Jim Carver / MAG3110

Added function to retrieve raw data from sensor

Dependencies:   MotionSensor

Dependents:   KL46_eCompass Multi-Sensor Freescale_Multi-Sensor_Shield Freescale_Multi-Sensor_Quadcopter ... more

Fork of MAG3110 by Andrew Lindsay

MAG3110.cpp@6:1da3fe7b3510, 2014-05-16 (annotated)

Committer:
JimCarver
Date:
Fri May 16 18:19:17 2014 +0000
Revision:
6:1da3fe7b3510
Parent:
5:f3abe901c33a 
Implements new virtual MotionSensor class

Who changed what in which revision?

UserRevisionLine numberNew contents of line
SomeRandomBloke 0:63a8594a3866 1
SomeRandomBloke 0:63a8594a3866 2 #include "MAG3110.h"
SomeRandomBloke 0:63a8594a3866 3 #include "mbed.h"
JimCarver 6:1da3fe7b3510 4 #include "MotionSensor.h"
SomeRandomBloke 0:63a8594a3866 5
SomeRandomBloke 0:63a8594a3866 6 /******************************************************************************
SomeRandomBloke 0:63a8594a3866 7 * Constructors
SomeRandomBloke 0:63a8594a3866 8 ******************************************************************************/
JimCarver 6:1da3fe7b3510 9 MAG3110::MAG3110(PinName sda, PinName scl): m_i2c(sda, scl),
JimCarver 6:1da3fe7b3510 10 m_addr(0x1d)
SomeRandomBloke 0:63a8594a3866 11 {
SomeRandomBloke 1:5a0e7a58d980 12 char cmd[2];
SomeRandomBloke 0:63a8594a3866 13
SomeRandomBloke 1:5a0e7a58d980 14 cmd[0] = MAG_CTRL_REG2;
SomeRandomBloke 1:5a0e7a58d980 15 cmd[1] = 0x80;
JimCarver 6:1da3fe7b3510 16 m_i2c.write(m_addr, cmd, 2);
JimCarver 6:1da3fe7b3510 17
JimCarver 6:1da3fe7b3510 18 }
SomeRandomBloke 1:5a0e7a58d980 19
JimCarver 6:1da3fe7b3510 20 void MAG3110::enable(void) {
JimCarver 6:1da3fe7b3510 21 uint8_t data[2];
JimCarver 6:1da3fe7b3510 22 readRegs( MAG_CTRL_REG1, &data[1], 1);
JimCarver 6:1da3fe7b3510 23 data[1] |= 0x01;
JimCarver 6:1da3fe7b3510 24 data[0] = MAG_CTRL_REG1;
JimCarver 6:1da3fe7b3510 25 writeRegs(data, 2);
SomeRandomBloke 0:63a8594a3866 26 }
SomeRandomBloke 0:63a8594a3866 27
JimCarver 6:1da3fe7b3510 28
JimCarver 6:1da3fe7b3510 29 void MAG3110::disable(void) {
JimCarver 6:1da3fe7b3510 30 uint8_t data[2];
JimCarver 6:1da3fe7b3510 31 readRegs( MAG_CTRL_REG1, &data[1], 1);
JimCarver 6:1da3fe7b3510 32 data[1] &= 0xFE;
JimCarver 6:1da3fe7b3510 33 data[0] = MAG_CTRL_REG1;
JimCarver 6:1da3fe7b3510 34 writeRegs(data, 2);
JimCarver 6:1da3fe7b3510 35 }
JimCarver 6:1da3fe7b3510 36
JimCarver 6:1da3fe7b3510 37
JimCarver 6:1da3fe7b3510 38 void MAG3110::readRegs(int addr, uint8_t * data, int len)
SomeRandomBloke 0:63a8594a3866 39 {
SomeRandomBloke 0:63a8594a3866 40 char cmd[1];
