Merge pull request #25 from CedarGroveStudios/main

Add magnetometer offset calibrator example

examples/lis3mdl_calibrator.py

@@ -0,0 +1,81 @@
+# SPDX-FileCopyrightText: 2023 Cedar Grove Maker Studios
+# SPDX-License-Identifier: MIT
+
+"""
+'lis3mdl_calibrator.py' is a simple CircuitPython calibrator example for
+the LIS3MDL magnetometer. The resultant offset values can be used to
+compensate for 'hard iron' effects, static magnetic fields, or to orient
+the sensor with the earth's magnetic field for use as a compass.
+
+The calibrator measures the minimum and maximum values for each axis as
+the sensor is moved. The values are captured over a fixed number of
+samples. A middle-of-the-range calibration offset value is calculated
+and reported after all samples are collected.
+
+The sensor needs to be tumbled during the collection period in a manner
+that exercises the entire range of each axis. A series of overlapping
+figure-eight patterns is recommended.
+
+This code was derived from the '9dof_calibration.py' Blinka code
+authored by Melissa LeBlanc-Williams for the 'Adafruit SensorLab -
+Magnetometer Calibration' learning guide (c)2020.
+"""
+
+import time
+import board
+import busio
+from adafruit_lis3mdl import LIS3MDL
+
+SAMPLE_SIZE = 2000
+
+i2c = busio.I2C(board.SCL, board.SDA)
+magnetometer = LIS3MDL(i2c)
+
+while True:
+    print("=" * 40)
+    print("LIS3MDL MAGNETOMETER CALIBRATION")
+    print("  Tumble the sensor through a series of")
+    print("  overlapping figure-eight patterns")
+    print(f"  for approximately {SAMPLE_SIZE/100:.0f} seconds \n")
+
+    print("  countdown to start:", end=" ")
+    for i in range(5, -1, -1):
+        print(i, end=" ")
+        time.sleep(1)
+    print("\n  MOVE the sensor...")
+    print("  >     progress     <")
+    print("  ", end="")
+
+    # Initialize the min/max values
+    mag_x, mag_y, mag_z = magnetometer.magnetic
+    min_x = max_x = mag_x
+    min_y = max_y = mag_y
+    min_z = max_z = mag_z
+
+    for i in range(SAMPLE_SIZE):
+        # Capture the samples and show the progress
+        if not i % (SAMPLE_SIZE / 20):
+            print("*", end="")
+
+        mag_x, mag_y, mag_z = magnetometer.magnetic
+
+        min_x = min(min_x, mag_x)
+        min_y = min(min_y, mag_y)
+        min_z = min(min_z, mag_z)
+
+        max_x = max(max_x, mag_x)
+        max_y = max(max_y, mag_y)
+        max_z = max(max_z, mag_z)
+
+        time.sleep(0.01)
+
+    # Calculate the middle of the min/max range
+    offset_x = (max_x + min_x) / 2
+    offset_y = (max_y + min_y) / 2
+    offset_z = (max_z + min_z) / 2
+
+    print(
+        f"\n\n  Final Calibration: X:{offset_x:6.2f} Y:{offset_y:6.2f} Z:{offset_z:6.2f} uT\n"
+    )
+
+    time.sleep(5)