Akash Vibhute / MAG3110

MAG3110 Virgo robot adaptation

Fork of MAG3110 by JP PANG

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

Committer:
akashvibhute
Date:
Sat Sep 10 05:49:44 2016 +0000
Revision:
15:58c62b985e68
Parent:
13:b293e595ea95 
updated offset writing method

Who changed what in which revision?

UserRevisionLine numberNew contents of line
akashvibhute 7:14570d7e3335 1 /*
akashvibhute 7:14570d7e3335 2 * Copyright (C) 2016 Akash Vibhute <akash.roboticist@gmail.com>
akashvibhute 7:14570d7e3335 3 *
akashvibhute 7:14570d7e3335 4 * Library to handle MAG3110 magnetometer IMU on Virgo 3 robot.
akashvibhute 7:14570d7e3335 5 * Based off various user libraries
akashvibhute 7:14570d7e3335 6 *
akashvibhute 7:14570d7e3335 7 *
akashvibhute 7:14570d7e3335 8 * Initial Release: Aug/01/2016
akashvibhute 7:14570d7e3335 9 *
SomeRandomBloke 0:63a8594a3866 10 */
SomeRandomBloke 0:63a8594a3866 11
SomeRandomBloke 0:63a8594a3866 12 #ifndef MAG3110_H
SomeRandomBloke 0:63a8594a3866 13 #define MAG3110_H
SomeRandomBloke 0:63a8594a3866 14
SomeRandomBloke 0:63a8594a3866 15 #include "mbed.h"
akashvibhute 13:b293e595ea95 16 //#include "generalFunctions.h"
SomeRandomBloke 0:63a8594a3866 17
akashvibhute 6:b2bb387caf3f 18 #define MAG_ADDR (0x0E << 1)
SomeRandomBloke 0:63a8594a3866 19
SomeRandomBloke 0:63a8594a3866 20 // define registers
SomeRandomBloke 0:63a8594a3866 21 #define MAG_DR_STATUS 0x00
SomeRandomBloke 0:63a8594a3866 22 #define MAG_OUT_X_MSB 0x01
SomeRandomBloke 0:63a8594a3866 23 #define MAG_OUT_X_LSB 0x02
SomeRandomBloke 0:63a8594a3866 24 #define MAG_OUT_Y_MSB 0x03
SomeRandomBloke 0:63a8594a3866 25 #define MAG_OUT_Y_LSB 0x04
SomeRandomBloke 0:63a8594a3866 26 #define MAG_OUT_Z_MSB 0x05
SomeRandomBloke 0:63a8594a3866 27 #define MAG_OUT_Z_LSB 0x06
SomeRandomBloke 0:63a8594a3866 28 #define MAG_WHO_AM_I 0x07
SomeRandomBloke 0:63a8594a3866 29 #define MAG_SYSMOD 0x08
SomeRandomBloke 0:63a8594a3866 30 #define MAG_OFF_X_MSB 0x09
SomeRandomBloke 0:63a8594a3866 31 #define MAG_OFF_X_LSB 0x0A
SomeRandomBloke 0:63a8594a3866 32 #define MAG_OFF_Y_MSB 0x0B
SomeRandomBloke 0:63a8594a3866 33 #define MAG_OFF_Y_LSB 0x0C
SomeRandomBloke 0:63a8594a3866 34 #define MAG_OFF_Z_MSB 0x0D
SomeRandomBloke 0:63a8594a3866 35 #define MAG_OFF_Z_LSB 0x0E
SomeRandomBloke 0:63a8594a3866 36 #define MAG_DIE_TEMP 0x0F
SomeRandomBloke 0:63a8594a3866 37 #define MAG_CTRL_REG1 0x10
SomeRandomBloke 0:63a8594a3866 38 #define MAG_CTRL_REG2 0x11
SomeRandomBloke 0:63a8594a3866 39
SomeRandomBloke 0:63a8594a3866 40 // what should WHO_AM_I return?
SomeRandomBloke 0:63a8594a3866 41 #define MAG_3110_WHO_AM_I_VALUE 0xC4
SomeRandomBloke 0:63a8594a3866 42
SomeRandomBloke 0:63a8594a3866 43
SomeRandomBloke 0:63a8594a3866 44 // Fields in registers
SomeRandomBloke 0:63a8594a3866 45 // CTRL_REG1: dr2,dr1,dr0 os1,os0 fr tm ac
SomeRandomBloke 0:63a8594a3866 46
SomeRandomBloke 0:63a8594a3866 47 // Sampling rate from 80Hz down to 0.625Hz
