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
- Committer:
- JimCarver
- Date:
- 2014-04-07
- Revision:
- 5:f3abe901c33a
- Parent:
- 1:5a0e7a58d980
- Child:
- 6:1da3fe7b3510
File content as of revision 5:f3abe901c33a:
#include "MAG3110.h" #include "mbed.h" /****************************************************************************** * Constructors ******************************************************************************/ MAG3110::MAG3110(PinName sda, PinName scl): _i2c(sda, scl), _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) { begin(); } void MAG3110::begin() { char cmd[2]; cmd[0] = MAG_CTRL_REG2; cmd[1] = 0x80; _i2c.write(_i2c_address, cmd, 2); cmd[0] = MAG_CTRL_REG1; cmd[1] = MAG_3110_ACTIVE; _i2c.write(_i2c_address, cmd, 2); // No adjustment initially _avgX = 0; _avgY = 0; } // Read a single byte form 8 bit register, return as int int MAG3110::readReg(char regAddr) { char cmd[1]; cmd[0] = regAddr; 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; 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); t = (cmd[0] * 256) + (unsigned short) cmd[1]; return ((int) t); //concatenate the MSB and LSB } float MAG3110::getHeading() { int xVal = readVal(MAG_OUT_X_MSB); int yVal = readVal(MAG_OUT_Y_MSB); return (atan2((double)(yVal - _avgY),(double)(xVal - _avgX)))*180/PI; } void MAG3110::getValues(int *xVal, int *yVal, int *zVal) { *xVal = readVal(MAG_OUT_X_MSB); *yVal = readVal(MAG_OUT_Y_MSB); *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 ) { _avgX=(maxX+minX)/2; _avgY=(maxY+minY)/2; }