Added function to retrieve raw data from sensor
Dependents: KL46_eCompass Multi-Sensor Freescale_Multi-Sensor_Shield Freescale_Multi-Sensor_Quadcopter ... more
Fork of MAG3110 by
MAG3110.cpp@5:f3abe901c33a, 2014-04-07 (annotated)
- Committer:
- JimCarver
- Date:
- Mon Apr 07 21:02:57 2014 +0000
- Revision:
- 5:f3abe901c33a
- Parent:
- 1:5a0e7a58d980
- Child:
- 6:1da3fe7b3510
Added a function to retrieve raw data from the sensor
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
SomeRandomBloke | 0:63a8594a3866 | 1 | |
SomeRandomBloke | 0:63a8594a3866 | 2 | #include "MAG3110.h" |
SomeRandomBloke | 0:63a8594a3866 | 3 | #include "mbed.h" |
SomeRandomBloke | 0:63a8594a3866 | 4 | |
SomeRandomBloke | 0:63a8594a3866 | 5 | /****************************************************************************** |
SomeRandomBloke | 0:63a8594a3866 | 6 | * Constructors |
SomeRandomBloke | 0:63a8594a3866 | 7 | ******************************************************************************/ |
SomeRandomBloke | 1:5a0e7a58d980 | 8 | MAG3110::MAG3110(PinName sda, PinName scl): _i2c(sda, scl), |
JimCarver | 5:f3abe901c33a | 9 | _i2c_address(0x1d), _pc(NULL), _debug(false) |
SomeRandomBloke | 0:63a8594a3866 | 10 | { |
SomeRandomBloke | 1:5a0e7a58d980 | 11 | begin(); |
SomeRandomBloke | 1:5a0e7a58d980 | 12 | } |
SomeRandomBloke | 0:63a8594a3866 | 13 | |
SomeRandomBloke | 1:5a0e7a58d980 | 14 | MAG3110::MAG3110(PinName sda, PinName scl, Serial *pc): _i2c(sda, scl), |
JimCarver | 5:f3abe901c33a | 15 | _i2c_address(0x1d), _pc(pc), _debug(true) |
SomeRandomBloke | 1:5a0e7a58d980 | 16 | { |
SomeRandomBloke | 1:5a0e7a58d980 | 17 | begin(); |
SomeRandomBloke | 0:63a8594a3866 | 18 | } |
SomeRandomBloke | 0:63a8594a3866 | 19 | |
SomeRandomBloke | 1:5a0e7a58d980 | 20 | void MAG3110::begin() |
SomeRandomBloke | 0:63a8594a3866 | 21 | { |
SomeRandomBloke | 1:5a0e7a58d980 | 22 | char cmd[2]; |
SomeRandomBloke | 0:63a8594a3866 | 23 | |
SomeRandomBloke | 1:5a0e7a58d980 | 24 | cmd[0] = MAG_CTRL_REG2; |
SomeRandomBloke | 1:5a0e7a58d980 | 25 | cmd[1] = 0x80; |
SomeRandomBloke | 1:5a0e7a58d980 | 26 | _i2c.write(_i2c_address, cmd, 2); |
SomeRandomBloke | 1:5a0e7a58d980 | 27 | |
SomeRandomBloke | 1:5a0e7a58d980 | 28 | cmd[0] = MAG_CTRL_REG1; |
JimCarver | 5:f3abe901c33a | 29 | cmd[1] = MAG_3110_ACTIVE; |
SomeRandomBloke | 1:5a0e7a58d980 | 30 | _i2c.write(_i2c_address, cmd, 2); |
SomeRandomBloke | 1:5a0e7a58d980 | 31 | |
SomeRandomBloke | 1:5a0e7a58d980 | 32 | // No adjustment initially |
