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Dependencies:   mbed Rejestrator

Dependents:   Rejestrator

MAG3110/MAG3110.h@1:5ad44a4edff9, 2015-05-09 (annotated)

Committer:
Waldek
Date:
Sat May 09 15:06:38 2015 +0000
Revision:
1:5ad44a4edff9
Parent:
0:fa31f8461c63 
Correction in the magnetic measurement

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Waldek 0:fa31f8461c63 1 /*
Waldek 0:fa31f8461c63 2 * MAG3110 Sensor Library for mbed
Waldek 0:fa31f8461c63 3 * TODO: Add proper header
Waldek 0:fa31f8461c63 4 */
Waldek 0:fa31f8461c63 5
Waldek 0:fa31f8461c63 6 #ifndef MAG3110_H
Waldek 0:fa31f8461c63 7 #define MAG3110_H
Waldek 0:fa31f8461c63 8
Waldek 0:fa31f8461c63 9 #include "mbed.h"
Waldek 0:fa31f8461c63 10
Waldek 0:fa31f8461c63 11 #define PI 3.14159265359
Waldek 0:fa31f8461c63 12
Waldek 0:fa31f8461c63 13 #define MAG_ADDR 0x1D
Waldek 0:fa31f8461c63 14
Waldek 0:fa31f8461c63 15 // define registers
Waldek 0:fa31f8461c63 16 #define MAG_DR_STATUS 0x00
Waldek 0:fa31f8461c63 17 #define MAG_OUT_X_MSB 0x01
Waldek 0:fa31f8461c63 18 #define MAG_OUT_X_LSB 0x02
Waldek 0:fa31f8461c63 19 #define MAG_OUT_Y_MSB 0x03
Waldek 0:fa31f8461c63 20 #define MAG_OUT_Y_LSB 0x04
Waldek 0:fa31f8461c63 21 #define MAG_OUT_Z_MSB 0x05
Waldek 0:fa31f8461c63 22 #define MAG_OUT_Z_LSB 0x06
Waldek 0:fa31f8461c63 23 #define MAG_WHO_AM_I 0x07
Waldek 0:fa31f8461c63 24 #define MAG_SYSMOD 0x08
Waldek 0:fa31f8461c63 25 #define MAG_OFF_X_MSB 0x09
Waldek 0:fa31f8461c63 26 #define MAG_OFF_X_LSB 0x0A
Waldek 0:fa31f8461c63 27 #define MAG_OFF_Y_MSB 0x0B
Waldek 0:fa31f8461c63 28 #define MAG_OFF_Y_LSB 0x0C
Waldek 0:fa31f8461c63 29 #define MAG_OFF_Z_MSB 0x0D
Waldek 0:fa31f8461c63 30 #define MAG_OFF_Z_LSB 0x0E
Waldek 0:fa31f8461c63 31 #define MAG_DIE_TEMP 0x0F
Waldek 0:fa31f8461c63 32 #define MAG_CTRL_REG1 0x10
Waldek 0:fa31f8461c63 33 #define MAG_CTRL_REG2 0x11
Waldek 0:fa31f8461c63 34
Waldek 0:fa31f8461c63 35 // what should WHO_AM_I return?
Waldek 0:fa31f8461c63 36 #define MAG_3110_WHO_AM_I_VALUE 0xC4
Waldek 0:fa31f8461c63 37
Waldek 0:fa31f8461c63 38
Waldek 0:fa31f8461c63 39 // Fields in registers
Waldek 0:fa31f8461c63 40 // CTRL_REG1: dr2,dr1,dr0 os1,os0 fr tm ac
Waldek 0:fa31f8461c63 41
Waldek 0:fa31f8461c63 42 // Sampling rate from 80Hz down to 0.625Hz
Waldek 0:fa31f8461c63 43 #define MAG_3110_SAMPLE80 0
Waldek 0:fa31f8461c63 44 #define MAG_3110_SAMPLE40 0x20
Waldek 0:fa31f8461c63 45 #define MAG_3110_SAMPLE20 0x40
Waldek 0:fa31f8461c63 46 #define MAG_3110_SAMPLE10 0x60
Waldek 0:fa31f8461c63 47 #define MAG_3110_SAMPLE5 0x80
Waldek 0:fa31f8461c63 48 #define MAG_3110_SAMPLE2_5 0xA0
Waldek 0:fa31f8461c63 49 #define MAG_3110_SAMPLE1_25 0xC0
Waldek 0:fa31f8461c63 50 #define MAG_3110_SAMPLE0_625 0xE0
Waldek 0:fa31f8461c63 51
Waldek 0:fa31f8461c63 52 // How many samples to average (lowers data rate)
Waldek 0:fa31f8461c63 53 #define MAG_3110_OVERSAMPLE1 0
Waldek 0:fa31f8461c63 54 #define MAG_3110_OVERSAMPLE2 0x08
Waldek 0:fa31f8461c63 55 #define MAG_3110_OVERSAMPLE3 0x10
Waldek 0:fa31f8461c63 56 #define MAG_3110_OVERSAMPLE4 0x18
Waldek 0:fa31f8461c63 57
Waldek 0:fa31f8461c63 58 // read only 1 byte per axis
Waldek 0:fa31f8461c63 59 #define MAG_3110_FASTREAD 0x04
Waldek 0:fa31f8461c63 60 // do one measurement (even if in standby mode)
Waldek 0:fa31f8461c63 61 #define MAG_3110_TRIGGER 0x02
Waldek 0:fa31f8461c63 62 // put in active mode
Waldek 0:fa31f8461c63 63 #define MAG_3110_ACTIVE 0x01
Waldek 0:fa31f8461c63 64
Waldek 0:fa31f8461c63 65 // CTRL_REG2: AUTO_MRST_EN _ RAW MAG_RST _ _ _ _ _
Waldek 0:fa31f8461c63 66 // reset sensor after each reading
Waldek 0:fa31f8461c63 67 #define MAG_3110_AUTO_MRST_EN 0x80
