kyunsat / Mbed 2 deprecated MAG3110test

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Dependencies:   MotionSensor SDFileSystem mbed

Fork of TanecCon by hswell and nike

MAG3110.h@0:029ef267b1bc, 2017-02-10 (annotated)

Committer:
Nike3221
Date:
Fri Feb 10 08:39:51 2017 +0000
Revision:
0:029ef267b1bc
tanekon

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Nike3221 0:029ef267b1bc 1 /*
Nike3221 0:029ef267b1bc 2 * MAG3110 Sensor Library for mbed
Nike3221 0:029ef267b1bc 3 * TODO: Add proper header
Nike3221 0:029ef267b1bc 4 */
Nike3221 0:029ef267b1bc 5
Nike3221 0:029ef267b1bc 6 #ifndef MAG3110_H
Nike3221 0:029ef267b1bc 7 #define MAG3110_H
Nike3221 0:029ef267b1bc 8
Nike3221 0:029ef267b1bc 9 #include "mbed.h"
Nike3221 0:029ef267b1bc 10 #include "MotionSensor.h"
Nike3221 0:029ef267b1bc 11
Nike3221 0:029ef267b1bc 12 #define PI 3.14159265359
Nike3221 0:029ef267b1bc 13
Nike3221 0:029ef267b1bc 14 #define MAG_ADDR 0x1D
Nike3221 0:029ef267b1bc 15
Nike3221 0:029ef267b1bc 16 // define registers
Nike3221 0:029ef267b1bc 17 #define MAG_DR_STATUS 0x00
Nike3221 0:029ef267b1bc 18 #define MAG_OUT_X_MSB 0x01
Nike3221 0:029ef267b1bc 19 #define MAG_OUT_X_LSB 0x02
Nike3221 0:029ef267b1bc 20 #define MAG_OUT_Y_MSB 0x03
Nike3221 0:029ef267b1bc 21 #define MAG_OUT_Y_LSB 0x04
Nike3221 0:029ef267b1bc 22 #define MAG_OUT_Z_MSB 0x05
Nike3221 0:029ef267b1bc 23 #define MAG_OUT_Z_LSB 0x06
Nike3221 0:029ef267b1bc 24 #define MAG_WHOAMI 0x07
Nike3221 0:029ef267b1bc 25 #define MAG_SYSMOD 0x08
Nike3221 0:029ef267b1bc 26 #define MAG_OFF_X_MSB 0x09
Nike3221 0:029ef267b1bc 27 #define MAG_OFF_X_LSB 0x0A
Nike3221 0:029ef267b1bc 28 #define MAG_OFF_Y_MSB 0x0B
Nike3221 0:029ef267b1bc 29 #define MAG_OFF_Y_LSB 0x0C
Nike3221 0:029ef267b1bc 30 #define MAG_OFF_Z_MSB 0x0D
Nike3221 0:029ef267b1bc 31 #define MAG_OFF_Z_LSB 0x0E
Nike3221 0:029ef267b1bc 32 #define MAG_DIE_TEMP 0x0F
Nike3221 0:029ef267b1bc 33 #define MAG_CTRL_REG1 0x10
Nike3221 0:029ef267b1bc 34 #define MAG_CTRL_REG2 0x11
Nike3221 0:029ef267b1bc 35
Nike3221 0:029ef267b1bc 36 // what should WHO_AM_I return?
Nike3221 0:029ef267b1bc 37 #define MAG_3110_WHO_AM_I_VALUE 0xC4
Nike3221 0:029ef267b1bc 38
Nike3221 0:029ef267b1bc 39
Nike3221 0:029ef267b1bc 40 // Fields in registers
Nike3221 0:029ef267b1bc 41 // CTRL_REG1: dr2,dr1,dr0 os1,os0 fr tm ac
Nike3221 0:029ef267b1bc 42
Nike3221 0:029ef267b1bc 43 // Sampling rate from 80Hz down to 0.625Hz
Nike3221 0:029ef267b1bc 44 #define MAG_3110_SAMPLE80 0
Nike3221 0:029ef267b1bc 45 #define MAG_3110_SAMPLE40 0x20
Nike3221 0:029ef267b1bc 46 #define MAG_3110_SAMPLE20 0x40
Nike3221 0:029ef267b1bc 47 #define MAG_3110_SAMPLE10 0x60
Nike3221 0:029ef267b1bc 48 #define MAG_3110_SAMPLE5 0x80
Nike3221 0:029ef267b1bc 49 #define MAG_3110_SAMPLE2_5 0xA0
Nike3221 0:029ef267b1bc 50 #define MAG_3110_SAMPLE1_25 0xC0
Nike3221 0:029ef267b1bc 51 #define MAG_3110_SAMPLE0_625 0xE0
Nike3221 0:029ef267b1bc 52
Nike3221 0:029ef267b1bc 53 // How many samples to average (lowers data rate)
Nike3221 0:029ef267b1bc 54 #define MAG_3110_OVERSAMPLE1 0