SomeRandomBloke | 1:5a0e7a58d980 | 33 | _avgX = 0; |
SomeRandomBloke | 1:5a0e7a58d980 | 34 | _avgY = 0; |
SomeRandomBloke | 0:63a8594a3866 | 35 | } |
SomeRandomBloke | 0:63a8594a3866 | 36 | |
SomeRandomBloke | 0:63a8594a3866 | 37 | // Read a single byte form 8 bit register, return as int |
SomeRandomBloke | 0:63a8594a3866 | 38 | int MAG3110::readReg(char regAddr) |
SomeRandomBloke | 0:63a8594a3866 | 39 | { |
SomeRandomBloke | 0:63a8594a3866 | 40 | char cmd[1]; |
SomeRandomBloke | 0:63a8594a3866 | 41 | |
SomeRandomBloke | 0:63a8594a3866 | 42 | cmd[0] = regAddr; |
JimCarver | 5:f3abe901c33a | 43 | if(_i2c.write(_i2c_address, cmd, 1)) { |
JimCarver | 5:f3abe901c33a | 44 | printf("MAG3110 write error\r\n"); |
JimCarver | 5:f3abe901c33a | 45 | _i2c.stop(); |
JimCarver | 5:f3abe901c33a | 46 | _i2c.start(); |
JimCarver | 5:f3abe901c33a | 47 | } |
SomeRandomBloke | 0:63a8594a3866 | 48 | cmd[0] = 0x00; |
SomeRandomBloke | 1:5a0e7a58d980 | 49 | _i2c.read(_i2c_address, cmd, 1); |
SomeRandomBloke | 0:63a8594a3866 | 50 | return (int)( cmd[0]); |
SomeRandomBloke | 0:63a8594a3866 | 51 | } |
SomeRandomBloke | 0:63a8594a3866 | 52 | |
SomeRandomBloke | 0:63a8594a3866 | 53 | // read a register per, pass first reg value, reading 2 bytes increments register |
SomeRandomBloke | 0:63a8594a3866 | 54 | // Reads MSB first then LSB |
SomeRandomBloke | 0:63a8594a3866 | 55 | int MAG3110::readVal(char regAddr) |
SomeRandomBloke | 0:63a8594a3866 | 56 | { |
SomeRandomBloke | 0:63a8594a3866 | 57 | char cmd[2]; |
JimCarver | 5:f3abe901c33a | 58 | int16_t t; |
SomeRandomBloke | 0:63a8594a3866 | 59 | cmd[0] = regAddr; |
JimCarver | 5:f3abe901c33a | 60 | if(_i2c.write(_i2c_address, cmd, 1)) { |
JimCarver | 5:f3abe901c33a | 61 | printf("MAG3110 write error\r\n"); |
JimCarver | 5:f3abe901c33a | 62 | _i2c.stop(); |
JimCarver | 5:f3abe901c33a | 63 | _i2c.start(); |
JimCarver | 5:f3abe901c33a | 64 | } |
SomeRandomBloke | 0:63a8594a3866 | 65 | |
SomeRandomBloke | 0:63a8594a3866 | 66 | cmd[0] = 0x00; |
SomeRandomBloke | 0:63a8594a3866 | 67 | cmd[1] = 0x00; |
SomeRandomBloke | 1:5a0e7a58d980 | 68 | _i2c.read(_i2c_address, cmd, 2); |
JimCarver | 5:f3abe901c33a | 69 | t = (cmd[0] * 256) + (unsigned short) cmd[1]; |
JimCarver | 5:f3abe901c33a | 70 | return ((int) t); //concatenate the MSB and LSB |
SomeRandomBloke | 0:63a8594a3866 | 71 | } |
SomeRandomBloke | 0:63a8594a3866 | 72 | |
SomeRandomBloke | 0:63a8594a3866 | 73 | |
SomeRandomBloke | 0:63a8594a3866 | 74 | float MAG3110::getHeading() |
