 * PI;
+ }
+
+ if (heading > 2 * PI)
+ {
+ heading -= 2 * PI;
+ }
+
+ // Convert to degrees
+ float headingDegrees = heading * 180/M_PI;
+
+ // Output
+ Serial.print(" Heading = ");
+ Serial.print(heading);
+ Serial.print(" Degress = ");
+ Serial.print(headingDegrees);
+ Serial.println();
+
+ delay(100);
+}
\ No newline at end of file
diff --git a/libraries/Arduino-HMC5883L-master/HMC5883L_compensation_ADXL345/HMC5883L_compensation_ADXL345.ino b/libraries/Arduino-HMC5883L-master/HMC5883L_compensation_ADXL345/HMC5883L_compensation_ADXL345.ino
new file mode 100644
index 0000000..49c7f00
--- /dev/null
+++ b/libraries/Arduino-HMC5883L-master/HMC5883L_compensation_ADXL345/HMC5883L_compensation_ADXL345.ino
@@ -0,0 +1,140 @@
+/*
+ Tilt compensated HMC5883L + ADXL345 (GY-80). Output for HMC5883L_compensation_processing.pde
+ Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html
+ GIT: https://github.com/jarzebski/Arduino-HMC5883L
+ Web: http://www.jarzebski.pl
+ (c) 2014 by Korneliusz Jarzebski
+*/
+
+#include
+#include
+#include
+
+HMC5883L compass;
+ADXL345 accelerometer;
+
+float heading1;
+float heading2;
+
+void setup()
+{
+ Serial.begin(9600);
+
+ // Initialize ADXL345
+
+ if (!accelerometer.begin())
+ {
+ delay(500);
+ }
+
+ accelerometer.setRange(ADXL345_RANGE_2G);
+
+ // Initialize Initialize HMC5883L
+ while (!compass.begin())
+ {
+ delay(500);
+ }
+
+ // Set measurement range
+ compass.setRange(HMC5883L_RANGE_1_3GA);
+
+ // Set measurement mode
+ compass.setMeasurementMode(HMC5883L_CONTINOUS);
+
+ // Set data rate
+ compass.setDataRate(HMC5883L_DATARATE_30HZ);
+
+ // Set number of samples averaged
+ compass.setSamples(HMC5883L_SAMPLES_8);
+
+ // Set calibration offset. See HMC5883L_calibration.ino
+ compass.setOffset(0, 0);
+}
+
+// No tilt compensation
+float noTiltCompensate(Vector mag)
+{
+ float heading = atan2(mag.YAxis, mag.XAxis);
+ return heading;
+}
+
+// Tilt compensation
+float tiltCompensate(Vector mag, Vector normAccel)
+{
+ // Pitch & Roll
+
+ float roll;
+ float pitch;
+
+ roll = asin(normAccel.YAxis);
+ pitch = asin(-normAccel.XAxis);
+
+ if (roll > 0.78 || roll < -0.78 || pitch > 0.78 || pitch < -0.78)
+ {
+ return -1000;
+ }
+
+ // Some of these are used twice, so rather than computing them twice in the algorithem we precompute them before hand.
+ float cosRoll = cos(roll);
+ float sinRoll = sin(roll);
+ float cosPitch = cos(pitch);
+ float sinPitch = sin(pitch);
+
+ // Tilt compensation
+ float Xh = mag.XAxis * cosPitch + mag.ZAxis * sinPitch;
+ float Yh = mag.XAxis * sinRoll * sinPitch + mag.YAxis * cosRoll - mag.ZAxis * sinRoll * cosPitch;
+
+ float heading = atan2(Yh, Xh);
+
+ return heading;
+}
+
+// Correct angle
+float correctAngle(float heading)
+{
+ if (heading < 0) { heading += 2 * PI; }
+ if (heading > 2 * PI) { heading -= 2 * PI; }
+
+ return heading;
+}
+
+void loop()
+{
+ // Read vectors
+ Vector mag = compass.readNormalize();
+ Vector acc = accelerometer.readScaled();
+
+ // Calculate headings
+ heading1 = noTiltCompensate(mag);
+ heading2 = tiltCompensate(mag, acc);
+
+ if (heading2 == -1000)
+ {
+ heading2 = heading1;
+ }
+
+ // Set declination angle on your location and fix heading
+ // You can find your declination on: http://magnetic-declination.com/
+ // (+) Positive or (-) for negative
+ // For Bytom / Poland declination angle is 4'26E (positive)
+ // Formula: (deg + (min / 60.0)) / (180 / M_PI);
+ float declinationAngle = (4.0 + (26.0 / 60.0)) / (180 / M_PI);
+ heading1 += declinationAngle;
+ heading2 += declinationAngle;
+
+ // Correct for heading < 0deg and heading > 360deg
+ heading1 = correctAngle(heading1);
+ heading2 = correctAngle(heading2);
+
+ // Convert to degrees
+ heading1 = heading1 * 180/M_PI;
+ heading2 = heading2 * 180/M_PI;
+
+ // Output
+ Serial.print(heading1);
+ Serial.print(":");
+ Serial.println(heading2);
+
+ delay(100);
+}
+
diff --git a/libraries/Arduino-HMC5883L-master/HMC5883L_compensation_MPU6050/HMC5883L_compensation_MPU6050.ino b/libraries/Arduino-HMC5883L-master/HMC5883L_compensation_MPU6050/HMC5883L_compensation_MPU6050.ino
new file mode 100644
index 0000000..1d88617
--- /dev/null
+++ b/libraries/Arduino-HMC5883L-master/HMC5883L_compensation_MPU6050/HMC5883L_compensation_MPU6050.ino
@@ -0,0 +1,142 @@
+/*
+ Tilt compensated HMC5883L + MPU6050 (GY-86 / GY-87). Output for HMC5883L_compensation_processing.pde
+ Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html
+ GIT: https://github.com/jarzebski/Arduino-HMC5883L
+ Web: http://www.jarzebski.pl
+ (c) 2014 by Korneliusz Jarzebski
+*/
+
+#include
+#include
+#include
+
+HMC5883L compass;
+MPU6050 mpu;
+
+float heading1;
+float heading2;
+
+void setup()
+{
+ Serial.begin(9600);
+
+ // Initialize MPU6050
+ while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
+ {
+ delay(500);
+ }
+
+ // Enable bypass mode
+ mpu.setI2CMasterModeEnabled(false);
+ mpu.setI2CBypassEnabled(true) ;
+ mpu.setSleepEnabled(false);
+
+ // Initialize Initialize HMC5883L
+ while (!compass.begin())
+ {
+ delay(500);
+ }
+
+ // Set measurement range
+ compass.setRange(HMC5883L_RANGE_1_3GA);
+
+ // Set measurement mode
+ compass.setMeasurementMode(HMC5883L_CONTINOUS);
+
+ // Set data rate
+ compass.setDataRate(HMC5883L_DATARATE_30HZ);
+
+ // Set number of samples averaged
+ compass.setSamples(HMC5883L_SAMPLES_8);
+
+ // Set calibration offset. See HMC5883L_calibration.ino
+ compass.setOffset(0, 0);
+}
+
+// No tilt compensation
+float noTiltCompensate(Vector mag)
+{
+ float heading = atan2(mag.YAxis, mag.XAxis);
+ return heading;
+}
+
+// Tilt compensation
+float tiltCompensate(Vector mag, Vector normAccel)
+{
+ // Pitch & Roll
+
+ float roll;
+ float pitch;
+
+ roll = asin(normAccel.YAxis);
+ pitch = asin(-normAccel.XAxis);
+
+ if (roll > 0.78 || roll < -0.78 || pitch > 0.78 || pitch < -0.78)
+ {
+ return -1000;
+ }
+
+ // Some of these are used twice, so rather than computing them twice in the algorithem we precompute them before hand.
