Simple library for MAG3110 magenetometer as built into Avnet Wi-Go module
Dependents: Wi-Go-MagnetometerTest EE202A_HW1_MH serialtoxively mbed_nanosec_timer ... more
Diff: MAG3110.cpp
- Revision:
- 9:1da3fe7b3510
- Parent:
- 5:f3abe901c33a
--- a/MAG3110.cpp Mon Apr 07 21:02:57 2014 +0000 +++ b/MAG3110.cpp Fri May 16 18:19:17 2014 +0000 @@ -1,55 +1,133 @@ #include "MAG3110.h" #include "mbed.h" +#include "MotionSensor.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() +MAG3110::MAG3110(PinName sda, PinName scl): m_i2c(sda, scl), + m_addr(0x1d) { char cmd[2]; cmd[0] = MAG_CTRL_REG2; cmd[1] = 0x80; - _i2c.write(_i2c_address, cmd, 2); + m_i2c.write(m_addr, 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; +void MAG3110::enable(void) { + uint8_t data[2]; + readRegs( MAG_CTRL_REG1, &data[1], 1); + data[1] |= 0x01; + data[0] = MAG_CTRL_REG1; + writeRegs(data, 2); } -// Read a single byte form 8 bit register, return as int -int MAG3110::readReg(char regAddr) + +void MAG3110::disable(void) { + uint8_t data[2]; + readRegs( MAG_CTRL_REG1, &data[1], 1); + data[1] &= 0xFE; + data[0] = MAG_CTRL_REG1; + writeRegs(data, 2); +} + + +void MAG3110::readRegs(int addr, uint8_t * data, int len) { 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]); + cmd[0] = addr; + m_i2c.write( m_addr, cmd, 1, true); + m_i2c.read( m_addr, (char *) data, len); + return; +} + + +void MAG3110::writeRegs(uint8_t * data, int len) { + m_i2c.write(m_addr, (char *)data, len); +} + + +uint32_t MAG3110::whoAmI() { + uint8_t who_am_i = 0; + readRegs(MAG_WHOAMI, &who_am_i, 1); + return (uint32_t) who_am_i; +} + +uint32_t MAG3110::dataReady(void) { + uint8_t stat = 0; + readRegs(MAG_DR_STATUS, &stat, 1); + return (uint32_t) stat; +} + +uint32_t MAG3110::sampleRate(uint32_t f) { + return(50); // for now sample rate is fixed at 50Hz +} + + +void MAG3110::getX(float * x) { + *x = (float(getMagAxis(MAG_OUT_X_MSB)) * 0.1f); +} + +void MAG3110::getY(float * y) { + *y = (float(getMagAxis(MAG_OUT_Y_MSB)) * 0.1f); +} + +void MAG3110::getZ(float * z) { + *z = (float(getMagAxis(MAG_OUT_Z_MSB)) * 0.1f); +} + +void MAG3110::getX(int16_t * d) { + *d = getMagAxis(MAG_OUT_X_MSB); } +void MAG3110::getY(int16_t * d) { + *d = getMagAxis(MAG_OUT_Y_MSB); +} + +void MAG3110::getZ(int16_t * d) { + *d = getMagAxis(MAG_OUT_Z_MSB); +} + +int16_t MAG3110::getMagAxis(uint8_t addr) { + int16_t acc; + uint8_t res[2]; + readRegs(addr, res, 2); + + acc = (res[0] << 8) | res[1]; + + return acc; +} + + +void MAG3110::getAxis(MotionSensorDataUnits &data) { + int16_t t[3]; + uint8_t res[6]; + + readRegs(MAG_OUT_X_MSB, res, 6); + t[0] = (res[0] << 8) | res[1]; + t[1] = (res[2] << 8) | res[3]; + t[2] = (res[4] << 8) | res[5]; + data.x = ((float) t[0]) * 0.1f; + data.y = ((float) t[1]) * 0.1f; + data.z = ((float) t[2]) * 0.1f; +} + + +void MAG3110::getAxis(MotionSensorDataCounts &data) { + + uint8_t res[6]; + readRegs(MAG_OUT_X_MSB, res, 6); + + data.x = (res[0] << 8) | res[1]; + data.y = (res[2] << 8) | res[3]; + data.z = (res[4] << 8) | res[5]; +} +/* + // read a register per, pass first reg value, reading 2 bytes increments register // Reads MSB first then LSB int MAG3110::readVal(char regAddr) @@ -57,7 +135,7 @@ char cmd[2]; int16_t t; cmd[0] = regAddr; - if(_i2c.write(_i2c_address, cmd, 1)) { + if(_i2c.write(m_addr, cmd, 1)) { printf("MAG3110 write error\r\n"); _i2c.stop(); _i2c.start(); @@ -65,7 +143,7 @@ cmd[0] = 0x00; cmd[1] = 0x00; - _i2c.read(_i2c_address, cmd, 2); + _i2c.read(m_addr, cmd, 2); t = (cmd[0] * 256) + (unsigned short) cmd[1]; return ((int) t); //concatenate the MSB and LSB } @@ -109,8 +187,8 @@ _avgX=(maxX+minX)/2; _avgY=(maxY+minY)/2; } +*/ -