Akash Vibhute / MAG3110

MAG3110 Virgo robot adaptation

Fork of MAG3110 by JP PANG

MAG3110.cpp@15:58c62b985e68, 2016-09-10 (annotated)

Committer:
akashvibhute
Date:
Sat Sep 10 05:49:44 2016 +0000
Revision:
15:58c62b985e68
Parent:
14:73a4a09a49af 
updated offset writing 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 11:31b140f32906 8
SomeRandomBloke 0:63a8594a3866 9 }
SomeRandomBloke 0:63a8594a3866 10
akashvibhute 12:2680e94139bb 11 void MAG3110::begin(int16_t off_x, int16_t off_y, int16_t off_z)
SomeRandomBloke 0:63a8594a3866 12 {
SomeRandomBloke 1:5a0e7a58d980 13 char cmd[2];
akashvibhute 11:31b140f32906 14
akashvibhute 15:58c62b985e68 15 cmd[0] = MAG_CTRL_REG2;
akashvibhute 15:58c62b985e68 16 cmd[1] = 0b1 << 4; //reset overexposure
akashvibhute 15:58c62b985e68 17 _i2c.write(MAG_ADDR, cmd, 2);
akashvibhute 15:58c62b985e68 18
akashvibhute 15:58c62b985e68 19 wait_ms(100);
akashvibhute 15:58c62b985e68 20
akashvibhute 11:31b140f32906 21 cmd[0] = MAG_CTRL_REG1;
akashvibhute 11:31b140f32906 22 cmd[1] = 0x00; //Puts device in Standby mode
akashvibhute 11:31b140f32906 23 _i2c.write(MAG_ADDR, cmd,2);
SomeRandomBloke 0:63a8594a3866 24
SomeRandomBloke 1:5a0e7a58d980 25 cmd[0] = MAG_CTRL_REG2;
akashvibhute 15:58c62b985e68 26 cmd[1] = 0x80; //Set Automatic Magnetic Sensor Reset bit
akashvibhute 6:b2bb387caf3f 27 _i2c.write(MAG_ADDR, cmd, 2);
SomeRandomBloke 1:5a0e7a58d980 28
SomeRandomBloke 1:5a0e7a58d980 29 cmd[0] = MAG_CTRL_REG1;
akashvibhute 12:2680e94139bb 30 cmd[1] = 0x01; //Set ODR=80Hz and OSR=16 and set device to active mode.
akashvibhute 6:b2bb387caf3f 31 _i2c.write(MAG_ADDR, cmd, 2);
SomeRandomBloke 1:5a0e7a58d980 32
akashvibhute 15:58c62b985e68 33 char data_bytes[3];
akashvibhute 12:2680e94139bb 34
akashvibhute 15:58c62b985e68 35 data_bytes[0]=MAG_OFF_X_MSB; //Write offset values to X register
akashvibhute 12:2680e94139bb 36 data_bytes[1] = (off_x & 0xFF00) >> 8;
akashvibhute 12:2680e94139bb 37 data_bytes[2] = (off_x & 0xFF);
akashvibhute 15:58c62b985e68 38 _i2c.write(MAG_ADDR,data_bytes,3);
akashvibhute 15:58c62b985e68 39 wait_ms(10);
akashvibhute 12:2680e94139bb 40
akashvibhute 15:58c62b985e68 41 data_bytes[0]=MAG_OFF_Y_MSB; //Write offset values to Y register
akashvibhute 15:58c62b985e68 42 data_bytes[1] = (off_y & 0xFF00) >> 8;
akashvibhute 15:58c62b985e68 43 data_bytes[2] = (off_y & 0xFF);
akashvibhute 15:58c62b985e68 44 _i2c.write(MAG_ADDR,data_bytes,3);
akashvibhute 15:58c62b985e68 45 wait_ms(10);
akashvibhute 15:58c62b985e68 46
akashvibhute 15:58c62b985e68 47 data_bytes[0]=MAG_OFF_Z_MSB; //Write offset values to Z register
akashvibhute 15:58c62b985e68 48 data_bytes[1] = (off_z & 0xFF00) >> 8;
akashvibhute 15:58c62b985e68 49 data_bytes[2] = (off_z & 0xFF);
akashvibhute 15:58c62b985e68 50 _i2c.write(MAG_ADDR,data_bytes,3);
akashvibhute 15:58c62b985e68 51 wait_ms(10);
SomeRandomBloke 0:63a8594a3866 52 }
SomeRandomBloke 0:63a8594a3866 53
SomeRandomBloke 0:63a8594a3866 54 // Read a single byte form 8 bit register, return as int
SomeRandomBloke 0:63a8594a3866 55 int MAG3110::readReg(char regAddr)
SomeRandomBloke 0:63a8594a3866 56 {
SomeRandomBloke 0:63a8594a3866 57 char cmd[1];
SomeRandomBloke 0:63a8594a3866 58
SomeRandomBloke 0:63a8594a3866 59 cmd[0] = regAddr;
akashvibhute 6:b2bb387caf3f 60 _i2c.write(MAG_ADDR, cmd, 1);
SomeRandomBloke 0:63a8594a3866 61
SomeRandomBloke 0:63a8594a3866 62 cmd[0] = 0x00;