+ float cosRoll = cos(roll);
+ float sinRoll = sin(roll);
+ float cosPitch = cos(pitch);
+ float sinPitch = sin(pitch);
+
+ // Tilt compensation
+ float Xh = mag.XAxis * cosPitch + mag.ZAxis * sinPitch;
+ float Yh = mag.XAxis * sinRoll * sinPitch + mag.YAxis * cosRoll - mag.ZAxis * sinRoll * cosPitch;
+
+ float heading = atan2(Yh, Xh);
+
+ return heading;
+}
+
+// Correct angle
+float correctAngle(float heading)
+{
+ if (heading < 0) { heading += 2 * PI; }
+ if (heading > 2 * PI) { heading -= 2 * PI; }
+
+ return heading;
+}
+
+void loop()
+{
+ // Read vectors
+ Vector mag = compass.readNormalize();
+ Vector acc = mpu.readScaledAccel();
+
+ // Calculate headings
+ heading1 = noTiltCompensate(mag);
+ heading2 = tiltCompensate(mag, acc);
+
+ if (heading2 == -1000)
+ {
+ heading2 = heading1;
+ }
+
+ // Set declination angle on your location and fix heading
+ // You can find your declination on: http://magnetic-declination.com/
+ // (+) Positive or (-) for negative
+ // For Bytom / Poland declination angle is 4'26E (positive)
+ // Formula: (deg + (min / 60.0)) / (180 / M_PI);
+ float declinationAngle = (4.0 + (26.0 / 60.0)) / (180 / M_PI);
+ heading1 += declinationAngle;
+ heading2 += declinationAngle;
+
+ // Correct for heading < 0deg and heading > 360deg
+ heading1 = correctAngle(heading1);
+ heading2 = correctAngle(heading2);
+
+ // Convert to degrees
+ heading1 = heading1 * 180/M_PI;
+ heading2 = heading2 * 180/M_PI;
+
+ // Output
+ Serial.print(heading1);
+ Serial.print(":");
+ Serial.println(heading2);
+
+ delay(100);
+}
+
diff --git a/libraries/Arduino-HMC5883L-master/HMC5883L_processing/HMC5883L_processing.ino b/libraries/Arduino-HMC5883L-master/HMC5883L_processing/HMC5883L_processing.ino
new file mode 100644
index 0000000..d54b551
--- /dev/null
+++ b/libraries/Arduino-HMC5883L-master/HMC5883L_processing/HMC5883L_processing.ino
@@ -0,0 +1,112 @@
+/*
+ HMC5883L Triple Axis Digital Compass. Output for HMC5883L_processing.pde
+ Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html
+ GIT: https://github.com/jarzebski/Arduino-HMC5883L
+ Web: http://www.jarzebski.pl
+ (c) 2014 by Korneliusz Jarzebski
+*/
+
+#include
+#include
+
+HMC5883L compass;
+
+int previousDegree;
+
+void setup()
+{
+ Serial.begin(9600);
+
+ // Initialize HMC5883L
+ while (!compass.begin())
+ {
+ delay(500);
+ }
+
+ // Set measurement range
+ compass.setRange(HMC5883L_RANGE_1_3GA);
+
+ // Set measurement mode
+ compass.setMeasurementMode(HMC5883L_CONTINOUS);
+
+ // Set data rate
+ compass.setDataRate(HMC5883L_DATARATE_30HZ);
+
+ // Set number of samples averaged
+ compass.setSamples(HMC5883L_SAMPLES_8);
+
+ // Set calibration offset. See HMC5883L_calibration.ino
+ compass.setOffset(0, 0);
+}
+
+void loop()
+{
+ long x = micros();
+ Vector norm = compass.readNormalize();
+
+ // Calculate heading
+ float heading = atan2(norm.YAxis, norm.XAxis);
+
+ // Set declination angle on your location and fix heading
+ // You can find your declination on: http://magnetic-declination.com/
+ // (+) Positive or (-) for negative
+ // For Bytom / Poland declination angle is 4'26E (positive)
+ // Formula: (deg + (min / 60.0)) / (180 / M_PI);
+ float declinationAngle = (4.0 + (26.0 / 60.0)) / (180 / M_PI);
+ heading += declinationAngle;
+
+ // Correct for heading < 0deg and heading > 360deg
+ if (heading < 0)
+ {
+ heading += 2 * PI;
+ }
+
+ if (heading > 2 * PI)
+ {
+ heading -= 2 * PI;
+ }
+
+ // Convert to degrees
+ float headingDegrees = heading * 180/M_PI;
+
+ // Fix HMC5883L issue with angles
+ float fixedHeadingDegrees;
+
+ if (headingDegrees >= 1 && headingDegrees < 240)
+ {
+ fixedHeadingDegrees = map(headingDegrees, 0, 239, 0, 179);
+ } else
+ if (headingDegrees >= 240)
+ {
+ fixedHeadingDegrees = map(headingDegrees, 240, 360, 180, 360);
+ }
+
+ // Smooth angles rotation for +/- 3deg
+ int smoothHeadingDegrees = round(fixedHeadingDegrees);
+
+ if (smoothHeadingDegrees < (previousDegree + 3) && smoothHeadingDegrees > (previousDegree - 3))
+ {
+ smoothHeadingDegrees = previousDegree;
+ }
+
+ previousDegree = smoothHeadingDegrees;
+
+ // Output
+ Serial.print(norm.XAxis);
+ Serial.print(":");
+ Serial.print(norm.YAxis);
+ Serial.print(":");
+ Serial.print(norm.ZAxis);
+ Serial.print(":");
+ Serial.print(headingDegrees);
+ Serial.print(":");
+ Serial.print(fixedHeadingDegrees);
+ Serial.print(":");
+ Serial.print(smoothHeadingDegrees);
+ Serial.println();
+
+ // One loop: ~5ms @ 115200 serial.