SomeRandomBloke 0:63a8594a3866 41
JimCarver 6:1da3fe7b3510 42 cmd[0] = addr;
JimCarver 6:1da3fe7b3510 43 m_i2c.write( m_addr, cmd, 1, true);
JimCarver 6:1da3fe7b3510 44 m_i2c.read( m_addr, (char *) data, len);
JimCarver 6:1da3fe7b3510 45 return;
JimCarver 6:1da3fe7b3510 46 }
JimCarver 6:1da3fe7b3510 47
JimCarver 6:1da3fe7b3510 48
JimCarver 6:1da3fe7b3510 49 void MAG3110::writeRegs(uint8_t * data, int len) {
JimCarver 6:1da3fe7b3510 50 m_i2c.write(m_addr, (char *)data, len);
JimCarver 6:1da3fe7b3510 51 }
JimCarver 6:1da3fe7b3510 52
JimCarver 6:1da3fe7b3510 53
JimCarver 6:1da3fe7b3510 54 uint32_t MAG3110::whoAmI() {
JimCarver 6:1da3fe7b3510 55 uint8_t who_am_i = 0;
JimCarver 6:1da3fe7b3510 56 readRegs(MAG_WHOAMI, &who_am_i, 1);
JimCarver 6:1da3fe7b3510 57 return (uint32_t) who_am_i;
JimCarver 6:1da3fe7b3510 58 }
JimCarver 6:1da3fe7b3510 59
JimCarver 6:1da3fe7b3510 60 uint32_t MAG3110::dataReady(void) {
JimCarver 6:1da3fe7b3510 61 uint8_t stat = 0;
JimCarver 6:1da3fe7b3510 62 readRegs(MAG_DR_STATUS, &stat, 1);
JimCarver 6:1da3fe7b3510 63 return (uint32_t) stat;
JimCarver 6:1da3fe7b3510 64 }
JimCarver 6:1da3fe7b3510 65
JimCarver 6:1da3fe7b3510 66 uint32_t MAG3110::sampleRate(uint32_t f) {
JimCarver 6:1da3fe7b3510 67 return(50); // for now sample rate is fixed at 50Hz
JimCarver 6:1da3fe7b3510 68 }
JimCarver 6:1da3fe7b3510 69
JimCarver 6:1da3fe7b3510 70
JimCarver 6:1da3fe7b3510 71 void MAG3110::getX(float * x) {
JimCarver 6:1da3fe7b3510 72 *x = (float(getMagAxis(MAG_OUT_X_MSB)) * 0.1f);
JimCarver 6:1da3fe7b3510 73 }
JimCarver 6:1da3fe7b3510 74
JimCarver 6:1da3fe7b3510 75 void MAG3110::getY(float * y) {
JimCarver 6:1da3fe7b3510 76 *y = (float(getMagAxis(MAG_OUT_Y_MSB)) * 0.1f);
JimCarver 6:1da3fe7b3510 77 }
JimCarver 6:1da3fe7b3510 78
JimCarver 6:1da3fe7b3510 79 void MAG3110::getZ(float * z) {
JimCarver 6:1da3fe7b3510 80 *z = (float(getMagAxis(MAG_OUT_Z_MSB)) * 0.1f);
JimCarver 6:1da3fe7b3510 81 }
JimCarver 6:1da3fe7b3510 82
JimCarver 6:1da3fe7b3510 83 void MAG3110::getX(int16_t * d) {
JimCarver 6:1da3fe7b3510 84 *d = getMagAxis(MAG_OUT_X_MSB);
SomeRandomBloke 0:63a8594a3866 85 }
SomeRandomBloke 0:63a8594a3866 86
JimCarver 6:1da3fe7b3510 87 void MAG3110::getY(int16_t * d) {
JimCarver 6:1da3fe7b3510 88 *d = getMagAxis(MAG_OUT_Y_MSB);
JimCarver 6:1da3fe7b3510 89 }
JimCarver 6:1da3fe7b3510 90
JimCarver 6:1da3fe7b3510 91 void MAG3110::getZ(int16_t * d) {
JimCarver 6:1da3fe7b3510 92 *d = getMagAxis(MAG_OUT_Z_MSB);
JimCarver 6:1da3fe7b3510 93 }
JimCarver 6:1da3fe7b3510 94