akashvibhute 6:b2bb387caf3f 63 _i2c.read(MAG_ADDR, cmd, 1);
SomeRandomBloke 0:63a8594a3866 64 return (int)( cmd[0]);
SomeRandomBloke 0:63a8594a3866 65 }
SomeRandomBloke 0:63a8594a3866 66
SomeRandomBloke 0:63a8594a3866 67
SomeRandomBloke 0:63a8594a3866 68 // read a register per, pass first reg value, reading 2 bytes increments register
SomeRandomBloke 0:63a8594a3866 69 // Reads MSB first then LSB
SomeRandomBloke 0:63a8594a3866 70 int MAG3110::readVal(char regAddr)
SomeRandomBloke 0:63a8594a3866 71 {
SomeRandomBloke 0:63a8594a3866 72 char cmd[2];
SomeRandomBloke 0:63a8594a3866 73
SomeRandomBloke 0:63a8594a3866 74 cmd[0] = regAddr;
akashvibhute 6:b2bb387caf3f 75 _i2c.write(MAG_ADDR, cmd, 1);
SomeRandomBloke 0:63a8594a3866 76
SomeRandomBloke 0:63a8594a3866 77 cmd[0] = 0x00;
SomeRandomBloke 0:63a8594a3866 78 cmd[1] = 0x00;
akashvibhute 6:b2bb387caf3f 79 _i2c.read(MAG_ADDR, cmd, 2);
SomeRandomBloke 0:63a8594a3866 80 return (int)( (cmd[1]|(cmd[0] << 8))); //concatenate the MSB and LSB
SomeRandomBloke 0:63a8594a3866 81 }
SomeRandomBloke 0:63a8594a3866 82
SomeRandomBloke 0:63a8594a3866 83 void MAG3110::getValues(int *xVal, int *yVal, int *zVal)
SomeRandomBloke 0:63a8594a3866 84 {
SomeRandomBloke 0:63a8594a3866 85 *xVal = readVal(MAG_OUT_X_MSB);
SomeRandomBloke 0:63a8594a3866 86 *yVal = readVal(MAG_OUT_Y_MSB);
SomeRandomBloke 0:63a8594a3866 87 *zVal = readVal(MAG_OUT_Z_MSB);
SomeRandomBloke 0:63a8594a3866 88 }
SomeRandomBloke 0:63a8594a3866 89
SomeRandomBloke 0:63a8594a3866 90
akashvibhute 6:b2bb387caf3f 91 void MAG3110::setCalibration(float minX, float maxX, float minY, float maxY, float minZ, float maxZ)
SomeRandomBloke 0:63a8594a3866 92 {
SomeRandomBloke 0:63a8594a3866 93 _avgX=(maxX+minX)/2;
SomeRandomBloke 0:63a8594a3866 94 _avgY=(maxY+minY)/2;
akashvibhute 6:b2bb387caf3f 95 _avgZ=(maxZ+minZ)/2;
akashvibhute 6:b2bb387caf3f 96 }
akashvibhute 6:b2bb387caf3f 97
akashvibhute 11:31b140f32906 98 void MAG3110::get_uT(float * uT)
akashvibhute 6:b2bb387caf3f 99 {
akashvibhute 12:2680e94139bb 100
akashvibhute 6:b2bb387caf3f 101 char data_bytes[7];
akashvibhute 6:b2bb387caf3f 102 char d[1];
akashvibhute 8:203af65371e8 103 d[0]=MAG_DR_STATUS;
akashvibhute 6:b2bb387caf3f 104
akashvibhute 6:b2bb387caf3f 105 _i2c.write(MAG_ADDR,d,1,true);
akashvibhute 6:b2bb387caf3f 106 _i2c.read(MAG_ADDR,data_bytes,7);// Read the 6 data bytes - LSB and MSB for X, Y and Z Axes.
akashvibhute 12:2680e94139bb 107
akashvibhute 11:31b140f32906 108 uT[0] = (float)( (int16_t)data_bytes[1] << 8 | (int16_t)data_bytes[2] ) * 0.1;
akashvibhute 11:31b140f32906 109 uT[1] = (float)( (int16_t)data_bytes[3] << 8 | (int16_t)data_bytes[4] ) * 0.1;
akashvibhute 11:31b140f32906 110 uT[2] = (float)( (int16_t)data_bytes[5] << 8 | (int16_t)data_bytes[6] ) * 0.1;
akashvibhute 12:2680e94139bb 111
akashvibhute 12:2680e94139bb 112 /*
akashvibhute 12:2680e94139bb 113 int xVal, yVal, zVal;
akashvibhute 12:2680e94139bb 114
akashvibhute 12:2680e94139bb 115 getValues(&xVal,&yVal, &zVal);
akashvibhute 12:2680e94139bb 116
akashvibhute 12:2680e94139bb 117 uT[0] = (float)( xVal ) * 0.1;
akashvibhute 12:2680e94139bb 118 uT[1] = (float)( yVal ) * 0.1;
akashvibhute 12:2680e94139bb 119 uT[2] = (float)( zVal ) * 0.1;
akashvibhute 12:2680e94139bb 120 */
akashvibhute 12:2680e94139bb 121
SomeRandomBloke 0:63a8594a3866 122 }
SomeRandomBloke 0:63a8594a3866 123
SomeRandomBloke 0:63a8594a3866 124
SomeRandomBloke 0:63a8594a3866 125