Akash Vibhute / MAG3110

MAG3110 Virgo robot adaptation

Fork of MAG3110 by JP PANG

MAG3110.cpp@10:33eb06fe479c, 2016-08-17 (annotated)

Committer:
akashvibhute
Date:
Wed Aug 17 05:55:13 2016 +0000
Revision:
10:33eb06fe479c
Parent:
9:f86b9453bb46
Child:
11:31b140f32906
still debugging; updated mag return method

Who changed what in which revision?

UserRevisionLine numberNew contents of line
SomeRandomBloke 0:63a8594a3866 1 #include "MAG3110.h"
SomeRandomBloke 0:63a8594a3866 2
SomeRandomBloke 0:63a8594a3866 3 /******************************************************************************
SomeRandomBloke 0:63a8594a3866 4 * Constructors
SomeRandomBloke 0:63a8594a3866 5 ******************************************************************************/
akashvibhute 6:b2bb387caf3f 6 MAG3110::MAG3110(PinName sda, PinName scl): _i2c(sda, scl)
SomeRandomBloke 1:5a0e7a58d980 7 {
akashvibhute 10:33eb06fe479c 8 //begin();
SomeRandomBloke 0:63a8594a3866 9 }
SomeRandomBloke 0:63a8594a3866 10
SomeRandomBloke 1:5a0e7a58d980 11 void MAG3110::begin()
SomeRandomBloke 0:63a8594a3866 12 {
SomeRandomBloke 1:5a0e7a58d980 13 char cmd[2];
SomeRandomBloke 0:63a8594a3866 14
SomeRandomBloke 1:5a0e7a58d980 15 cmd[0] = MAG_CTRL_REG2;
SomeRandomBloke 1:5a0e7a58d980 16 cmd[1] = 0x80;
akashvibhute 6:b2bb387caf3f 17 _i2c.write(MAG_ADDR, cmd, 2);
SomeRandomBloke 1:5a0e7a58d980 18
SomeRandomBloke 1:5a0e7a58d980 19 cmd[0] = MAG_CTRL_REG1;
SomeRandomBloke 1:5a0e7a58d980 20 cmd[1] = MAG_3110_SAMPLE80+MAG_3110_OVERSAMPLE2+MAG_3110_ACTIVE;
akashvibhute 6:b2bb387caf3f 21 _i2c.write(MAG_ADDR, cmd, 2);
SomeRandomBloke 1:5a0e7a58d980 22
SomeRandomBloke 1:5a0e7a58d980 23 // No adjustment initially
SomeRandomBloke 1:5a0e7a58d980 24 _avgX = 0;
SomeRandomBloke 1:5a0e7a58d980 25 _avgY = 0;
SomeRandomBloke 0:63a8594a3866 26 }
SomeRandomBloke 0:63a8594a3866 27
SomeRandomBloke 0:63a8594a3866 28 // Read a single byte form 8 bit register, return as int
SomeRandomBloke 0:63a8594a3866 29 int MAG3110::readReg(char regAddr)
SomeRandomBloke 0:63a8594a3866 30 {
SomeRandomBloke 0:63a8594a3866 31 char cmd[1];
SomeRandomBloke 0:63a8594a3866 32
SomeRandomBloke 0:63a8594a3866 33 cmd[0] = regAddr;
akashvibhute 6:b2bb387caf3f 34 _i2c.write(MAG_ADDR, cmd, 1);
SomeRandomBloke 0:63a8594a3866 35
SomeRandomBloke 0:63a8594a3866 36 cmd[0] = 0x00;
akashvibhute 6:b2bb387caf3f 37 _i2c.read(MAG_ADDR, cmd, 1);
SomeRandomBloke 0:63a8594a3866 38 return (int)( cmd[0]);
SomeRandomBloke 0:63a8594a3866 39 }
SomeRandomBloke 0:63a8594a3866 40
SomeRandomBloke 0:63a8594a3866 41