+ // We need delay ~28ms for allow data rate 30Hz (~33ms)
+ delay(30);
+}
+
diff --git a/libraries/Arduino-HMC5883L-master/HMC5883L_processing_MPU6050/HMC5883L_processing_MPU6050.ino b/libraries/Arduino-HMC5883L-master/HMC5883L_processing_MPU6050/HMC5883L_processing_MPU6050.ino
new file mode 100644
index 0000000..69ec2e4
--- /dev/null
+++ b/libraries/Arduino-HMC5883L-master/HMC5883L_processing_MPU6050/HMC5883L_processing_MPU6050.ino
@@ -0,0 +1,125 @@
+/*
+ HMC5883L Triple Axis Digital Compass + MPU6050 (GY-86 / GY-87). Output for HMC5883L_processing.pde
+ Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html
+ GIT: https://github.com/jarzebski/Arduino-HMC5883L
+ Web: http://www.jarzebski.pl
+ (c) 2014 by Korneliusz Jarzebski
+*/
+
+#include
+#include
+#include
+
+HMC5883L compass;
+MPU6050 mpu;
+
+int previousDegree;
+
+void setup()
+{
+ Serial.begin(9600);
+
+ // Initialize MPU6050
+ while(!mpu.begin(MPU6050_SCALE_2000DPS, MPU6050_RANGE_2G))
+ {
+ delay(500);
+ }
+
+ // Enable bypass mode
+ mpu.setI2CMasterModeEnabled(false);
+ mpu.setI2CBypassEnabled(true);
+ mpu.setSleepEnabled(false);
+
+ // Initialize HMC5883L
+ while (!compass.begin())
+ {
+ delay(500);
+ }
+
+ // Set measurement range
+ compass.setRange(HMC5883L_RANGE_1_3GA);
+
+ // Set measurement mode
+ compass.setMeasurementMode(HMC5883L_CONTINOUS);
+
+ // Set data rate
+ compass.setDataRate(HMC5883L_DATARATE_30HZ);
+
+ // Set number of samples averaged
+ compass.setSamples(HMC5883L_SAMPLES_8);
+
+ // Set calibration offset. See HMC5883L_calibration.ino
+ compass.setOffset(0, 0);
+}
+
+void loop()
+{
+ long x = micros();
+ Vector norm = compass.readNormalize();
+
+ // Calculate heading
+ float heading = atan2(norm.YAxis, norm.XAxis);
+
+ // Set declination angle on your location and fix heading
+ // You can find your declination on: http://magnetic-declination.com/
+ // (+) Positive or (-) for negative
+ // For Bytom / Poland declination angle is 4'26E (positive)
+ // Formula: (deg + (min / 60.0)) / (180 / M_PI);
+ float declinationAngle = (4.0 + (26.0 / 60.0)) / (180 / M_PI);
+ heading += declinationAngle;
+
+ // Correct for heading < 0deg and heading > 360deg
+ if (heading < 0)
+ {
+ heading += 2 * PI;
+ }
+
+ if (heading > 2 * PI)
+ {
+ heading -= 2 * PI;
+ }
+
+ // Convert to degrees
+ float headingDegrees = heading * 180/M_PI;
+
+ // Fix HMC5883L issue with angles
+ float fixedHeadingDegrees;
+
+ if (headingDegrees >= 1 && headingDegrees < 240)
+ {
+ fixedHeadingDegrees = map(headingDegrees, 0, 239, 0, 179);
+ } else
+ if (headingDegrees >= 240)
+ {
+ fixedHeadingDegrees = map(headingDegrees, 240, 360, 180, 360);
+ }
+
+ // Smooth angles rotation for +/- 3deg
+ int smoothHeadingDegrees = round(fixedHeadingDegrees);
+
+ if (smoothHeadingDegrees < (previousDegree + 3) && smoothHeadingDegrees > (previousDegree - 3))
+ {
+ smoothHeadingDegrees = previousDegree;
+ }
+
+ previousDegree = smoothHeadingDegrees;
+
+ // Output
+ Serial.print(norm.XAxis);
+ Serial.print(":");
+ Serial.print(norm.YAxis);
+ Serial.print(":");
+ Serial.print(norm.ZAxis);
+ Serial.print(":");
+ Serial.print(headingDegrees);
+ Serial.print(":");
+ Serial.print(fixedHeadingDegrees);
+ Serial.print(":");
+ Serial.print(smoothHeadingDegrees);
+ Serial.println();
+
+ // One loop: ~5ms @ 115200 serial.
+ // We need delay ~28ms for allow data rate 30Hz (~33ms)
+ delay(30);
+}
+
diff --git a/libraries/Arduino-HMC5883L-master/HMC5883L_simple/HMC5883L_simple.ino b/libraries/Arduino-HMC5883L-master/HMC5883L_simple/HMC5883L_simple.ino
new file mode 100644
index 0000000..2d2da04
--- /dev/null
+++ b/libraries/Arduino-HMC5883L-master/HMC5883L_simple/HMC5883L_simple.ino
@@ -0,0 +1,135 @@
+/*
+ HMC5883L Triple Axis Digital Compass. Simple Example.
+ Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html
+ GIT: https://github.com/jarzebski/Arduino-HMC5883L
+ Web: http://www.jarzebski.pl
+ (c) 2014 by Korneliusz Jarzebski
+*/
+
+#include
+#include
+
+HMC5883L compass;
+
+void setup()
+{
+ Serial.begin(9600);
+
+ // Initialize HMC5883L
+ Serial.println("Initialize HMC5883L");
+ while (!compass.begin())
+ {
+ Serial.println("Could not find a valid HMC5883L sensor, check wiring!");
+ delay(500);
+ }
+
+ // Set measurement range
+ // +/- 0.88 Ga: HMC5883L_RANGE_0_88GA
+ // +/- 1.30 Ga: HMC5883L_RANGE_1_3GA (default)
+ // +/- 1.90 Ga: HMC5883L_RANGE_1_9GA
+ // +/- 2.50 Ga: HMC5883L_RANGE_2_5GA
+ // +/- 4.00 Ga: HMC5883L_RANGE_4GA
+ // +/- 4.70 Ga: HMC5883L_RANGE_4_7GA
+ // +/- 5.60 Ga: HMC5883L_RANGE_5_6GA
+ // +/- 8.10 Ga: HMC5883L_RANGE_8_1GA
+ compass.setRange(HMC5883L_RANGE_1_3GA);
+
+ // Set measurement mode
+ // Idle mode: HMC5883L_IDLE
+ // Single-Measurement: HMC5883L_SINGLE
+ // Continuous-Measurement: HMC5883L_CONTINOUS (default)
+ compass.setMeasurementMode(HMC5883L_CONTINOUS);
+
+ // Set data rate
+ // 0.75Hz: HMC5883L_DATARATE_0_75HZ
+ // 1.50Hz: HMC5883L_DATARATE_1_5HZ
+ // 3.00Hz: HMC5883L_DATARATE_3HZ
+ // 7.50Hz: HMC5883L_DATARATE_7_50HZ
+ // 15.00Hz: HMC5883L_DATARATE_15HZ (default)
+ // 30.00Hz: HMC5883L_DATARATE_30HZ
+ // 75.00Hz: HMC5883L_DATARATE_75HZ
+ compass.setDataRate(HMC5883L_DATARATE_15HZ);
+
+ // Set number of samples averaged
+ // 1 sample: HMC5883L_SAMPLES_1 (default)
+ // 2 samples: HMC5883L_SAMPLES_2
+ // 4 samples: HMC5883L_SAMPLES_4
+ // 8 samples: HMC5883L_SAMPLES_8
+ compass.setSamples(HMC5883L_SAMPLES_1);
+
+ // Check settings
+ checkSettings();
+}
+
+void checkSettings()
+{
+ Serial.print("Selected range: ");
+
+ switch (compass.getRange())
+ {
+ case HMC5883L_RANGE_0_88GA: Serial.println("0.88 Ga"); break;
+ case HMC5883L_RANGE_1_3GA: Serial.println("1.3 Ga"); break;
+ case HMC5883L_RANGE_1_9GA: Serial.println("1.9 Ga"); break;
+ case HMC5883L_RANGE_2_5GA: Serial.println("2.5 Ga"); break;
+ case HMC5883L_RANGE_4GA: Serial.println("4 Ga"); break;
+ case HMC5883L_RANGE_4_7GA: Serial.println("4.7 Ga"); break;
+ case HMC5883L_RANGE_5_6GA: Serial.println("5.6 Ga"); break;
+ case HMC5883L_RANGE_8_1GA: Serial.println("8.1 Ga"); break;
+ default: Serial.println("Bad range!");
+ }
+
+ Serial.print("Selected Measurement Mode: ");
+ switch (compass.getMeasurementMode())
+ {
+ case HMC5883L_IDLE: Serial.println("Idle mode"); break;
+ case HMC5883L_SINGLE: Serial.println("Single-Measurement"); break;
+ case HMC5883L_CONTINOUS: Serial.println("Continuous-Measurement"); break;
+ default: Serial.println("Bad mode!");
+ }
+
+ Serial.print("Selected Data Rate: ");
+ switch (compass.getDataRate())
+ {
+ case HMC5883L_DATARATE_0_75_HZ: Serial.println("0.75 Hz"); break;
+ case HMC5883L_DATARATE_1_5HZ: Serial.println("1.5 Hz"); break;
+ case HMC5883L_DATARATE_3HZ: Serial.println("3 Hz"); break;
+ case HMC5883L_DATARATE_7_5HZ: Serial.println("7.5 Hz"); break;
+ case HMC5883L_DATARATE_15HZ: Serial.println("15 Hz"); break;
+ case HMC5883L_DATARATE_30HZ: Serial.println("30 Hz"); break;
+ case HMC5883L_DATARATE_75HZ: Serial.println("75 Hz"); break;
+ default: Serial.println("Bad data rate!");
+ }
+
+ Serial.print("Selected number of samples: ");
+ switch (compass.getSamples())
+ {
+ case HMC5883L_SAMPLES_1: Serial.println("1"); break;
+ case HMC5883L_SAMPLES_2: Serial.println("2"); break;
+ case HMC5883L_SAMPLES_4: Serial.println("4"); break;
+ case HMC5883L_SAMPLES_8: Serial.println("8"); break;
+ default: Serial.println("Bad number of samples!");
+ }
+
+}
+
+void loop()
+{
+ Vector raw = compass.readRaw();
+ Vector norm = compass.readNormalize();
+
+ Serial.print(" Xraw = ");
+ Serial.print(raw.XAxis);
+ Serial.print(" Yraw = ");
+ Serial.print(raw.YAxis);
+ Serial.print(" Zraw = ");
+ Serial.print(raw.ZAxis);
+ Serial.print(" Xnorm = ");
+ Serial.print(norm.XAxis);
+ Serial.print(" Ynorm = ");
+ Serial.print(norm.YAxis);
+ Serial.print(" ZNorm = ");
+ Serial.print(norm.ZAxis);
+ Serial.println();
+
+ delay(100);
+}
diff --git a/libraries/Arduino-HMC5883L-master/LICENSE b/libraries/Arduino-HMC5883L-master/LICENSE
new file mode 100644
index 0000000..ef7e7ef
--- /dev/null
+++ b/libraries/Arduino-HMC5883L-master/LICENSE
@@ -0,0 +1,674 @@
+GNU GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc.
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+ Preamble
+
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+software and other kinds of works.
+
+ The licenses for most software and other practical works are designed
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+share and change all versions of a program--to make sure it remains free
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+GNU General Public License for most of our software; it applies also to
+any other work released this way by its authors. You can apply it to
+your programs, too.
+
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+if any, to sign a "copyright disclaimer" for the program, if necessary.
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+.
diff --git a/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_calibrate_processing/HMC5883L_calibrate_processing.pde b/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_calibrate_processing/HMC5883L_calibrate_processing.pde
new file mode 100644
index 0000000..3f31b54
--- /dev/null
+++ b/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_calibrate_processing/HMC5883L_calibrate_processing.pde
@@ -0,0 +1,78 @@
+/*
+ HMC5883L Triple Axis Digital Compass.
