Diff: MAG3110/MAG3110.cpp

Revision:

1:5ad44a4edff9

Parent:

0:fa31f8461c63

--- a/MAG3110/MAG3110.cpp	Sat Apr 18 17:01:57 2015 +0000
+++ b/MAG3110/MAG3110.cpp	Sat May 09 15:06:38 2015 +0000
@@ -1,6 +1,24 @@
 
 #include "MAG3110.h"
 #include "mbed.h"
+/* 
+ Mag regs: FF FC 5B 02 8A 0C EA C4 02 00 00 00 00 00 00 00 19 00 5F FF .
+64601 650 3306
+
+FF 
+x FB B9 
+y 01 21 
+z 0D 44 
+id C4 
+System mode 02 
+off x 00 00 
+off y 00 00 
+off z 00 00 
+temp 00 
+ctrl reg1 19 
+ctrl reg2 00 
+BF FF .
+*/
 
 /******************************************************************************
  * Constructors
@@ -11,18 +29,24 @@
     begin();
 }
 
-void MAG3110::begin()
+void MAG3110::begin(void)
 {
     char cmd[2];
 
     cmd[0] = MAG_CTRL_REG2;
-    cmd[1] = MAG_3110_AUTO_MRST_EN + MAG_3110_MAG_RST;
+    cmd[1] = MAG_3110_MAG_RST;
     _i2c.write(_i2c_address, cmd, 2);
 
     cmd[0] = MAG_CTRL_REG1;
-    cmd[1] = MAG_3110_SAMPLE80 + MAG_3110_OVERSAMPLE4 + MAG_3110_ACTIVE;
+    cmd[1] = MAG_3110_SAMPLE80 + MAG_3110_OVERSAMPLE3 + MAG_3110_ACTIVE;
     _i2c.write(_i2c_address, cmd, 2);
     
+    cmd[0] = MAG_WHO_AM_I;
+    _i2c.write(_i2c_address, cmd, 1);
+    cmd[0] = 0x00;
+    _i2c.read(_i2c_address, cmd, 1);
+//    if (cmd[0] == MAG_3110_WHO_AM_I_VALUE)
+    
     // No adjustment initially
     _avgX = 0;
     _avgY = 0;
@@ -44,7 +68,7 @@
 
 // read a register per, pass first reg value, reading 2 bytes increments register
 // Reads MSB first then LSB
-int MAG3110::readVal(char regAddr)
+int16_t MAG3110::readVal(char regAddr)
 {
     char cmd[2];
 
@@ -58,11 +82,22 @@
 }
 
 
+int MAG3110::readAll(char *buffer)
+{
+    char cmd[2];
+
+    cmd[0] = 0;
+    _i2c.write(_i2c_address, cmd, 1);
+
+    _i2c.read(_i2c_address, buffer, 20);
+    return (int)buffer[0]; //status
+}
+    
 float MAG3110::getHeading()
 {
     int xVal = readVal(MAG_OUT_X_MSB);
     int yVal = readVal(MAG_OUT_Y_MSB);
-    return (atan2((double)(yVal - _avgY),(double)(xVal - _avgX)))*180/PI;
+    return (atan2((double)(yVal - _avgY),(double)(xVal - _avgX)))*180./PI;
 }
 
 void MAG3110::getValues(int *xVal, int *yVal, int *zVal)