SomeRandomBloke 0:63a8594a3866 42 // read a register per, pass first reg value, reading 2 bytes increments register
SomeRandomBloke 0:63a8594a3866 43 // Reads MSB first then LSB
SomeRandomBloke 0:63a8594a3866 44 int MAG3110::readVal(char regAddr)
SomeRandomBloke 0:63a8594a3866 45 {
SomeRandomBloke 0:63a8594a3866 46 char cmd[2];
SomeRandomBloke 0:63a8594a3866 47
SomeRandomBloke 0:63a8594a3866 48 cmd[0] = regAddr;
akashvibhute 6:b2bb387caf3f 49 _i2c.write(MAG_ADDR, cmd, 1);
SomeRandomBloke 0:63a8594a3866 50
SomeRandomBloke 0:63a8594a3866 51 cmd[0] = 0x00;
SomeRandomBloke 0:63a8594a3866 52 cmd[1] = 0x00;
akashvibhute 6:b2bb387caf3f 53 _i2c.read(MAG_ADDR, cmd, 2);
SomeRandomBloke 0:63a8594a3866 54 return (int)( (cmd[1]|(cmd[0] << 8))); //concatenate the MSB and LSB
SomeRandomBloke 0:63a8594a3866 55 }
SomeRandomBloke 0:63a8594a3866 56
SomeRandomBloke 0:63a8594a3866 57 void MAG3110::getValues(int *xVal, int *yVal, int *zVal)
SomeRandomBloke 0:63a8594a3866 58 {
SomeRandomBloke 0:63a8594a3866 59 *xVal = readVal(MAG_OUT_X_MSB);
SomeRandomBloke 0:63a8594a3866 60 *yVal = readVal(MAG_OUT_Y_MSB);
SomeRandomBloke 0:63a8594a3866 61 *zVal = readVal(MAG_OUT_Z_MSB);
SomeRandomBloke 0:63a8594a3866 62 }
SomeRandomBloke 0:63a8594a3866 63
SomeRandomBloke 0:63a8594a3866 64
akashvibhute 6:b2bb387caf3f 65 void MAG3110::setCalibration(float minX, float maxX, float minY, float maxY, float minZ, float maxZ)
SomeRandomBloke 0:63a8594a3866 66 {
SomeRandomBloke 0:63a8594a3866 67 _avgX=(maxX+minX)/2;
SomeRandomBloke 0:63a8594a3866 68 _avgY=(maxY+minY)/2;
akashvibhute 6:b2bb387caf3f 69 _avgZ=(maxZ+minZ)/2;
akashvibhute 6:b2bb387caf3f 70 }
akashvibhute 6:b2bb387caf3f 71
akashvibhute 10:33eb06fe479c 72 void MAG3110::get_uT(float *uT_x, float *uT_y, float *uT_z)
akashvibhute 6:b2bb387caf3f 73 {
akashvibhute 6:b2bb387caf3f 74 char data_bytes[7];
akashvibhute 6:b2bb387caf3f 75 char d[1];
akashvibhute 8:203af65371e8 76 d[0]=MAG_DR_STATUS;
akashvibhute 6:b2bb387caf3f 77
akashvibhute 6:b2bb387caf3f 78 _i2c.write(MAG_ADDR,d,1,true);
akashvibhute 6:b2bb387caf3f 79 _i2c.read(MAG_ADDR,data_bytes,7);// Read the 6 data bytes - LSB and MSB for X, Y and Z Axes.
akashvibhute 6:b2bb387caf3f 80
akashvibhute 10:33eb06fe479c 81 *uT_x = (float)((int16_t)((data_bytes[1]*256) + (data_bytes[2]))) * 0.1;
akashvibhute 10:33eb06fe479c 82 *uT_y = (float)((int16_t)((data_bytes[3]*256) + (data_bytes[4]))) * 0.1;
akashvibhute 10:33eb06fe479c 83 *uT_y = (float)((int16_t)((data_bytes[5]*256) + (data_bytes[6]))) * 0.1;
SomeRandomBloke 0:63a8594a3866 84 }
SomeRandomBloke 0:63a8594a3866 85
SomeRandomBloke 0:63a8594a3866 86
SomeRandomBloke 0:63a8594a3866 87