SomeRandomBloke 0:63a8594a3866 48 #define MAG_3110_SAMPLE80 0
SomeRandomBloke 0:63a8594a3866 49 #define MAG_3110_SAMPLE40 0x20
SomeRandomBloke 0:63a8594a3866 50 #define MAG_3110_SAMPLE20 0x40
SomeRandomBloke 0:63a8594a3866 51 #define MAG_3110_SAMPLE10 0x60
SomeRandomBloke 0:63a8594a3866 52 #define MAG_3110_SAMPLE5 0x80
SomeRandomBloke 0:63a8594a3866 53 #define MAG_3110_SAMPLE2_5 0xA0
SomeRandomBloke 0:63a8594a3866 54 #define MAG_3110_SAMPLE1_25 0xC0
SomeRandomBloke 0:63a8594a3866 55 #define MAG_3110_SAMPLE0_625 0xE0
SomeRandomBloke 0:63a8594a3866 56
SomeRandomBloke 0:63a8594a3866 57 // How many samples to average (lowers data rate)
SomeRandomBloke 0:63a8594a3866 58 #define MAG_3110_OVERSAMPLE1 0
SomeRandomBloke 0:63a8594a3866 59 #define MAG_3110_OVERSAMPLE2 0x08
SomeRandomBloke 0:63a8594a3866 60 #define MAG_3110_OVERSAMPLE3 0x10
SomeRandomBloke 0:63a8594a3866 61 #define MAG_3110_OVERSAMPLE4 0x18
SomeRandomBloke 0:63a8594a3866 62
SomeRandomBloke 0:63a8594a3866 63 // read only 1 byte per axis
SomeRandomBloke 0:63a8594a3866 64 #define MAG_3110_FASTREAD 0x04
SomeRandomBloke 0:63a8594a3866 65 // do one measurement (even if in standby mode)
SomeRandomBloke 0:63a8594a3866 66 #define MAG_3110_TRIGGER 0x02
SomeRandomBloke 0:63a8594a3866 67 // put in active mode
SomeRandomBloke 0:63a8594a3866 68 #define MAG_3110_ACTIVE 0x01
SomeRandomBloke 0:63a8594a3866 69
SomeRandomBloke 0:63a8594a3866 70 // CTRL_REG2: AUTO_MRST_EN _ RAW MAG_RST _ _ _ _ _
SomeRandomBloke 0:63a8594a3866 71 // reset sensor after each reading
SomeRandomBloke 0:63a8594a3866 72 #define MAG_3110_AUTO_MRST_EN 0x80
SomeRandomBloke 0:63a8594a3866 73 // don't subtract user offsets
SomeRandomBloke 0:63a8594a3866 74 #define MAG_3110_RAW 0x20
SomeRandomBloke 0:63a8594a3866 75 // reset magnetic sensor after too-large field
SomeRandomBloke 0:63a8594a3866 76 #define MAG_3110_MAG_RST 0x10
SomeRandomBloke 0:63a8594a3866 77
SomeRandomBloke 0:63a8594a3866 78 // DR_STATUS Register ZYXOW ZOW YOW XOW ZYXDR ZDR YDR XDR
SomeRandomBloke 0:63a8594a3866 79 #define MAG_3110_ZYXDR 0x08
SomeRandomBloke 0:63a8594a3866 80
SomeRandomBloke 3:bc784c24f3b2 81 /**
SomeRandomBloke 3:bc784c24f3b2 82 * MAG3110 Class to read X/Y/Z data from the magentometer
SomeRandomBloke 3:bc784c24f3b2 83 *
SomeRandomBloke 3:bc784c24f3b2 84 */
SomeRandomBloke 0:63a8594a3866 85 class MAG3110
SomeRandomBloke 0:63a8594a3866 86 {
SomeRandomBloke 1:5a0e7a58d980 87 public:
SomeRandomBloke 1:5a0e7a58d980 88 /**
SomeRandomBloke 4:cf40601402b7 89 * Main constructor
SomeRandomBloke 1:5a0e7a58d980 90 * @param sda SDA pin
SomeRandomBloke 1:5a0e7a58d980 91 * @param sdl SCL pin
SomeRandomBloke 1:5a0e7a58d980 92 */
akashvibhute 6:b2bb387caf3f 93 MAG3110(PinName sda, PinName scl);
SomeRandomBloke 1:5a0e7a58d980 94 /**
SomeRandomBloke 1:5a0e7a58d980 95 * Setup the Magnetometer
akashvibhute 12:2680e94139bb 96 * @param off_x magnetometer offset for X-Axis
