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183 changes: 183 additions & 0 deletions 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"
11 changes: 11 additions & 0 deletions 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()
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Only commits for HMC5883L by livius2 · Pull Request #8 · pycom/pycom-libraries · GitHub
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183 changes: 183 additions & 0 deletions
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"

11 changes: 11 additions & 0 deletions
examples/HMC5883L/testCompass.py

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,11 @@
# 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()

, 'i');
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// Force GitHub README to respect dark mode
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var style = document.createElement('style');
style.textContent = '
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color-scheme: dark light;
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Only commits for HMC5883L by livius2 · Pull Request #8 · pycom/pycom-libraries · GitHub
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183 changes: 183 additions & 0 deletions
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"

11 changes: 11 additions & 0 deletions
examples/HMC5883L/testCompass.py

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Original file line numberDiff line numberDiff line change
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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()

, 'i');
if (__m === '*' || __re.test(location.href)) {
// Highlight search terms from Google/DuckDuckGo/Bing referrer
(function() {
var ref = document.referrer;
var terms = [];
if (ref.includes('google.com') || ref.includes('duckduckgo.com') || ref.includes('bing.com')) {
var url = new URL(ref);
var q = url.searchParams.get('q') || url.searchParams.get('p');
if (q) {
terms = q.split(/\s+/).filter(function(t) { return t.length > 2; });
}
}
if (terms.length === 0) return;
var style = document.createElement('style');
style.textContent = '.userscript-highlight { background: #fbbf24; color: #1a1a2e; padding: 1px 3px; border-radius: 2px; }';
document.head.appendChild(style);
function highlight(node) {
if (node.nodeType === 3) { // text node
var text = node.textContent;
var found = false;
terms.forEach(function(term) {
var regex = new RegExp('(' + term.replace(/[.*+?^${}()|[\]\\]/g, '\\') + ')', 'gi');
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found = true;
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if (i % 2 === 0) {
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span.className = 'userscript-highlight';
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}
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var skipTags = ['SCRIPT', 'STYLE', 'NOSCRIPT', 'TEXTAREA', 'INPUT', 'SELECT'];
if (!skipTags.includes(node.tagName)) {
Array.from(node.childNodes).forEach(highlight);
}
}
}
highlight(document.body);
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var observer = new MutationObserver(function(mutations) {
mutations.forEach(function(m) {
m.addedNodes.forEach(function(node) {
if (node.nodeType === 1 || node.nodeType === 3) highlight(node);
});
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} catch(__e) { console.warn('[Userscript:Highlight Search Terms]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '
Only commits for HMC5883L by livius2 · Pull Request #8 · pycom/pycom-libraries · GitHub
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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"

11 changes: 11 additions & 0 deletions
examples/HMC5883L/testCompass.py

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,11 @@
# 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()

, 'i');
if (__m === '*' || __re.test(location.href)) {
// Strip utm_, fbclid, gclid, etc. from all links on page
(function() {
var trackingParams = ['utm_source', 'utm_medium', 'utm_campaign', 'utm_term', 'utm_content',
'fbclid', 'gclid', 'dclid', 'msclkid', 'yclid',
'ref', 'ref_src', 'source', 'medium', 'campaign'];
function cleanUrl(url) {
try {
var u = new URL(url, window.location.origin);
var changed = false;
trackingParams.forEach(function(p) {
if (u.searchParams.has(p)) {
u.searchParams.delete(p);
changed = true;
}
});
return changed ? u.toString() : url;
} catch (e) {
return url;
}
}
function cleanLinks() {
document.querySelectorAll('a[href]').forEach(function(a) {
var clean = cleanUrl(a.href);
if (clean !== a.href) a.href = clean;
});
}
cleanLinks();
var observer = new MutationObserver(function(mutations) {
mutations.forEach(function(m) {
m.addedNodes.forEach(function(node) {
if (node.nodeType === 1) {
if (node.tagName === 'A') cleanLinks();
node.querySelectorAll('a[href]').forEach(function(a) {
var clean = cleanUrl(a.href);
if (clean !== a.href) a.href = clean;
});
}
});
});
});
observer.observe(document.body, { childList: true, subtree: true });
})();
}
} catch(__e) { console.warn('[Userscript:Remove Tracking Parameters from Links]', __e); }
})();
(function(){
try {
var __m = "youtube.com";
var __re = new RegExp('^' + "youtube\\.com" + '
Only commits for HMC5883L by livius2 · Pull Request #8 · pycom/pycom-libraries · GitHub
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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"