Waldek 0:fa31f8461c63 68 // don't subtract user offsets
Waldek 0:fa31f8461c63 69 #define MAG_3110_RAW 0x20
Waldek 0:fa31f8461c63 70 // reset magnetic sensor after too-large field
Waldek 0:fa31f8461c63 71 #define MAG_3110_MAG_RST 0x10
Waldek 0:fa31f8461c63 72
Waldek 0:fa31f8461c63 73 // DR_STATUS Register ZYXOW ZOW YOW XOW ZYXDR ZDR YDR XDR
Waldek 0:fa31f8461c63 74 #define MAG_3110_ZYXDR 0x08
Waldek 0:fa31f8461c63 75
Waldek 0:fa31f8461c63 76 /**
Waldek 0:fa31f8461c63 77 * MAG3110 Class to read X/Y/Z data from the magentometer
Waldek 0:fa31f8461c63 78 *
Waldek 0:fa31f8461c63 79 */
Waldek 0:fa31f8461c63 80 class MAG3110
Waldek 0:fa31f8461c63 81 {
Waldek 0:fa31f8461c63 82 public:
Waldek 0:fa31f8461c63 83 /**
Waldek 0:fa31f8461c63 84 * Main constructor
Waldek 0:fa31f8461c63 85 * @param sda SDA pin
Waldek 0:fa31f8461c63 86 * @param sdl SCL pin
Waldek 0:fa31f8461c63 87 * @param addr addr of the I2C peripheral
Waldek 0:fa31f8461c63 88 */
Waldek 0:fa31f8461c63 89 MAG3110(PinName sda, PinName scl, int i2c_adr=0x0E);
Waldek 0:fa31f8461c63 90 /**
Waldek 0:fa31f8461c63 91 * Setup the Magnetometer
Waldek 0:fa31f8461c63 92 *
Waldek 0:fa31f8461c63 93 */
Waldek 1:5ad44a4edff9 94 void begin(void);
Waldek 0:fa31f8461c63 95 /**
Waldek 0:fa31f8461c63 96 * Read a register, return its value as int
Waldek 0:fa31f8461c63 97 * @param regAddr The address to read
Waldek 0:fa31f8461c63 98 * @return value in register
Waldek 0:fa31f8461c63 99 */
Waldek 0:fa31f8461c63 100 int readReg(char regAddr);
Waldek 0:fa31f8461c63 101 /**
Waldek 0:fa31f8461c63 102 * Read a value from a pair of registers, return as int
Waldek 0:fa31f8461c63 103 * @param regAddr The address to read
Waldek 0:fa31f8461c63 104 * @return Value from 2 consecutive registers
Waldek 0:fa31f8461c63 105 */
Waldek 1:5ad44a4edff9 106 int16_t readVal(char regAddr);
Waldek 1:5ad44a4edff9 107 /**
Waldek 1:5ad44a4edff9 108 * Read all registers
Waldek 1:5ad44a4edff9 109 * @param buffer Buffer to store all registers
Waldek 1:5ad44a4edff9 110 * @return Value from register 0
Waldek 1:5ad44a4edff9 111 */
Waldek 1:5ad44a4edff9 112 int readAll(char *buffer);
Waldek 0:fa31f8461c63 113 /**
Waldek 0:fa31f8461c63 114 * Calculate the heading
Waldek 0:fa31f8461c63 115 * @return heading in degrees
Waldek 0:fa31f8461c63 116 */
Waldek 0:fa31f8461c63 117 float getHeading();
Waldek 0:fa31f8461c63 118 /**
Waldek 0:fa31f8461c63 119 * Perform a read on the X, Y and Z values.
Waldek 0:fa31f8461c63 120 * @param xVal Pointer to X value
Waldek 0:fa31f8461c63 121 * @param yVal Pointer to Y value
Waldek 0:fa31f8461c63 122 * @param zVal Pointer to Z value
Waldek 0:fa31f8461c63 123 */
Waldek 0:fa31f8461c63 124 void getValues(int *xVal, int *yVal, int *zVal);
Waldek 0:fa31f8461c63 125 /**
Waldek 0:fa31f8461c63 126 * Set the calibration parameters if required.
Waldek 0:fa31f8461c63 127 * @param minX Minimum value for X range
Waldek 0:fa31f8461c63 128 * @param maxX Maximum value for X range
Waldek 0:fa31f8461c63 129 * @param minY Minimum value for Y range
Waldek 0:fa31f8461c63 130 * @param maxY maximum value for Y range
Waldek 0:fa31f8461c63 131 */
Waldek 0:fa31f8461c63 132 void setCalibration(int minX, int maxX, int minY, int maxY);
Waldek 0:fa31f8461c63 133 /**
Waldek 0:fa31f8461c63 134 * Read temperature.
Waldek 0:fa31f8461c63 135 */
Waldek 0:fa31f8461c63 136 int8_t getTemperature(void);
Waldek 0:fa31f8461c63 137
Waldek 0:fa31f8461c63 138 private:
Waldek 0:fa31f8461c63 139 I2C _i2c;
Waldek 0:fa31f8461c63 140 int _i2c_address;
Waldek 0:fa31f8461c63 141 int _avgX, _avgY;
Waldek 0:fa31f8461c63 142
Waldek 0:fa31f8461c63 143 };
Waldek 0:fa31f8461c63 144 #endif