MAG3110 Virgo robot adaptation
Fork of MAG3110 by
MAG3110.cpp
- Committer:
- akashvibhute
- Date:
- 2016-09-09
- Revision:
- 14:73a4a09a49af
- Parent:
- 12:2680e94139bb
- Child:
- 15:58c62b985e68
File content as of revision 14:73a4a09a49af:
#include "MAG3110.h" /****************************************************************************** * Constructors ******************************************************************************/ MAG3110::MAG3110(PinName sda, PinName scl): _i2c(sda, scl) { } void MAG3110::begin(int16_t off_x, int16_t off_y, int16_t off_z) { char cmd[2]; cmd[0] = MAG_CTRL_REG1; cmd[1] = 0x00; //Puts device in Standby mode _i2c.write(MAG_ADDR, cmd,2); cmd[0] = MAG_CTRL_REG2; cmd[1] = 0x90; //Set Automatic Magnetic Sensor Reset bit, and reset overexposure _i2c.write(MAG_ADDR, cmd, 2); cmd[0] = MAG_CTRL_REG1; cmd[1] = 0x01; //Set ODR=80Hz and OSR=16 and set device to active mode. _i2c.write(MAG_ADDR, cmd, 2); char data_bytes[7]; data_bytes[0]=MAG_OFF_X_MSB; //Write offset values to X,Y,Z registers data_bytes[1] = (off_x & 0xFF00) >> 8; data_bytes[2] = (off_x & 0xFF); data_bytes[3] = (off_y & 0xFF00) >> 8; data_bytes[4] = (off_y & 0xFF); data_bytes[5] = (off_z & 0xFF00) >> 8; data_bytes[6] = (off_z & 0xFF); _i2c.write(MAG_ADDR,data_bytes,7); } // Read a single byte form 8 bit register, return as int int MAG3110::readReg(char regAddr) { char cmd[1]; cmd[0] = regAddr; _i2c.write(MAG_ADDR, cmd, 1); cmd[0] = 0x00; _i2c.read(MAG_ADDR, cmd, 1); return (int)( cmd[0]); } // read a register per, pass first reg value, reading 2 bytes increments register // Reads MSB first then LSB int MAG3110::readVal(char regAddr) { char cmd[2]; cmd[0] = regAddr; _i2c.write(MAG_ADDR, cmd, 1); cmd[0] = 0x00; cmd[1] = 0x00; _i2c.read(MAG_ADDR, cmd, 2); return (int)( (cmd[1]|(cmd[0] << 8))); //concatenate the MSB and LSB } void MAG3110::getValues(int *xVal, int *yVal, int *zVal) { *xVal = readVal(MAG_OUT_X_MSB); *yVal = readVal(MAG_OUT_Y_MSB); *zVal = readVal(MAG_OUT_Z_MSB); } void MAG3110::setCalibration(float minX, float maxX, float minY, float maxY, float minZ, float maxZ) { _avgX=(maxX+minX)/2; _avgY=(maxY+minY)/2; _avgZ=(maxZ+minZ)/2; } void MAG3110::get_uT(float * uT) { char data_bytes[7]; char d[1]; d[0]=MAG_DR_STATUS; _i2c.write(MAG_ADDR,d,1,true); _i2c.read(MAG_ADDR,data_bytes,7);// Read the 6 data bytes - LSB and MSB for X, Y and Z Axes. uT[0] = (float)( (int16_t)data_bytes[1] << 8 | (int16_t)data_bytes[2] ) * 0.1; uT[1] = (float)( (int16_t)data_bytes[3] << 8 | (int16_t)data_bytes[4] ) * 0.1; uT[2] = (float)( (int16_t)data_bytes[5] << 8 | (int16_t)data_bytes[6] ) * 0.1; /* int xVal, yVal, zVal; getValues(&xVal,&yVal, &zVal); uT[0] = (float)( xVal ) * 0.1; uT[1] = (float)( yVal ) * 0.1; uT[2] = (float)( zVal ) * 0.1; */ }