Akash Vibhute / MAG3110

MAG3110 Virgo robot adaptation

Fork of MAG3110 by JP PANG

MAG3110.cpp@14:73a4a09a49af, 2016-09-09 (annotated)

Committer:
akashvibhute
Date:
Fri Sep 09 10:48:07 2016 +0000
Revision:
14:73a4a09a49af
Parent:
12:2680e94139bb
Child:
15:58c62b985e68
added sensor rest to overcome overexposure

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 11:31b140f32906 15 cmd[0] = MAG_CTRL_REG1;
akashvibhute 11:31b140f32906 16 cmd[1] = 0x00; //Puts device in Standby mode
akashvibhute 11:31b140f32906 17 _i2c.write(MAG_ADDR, cmd,2);
SomeRandomBloke 0:63a8594a3866 18
SomeRandomBloke 1:5a0e7a58d980 19 cmd[0] = MAG_CTRL_REG2;
akashvibhute 14:73a4a09a49af 20 cmd[1] = 0x90; //Set Automatic Magnetic Sensor Reset bit, and reset overexposure
akashvibhute 6:b2bb387caf3f 21 _i2c.write(MAG_ADDR, cmd, 2);
SomeRandomBloke 1:5a0e7a58d980 22
SomeRandomBloke 1:5a0e7a58d980 23 cmd[0] = MAG_CTRL_REG1;
akashvibhute 12:2680e94139bb 24 cmd[1] = 0x01; //Set ODR=80Hz and OSR=16 and set device to active mode.
akashvibhute 6:b2bb387caf3f 25 _i2c.write(MAG_ADDR, cmd, 2);
SomeRandomBloke 1:5a0e7a58d980 26
akashvibhute 12:2680e94139bb 27 char data_bytes[7];
akashvibhute 12:2680e94139bb 28 data_bytes[0]=MAG_OFF_X_MSB; //Write offset values to X,Y,Z registers
akashvibhute 12:2680e94139bb 29
akashvibhute 12:2680e94139bb 30 data_bytes[1] = (off_x & 0xFF00) >> 8;
akashvibhute 12:2680e94139bb 31 data_bytes[2] = (off_x & 0xFF);
akashvibhute 12:2680e94139bb 32
akashvibhute 12:2680e94139bb 33 data_bytes[3] = (off_y & 0xFF00) >> 8;
akashvibhute 12:2680e94139bb 34 data_bytes[4] = (off_y & 0xFF);
akashvibhute 12:2680e94139bb 35
akashvibhute 12:2680e94139bb 36 data_bytes[5] = (off_z & 0xFF00) >> 8;
akashvibhute 12:2680e94139bb 37 data_bytes[6] = (off_z & 0xFF);
akashvibhute 12:2680e94139bb 38
akashvibhute 12:2680e94139bb 39 _i2c.write(MAG_ADDR,data_bytes,7);
SomeRandomBloke 0:63a8594a3866 40 }
SomeRandomBloke 0:63a8594a3866 41
SomeRandomBloke 0:63a8594a3866 42 // Read a single byte form 8 bit register, return as int
SomeRandomBloke 0:63a8594a3866 43 int MAG3110::readReg(char regAddr)
SomeRandomBloke 0:63a8594a3866 44 {
SomeRandomBloke 0:63a8594a3866 45 char cmd[1];
SomeRandomBloke 0:63a8594a3866 46
SomeRandomBloke 0:63a8594a3866 47 cmd[0] = regAddr;
akashvibhute 6:b2bb387caf3f 48 _i2c.write(MAG_ADDR, cmd, 1);
SomeRandomBloke 0:63a8594a3866 49
SomeRandomBloke 0:63a8594a3866 50 cmd[0] = 0x00;
akashvibhute 6:b2bb387caf3f 51 _i2c.read(MAG_ADDR, cmd, 1);
SomeRandomBloke 0:63a8594a3866 52 return (int)( cmd[0]);
SomeRandomBloke 0:63a8594a3866 53 }
SomeRandomBloke 0:63a8594a3866 54
SomeRandomBloke 0:63a8594a3866 55
SomeRandomBloke 0:63a8594a3866 56 // read a register per, pass first reg value, reading 2 bytes increments register
SomeRandomBloke 0:63a8594a3866 57 // Reads MSB first then LSB
SomeRandomBloke 0:63a8594a3866 58 int MAG3110::readVal(char regAddr)
SomeRandomBloke 0:63a8594a3866 59 {