JimCarver 6:1da3fe7b3510 95 int16_t MAG3110::getMagAxis(uint8_t addr) {
JimCarver 6:1da3fe7b3510 96 int16_t acc;
JimCarver 6:1da3fe7b3510 97 uint8_t res[2];
JimCarver 6:1da3fe7b3510 98 readRegs(addr, res, 2);
JimCarver 6:1da3fe7b3510 99
JimCarver 6:1da3fe7b3510 100 acc = (res[0] << 8) | res[1];
JimCarver 6:1da3fe7b3510 101
JimCarver 6:1da3fe7b3510 102 return acc;
JimCarver 6:1da3fe7b3510 103 }
JimCarver 6:1da3fe7b3510 104
JimCarver 6:1da3fe7b3510 105
JimCarver 6:1da3fe7b3510 106 void MAG3110::getAxis(MotionSensorDataUnits &data) {
JimCarver 6:1da3fe7b3510 107 int16_t t[3];
JimCarver 6:1da3fe7b3510 108 uint8_t res[6];
JimCarver 6:1da3fe7b3510 109
JimCarver 6:1da3fe7b3510 110 readRegs(MAG_OUT_X_MSB, res, 6);
JimCarver 6:1da3fe7b3510 111 t[0] = (res[0] << 8) | res[1];
JimCarver 6:1da3fe7b3510 112 t[1] = (res[2] << 8) | res[3];
JimCarver 6:1da3fe7b3510 113 t[2] = (res[4] << 8) | res[5];
JimCarver 6:1da3fe7b3510 114 data.x = ((float) t[0]) * 0.1f;
JimCarver 6:1da3fe7b3510 115 data.y = ((float) t[1]) * 0.1f;
JimCarver 6:1da3fe7b3510 116 data.z = ((float) t[2]) * 0.1f;
JimCarver 6:1da3fe7b3510 117 }
JimCarver 6:1da3fe7b3510 118
JimCarver 6:1da3fe7b3510 119
JimCarver 6:1da3fe7b3510 120 void MAG3110::getAxis(MotionSensorDataCounts &data) {
JimCarver 6:1da3fe7b3510 121
JimCarver 6:1da3fe7b3510 122 uint8_t res[6];
JimCarver 6:1da3fe7b3510 123 readRegs(MAG_OUT_X_MSB, res, 6);
JimCarver 6:1da3fe7b3510 124
JimCarver 6:1da3fe7b3510 125 data.x = (res[0] << 8) | res[1];
JimCarver 6:1da3fe7b3510 126 data.y = (res[2] << 8) | res[3];
JimCarver 6:1da3fe7b3510 127 data.z = (res[4] << 8) | res[5];
JimCarver 6:1da3fe7b3510 128 }
JimCarver 6:1da3fe7b3510 129 /*
JimCarver 6:1da3fe7b3510 130
SomeRandomBloke 0:63a8594a3866 131 // read a register per, pass first reg value, reading 2 bytes increments register
SomeRandomBloke 0:63a8594a3866 132 // Reads MSB first then LSB
SomeRandomBloke 0:63a8594a3866 133 int MAG3110::readVal(char regAddr)
SomeRandomBloke 0:63a8594a3866 134 {
SomeRandomBloke 0:63a8594a3866 135 char cmd[2];
JimCarver 5:f3abe901c33a 136 int16_t t;
SomeRandomBloke 0:63a8594a3866 137 cmd[0] = regAddr;
JimCarver 6:1da3fe7b3510 138 if(_i2c.write(m_addr, cmd, 1)) {
JimCarver 5:f3abe901c33a 139 printf("MAG3110 write error\r\n");
JimCarver 5:f3abe901c33a 140 _i2c.stop();
JimCarver 5:f3abe901c33a 141 _i2c.start();
JimCarver 5:f3abe901c33a 142 }
SomeRandomBloke 0:63a8594a3866 143
SomeRandomBloke 0:63a8594a3866 144 cmd[0] = 0x00;
SomeRandomBloke 0:63a8594a3866 145 cmd[1] = 0x00;