+ Processing for HMC5883L_calibrate.ino
+ Processing for HMC5883L_calibrate_MPU6050.ino
+ Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html
+ GIT: https://github.com/jarzebski/Arduino-HMC5883L
+ Web: http://www.jarzebski.pl
+ (c) 2014 by Korneliusz Jarzebski
+*/
+
+import processing.serial.*;
+
+Serial myPort;
+
+// Data samples
+float x = 0;
+float y = 0;
+
+float minX = 0;
+float maxX = 0;
+float minY = 0;
+float maxY = 0;
+float offX = 0;
+float offY = 0;
+
+void setup ()
+{
+ size(500, 500, P2D);
+ background(0);
+ stroke(255);
+
+ strokeWeight(2);
+
+ line(250, 0, 250, 500);
+ line(0, 250, 500, 250);
+
+ strokeWeight(3);
+ textSize(12);
+
+ myPort = new Serial(this, Serial.list()[0], 9600);
+ myPort.bufferUntil(10);
+}
+
+void draw()
+{
+ strokeWeight(0);
+ fill(0); // Set fill to white
+ rect(0, 0, 240, 50);
+
+ strokeWeight(2);
+ fill(255); // Set fill to white
+ text(minX+" "+maxX+" = "+offX, 10, 20);
+ text(minY+" "+maxY+" = "+offY, 10, 35);
+ point((x*0.5)+250, (y*0.5)+250);
+}
+
+void serialEvent (Serial myPort)
+{
+ String inString = myPort.readStringUntil(10);
+
+ if (inString != null)
+ {
+ inString = trim(inString);
+ String[] list = split(inString, ':');
+ String testString = trim(list[0]);
+
+ if (list.length != 8) return;
+
+ x = (float(list[0]));
+ y = (float(list[1]));
+ minX = (float(list[2]));
+ maxX = (float(list[3]));
+ minY = (float(list[4]));
+ maxY = (float(list[5]));
+ offX = (float(list[6]));
+ offY = (float(list[7]));
+ }
+}
diff --git a/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_calibrate_processing/artificialHorizon.png b/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_calibrate_processing/artificialHorizon.png
new file mode 100644
index 0000000..8b3b993
Binary files /dev/null and b/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_calibrate_processing/artificialHorizon.png differ
diff --git a/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_calibrate_processing/artificialHorizonRing.png b/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_calibrate_processing/artificialHorizonRing.png
new file mode 100644
index 0000000..82fd1cc
Binary files /dev/null and b/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_calibrate_processing/artificialHorizonRing.png differ
diff --git a/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_compensation_processing/HMC5883L_compensation_processing.pde b/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_compensation_processing/HMC5883L_compensation_processing.pde
new file mode 100644
index 0000000..45a3cb7
--- /dev/null
+++ b/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_compensation_processing/HMC5883L_compensation_processing.pde
@@ -0,0 +1,330 @@
+/*
+ HMC5883L Triple Axis Digital Compass.
+ Processing for HMC5883L_compensation_MPU6050.ino
+ Processing for HMC5883L_compensation_ADXL345.ino
+ Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html
+ GIT: https://github.com/jarzebski/Arduino-HMC5883L
+ Web: http://www.jarzebski.pl
+ (c) 2014 by Korneliusz Jarzebski
+*/
+
+import processing.serial.*;
+
+Serial myPort;
+
+// Data samples
+int actualSample = 0;
+int maxSamples = 500;
+int sampleStep = 1;
+boolean hasData = false;
+
+// Charts
+PGraphics pgChart;
+int[] colors = { #ff4444, #33ff99 };
+String[] headingSeries = { "Normal", "Compensated"};
+
+// Data for compare
+float[][] headingValues = new float[2][maxSamples];
+
+// Artificial Horizon
+PGraphics pgCompassPlate;
+PImage imgCompass;
+PImage imgCompassRing;
+PImage imgCompassPlateWhite;
+PImage imgCompassPlateBlack;
+int compassWidth;
+int compassHeight;
+
+void setup ()
+{
+ size(570, 550, P2D);
+ background(0);
+
+ // Init
+ initCompass();
+
+ // Serial
+ myPort = new Serial(this, Serial.list()[0], 9600);
+ myPort.bufferUntil(10);
+}
+
+void drawChart(String title, String[] series, float[][] chart, int x, int y, int h, boolean symmetric, boolean fixed, int fixedMin, int fixedMax, int hlines)
+{
+ int actualColor = 0;
+
+ int maxA = 0;
+ int maxB = 0;
+ int maxAB = 0;
+
+ int min = 0;
+ int max = 0;
+ int step = 0;
+ int divide = 0;
+
+ if (fixed)
+ {
+ min = fixedMin;
+ max = fixedMax;
+ step = hlines;
+ } else
+ {
+ if (hlines > 2)
+ {
+ divide = (hlines - 2);
+ } else
+ {
+ divide = 1;
+ }
+
+ if (symmetric)
+ {
+ maxA = (int)abs(getMin(chart));
+ maxB = (int)abs(getMax(chart));
+ maxAB = max(maxA, maxB);
+ step = (maxAB * 2) / divide;
+ min = -maxAB-step;
+ max = maxAB+step;
+ } else
+ {
+ min = (int)(getMin(chart));
+ max = (int)(getMax(chart));
+
+ if ((max >= 0) && (min <= 0)) step = (abs(min) + abs(max)) / divide;
+ if ((max < 0) && (min < 0)) step = abs(min - max) / divide;
+ if ((max > 0) && (min > 0)) step = (max - min) / divide;
+
+ if (divide > 1)
+ {
+ min -= step;
+ max += step;
+ }
+ }
+ }
+
+ pgChart = createGraphics((maxSamples*sampleStep)+50, h+60);
+
+ pgChart.beginDraw();
+
+ // Draw chart area and title
+ pgChart.background(0);
+ pgChart.strokeWeight(1);
+ pgChart.noFill();
+ pgChart.stroke(50);
+ pgChart.rect(0, 0, (maxSamples*sampleStep)+49, h+59);
+ pgChart.text(title, ((maxSamples*sampleStep)/2)-(textWidth(title)/2)+40, 20);
+
+ // Draw chart description
+ String Description[] = new String[chart.length];
+ int DescriptionWidth[] = new int[chart.length];
+ int DesctiptionTotalWidth = 0;
+ int DescriptionOffset = 0;
+
+ for (int j = 0; j < chart.length; j++)
+ {
+ Description[j] = " "+series[j]+" = ";
+ DescriptionWidth[j] += textWidth(Description[j]+"+0000.00");
+ Description[j] += nf(chart[j][actualSample-1], 0, 2)+" ";
+ DesctiptionTotalWidth += DescriptionWidth[j];
+ }
+
+ actualColor = 0;
+
+ for (int j = 0; j < chart.length; j++)
+ {
+ pgChart.fill(colors[actualColor]);
+ pgChart.text(Description[j], ((maxSamples*sampleStep)/2)-(DesctiptionTotalWidth/2)+DescriptionOffset+40, h+50);
+ DescriptionOffset += DescriptionWidth[j];
