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nopnop2002nopnop2002
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Added HMC5883L_CALIBRATE
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‎HMC5883L_CALIBRATE/CMakeLists.txt

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# The following lines of boilerplate have to be in your project's CMakeLists
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# in this exact order for cmake to work correctly
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cmake_minimum_required(VERSION 3.5)
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set(EXTRA_COMPONENT_DIRS ../components/I2Cdev
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../components/MPU6050
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../components/AK8963
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../components/HMC5883L
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../components/websocket)
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include($ENV{IDF_PATH}/tools/cmake/project.cmake)
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project(LSM303DLHC_CALIBRATE)

‎HMC5883L_CALIBRATE/README.md

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# HMC5883L_CALIBRATE
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HMC5883L is connected as slave device of MPU9XXX.
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You can use this to get the compass offset value for each axis.
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# Software requiment
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ESP-IDF V4.4/V5.0.
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ESP-IDF V5 is required when using ESP32-C2.
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# Hardware requirements
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GY-86/87 9DoF MotionTracking device.
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# Wireing
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|GY86/87||ESP32|ESP32-S2/S3|ESP32-C2/C3||
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|:-:|:-:|:-:|:-:|:-:|:-:|
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|VCC_IN|--|N/C|N/C|N/C||
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|3.3V|--|3.3V|3.3V|3.3V||
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|GND|--|GND|GND|GND||
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|SCL|--|GPIO22|GPIO12|GPIO5|(*1)|
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|SDA|--|GPIO21|GPIO11|GPIO4|(*1)|
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(*1)You can change it to any pin using menuconfig.
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# Compass calibration
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```
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git clone https://github.com/nopnop2002/esp-idf-mpu6050-dmp
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cd esp-idf-mpu6050-dmp/HMC5883L_CALIBRATE
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idf.py set-target {esp32/esp32s2/esp32s3/esp32c2/esp32c3}
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idf.py menuconfig
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idf.py flash
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```
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### Configuration
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To find the offset value, set the compass offset to 0.
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![config-AK8963-1](https://user-images.githubusercontent.com/6020549/227429885-7326b087-f37e-4f42-9f7b-0928e27e1b01.jpg)
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![config-AK8963-2](https://user-images.githubusercontent.com/6020549/227429891-0a10160d-e845-4a79-b188-7e3ae59c279f.jpg)
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### Execute calibration
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ESP32 acts as a web server.
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I used [this](https://github.com/Molorius/esp32-websocket) component.
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This component can communicate directly with the browser.
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It's a great job.
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Enter the following in the address bar of your web browser.
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```
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http:://{IP of ESP32}/
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or
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http://esp32.local/
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```
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As you move the IMU it plots the X, Y and Z values.
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X, Y, Z offset are displayed.
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![hmc5883l-1](https://user-images.githubusercontent.com/6020549/227674738-9d9eb071-e494-4de3-8829-d1426c398f3d.jpg)
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![hmc5883l-2](https://user-images.githubusercontent.com/6020549/227674741-15c93ca8-17d4-487d-bc3e-12792c536a46.jpg)
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### Execute calibration again
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If you set the offset you got from the calibration and run it again, the circle position will change.
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![hmc5883l-11](https://user-images.githubusercontent.com/6020549/227674769-63d77758-c217-4f0f-b7ac-1f310876191b.jpg)
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![hmc5883l-12](https://user-images.githubusercontent.com/6020549/227674771-85e8e65c-44c4-4bac-b964-07f62f8bf31b.jpg)
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‎HMC5883L_CALIBRATE/html/error.html

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<!DOCTYPE html>
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<html>
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<head>
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<title>ESP32 Error 404</title>
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<link type="text/css" href="test.css" rel="stylesheet"/>
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</head>
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<body>
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<h1>Error 404</h1>
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<p>Unknown page. <a href="/">Return home.</a></p>
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</body>
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</html>

‎HMC5883L_CALIBRATE/html/favicon.ico

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‎HMC5883L_CALIBRATE/html/main.css

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/*
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Your favorite style is defined here.
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*/
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.float_noborder{
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float: left;
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}
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.float_border{
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float: left;
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border: 1px solid #333;
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}
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.no_float{
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clear: both;
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}

