Revision 9:1da3fe7b3510, committed 2014-05-16

Comitter:

JimCarver

Date:

Fri May 16 18:19:17 2014 +0000

Parent:

5:f3abe901c33a

Commit message:

Implements new virtual MotionSensor class

Changed in this revision

--- 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;
 }
+*/
 
 
 
 
-

--- a/MAG3110.h	Mon Apr 07 21:02:57 2014 +0000
+++ b/MAG3110.h	Fri May 16 18:19:17 2014 +0000
@@ -7,6 +7,7 @@
 #define MAG3110_H
 
 #include "mbed.h"
+#include "MotionSensor.h"
 
 #define PI 3.14159265359
 
@@ -20,7 +21,7 @@
 #define MAG_OUT_Y_LSB 0x04
 #define MAG_OUT_Z_MSB 0x05
 #define MAG_OUT_Z_LSB 0x06
-#define MAG_WHO_AM_I  0x07
+#define MAG_WHOAMI  0x07
 #define MAG_SYSMOD    0x08
 #define MAG_OFF_X_MSB 0x09
 #define MAG_OFF_X_LSB 0x0A
@@ -77,7 +78,7 @@
  * MAG3110 Class to read X/Y/Z data from the magentometer
  *
  */
-class MAG3110
+class MAG3110 : public MotionSensor
 {
 public:
     /**
@@ -87,72 +88,27 @@
      * @param addr addr of the I2C peripheral
      */
     MAG3110(PinName sda, PinName scl);
-    /**
-     * Debug version of constructor
-     * @param sda SDA pin
-     * @param sdl SCL pin
-     * @param addr Address of the I2C peripheral
-     * @param pc Serial object to output debug messages
-     */
-    MAG3110(PinName sda, PinName scl, Serial *pc); //pass serial for debug
-    /**
-     * Setup the Magnetometer
-     *
-     */
-    void begin();
-    /**
-     * Read a register, return its value as int
-     * @param regAddr The address to read
-     * @return value in register
-     */
-    int readReg(char regAddr);
-    /**
-     * Read a value from a pair of registers, return as int
-     * @param regAddr The address to read
-     * @return Value from 2 consecutive registers
-     */
-    int readVal(char regAddr);
-    /**
-     * Calculate the heading
-     * @return heading in degrees
-     */
-    float getHeading();
-    
-    /**
-     * Perform a read on the X, Y and Z values, converted to microteslas.
-     * @paran mag Pointer to the 3 element array whare the results will be placed
-     */
-    void ReadXYZ(float * mag);
-    
-    /**
-     * Perform a read on the raw X, Y and Z values.
-     * @paran mag Pointer to the 3 element array whare the results will be placed
-     */
-    void ReadXYZraw(int16_t * mag_raw);
-    
-    /**
-     * Perform a read on the X, Y and Z values.
-     * @param xVal Pointer to X value
-     * @param yVal Pointer to Y value
-     * @param zVal Pointer to Z value
-     */
-    void getValues(int *xVal, int *yVal, int *zVal);
-    /**
-     * Set the calibration parameters if required.
-     * @param minX Minimum value for X range
-     * @param maxX Maximum value for X range
-     * @param minY Minimum value for Y range
-     * @param maxY maximum value for Y range
-     */
-    void setCalibration(int minX, int maxX, int minY, int maxY);
 
+    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 _i2c;
-    int _i2c_address;
-    Serial *_pc;
-    bool _debug;
-    int _avgX, _avgY;
-    int x, y, z;
+  I2C m_i2c;
+  char m_addr;
+  int16_t getMagAxis(uint8_t addr);
+  void writeRegs(uint8_t * data, int len);
 
 };
 #endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MotionSensor.lib	Fri May 16 18:19:17 2014 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/teams/components/code/MotionSensor/#4d6e28d4a18a