+ actualColor++;
+ if (actualColor >= colors.length) actualColor = 0;
+ }
+
+ // Draw H-Lines
+ pgChart.stroke(100);
+
+ for (float t = min; t <= max; t=t+step)
+ {
+ float line = map(t, min, max, 0, h);
+ pgChart.line(40, h-line+30, (maxSamples*sampleStep)+40, h-line+30);
+ pgChart.fill(200, 200, 200);
+ pgChart.textSize(12);
+ pgChart.text(int(t), 5, h-line+34);
+ }
+
+ // Draw data series
+ pgChart.strokeWeight(2);
+
+ for (int i = 1; i < actualSample; i++)
+ {
+ actualColor = 0;
+
+ for (int j = 0; j < chart.length; j++)
+ {
+ pgChart.stroke(colors[actualColor]);
+
+ float d0 = chart[j][i-1];
+ float d1 = chart[j][i];
+
+ if (d0 < min) d0 = min;
+ if (d0 > max) d0 = max;
+ if (d1 < min) d1 = min;
+ if (d1 > max) d1 = max;
+
+ float v0 = map(d0, min, max, 0, h);
+ float v1 = map(d1, min, max, 0, h);
+
+ pgChart.line(((i-1)*sampleStep)+40, h-v0+30, (i*sampleStep)+40, h-v1+30);
+
+ actualColor++;
+
+ if (actualColor >= colors.length) actualColor = 0;
+ }
+ }
+
+ pgChart.endDraw();
+
+ image(pgChart, x, y);
+}
+
+void initCompass()
+{
+ imgCompass = loadImage("compass.png");
+ imgCompassRing = loadImage("compassRing.png");
+ imgCompassPlateWhite = loadImage("compassPlateWhite.png");
+ imgCompassPlateBlack = loadImage("compassPlateBlack.png");
+ compassWidth = imgCompass.width;
+ compassHeight = imgCompass.height;
+}
+
+void drawCompass(int x, int y, float[] head, PImage plate)
+{
+ pgCompassPlate = createGraphics(compassWidth, compassWidth);
+
+ float heading = head[actualSample-1];
+ float north = 180 + heading;
+
+ pgCompassPlate.beginDraw();
+ pgCompassPlate.clear();
+ pgCompassPlate.translate(100,100);
+ pgCompassPlate.rotate(-radians(heading));
+ pgCompassPlate.image(plate, -100, -100);
+ pgCompassPlate.endDraw();
+
+ image(pgCompassPlate, x+30, y+30);
+ image(imgCompass, x, y);
+ image(imgCompassRing, x, y);
+
+ textAlign(CENTER);
+ text((int)heading+" deg", x+130, y+265);
+ textAlign(LEFT);
+}
+
+void draw()
+{
+ if (!hasData) return;
+
+ background(0);
+
+ drawChart("Heading [deg]", headingSeries, headingValues, 10, 280, 200, true, true, 0, 360, 30);
+ drawCompass(10, 5, headingValues[0], imgCompassPlateWhite);
+ drawCompass(295, 5, headingValues[1], imgCompassPlateWhite);
+}
+
+float getMin(float[][] chart)
+{
+ float minValue = 0;
+ float[] testValues = new float[chart.length];
+ float testMin = 0;
+
+ for (int i = 0; i < actualSample; i++)
+ {
+ for (int j = 0; j < testValues.length; j++)
+ {
+ testValues[j] = chart[j][i];
+ }
+
+ testMin = min(testValues);
+
+ if (i == 0)
+ {
+ minValue = testMin;
+ } else
+ {
+ if (minValue > testMin) minValue = testMin;
+ }
+ }
+
+ return ceil(minValue)-1;
+}
+
+float getMax(float[][] chart)
+{
+ float maxValue = 0;
+ float[] testValues = new float[chart.length];
+ float testMax = 0;
+
+ for (int i = 0; i < actualSample; i++)
+ {
+ for (int j = 0; j < testValues.length; j++)
+ {
+ testValues[j] = chart[j][i];
+ }
+
+ testMax = max(testValues);
+
+ if (i == 0)
+ {
+ maxValue = testMax;
+ } else
+ {
+ if (maxValue < testMax) maxValue = testMax;
+ }
+ }
+
+ return ceil(maxValue);
+}
+
+void nextSample(float[][] chart)
+{
+ for (int j = 0; j < chart.length; j++)
+ {
+ float last = chart[j][maxSamples-1];
+
+ for (int i = 1; i < maxSamples; i++)
+ {
+ chart[j][i-1] = chart[j][i];
+ }
+
+ chart[j][(maxSamples-1)] = last;
+ }
+}
+
+void serialEvent (Serial myPort)
+{
+ String inString = myPort.readStringUntil(10);
+
+ if (inString != null)
+ {
+ inString = trim(inString);
+ String[] list = split(inString, ':');
+ String testString = trim(list[0]);
+
+ if (list.length != 2) return;
+
+ // Headings
+ headingValues[0][actualSample] = (float(list[0]));
+ headingValues[1][actualSample] = (float(list[1]));
+
+ if (actualSample > 1)
+ {
+ hasData = true;
+ }
+
+ if (actualSample == (maxSamples-1))
+ {
+ nextSample(headingValues);
+ } else
+ {
+ actualSample++;
+ }
+ }
+}
diff --git a/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_compensation_processing/compass.png b/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_compensation_processing/compass.png
new file mode 100644
index 0000000..d738170
Binary files /dev/null and b/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_compensation_processing/compass.png differ
diff --git a/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_compensation_processing/compassPlateBlack.png b/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_compensation_processing/compassPlateBlack.png
new file mode 100644
index 0000000..a15e1db
Binary files /dev/null and b/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_compensation_processing/compassPlateBlack.png differ
diff --git a/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_compensation_processing/compassPlateWhite.png b/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_compensation_processing/compassPlateWhite.png
new file mode 100644
index 0000000..7dfd98f
Binary files /dev/null and b/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_compensation_processing/compassPlateWhite.png differ
diff --git a/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_compensation_processing/compassRing.png b/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_compensation_processing/compassRing.png
new file mode 100644
index 0000000..83950bf
Binary files /dev/null and b/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_compensation_processing/compassRing.png differ
diff --git a/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_processing/HMC5883L_processing.pde b/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_processing/HMC5883L_processing.pde
new file mode 100644
index 0000000..8e76ebf
--- /dev/null
+++ b/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_processing/HMC5883L_processing.pde
@@ -0,0 +1,341 @@
+/*
+ HMC5883L Triple Axis Digital Compass.