akashvibhute 12:2680e94139bb 97 * @param off_y magnetometer offset for Y-Axis
akashvibhute 12:2680e94139bb 98 * @param off_z magnetometer offset for Z-Axis
SomeRandomBloke 1:5a0e7a58d980 99 *
SomeRandomBloke 1:5a0e7a58d980 100 */
akashvibhute 12:2680e94139bb 101 void begin(int16_t off_x, int16_t off_y, int16_t off_z);
SomeRandomBloke 1:5a0e7a58d980 102 /**
SomeRandomBloke 1:5a0e7a58d980 103 * Read a register, return its value as int
SomeRandomBloke 1:5a0e7a58d980 104 * @param regAddr The address to read
SomeRandomBloke 1:5a0e7a58d980 105 * @return value in register
SomeRandomBloke 1:5a0e7a58d980 106 */
SomeRandomBloke 1:5a0e7a58d980 107 int readReg(char regAddr);
SomeRandomBloke 1:5a0e7a58d980 108 /**
SomeRandomBloke 1:5a0e7a58d980 109 * Read a value from a pair of registers, return as int
SomeRandomBloke 1:5a0e7a58d980 110 * @param regAddr The address to read
SomeRandomBloke 1:5a0e7a58d980 111 * @return Value from 2 consecutive registers
SomeRandomBloke 1:5a0e7a58d980 112 */
SomeRandomBloke 1:5a0e7a58d980 113 int readVal(char regAddr);
SomeRandomBloke 1:5a0e7a58d980 114 /**
SomeRandomBloke 1:5a0e7a58d980 115 * Perform a read on the X, Y and Z values.
SomeRandomBloke 1:5a0e7a58d980 116 * @param xVal Pointer to X value
SomeRandomBloke 1:5a0e7a58d980 117 * @param yVal Pointer to Y value
SomeRandomBloke 1:5a0e7a58d980 118 * @param zVal Pointer to Z value
SomeRandomBloke 1:5a0e7a58d980 119 */
SomeRandomBloke 1:5a0e7a58d980 120 void getValues(int *xVal, int *yVal, int *zVal);
SomeRandomBloke 1:5a0e7a58d980 121 /**
SomeRandomBloke 1:5a0e7a58d980 122 * Set the calibration parameters if required.
SomeRandomBloke 1:5a0e7a58d980 123 * @param minX Minimum value for X range
SomeRandomBloke 1:5a0e7a58d980 124 * @param maxX Maximum value for X range
SomeRandomBloke 1:5a0e7a58d980 125 * @param minY Minimum value for Y range
SomeRandomBloke 1:5a0e7a58d980 126 * @param maxY maximum value for Y range
akashvibhute 6:b2bb387caf3f 127 * @param minZ Minimum value for Z range
akashvibhute 6:b2bb387caf3f 128 * @param maxZ maximum value for Z range
SomeRandomBloke 1:5a0e7a58d980 129 */
akashvibhute 6:b2bb387caf3f 130 void setCalibration(float minX, float maxX, float minY, float maxY, float minZ, float maxZ);
akashvibhute 6:b2bb387caf3f 131 /**
akashvibhute 6:b2bb387caf3f 132 * Acquire data from all axes in floating and return in uT, floating point format.
akashvibhute 6:b2bb387caf3f 133 * @param uT Pointer to 1x3 floating point array to store micro tesla values from X,Y,Z axes
akashvibhute 6:b2bb387caf3f 134 */
akashvibhute 11:31b140f32906 135 void get_uT(float * uT);
SomeRandomBloke 2:fb8024297377 136
SomeRandomBloke 2:fb8024297377 137 private:
SomeRandomBloke 4:cf40601402b7 138 I2C _i2c;
akashvibhute 6:b2bb387caf3f 139 float _avgX, _avgY, _avgZ;
SomeRandomBloke 2:fb8024297377 140
SomeRandomBloke 0:63a8594a3866 141 };
SomeRandomBloke 1:5a0e7a58d980 142 #endif