Diff: MAG3110.h

Revision:

0:029ef267b1bc

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MAG3110.h	Fri Feb 10 08:39:51 2017 +0000
@@ -0,0 +1,114 @@
+/*
+ * MAG3110 Sensor Library for mbed
+ * TODO: Add proper header
+ */
+ 
+#ifndef MAG3110_H
+#define MAG3110_H
+ 
+#include "mbed.h"
+#include "MotionSensor.h"
+ 
+#define PI 3.14159265359
+ 
+#define MAG_ADDR 0x1D
+ 
+// define registers
+#define MAG_DR_STATUS 0x00
+#define MAG_OUT_X_MSB 0x01
+#define MAG_OUT_X_LSB 0x02
+#define MAG_OUT_Y_MSB 0x03
+#define MAG_OUT_Y_LSB 0x04
+#define MAG_OUT_Z_MSB 0x05
+#define MAG_OUT_Z_LSB 0x06
+#define MAG_WHOAMI  0x07
+#define MAG_SYSMOD    0x08
+#define MAG_OFF_X_MSB 0x09
+#define MAG_OFF_X_LSB 0x0A
+#define MAG_OFF_Y_MSB 0x0B
+#define MAG_OFF_Y_LSB 0x0C
+#define MAG_OFF_Z_MSB 0x0D
+#define MAG_OFF_Z_LSB 0x0E
+#define MAG_DIE_TEMP  0x0F
+#define MAG_CTRL_REG1 0x10
+#define MAG_CTRL_REG2 0x11
+ 
+// what should WHO_AM_I return?
+#define MAG_3110_WHO_AM_I_VALUE 0xC4
+ 
+ 
+// Fields in registers
+// CTRL_REG1: dr2,dr1,dr0  os1,os0  fr tm ac
+ 
+// Sampling rate from 80Hz down to 0.625Hz
+#define MAG_3110_SAMPLE80 0
+#define MAG_3110_SAMPLE40 0x20
+#define MAG_3110_SAMPLE20 0x40
+#define MAG_3110_SAMPLE10 0x60
+#define MAG_3110_SAMPLE5 0x80
+#define MAG_3110_SAMPLE2_5 0xA0
+#define MAG_3110_SAMPLE1_25 0xC0
+#define MAG_3110_SAMPLE0_625 0xE0
+ 
+// How many samples to average (lowers data rate)
+#define MAG_3110_OVERSAMPLE1 0
+#define MAG_3110_OVERSAMPLE2 0x08
+#define MAG_3110_OVERSAMPLE3 0x10
+#define MAG_3110_OVERSAMPLE4 0x18
+ 
+// read only 1 byte per axis
+#define MAG_3110_FASTREAD 0x04
+// do one measurement (even if in standby mode)
+#define MAG_3110_TRIGGER 0x02
+// put in active mode
+#define MAG_3110_ACTIVE 0x01
+ 
+// CTRL_REG2: AUTO_MRST_EN  _ RAW MAG_RST _ _ _ _ _
+// reset sensor after each reading
+#define MAG_3110_AUTO_MRST_EN 0x80
+// don't subtract user offsets
+#define MAG_3110_RAW 0x20
+// reset magnetic sensor after too-large field
+#define MAG_3110_MAG_RST 0x10
+ 
+// DR_STATUS Register ZYXOW ZOW YOW XOW ZYXDR ZDR YDR XDR
+#define MAG_3110_ZYXDR  0x08
+ 
+/**
+ * MAG3110 Class to read X/Y/Z data from the magentometer
+ *
+ */
+class MAG3110 : public MotionSensor
+{
+public:
+    /**
+     * Main constructor
+     * @param sda SDA pin
+     * @param sdl SCL pin
+     * @param addr addr of the I2C peripheral
+     */
+    MAG3110(PinName sda, PinName scl);
+ 
+    void enable(void);
+    void disable(void);
+    uint32_t sampleRate(uint32_t fequency);
+    uint32_t whoAmI(void);
+    uint32_t dataReady(void);
+    void getX(int16_t * x);
+    void getY(int16_t * y);
+    void getZ(int16_t * z);
+    void getX(float * x);
+    void getY(float * y);
+    void getZ(float * z);
+    void getAxis(MotionSensorDataCounts &data);
+    void getAxis(MotionSensorDataUnits &data);
+    void readRegs(int addr, uint8_t * data, int len);
+  
+private:
+  I2C m_i2c;
+  char m_addr;
+  int16_t getMagAxis(uint8_t addr);
+  void writeRegs(uint8_t * data, int len);
+ 
+};
+#endif
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