+ Processing for HMC5883L_processing.ino
+ Processing for HMC5883L_processing_MPU6050.ino
+ Read more: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html
+ GIT: https://github.com/jarzebski/Arduino-HMC5883L
+ Web: http://www.jarzebski.pl
+ (c) 2014 by Korneliusz Jarzebski
+*/
+
+import processing.serial.*;
+
+Serial myPort;
+
+// Data samples
+int actualSample = 0;
+int maxSamples = 400;
+int sampleStep = 1;
+boolean hasData = false;
+
+// Charts
+PGraphics pgChart;
+int[] colors = { #ff4444, #33ff99, #5588ff };
+String[] magneticSeries = { "XAxis", "YAxis", "ZAxis" };
+String[] headingSeries = { "Normal", "Fixed", "Smooth" };
+
+// Data for compare
+float[][] magneticValues = new float[3][maxSamples];
+float[][] headingValues = new float[3][maxSamples];
+
+// Artificial Horizon
+PGraphics pgCompassPlate;
+PImage imgCompass;
+PImage imgCompassRing;
+PImage imgCompassPlateWhite;
+PImage imgCompassPlateBlack;
+int compassWidth;
+int compassHeight;
+
+void setup ()
+{
+ size(755, 550, P2D);
+ background(0);
+
+ // Init
+ initCompass();
+
+ // Serial
+ myPort = new Serial(this, Serial.list()[0], 9600);
+ myPort.bufferUntil(10);
+}
+
+void drawChart(String title, String[] series, float[][] chart, int x, int y, int h, boolean symmetric, boolean fixed, int fixedMin, int fixedMax, int hlines)
+{
+ int actualColor = 0;
+
+ int maxA = 0;
+ int maxB = 0;
+ int maxAB = 0;
+
+ int min = 0;
+ int max = 0;
+ int step = 0;
+ int divide = 0;
+
+ if (fixed)
+ {
+ min = fixedMin;
+ max = fixedMax;
+ step = hlines;
+ } else
+ {
+ if (hlines > 2)
+ {
+ divide = (hlines - 2);
+ } else
+ {
+ divide = 1;
+ }
+
+ if (symmetric)
+ {
+ maxA = (int)abs(getMin(chart));
+ maxB = (int)abs(getMax(chart));
+ maxAB = max(maxA, maxB);
+ step = (maxAB * 2) / divide;
+ min = -maxAB-step;
+ max = maxAB+step;
+ } else
+ {
+ min = (int)(getMin(chart));
+ max = (int)(getMax(chart));
+
+ if ((max >= 0) && (min <= 0)) step = (abs(min) + abs(max)) / divide;
+ if ((max < 0) && (min < 0)) step = abs(min - max) / divide;
+ if ((max > 0) && (min > 0)) step = (max - min) / divide;
+
+ if (divide > 1)
+ {
+ min -= step;
+ max += step;
+ }
+ }
+ }
+
+ pgChart = createGraphics((maxSamples*sampleStep)+50, h+60);
+
+ pgChart.beginDraw();
+
+ // Draw chart area and title
+ pgChart.background(0);
+ pgChart.strokeWeight(1);
+ pgChart.noFill();
+ pgChart.stroke(50);
+ pgChart.rect(0, 0, (maxSamples*sampleStep)+49, h+59);
+ pgChart.text(title, ((maxSamples*sampleStep)/2)-(textWidth(title)/2)+40, 20);
+
+ // Draw chart description
+ String Description[] = new String[chart.length];
+ int DescriptionWidth[] = new int[chart.length];
+ int DesctiptionTotalWidth = 0;
+ int DescriptionOffset = 0;
+
+ for (int j = 0; j < chart.length; j++)
+ {
+ Description[j] = " "+series[j]+" = ";
+ DescriptionWidth[j] += textWidth(Description[j]+"+0000.00");
+ Description[j] += nf(chart[j][actualSample-1], 0, 2)+" ";
+ DesctiptionTotalWidth += DescriptionWidth[j];
+ }
+
+ actualColor = 0;
+
+ for (int j = 0; j < chart.length; j++)
+ {
+ pgChart.fill(colors[actualColor]);
+ pgChart.text(Description[j], ((maxSamples*sampleStep)/2)-(DesctiptionTotalWidth/2)+DescriptionOffset+40, h+50);
+ DescriptionOffset += DescriptionWidth[j];
+ actualColor++;
+ if (actualColor >= colors.length) actualColor = 0;
+ }
+
+ // Draw H-Lines
+ pgChart.stroke(100);
+
+ for (float t = min; t <= max; t=t+step)
+ {
+ float line = map(t, min, max, 0, h);
+ pgChart.line(40, h-line+30, (maxSamples*sampleStep)+40, h-line+30);
+ pgChart.fill(200, 200, 200);
+ pgChart.textSize(12);
+ pgChart.text(int(t), 5, h-line+34);
+ }
+
+ // Draw data series
+ pgChart.strokeWeight(2);
+
+ for (int i = 1; i < actualSample; i++)
+ {
+ actualColor = 0;
+
+ for (int j = 0; j < chart.length; j++)
+ {
+ pgChart.stroke(colors[actualColor]);
+
+ float d0 = chart[j][i-1];
+ float d1 = chart[j][i];
+
+ if (d0 < min) d0 = min;
+ if (d0 > max) d0 = max;
+ if (d1 < min) d1 = min;
+ if (d1 > max) d1 = max;
+
+ float v0 = map(d0, min, max, 0, h);
+ float v1 = map(d1, min, max, 0, h);
+
+ pgChart.line(((i-1)*sampleStep)+40, h-v0+30, (i*sampleStep)+40, h-v1+30);
+
+ actualColor++;
+
+ if (actualColor >= colors.length) actualColor = 0;
+ }
+ }
+
+ pgChart.endDraw();
+
+ image(pgChart, x, y);
+}
+
+void initCompass()
+{
+ imgCompass = loadImage("compass.png");
+ imgCompassRing = loadImage("compassRing.png");
+ imgCompassPlateWhite = loadImage("compassPlateWhite.png");
+ imgCompassPlateBlack = loadImage("compassPlateBlack.png");
+ compassWidth = imgCompass.width;
+ compassHeight = imgCompass.height;
+}
+
+void drawCompass(int x, int y, float[][] head, PImage plate)
+{
+ pgCompassPlate = createGraphics(compassWidth, compassWidth);
+
+ float heading = head[2][actualSample-1];
+ float north = 180 + heading;
+
+ pgCompassPlate.beginDraw();
+ pgCompassPlate.clear();
+ pgCompassPlate.translate(100,100);
+ pgCompassPlate.rotate(-radians(heading));
+ pgCompassPlate.image(plate, -100, -100);
+ pgCompassPlate.endDraw();
+
+ image(pgCompassPlate, x+30, y+30);
+ image(imgCompass, x, y);
+ image(imgCompassRing, x, y);
+
+ textAlign(CENTER);
+ text((int)heading+" deg", x+130, y+265);
+ textAlign(LEFT);
+}
+
+void draw()
+{
+ if (!hasData) return;
+
+ background(0);
+
+ drawChart("Magnetic field [mG]", magneticSeries, magneticValues, 10, 10, 200, false, false, 0, 0, 10);
+ drawChart("Heading [deg]", headingSeries, headingValues, 10, 280, 200, true, true, 0, 360, 30);