‎HMC5883L_CALIBRATE/html/main.js

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//document.getElementById("datetime").innerHTML = "WebSocket is not connected";
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var websocket = new WebSocket('ws://'+location.hostname+'/');
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var xmax = -9999;
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var xmin = 9999;
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var xcenter = 0;
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var xoffset = 0;
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var ymax = -9999;
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var ymin = 9999;
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var ycenter = 0;
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var yoffset = 0;
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var zmax = -9999;
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var zmin = 9999;
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var zcenter = 0;
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var zoffset = 0;
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function CreateTrace() {
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var trace1 = {
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x:[], y:[],
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mode: 'markers',
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marker: {
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size: 4,
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color: 'rgb(255, 0, 0)',
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line: {
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color: 'rgb(60, 60, 60)',
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width: 0.5},
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opacity: 0.8},
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type: 'scatter'
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};
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var trace2 = {
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x:[], y:[],
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mode: 'markers',
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marker: {
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size: 4,
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color: 'rgb(0, 0, 255)',
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line: {
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color: 'rgb(60, 60, 60)',
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width: 0.5},
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opacity: 0.8},
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type: 'scatter'
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};
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var data1 = [trace1];
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var data2 = [trace2];
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var layout1 = {
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title:'X-Axis / Y-Axis',
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plot_bgcolor: 'rgb(66, 203, 245)',
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width: 450,
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};
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var layout2 = {
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title:'Y-Axis / Z-Axis',
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plot_bgcolor: 'rgb(252, 244, 3)',
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width: 450,
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};
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Plotly.newPlot('myDiv1', data1, layout1)
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Plotly.newPlot('myDiv2', data2, layout2)
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}
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function ClearValuePush() {
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console.log('ClearChartPush');
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xmax = -9999;
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xmin = 9999;
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xcenter = 0;
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xoffset = 0;
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ymax = -9999;
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ymin = 9999;
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ycenter = 0;
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yoffset = 0;
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zmax = -9999;
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zmin = 9999;
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zcenter = 0;
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zoffset = 0;
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Plotly.deleteTraces('myDiv1', 0);
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Plotly.deleteTraces('myDiv2', 0);
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CreateTrace();
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}
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function sendText(name) {
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console.log('sendText');
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var data = {};
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data["id"] = name;
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console.log('data=', data);
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json_data = JSON.stringify(data);
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console.log('json_data=' + json_data);
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websocket.send(json_data);
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}
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websocket.onopen = function(evt) {
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console.log('WebSocket connection opened');
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var data = {};
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data["id"] = "init";
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console.log('data=', data);
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json_data = JSON.stringify(data);
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console.log('json_data=' + json_data);
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websocket.send(json_data);
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//document.getElementById("datetime").innerHTML = "WebSocket is connected!";
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CreateTrace();
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}
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websocket.onmessage = function(evt) {
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var msg = evt.data;
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console.log("msg=" + msg);
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var values = msg.split('\4'); // \4 is EOT
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//console.log("values=" + values);
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switch(values[0]) {
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case 'HEAD':
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console.log("HEAD values[1]=" + values[1]);
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var h1 = document.getElementById( 'header' );
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h1.textContent = values[1];
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break;
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case 'DATA':
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console.log("DATA values[1]=" + values[1]);
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console.log("DATA values[2]=" + values[2]);
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console.log("DATA values[3]=" + values[3]);
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var xval = parseInt(values[1], 10);
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var yval = parseInt(values[2], 10);
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var zval = parseInt(values[3], 10);
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if (xval > 1000 || xval < -1000) return;
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if (yval > 1000 || yval < -1000) return;
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if (zval > 1000 || zval < -1000) return;
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Plotly.extendTraces('myDiv1', {
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x: [[xval]],
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y: [[yval]]
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}, [0])
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Plotly.extendTraces('myDiv2', {
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x: [[yval]],
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y: [[zval]]
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}, [0])
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if (xval < xmin) xmin = xval;
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if (xval > xmax) xmax = xval;
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//console.log("xmin=" + xmin);
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//console.log("xmax=" + xmax);
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xcenter = (xmax - xmin) / 2.0;
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//console.log("xcenter=" + xcenter);
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xoffset = xcenter - xmax;
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//console.log("xoffset=" + xoffset);
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document.getElementById('xmin_val').innerText = xmin.toString();
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document.getElementById('xmax_val').innerText = xmax.toString();
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document.getElementById('xcenter_val').innerText = xcenter.toString();
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document.getElementById('xoffset_val').innerText = xoffset.toString();
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if (yval < ymin) ymin = yval;
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if (yval > ymax) ymax = yval;
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//console.log("ymin=" + ymin);
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//console.log("ymax=" + ymax);
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ycenter = (ymax - ymin) / 2.0;
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//console.log("ycenter=" + ycenter);
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yoffset = ycenter - ymax;
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//console.log("yoffset=" + yoffset);
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document.getElementById('ymin_val').innerText = ymin.toString();
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document.getElementById('ymax_val').innerText = ymax.toString();
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document.getElementById('ycenter_val').innerText = ycenter.toString();
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document.getElementById('yoffset_val').innerText = yoffset.toString();
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if (zval < zmin) zmin = zval;
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if (zval > zmax) zmax = zval;
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//console.log("zmin=" + zmin);
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//console.log("zmax=" + zmax);
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zcenter = (zmax - zmin) / 2.0;
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//console.log("zcenter=" + zcenter);
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zoffset = zcenter - zmax;
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//console.log("zoffset=" + zoffset);
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document.getElementById('zmin_val').innerText = zmin.toString();
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document.getElementById('zmax_val').innerText = zmax.toString();
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document.getElementById('zcenter_val').innerText = zcenter.toString();
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document.getElementById('zoffset_val').innerText = zoffset.toString();
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default:
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break;
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}
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}
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websocket.onclose = function(evt) {
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console.log('Websocket connection closed');
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//document.getElementById("datetime").innerHTML = "WebSocket closed";
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}
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websocket.onerror = function(evt) {
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console.log('Websocket error: ' + evt);
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//document.getElementById("datetime").innerHTML = "WebSocket error????!!!1!!";
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}

