Revision 1:5ad44a4edff9, committed 2015-05-09

Comitter:

Waldek

Date:

Sat May 09 15:06:38 2015 +0000

Parent:

0:fa31f8461c63

Commit message:

Correction in the magnetic measurement

Changed in this revision

--- a/Acquisition.cpp	Sat Apr 18 17:01:57 2015 +0000
+++ b/Acquisition.cpp	Sat May 09 15:06:38 2015 +0000
@@ -27,10 +27,13 @@
     {
         struct row_type *data_buffer = data_memory.alloc();
 
-        mag.getValues(&data_buffer->mag_x, &data_buffer->mag_y, &data_buffer->mag_z);
-        data_buffer->mag_x = (int)((int16_t)data_buffer->mag_x);
-        data_buffer->mag_y = (int)((int16_t)data_buffer->mag_y);
-        data_buffer->mag_z = (int)((int16_t)data_buffer->mag_z);
+//        mag.getValues(&data_buffer->mag_x, &data_buffer->mag_y, &data_buffer->mag_z);
+        data_buffer->mag_x = (int)mag.readVal(MAG_OUT_X_MSB);
+//        (int)((int16_t)data_buffer->mag_x);
+        data_buffer->mag_y = (int)mag.readVal(MAG_OUT_Y_MSB);
+//        (int)((int16_t)data_buffer->mag_y);
+        data_buffer->mag_z = (int)mag.readVal(MAG_OUT_Z_MSB);
+//        (int)((int16_t)data_buffer->mag_z);
         
         data_buffer->giro_x = 0;
         data_buffer->giro_y = 0;
@@ -73,7 +76,22 @@
 
     rtos::RtosTimer timer(RunningTimer, osTimerPeriodic, NULL);
     rtos::RtosTimer Acquisition(RunningAcquisition, osTimerPeriodic, NULL);
-
+/*
+    // debug
+    {
+        extern Serial pc;
+        pc.printf("\nMag regs: ");
+        for (int i=0; i<20; ++i)
+        {
+            pc.printf("%02X ", mag.readReg(i));
+        }
+        pc.printf(".\n");
+        for (int i=0; i<1000; ++i)
+        {
+            pc.printf("%d %d %d \n", mag.readVal(MAG_OUT_X_MSB), mag.readVal(MAG_OUT_Y_MSB), mag.readVal(MAG_OUT_Z_MSB));
+        }
+    } 
+*/
     timer.start(1); 
     Acquisition.start(100);
 
@@ -95,3 +113,4 @@
     }
     led_green = 1.;
 }
+

--- a/FileWritter.cpp	Sat Apr 18 17:01:57 2015 +0000
+++ b/FileWritter.cpp	Sat May 09 15:06:38 2015 +0000
@@ -77,7 +77,7 @@
             {
                 fprintf(ft, "%8d\t%12d\t%5d\t%6d\t%6d\t%6d\t%6d\t%6d\t%6d\t%6d\t%6d\t%6d\t%6.4f\t%6.4f\t%6.3f\t%5d\t%1d\t\n", 
                         (int)filenumber, (int)data_buffer->time, (int)record_counter, 
-                        (int)data_buffer->mag_x, (int)data_buffer->mag_x, (int)data_buffer->mag_x, 
+                        (int)data_buffer->mag_x, (int)data_buffer->mag_y, (int)data_buffer->mag_z, 
                         (int)data_buffer->acc_x, (int)data_buffer->acc_y, (int)data_buffer->acc_z,
                         (int)data_buffer->giro_x, (int)data_buffer->giro_y, (int)data_buffer->giro_z,
                         (float)data_buffer->light, (float)data_buffer->Ain0, 

--- 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)

--- a/MAG3110/MAG3110.h	Sat Apr 18 17:01:57 2015 +0000
+++ b/MAG3110/MAG3110.h	Sat May 09 15:06:38 2015 +0000
@@ -91,7 +91,7 @@
      * Setup the Magnetometer
      *
      */
-    void begin();
+    void begin(void);
     /**
      * Read a register, return its value as int
      * @param regAddr The address to read
@@ -103,7 +103,13 @@
      * @param regAddr The address to read
      * @return Value from 2 consecutive registers
      */
-    int readVal(char regAddr);
+    int16_t readVal(char regAddr);
+    /**
+     * Read all registers
+     * @param buffer Buffer to store all registers
+     * @return Value from register 0
+     */
+    int readAll(char *buffer);
     /**
      * Calculate the heading
      * @return heading in degrees

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Rejestrator.lib	Sat May 09 15:06:38 2015 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/teams/JW/code/Rejestrator/#fa31f8461c63