Simple library for MAG3110 magenetometer as built into Avnet Wi-Go module

Dependencies:   MotionSensor

Dependents:   Wi-Go-MagnetometerTest EE202A_HW1_MH serialtoxively mbed_nanosec_timer ... more

Committer:
JimCarver
Date:
Fri May 16 18:19:17 2014 +0000
Revision:
9:1da3fe7b3510
Parent:
5:f3abe901c33a
Implements new virtual MotionSensor class

Who changed what in which revision?

UserRevisionLine numberNew contents of line
SomeRandomBloke 1:5a0e7a58d980 1 /*
SomeRandomBloke 1:5a0e7a58d980 2 * MAG3110 Sensor Library for mbed
SomeRandomBloke 0:63a8594a3866 3 * TODO: Add proper header
SomeRandomBloke 0:63a8594a3866 4 */
SomeRandomBloke 0:63a8594a3866 5
SomeRandomBloke 0:63a8594a3866 6 #ifndef MAG3110_H
SomeRandomBloke 0:63a8594a3866 7 #define MAG3110_H
SomeRandomBloke 0:63a8594a3866 8
SomeRandomBloke 0:63a8594a3866 9 #include "mbed.h"
JimCarver 9:1da3fe7b3510 10 #include "MotionSensor.h"
SomeRandomBloke 0:63a8594a3866 11
SomeRandomBloke 0:63a8594a3866 12 #define PI 3.14159265359
SomeRandomBloke 0:63a8594a3866 13
SomeRandomBloke 0:63a8594a3866 14 #define MAG_ADDR 0x1D
SomeRandomBloke 0:63a8594a3866 15
SomeRandomBloke 0:63a8594a3866 16 // define registers
SomeRandomBloke 0:63a8594a3866 17 #define MAG_DR_STATUS 0x00
SomeRandomBloke 0:63a8594a3866 18 #define MAG_OUT_X_MSB 0x01
SomeRandomBloke 0:63a8594a3866 19 #define MAG_OUT_X_LSB 0x02
SomeRandomBloke 0:63a8594a3866 20 #define MAG_OUT_Y_MSB 0x03
SomeRandomBloke 0:63a8594a3866 21 #define MAG_OUT_Y_LSB 0x04
SomeRandomBloke 0:63a8594a3866 22 #define MAG_OUT_Z_MSB 0x05
SomeRandomBloke 0:63a8594a3866 23 #define MAG_OUT_Z_LSB 0x06
JimCarver 9:1da3fe7b3510 24 #define MAG_WHOAMI 0x07
SomeRandomBloke 0:63a8594a3866 25 #define MAG_SYSMOD 0x08
SomeRandomBloke 0:63a8594a3866 26 #define MAG_OFF_X_MSB 0x09
SomeRandomBloke 0:63a8594a3866 27 #define MAG_OFF_X_LSB 0x0A
SomeRandomBloke 0:63a8594a3866 28 #define MAG_OFF_Y_MSB 0x0B
SomeRandomBloke 0:63a8594a3866 29 #define MAG_OFF_Y_LSB 0x0C
SomeRandomBloke 0:63a8594a3866 30 #define MAG_OFF_Z_MSB 0x0D
SomeRandomBloke 0:63a8594a3866 31 #define MAG_OFF_Z_LSB 0x0E
SomeRandomBloke 0:63a8594a3866 32 #define MAG_DIE_TEMP 0x0F
SomeRandomBloke 0:63a8594a3866 33 #define MAG_CTRL_REG1 0x10
SomeRandomBloke 0:63a8594a3866 34 #define MAG_CTRL_REG2 0x11
SomeRandomBloke 0:63a8594a3866 35
SomeRandomBloke 0:63a8594a3866 36 // what should WHO_AM_I return?
SomeRandomBloke 0:63a8594a3866 37 #define MAG_3110_WHO_AM_I_VALUE 0xC4
SomeRandomBloke 0:63a8594a3866 38
SomeRandomBloke 0:63a8594a3866 39
SomeRandomBloke 0:63a8594a3866 40 // Fields in registers
SomeRandomBloke 0:63a8594a3866 41 // CTRL_REG1: dr2,dr1,dr0 os1,os0 fr tm ac
SomeRandomBloke 0:63a8594a3866 42
SomeRandomBloke 0:63a8594a3866 43 // Sampling rate from 80Hz down to 0.625Hz
SomeRandomBloke 0:63a8594a3866 44 #define MAG_3110_SAMPLE80 0
SomeRandomBloke 0:63a8594a3866 45 #define MAG_3110_SAMPLE40 0x20
SomeRandomBloke 0:63a8594a3866 46 #define MAG_3110_SAMPLE20 0x40
SomeRandomBloke 0:63a8594a3866 47 #define MAG_3110_SAMPLE10 0x60
SomeRandomBloke 0:63a8594a3866 48 #define MAG_3110_SAMPLE5 0x80
SomeRandomBloke 0:63a8594a3866 49 #define MAG_3110_SAMPLE2_5 0xA0
SomeRandomBloke 0:63a8594a3866 50 #define MAG_3110_SAMPLE1_25 0xC0
SomeRandomBloke 0:63a8594a3866 51 #define MAG_3110_SAMPLE0_625 0xE0
SomeRandomBloke 0:63a8594a3866 52
SomeRandomBloke 0:63a8594a3866 53 // How many samples to average (lowers data rate)