‎HMC5883L_CALIBRATE/html/root.html

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<!DOCTYPE html>
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<html>
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<head>
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<meta http-equiv="Content-Type" content="text/html; charset=UTF-8">
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<link rel="stylesheet" type="text/css" href="main.css">
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<script src="https://cdn.plot.ly/plotly-latest.min.js"></script>
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<title>Compass Calibrate</title>
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</head>
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<body>
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<h1 id="header"></h1>
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<div id="myDiv1" class="float_border"></div>
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<div id="myDiv2" class="float_border"></div>
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<div id="ClearValue" class="no_float">
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<button onclick="ClearValuePush()">ClearValue</button>
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</div>
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<div id="xaxis1" class="no_float">
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<span id = "label">xmin</span>
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<span id = "xmin_val">0000</span>
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<span id = "label">xmax</span>
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<span id = "xmax_val">9999</span>
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<span id = "label">center</span>
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<span id = "xcenter_val">0000</span>
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<span id = "label">offset</span>
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<span id = "xoffset_val">0000</span>
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</div>
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<div id="yaxis" class="no_float">
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<span id = "label">ymin</span>
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<span id = "ymin_val">0000</span>
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<span id = "label">ymax</span>
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<span id = "ymax_val">9999</span>
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<span id = "label">center</span>
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<span id = "ycenter_val">0000</span>
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<span id = "label">offset</span>
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<span id = "yoffset_val">0000</span>
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</div>
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<div id="zaxis" class="no_float">
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<span id = "label">zmin</span>
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<span id = "zmin_val">0000</span>
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<span id = "label">zmax</span>
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<span id = "zmax_val">9999</span>
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<span id = "label">center</span>
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<span id = "zcenter_val">0000</span>
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<span id = "label">offset</span>
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<span id = "zoffset_val">0000</span>
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</div>
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<script type="text/javascript" src="main.js"></script>
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</body>
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</html>
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‎HMC5883L_CALIBRATE/main/CMakeLists.txt

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idf_component_register(SRCS "main.cpp" "mpu6050.cpp" "wifi.c" "udp_trans.c" "web_server.c" "web_client.c"
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INCLUDE_DIRS "."
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EMBED_FILES "../html/error.html"
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"../html/favicon.ico"
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"../html/main.js"
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"../html/root.html"
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"../html/main.css")

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