SomeRandomBloke 0:63a8594a3866 60 char cmd[2];
SomeRandomBloke 0:63a8594a3866 61
SomeRandomBloke 0:63a8594a3866 62 cmd[0] = regAddr;
akashvibhute 6:b2bb387caf3f 63 _i2c.write(MAG_ADDR, cmd, 1);
SomeRandomBloke 0:63a8594a3866 64
SomeRandomBloke 0:63a8594a3866 65 cmd[0] = 0x00;
SomeRandomBloke 0:63a8594a3866 66 cmd[1] = 0x00;
akashvibhute 6:b2bb387caf3f 67 _i2c.read(MAG_ADDR, cmd, 2);
SomeRandomBloke 0:63a8594a3866 68 return (int)( (cmd[1]|(cmd[0] << 8))); //concatenate the MSB and LSB
SomeRandomBloke 0:63a8594a3866 69 }
SomeRandomBloke 0:63a8594a3866 70
SomeRandomBloke 0:63a8594a3866 71 void MAG3110::getValues(int *xVal, int *yVal, int *zVal)
SomeRandomBloke 0:63a8594a3866 72 {
SomeRandomBloke 0:63a8594a3866 73 *xVal = readVal(MAG_OUT_X_MSB);
SomeRandomBloke 0:63a8594a3866 74 *yVal = readVal(MAG_OUT_Y_MSB);
SomeRandomBloke 0:63a8594a3866 75 *zVal = readVal(MAG_OUT_Z_MSB);
SomeRandomBloke 0:63a8594a3866 76 }
SomeRandomBloke 0:63a8594a3866 77
SomeRandomBloke 0:63a8594a3866 78
akashvibhute 6:b2bb387caf3f 79 void MAG3110::setCalibration(float minX, float maxX, float minY, float maxY, float minZ, float maxZ)
SomeRandomBloke 0:63a8594a3866 80 {
SomeRandomBloke 0:63a8594a3866 81 _avgX=(maxX+minX)/2;
SomeRandomBloke 0:63a8594a3866 82 _avgY=(maxY+minY)/2;
akashvibhute 6:b2bb387caf3f 83 _avgZ=(maxZ+minZ)/2;
akashvibhute 6:b2bb387caf3f 84 }
akashvibhute 6:b2bb387caf3f 85
akashvibhute 11:31b140f32906 86 void MAG3110::get_uT(float * uT)
akashvibhute 6:b2bb387caf3f 87 {
akashvibhute 12:2680e94139bb 88
akashvibhute 6:b2bb387caf3f 89 char data_bytes[7];
akashvibhute 6:b2bb387caf3f 90 char d[1];
akashvibhute 8:203af65371e8 91 d[0]=MAG_DR_STATUS;
akashvibhute 6:b2bb387caf3f 92
akashvibhute 6:b2bb387caf3f 93 _i2c.write(MAG_ADDR,d,1,true);
akashvibhute 6:b2bb387caf3f 94 _i2c.read(MAG_ADDR,data_bytes,7);// Read the 6 data bytes - LSB and MSB for X, Y and Z Axes.
akashvibhute 12:2680e94139bb 95
akashvibhute 11:31b140f32906 96 uT[0] = (float)( (int16_t)data_bytes[1] << 8 | (int16_t)data_bytes[2] ) * 0.1;
akashvibhute 11:31b140f32906 97 uT[1] = (float)( (int16_t)data_bytes[3] << 8 | (int16_t)data_bytes[4] ) * 0.1;
akashvibhute 11:31b140f32906 98 uT[2] = (float)( (int16_t)data_bytes[5] << 8 | (int16_t)data_bytes[6] ) * 0.1;
akashvibhute 12:2680e94139bb 99
akashvibhute 12:2680e94139bb 100 /*
akashvibhute 12:2680e94139bb 101 int xVal, yVal, zVal;
akashvibhute 12:2680e94139bb 102
akashvibhute 12:2680e94139bb 103 getValues(&xVal,&yVal, &zVal);
akashvibhute 12:2680e94139bb 104
akashvibhute 12:2680e94139bb 105 uT[0] = (float)( xVal ) * 0.1;
akashvibhute 12:2680e94139bb 106 uT[1] = (float)( yVal ) * 0.1;
akashvibhute 12:2680e94139bb 107 uT[2] = (float)( zVal ) * 0.1;
akashvibhute 12:2680e94139bb 108 */
akashvibhute 12:2680e94139bb 109
SomeRandomBloke 0:63a8594a3866 110 }
SomeRandomBloke 0:63a8594a3866 111
SomeRandomBloke 0:63a8594a3866 112
SomeRandomBloke 0:63a8594a3866 113