JimCarver 6:1da3fe7b3510 146 _i2c.read(m_addr, cmd, 2);
JimCarver 5:f3abe901c33a 147 t = (cmd[0] * 256) + (unsigned short) cmd[1];
JimCarver 5:f3abe901c33a 148 return ((int) t); //concatenate the MSB and LSB
SomeRandomBloke 0:63a8594a3866 149 }
SomeRandomBloke 0:63a8594a3866 150
SomeRandomBloke 0:63a8594a3866 151
SomeRandomBloke 0:63a8594a3866 152 float MAG3110::getHeading()
SomeRandomBloke 0:63a8594a3866 153 {
SomeRandomBloke 0:63a8594a3866 154 int xVal = readVal(MAG_OUT_X_MSB);
SomeRandomBloke 0:63a8594a3866 155 int yVal = readVal(MAG_OUT_Y_MSB);
SomeRandomBloke 0:63a8594a3866 156 return (atan2((double)(yVal - _avgY),(double)(xVal - _avgX)))*180/PI;
SomeRandomBloke 0:63a8594a3866 157 }
SomeRandomBloke 0:63a8594a3866 158
SomeRandomBloke 0:63a8594a3866 159 void MAG3110::getValues(int *xVal, int *yVal, int *zVal)
SomeRandomBloke 0:63a8594a3866 160 {
SomeRandomBloke 0:63a8594a3866 161 *xVal = readVal(MAG_OUT_X_MSB);
SomeRandomBloke 0:63a8594a3866 162 *yVal = readVal(MAG_OUT_Y_MSB);
SomeRandomBloke 0:63a8594a3866 163 *zVal = readVal(MAG_OUT_Z_MSB);
SomeRandomBloke 0:63a8594a3866 164 }
SomeRandomBloke 0:63a8594a3866 165
JimCarver 5:f3abe901c33a 166 void MAG3110::ReadXYZ(float * mag)
JimCarver 5:f3abe901c33a 167 {
JimCarver 5:f3abe901c33a 168 int x, y, z;
JimCarver 5:f3abe901c33a 169 x = readVal(MAG_OUT_X_MSB);
JimCarver 5:f3abe901c33a 170 y = readVal(MAG_OUT_Y_MSB);
JimCarver 5:f3abe901c33a 171 z = readVal(MAG_OUT_Z_MSB);
JimCarver 5:f3abe901c33a 172 mag[0] = (float) x / 10.0;
JimCarver 5:f3abe901c33a 173 mag[1] = (float) y / 10.0;
JimCarver 5:f3abe901c33a 174 mag[2] = (float) z / 10.0;
JimCarver 5:f3abe901c33a 175
JimCarver 5:f3abe901c33a 176 }
JimCarver 5:f3abe901c33a 177
JimCarver 5:f3abe901c33a 178 void MAG3110::ReadXYZraw(int16_t * mag_raw)
JimCarver 5:f3abe901c33a 179 {
JimCarver 5:f3abe901c33a 180 mag_raw[0] = readVal(MAG_OUT_X_MSB);
JimCarver 5:f3abe901c33a 181 mag_raw[1] = readVal(MAG_OUT_Y_MSB);
JimCarver 5:f3abe901c33a 182 mag_raw[2] = readVal(MAG_OUT_Z_MSB);
JimCarver 5:f3abe901c33a 183 }
SomeRandomBloke 0:63a8594a3866 184
SomeRandomBloke 0:63a8594a3866 185 void MAG3110::setCalibration(int minX, int maxX, int minY, int maxY )
SomeRandomBloke 0:63a8594a3866 186 {
SomeRandomBloke 0:63a8594a3866 187 _avgX=(maxX+minX)/2;
SomeRandomBloke 0:63a8594a3866 188 _avgY=(maxY+minY)/2;
SomeRandomBloke 0:63a8594a3866 189 }
JimCarver 6:1da3fe7b3510 190 */
SomeRandomBloke 0:63a8594a3866 191
SomeRandomBloke 0:63a8594a3866 192
SomeRandomBloke 0:63a8594a3866 193
SomeRandomBloke 0:63a8594a3866 194