Diff: MAG3110.cpp

Revision:

5:f3abe901c33a

Parent:

1:5a0e7a58d980

Child:

6:1da3fe7b3510

diff -r cf40601402b7 -r f3abe901c33a MAG3110.cpp
--- a/MAG3110.cpp	Fri May 24 20:16:24 2013 +0000
+++ b/MAG3110.cpp	Mon Apr 07 21:02:57 2014 +0000
@@ -6,13 +6,13 @@
  * Constructors
  ******************************************************************************/
 MAG3110::MAG3110(PinName sda, PinName scl): _i2c(sda, scl), 
-    _i2c_address(0x1D), _pc(NULL), _debug(false)
+    _i2c_address(0x1d), _pc(NULL), _debug(false)
 {
     begin();
 }
 
 MAG3110::MAG3110(PinName sda, PinName scl, Serial *pc): _i2c(sda, scl), 
-   _i2c_address(0x1D), _pc(pc), _debug(true)
+   _i2c_address(0x1d), _pc(pc), _debug(true)
 {
     begin();
 }
@@ -26,7 +26,7 @@
     _i2c.write(_i2c_address, cmd, 2);
 
     cmd[0] = MAG_CTRL_REG1;
-    cmd[1] = MAG_3110_SAMPLE80+MAG_3110_OVERSAMPLE2+MAG_3110_ACTIVE;
+    cmd[1] = MAG_3110_ACTIVE;
     _i2c.write(_i2c_address, cmd, 2);
     
     // No adjustment initially
@@ -40,27 +40,34 @@
     char cmd[1];
 
     cmd[0] = regAddr;
-    _i2c.write(_i2c_address, cmd, 1);
-
+    if(_i2c.write(_i2c_address, cmd, 1)) {
+        printf("MAG3110 write error\r\n");
+        _i2c.stop();
+        _i2c.start();
+        }
     cmd[0] = 0x00;
     _i2c.read(_i2c_address, cmd, 1);
     return (int)( cmd[0]);
 }
 
-
 // read a register per, pass first reg value, reading 2 bytes increments register
 // Reads MSB first then LSB
 int MAG3110::readVal(char regAddr)
 {
     char cmd[2];
-
+    int16_t t;
     cmd[0] = regAddr;
-    _i2c.write(_i2c_address, cmd, 1);
+    if(_i2c.write(_i2c_address, cmd, 1)) {
+        printf("MAG3110 write error\r\n");
+        _i2c.stop();
+        _i2c.start();
+        }
 
     cmd[0] = 0x00;
     cmd[1] = 0x00;
     _i2c.read(_i2c_address, cmd, 2);
-    return (int)( (cmd[1]|(cmd[0] << 8))); //concatenate the MSB and LSB
+    t = (cmd[0] * 256) + (unsigned short) cmd[1];
+    return ((int) t); //concatenate the MSB and LSB
 }
 
 
@@ -78,6 +85,24 @@
     *zVal = readVal(MAG_OUT_Z_MSB);
 }
 
+void MAG3110::ReadXYZ(float * mag)
+{
+    int x, y, z;
+    x = readVal(MAG_OUT_X_MSB);
+    y = readVal(MAG_OUT_Y_MSB);
+    z = readVal(MAG_OUT_Z_MSB);
+    mag[0] = (float) x / 10.0;
+    mag[1] = (float) y / 10.0;
+    mag[2] = (float) z / 10.0;
+    
+}
+
+void MAG3110::ReadXYZraw(int16_t * mag_raw)
+{
+    mag_raw[0] = readVal(MAG_OUT_X_MSB);
+    mag_raw[1] = readVal(MAG_OUT_Y_MSB);
+    mag_raw[2] = readVal(MAG_OUT_Z_MSB);
+}
 
 void MAG3110::setCalibration(int minX, int maxX, int minY, int maxY )
 {