SomeRandomBloke | 0:63a8594a3866 | 75 | { |
SomeRandomBloke | 0:63a8594a3866 | 76 | int xVal = readVal(MAG_OUT_X_MSB); |
SomeRandomBloke | 0:63a8594a3866 | 77 | int yVal = readVal(MAG_OUT_Y_MSB); |
SomeRandomBloke | 0:63a8594a3866 | 78 | return (atan2((double)(yVal - _avgY),(double)(xVal - _avgX)))*180/PI; |
SomeRandomBloke | 0:63a8594a3866 | 79 | } |
SomeRandomBloke | 0:63a8594a3866 | 80 | |
SomeRandomBloke | 0:63a8594a3866 | 81 | void MAG3110::getValues(int *xVal, int *yVal, int *zVal) |
SomeRandomBloke | 0:63a8594a3866 | 82 | { |
SomeRandomBloke | 0:63a8594a3866 | 83 | *xVal = readVal(MAG_OUT_X_MSB); |
SomeRandomBloke | 0:63a8594a3866 | 84 | *yVal = readVal(MAG_OUT_Y_MSB); |
SomeRandomBloke | 0:63a8594a3866 | 85 | *zVal = readVal(MAG_OUT_Z_MSB); |
SomeRandomBloke | 0:63a8594a3866 | 86 | } |
SomeRandomBloke | 0:63a8594a3866 | 87 | |
JimCarver | 5:f3abe901c33a | 88 | void MAG3110::ReadXYZ(float * mag) |
JimCarver | 5:f3abe901c33a | 89 | { |
JimCarver | 5:f3abe901c33a | 90 | int x, y, z; |
JimCarver | 5:f3abe901c33a | 91 | x = readVal(MAG_OUT_X_MSB); |
JimCarver | 5:f3abe901c33a | 92 | y = readVal(MAG_OUT_Y_MSB); |
JimCarver | 5:f3abe901c33a | 93 | z = readVal(MAG_OUT_Z_MSB); |
JimCarver | 5:f3abe901c33a | 94 | mag[0] = (float) x / 10.0; |
JimCarver | 5:f3abe901c33a | 95 | mag[1] = (float) y / 10.0; |
JimCarver | 5:f3abe901c33a | 96 | mag[2] = (float) z / 10.0; |
JimCarver | 5:f3abe901c33a | 97 | |
JimCarver | 5:f3abe901c33a | 98 | } |
JimCarver | 5:f3abe901c33a | 99 | |
JimCarver | 5:f3abe901c33a | 100 | void MAG3110::ReadXYZraw(int16_t * mag_raw) |
JimCarver | 5:f3abe901c33a | 101 | { |
JimCarver | 5:f3abe901c33a | 102 | mag_raw[0] = readVal(MAG_OUT_X_MSB); |
JimCarver | 5:f3abe901c33a | 103 | mag_raw[1] = readVal(MAG_OUT_Y_MSB); |
JimCarver | 5:f3abe901c33a | 104 | mag_raw[2] = readVal(MAG_OUT_Z_MSB); |
JimCarver | 5:f3abe901c33a | 105 | } |
SomeRandomBloke | 0:63a8594a3866 | 106 | |
SomeRandomBloke | 0:63a8594a3866 | 107 | void MAG3110::setCalibration(int minX, int maxX, int minY, int maxY ) |
SomeRandomBloke | 0:63a8594a3866 | 108 | { |
SomeRandomBloke | 0:63a8594a3866 | 109 | _avgX=(maxX+minX)/2; |
SomeRandomBloke | 0:63a8594a3866 | 110 | _avgY=(maxY+minY)/2; |
SomeRandomBloke | 0:63a8594a3866 | 111 | } |
SomeRandomBloke | 0:63a8594a3866 | 112 | |
SomeRandomBloke | 0:63a8594a3866 | 113 | |
SomeRandomBloke | 0:63a8594a3866 | 114 | |
SomeRandomBloke | 0:63a8594a3866 | 115 | |
SomeRandomBloke | 0:63a8594a3866 | 116 |