SomeRandomBloke 0:63a8594a3866 54 #define MAG_3110_OVERSAMPLE1 0
SomeRandomBloke 0:63a8594a3866 55 #define MAG_3110_OVERSAMPLE2 0x08
SomeRandomBloke 0:63a8594a3866 56 #define MAG_3110_OVERSAMPLE3 0x10
SomeRandomBloke 0:63a8594a3866 57 #define MAG_3110_OVERSAMPLE4 0x18
SomeRandomBloke 0:63a8594a3866 58
SomeRandomBloke 0:63a8594a3866 59 // read only 1 byte per axis
SomeRandomBloke 0:63a8594a3866 60 #define MAG_3110_FASTREAD 0x04
SomeRandomBloke 0:63a8594a3866 61 // do one measurement (even if in standby mode)
SomeRandomBloke 0:63a8594a3866 62 #define MAG_3110_TRIGGER 0x02
SomeRandomBloke 0:63a8594a3866 63 // put in active mode
SomeRandomBloke 0:63a8594a3866 64 #define MAG_3110_ACTIVE 0x01
SomeRandomBloke 0:63a8594a3866 65
SomeRandomBloke 0:63a8594a3866 66 // CTRL_REG2: AUTO_MRST_EN _ RAW MAG_RST _ _ _ _ _
SomeRandomBloke 0:63a8594a3866 67 // reset sensor after each reading
SomeRandomBloke 0:63a8594a3866 68 #define MAG_3110_AUTO_MRST_EN 0x80
SomeRandomBloke 0:63a8594a3866 69 // don't subtract user offsets
SomeRandomBloke 0:63a8594a3866 70 #define MAG_3110_RAW 0x20
SomeRandomBloke 0:63a8594a3866 71 // reset magnetic sensor after too-large field
SomeRandomBloke 0:63a8594a3866 72 #define MAG_3110_MAG_RST 0x10
SomeRandomBloke 0:63a8594a3866 73
SomeRandomBloke 0:63a8594a3866 74 // DR_STATUS Register ZYXOW ZOW YOW XOW ZYXDR ZDR YDR XDR
SomeRandomBloke 0:63a8594a3866 75 #define MAG_3110_ZYXDR 0x08
SomeRandomBloke 0:63a8594a3866 76
SomeRandomBloke 3:bc784c24f3b2 77 /**
SomeRandomBloke 3:bc784c24f3b2 78 * MAG3110 Class to read X/Y/Z data from the magentometer
SomeRandomBloke 3:bc784c24f3b2 79 *
SomeRandomBloke 3:bc784c24f3b2 80 */
JimCarver 9:1da3fe7b3510 81 class MAG3110 : public MotionSensor
SomeRandomBloke 0:63a8594a3866 82 {
SomeRandomBloke 1:5a0e7a58d980 83 public:
SomeRandomBloke 1:5a0e7a58d980 84 /**
SomeRandomBloke 4:cf40601402b7 85 * Main constructor
SomeRandomBloke 1:5a0e7a58d980 86 * @param sda SDA pin
SomeRandomBloke 1:5a0e7a58d980 87 * @param sdl SCL pin
SomeRandomBloke 1:5a0e7a58d980 88 * @param addr addr of the I2C peripheral
SomeRandomBloke 1:5a0e7a58d980 89 */
SomeRandomBloke 1:5a0e7a58d980 90 MAG3110(PinName sda, PinName scl);
SomeRandomBloke 2:fb8024297377 91
JimCarver 9:1da3fe7b3510 92 void enable(void);
JimCarver 9:1da3fe7b3510 93 void disable(void);
JimCarver 9:1da3fe7b3510 94 uint32_t sampleRate(uint32_t fequency);
JimCarver 9:1da3fe7b3510 95 uint32_t whoAmI(void);
JimCarver 9:1da3fe7b3510 96 uint32_t dataReady(void);
JimCarver 9:1da3fe7b3510 97 void getX(int16_t * x);
JimCarver 9:1da3fe7b3510 98 void getY(int16_t * y);
JimCarver 9:1da3fe7b3510 99 void getZ(int16_t * z);
JimCarver 9:1da3fe7b3510 100 void getX(float * x);
JimCarver 9:1da3fe7b3510 101 void getY(float * y);
JimCarver 9:1da3fe7b3510 102 void getZ(float * z);
JimCarver 9:1da3fe7b3510 103 void getAxis(MotionSensorDataCounts &data);
JimCarver 9:1da3fe7b3510 104 void getAxis(MotionSensorDataUnits &data);
JimCarver 9:1da3fe7b3510 105 void readRegs(int addr, uint8_t * data, int len);
JimCarver 9:1da3fe7b3510 106
SomeRandomBloke 2:fb8024297377 107 private:
JimCarver 9:1da3fe7b3510 108 I2C m_i2c;
JimCarver 9:1da3fe7b3510 109 char m_addr;
JimCarver 9:1da3fe7b3510 110 int16_t getMagAxis(uint8_t addr);
JimCarver 9:1da3fe7b3510 111 void writeRegs(uint8_t * data, int len);
SomeRandomBloke 2:fb8024297377 112
SomeRandomBloke 0:63a8594a3866 113 };
SomeRandomBloke 1:5a0e7a58d980 114 #endif