Nike3221 0:029ef267b1bc 55 #define MAG_3110_OVERSAMPLE2 0x08
Nike3221 0:029ef267b1bc 56 #define MAG_3110_OVERSAMPLE3 0x10
Nike3221 0:029ef267b1bc 57 #define MAG_3110_OVERSAMPLE4 0x18
Nike3221 0:029ef267b1bc 58
Nike3221 0:029ef267b1bc 59 // read only 1 byte per axis
Nike3221 0:029ef267b1bc 60 #define MAG_3110_FASTREAD 0x04
Nike3221 0:029ef267b1bc 61 // do one measurement (even if in standby mode)
Nike3221 0:029ef267b1bc 62 #define MAG_3110_TRIGGER 0x02
Nike3221 0:029ef267b1bc 63 // put in active mode
Nike3221 0:029ef267b1bc 64 #define MAG_3110_ACTIVE 0x01
Nike3221 0:029ef267b1bc 65
Nike3221 0:029ef267b1bc 66 // CTRL_REG2: AUTO_MRST_EN _ RAW MAG_RST _ _ _ _ _
Nike3221 0:029ef267b1bc 67 // reset sensor after each reading
Nike3221 0:029ef267b1bc 68 #define MAG_3110_AUTO_MRST_EN 0x80
Nike3221 0:029ef267b1bc 69 // don't subtract user offsets
Nike3221 0:029ef267b1bc 70 #define MAG_3110_RAW 0x20
Nike3221 0:029ef267b1bc 71 // reset magnetic sensor after too-large field
Nike3221 0:029ef267b1bc 72 #define MAG_3110_MAG_RST 0x10
Nike3221 0:029ef267b1bc 73
Nike3221 0:029ef267b1bc 74 // DR_STATUS Register ZYXOW ZOW YOW XOW ZYXDR ZDR YDR XDR
Nike3221 0:029ef267b1bc 75 #define MAG_3110_ZYXDR 0x08
Nike3221 0:029ef267b1bc 76
Nike3221 0:029ef267b1bc 77 /**
Nike3221 0:029ef267b1bc 78 * MAG3110 Class to read X/Y/Z data from the magentometer
Nike3221 0:029ef267b1bc 79 *
Nike3221 0:029ef267b1bc 80 */
Nike3221 0:029ef267b1bc 81 class MAG3110 : public MotionSensor
Nike3221 0:029ef267b1bc 82 {
Nike3221 0:029ef267b1bc 83 public:
Nike3221 0:029ef267b1bc 84 /**
Nike3221 0:029ef267b1bc 85 * Main constructor
Nike3221 0:029ef267b1bc 86 * @param sda SDA pin
Nike3221 0:029ef267b1bc 87 * @param sdl SCL pin
Nike3221 0:029ef267b1bc 88 * @param addr addr of the I2C peripheral
Nike3221 0:029ef267b1bc 89 */
Nike3221 0:029ef267b1bc 90 MAG3110(PinName sda, PinName scl);
Nike3221 0:029ef267b1bc 91
Nike3221 0:029ef267b1bc 92 void enable(void);
Nike3221 0:029ef267b1bc 93 void disable(void);
Nike3221 0:029ef267b1bc 94 uint32_t sampleRate(uint32_t fequency);
Nike3221 0:029ef267b1bc 95 uint32_t whoAmI(void);
Nike3221 0:029ef267b1bc 96 uint32_t dataReady(void);
Nike3221 0:029ef267b1bc 97 void getX(int16_t * x);
Nike3221 0:029ef267b1bc 98 void getY(int16_t * y);
Nike3221 0:029ef267b1bc 99 void getZ(int16_t * z);
Nike3221 0:029ef267b1bc 100 void getX(float * x);
Nike3221 0:029ef267b1bc 101 void getY(float * y);
Nike3221 0:029ef267b1bc 102 void getZ(float * z);
Nike3221 0:029ef267b1bc 103 void getAxis(MotionSensorDataCounts &data);
Nike3221 0:029ef267b1bc 104 void getAxis(MotionSensorDataUnits &data);
Nike3221 0:029ef267b1bc 105 void readRegs(int addr, uint8_t * data, int len);
Nike3221 0:029ef267b1bc 106
Nike3221 0:029ef267b1bc 107 private:
Nike3221 0:029ef267b1bc 108 I2C m_i2c;
Nike3221 0:029ef267b1bc 109 char m_addr;
Nike3221 0:029ef267b1bc 110 int16_t getMagAxis(uint8_t addr);
Nike3221 0:029ef267b1bc 111 void writeRegs(uint8_t * data, int len);
Nike3221 0:029ef267b1bc 112
Nike3221 0:029ef267b1bc 113 };
Nike3221 0:029ef267b1bc 114 #endif