+ drawCompass(480, 5, headingValues, imgCompassPlateWhite);
+ drawCompass(480, 275, headingValues, imgCompassPlateBlack);
+
+}
+
+float getMin(float[][] chart)
+{
+ float minValue = 0;
+ float[] testValues = new float[chart.length];
+ float testMin = 0;
+
+ for (int i = 0; i < actualSample; i++)
+ {
+ for (int j = 0; j < testValues.length; j++)
+ {
+ testValues[j] = chart[j][i];
+ }
+
+ testMin = min(testValues);
+
+ if (i == 0)
+ {
+ minValue = testMin;
+ } else
+ {
+ if (minValue > testMin) minValue = testMin;
+ }
+ }
+
+ return ceil(minValue)-1;
+}
+
+float getMax(float[][] chart)
+{
+ float maxValue = 0;
+ float[] testValues = new float[chart.length];
+ float testMax = 0;
+
+ for (int i = 0; i < actualSample; i++)
+ {
+ for (int j = 0; j < testValues.length; j++)
+ {
+ testValues[j] = chart[j][i];
+ }
+
+ testMax = max(testValues);
+
+ if (i == 0)
+ {
+ maxValue = testMax;
+ } else
+ {
+ if (maxValue < testMax) maxValue = testMax;
+ }
+ }
+
+ return ceil(maxValue);
+}
+
+void nextSample(float[][] chart)
+{
+ for (int j = 0; j < chart.length; j++)
+ {
+ float last = chart[j][maxSamples-1];
+
+ for (int i = 1; i < maxSamples; i++)
+ {
+ chart[j][i-1] = chart[j][i];
+ }
+
+ chart[j][(maxSamples-1)] = last;
+ }
+}
+
+void serialEvent (Serial myPort)
+{
+ String inString = myPort.readStringUntil(10);
+
+ if (inString != null)
+ {
+ inString = trim(inString);
+ String[] list = split(inString, ':');
+ String testString = trim(list[0]);
+
+ if (list.length != 6) return;
+
+ // Magnetic field
+ magneticValues[0][actualSample] = (float(list[0]));
+ magneticValues[1][actualSample] = (float(list[1]));
+ magneticValues[2][actualSample] = (float(list[2]));
+
+ // Headings
+ headingValues[0][actualSample] = (float(list[3]));
+ headingValues[1][actualSample] = (float(list[4]));
+ headingValues[2][actualSample] = (float(list[5]));
+
+ if (actualSample > 1)
+ {
+ hasData = true;
+ }
+
+ if (actualSample == (maxSamples-1))
+ {
+ nextSample(magneticValues);
+ nextSample(headingValues);
+ } else
+ {
+ actualSample++;
+ }
+ }
+}
diff --git a/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_processing/compass.png b/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_processing/compass.png
new file mode 100644
index 0000000..d738170
Binary files /dev/null and b/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_processing/compass.png differ
diff --git a/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_processing/compassPlateBlack.png b/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_processing/compassPlateBlack.png
new file mode 100644
index 0000000..a15e1db
Binary files /dev/null and b/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_processing/compassPlateBlack.png differ
diff --git a/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_processing/compassPlateWhite.png b/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_processing/compassPlateWhite.png
new file mode 100644
index 0000000..7dfd98f
Binary files /dev/null and b/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_processing/compassPlateWhite.png differ
diff --git a/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_processing/compassRing.png b/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_processing/compassRing.png
new file mode 100644
index 0000000..83950bf
Binary files /dev/null and b/libraries/Arduino-HMC5883L-master/Processing/HMC5883L_processing/compassRing.png differ
diff --git a/libraries/Arduino-HMC5883L-master/README.md b/libraries/Arduino-HMC5883L-master/README.md
new file mode 100644
index 0000000..cc1bbe4
--- /dev/null
+++ b/libraries/Arduino-HMC5883L-master/README.md
@@ -0,0 +1,27 @@
+Arduino-HMC5883L
+================
+
+HMC5883L Triple Axis Digital Compass Arduino Library
+
+
+
+Tutorials: http://www.jarzebski.pl/arduino/czujniki-i-sensory/3-osiowy-magnetometr-hmc5883l.html
+
+YouTube: http://www.youtube.com/watch?v=zG3uzQW3wc0
+
+This library use I2C to communicate, 2 pins are required to interface.
+
+I need your help
+----------------
+
+July 31, 2017
+
+In the near future I plan to refactoring the libraries. The main goal is to improve code quality, new features and add support for different versions of Arduino boards like Uno, Mega and Zero.
+
+For this purpose I need to buy modules, Arduino Boards and lot of beer.
+
+If you want to support the further and long-term development of libraries, please help.
+
+You can do this by transferring any amount to my PayPal account: paypal@jarzebski.pl
+
+Thanks!
diff --git a/libraries/TinyGPS/TinyGPS.cpp b/libraries/TinyGPS/TinyGPS.cpp
index deae922..30708e9 100755
--- a/libraries/TinyGPS/TinyGPS.cpp
+++ b/libraries/TinyGPS/TinyGPS.cpp
@@ -25,6 +25,8 @@ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
#define _GPRMC_TERM "GPRMC"
#define _GPGGA_TERM "GPGGA"
+#define _GNRMC_TERM "GNRMC"
+#define _GNGGA_TERM "GNGGA"
TinyGPS::TinyGPS()
: _time(GPS_INVALID_TIME)
@@ -212,9 +214,9 @@ bool TinyGPS::term_complete()
// the first term determines the sentence type
if (_term_number == 0)
{
- if (!gpsstrcmp(_term, _GPRMC_TERM))
+ if (!gpsstrcmp(_term, _GPRMC_TERM) || !gpsstrcmp(_term, _GNRMC_TERM))
_sentence_type = _GPS_SENTENCE_GPRMC;
- else if (!gpsstrcmp(_term, _GPGGA_TERM))
+ else if (!gpsstrcmp(_term, _GPGGA_TERM) || !gpsstrcmp(_term, _GNRMC_TERM))
_sentence_type = _GPS_SENTENCE_GPGGA;
else
_sentence_type = _GPS_SENTENCE_OTHER;