MAG3110 Virgo robot adaptation
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Diff: MAG3110.h
- Revision:
- 0:63a8594a3866
- Child:
- 1:5a0e7a58d980
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAG3110.h Sun May 19 20:34:27 2013 +0000 @@ -0,0 +1,96 @@ +/* + * MAG3110 Sensor Library for mbed + * TODO: Add proper header + */ + +#ifndef MAG3110_H +#define MAG3110_H + +#include "mbed.h" + +#define PI 3.14159265359 + +#define MAG_ADDR 0x1D + +// define registers +#define MAG_DR_STATUS 0x00 +#define MAG_OUT_X_MSB 0x01 +#define MAG_OUT_X_LSB 0x02 +#define MAG_OUT_Y_MSB 0x03 +#define MAG_OUT_Y_LSB 0x04 +#define MAG_OUT_Z_MSB 0x05 +#define MAG_OUT_Z_LSB 0x06 +#define MAG_WHO_AM_I 0x07 +#define MAG_SYSMOD 0x08 +#define MAG_OFF_X_MSB 0x09 +#define MAG_OFF_X_LSB 0x0A +#define MAG_OFF_Y_MSB 0x0B +#define MAG_OFF_Y_LSB 0x0C +#define MAG_OFF_Z_MSB 0x0D +#define MAG_OFF_Z_LSB 0x0E +#define MAG_DIE_TEMP 0x0F +#define MAG_CTRL_REG1 0x10 +#define MAG_CTRL_REG2 0x11 + +// what should WHO_AM_I return? +#define MAG_3110_WHO_AM_I_VALUE 0xC4 + + +// Fields in registers +// CTRL_REG1: dr2,dr1,dr0 os1,os0 fr tm ac + +// Sampling rate from 80Hz down to 0.625Hz +#define MAG_3110_SAMPLE80 0 +#define MAG_3110_SAMPLE40 0x20 +#define MAG_3110_SAMPLE20 0x40 +#define MAG_3110_SAMPLE10 0x60 +#define MAG_3110_SAMPLE5 0x80 +#define MAG_3110_SAMPLE2_5 0xA0 +#define MAG_3110_SAMPLE1_25 0xC0 +#define MAG_3110_SAMPLE0_625 0xE0 + +// How many samples to average (lowers data rate) +#define MAG_3110_OVERSAMPLE1 0 +#define MAG_3110_OVERSAMPLE2 0x08 +#define MAG_3110_OVERSAMPLE3 0x10 +#define MAG_3110_OVERSAMPLE4 0x18 + +// read only 1 byte per axis +#define MAG_3110_FASTREAD 0x04 +// do one measurement (even if in standby mode) +#define MAG_3110_TRIGGER 0x02 +// put in active mode +#define MAG_3110_ACTIVE 0x01 + +// CTRL_REG2: AUTO_MRST_EN _ RAW MAG_RST _ _ _ _ _ +// reset sensor after each reading +#define MAG_3110_AUTO_MRST_EN 0x80 +// don't subtract user offsets +#define MAG_3110_RAW 0x20 +// reset magnetic sensor after too-large field +#define MAG_3110_MAG_RST 0x10 + +// DR_STATUS Register ZYXOW ZOW YOW XOW ZYXDR ZDR YDR XDR +#define MAG_3110_ZYXDR 0x08 + +class MAG3110 +{ + private: + short _i2c_address; + I2C *_i2c; + Serial *_pc; + bool _debug; + int _avgX, _avgY; //, _newX, _tempXmin, _tempXmax, _newY, _tempYmin, _tempYmax; + + + public: + MAG3110(I2C *i2c); + MAG3110(I2C *i2c, Serial *pc); //pass serial for debug + void begin(); + int readReg(char regAddr); + int readVal(char regAddr); + float getHeading(); + void getValues(int *xVal, int *yVal, int *zVal); + void setCalibration(int minX, int maxX, int minY, int maxY); +}; +#endif \ No newline at end of file