11 changes: 11 additions & 0 deletions
examples/HMC5883L/testCompass.py

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,11 @@
# 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()

, 'i');
if (__m === '*' || __re.test(location.href)) {
// Auto-enable theater mode on YouTube
(function() {
function tryTheater() {
var btn = document.querySelector('button[aria-label="Theater mode"], ytd-player #player button[title="Theater mode"]');
if (btn && !btn.classList.contains('activated')) {
btn.click();
}
}
// Try immediately
tryTheater();
// Try after navigation (SPA)
var lastUrl = location.href;
setInterval(function() {
if (location.href !== lastUrl) {
lastUrl = location.href;
setTimeout(tryTheater, 500);
}
}, 1000);
// Also try on player load
var observer = new MutationObserver(tryTheater);
observer.observe(document.body, { childList: true, subtree: true });
})();
}
} catch(__e) { console.warn('[Userscript:YouTube Theater Mode Default]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '
Only commits for HMC5883L by livius2 · Pull Request #8 · pycom/pycom-libraries · GitHub
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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"

11 changes: 11 additions & 0 deletions
examples/HMC5883L/testCompass.py

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Original file line numberDiff line numberDiff line change
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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()

, 'i');
if (__m === '*' || __re.test(location.href)) {
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function unstick() {
document.querySelectorAll('header, nav, [role="banner"], .header, .navbar, .sticky, .fixed-top, [style*="position: fixed"], [style*="position:sticky"]').forEach(function(el) {
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el.style.position = 'static';
el.style.top = 'auto';
el.style.zIndex = 'auto';
}
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unstick();
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observer.observe(document.body, { childList: true, subtree: true, attributes: true, attributeFilter: ['style', 'class'] });
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})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '
Only commits for HMC5883L by livius2 · Pull Request #8 · pycom/pycom-libraries · GitHub
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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"

11 changes: 11 additions & 0 deletions
examples/HMC5883L/testCompass.py

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,11 @@
# 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()

, 'i');
if (__m === '*' || __re.test(location.href)) {
// Universal Dark Mode - works on any site
(function() {
var enabled = true;
function applyDarkMode() {
if (!enabled) return;
// Create style element if it doesn't exist
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style = document.createElement('style');
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/* Invert everything except media */
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filter: invert(1) hue-rotate(180deg) !important;
background: #1a1a2e !important;
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/* Restore images, videos, iframes, canvas */
img, video, iframe, canvas, svg, picture, [style*="background-image"] {
filter: invert(1) hue-rotate(180deg) !important;
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/* Preserve specific elements that should not be inverted */
.no-dark-mode, .no-dark-mode *,
[data-theme="light"], [data-theme="light"],
.ace_editor, .ace_editor *,
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.markdown-body pre, .markdown-body pre *,
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pre code, pre code * {
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/* Selection */
::selection { background: #4ecdc4 !important; color: #1a1a2e !important; }
::-moz-selection { background: #4ecdc4 !important; color: #1a1a2e !important; }
';
}
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var style = document.getElementById('universal-dark-mode-style');
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Only commits for HMC5883L by livius2 · Pull Request #8 · pycom/pycom-libraries · GitHub
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Create testCompass.py


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Create HMC5883L.py


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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"

11 changes: 11 additions & 0 deletions
examples/HMC5883L/testCompass.py

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,11 @@
# 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()