Yujing Qian / MAG3110

modified version of MAG3110, include getX();getY();and getZ()

Dependents:   202Ahm1

Fork of MAG3110 by Aaron Huang

MAG3110.cpp@5:888035fbef65, 2014-02-07 (annotated)

Committer:
aaronice
Date:
Fri Feb 07 00:33:01 2014 +0000
Revision:
5:888035fbef65
Parent:
1:5a0e7a58d980
Child:
6:8f4028440d15
Modified the I2C address for FRDM-KL46Z

Who changed what in which revision?

UserRevisionLine numberNew contents of line
SomeRandomBloke 0:63a8594a3866 1
SomeRandomBloke 0:63a8594a3866 2 #include "MAG3110.h"
SomeRandomBloke 0:63a8594a3866 3 #include "mbed.h"
SomeRandomBloke 0:63a8594a3866 4
SomeRandomBloke 0:63a8594a3866 5 /******************************************************************************
SomeRandomBloke 0:63a8594a3866 6 * Constructors
SomeRandomBloke 0:63a8594a3866 7 ******************************************************************************/
SomeRandomBloke 1:5a0e7a58d980 8 MAG3110::MAG3110(PinName sda, PinName scl): _i2c(sda, scl),
aaronice 5:888035fbef65 9 _i2c_address(0x0E<<1), _pc(NULL), _debug(false)
SomeRandomBloke 0:63a8594a3866 10 {
SomeRandomBloke 1:5a0e7a58d980 11 begin();
SomeRandomBloke 1:5a0e7a58d980 12 }
SomeRandomBloke 0:63a8594a3866 13
SomeRandomBloke 1:5a0e7a58d980 14 MAG3110::MAG3110(PinName sda, PinName scl, Serial *pc): _i2c(sda, scl),
aaronice 5:888035fbef65 15 _i2c_address(0x0E<<1), _pc(pc), _debug(true)
SomeRandomBloke 1:5a0e7a58d980 16 {
SomeRandomBloke 1:5a0e7a58d980 17 begin();
SomeRandomBloke 0:63a8594a3866 18 }
SomeRandomBloke 0:63a8594a3866 19
SomeRandomBloke 1:5a0e7a58d980 20 void MAG3110::begin()
SomeRandomBloke 0:63a8594a3866 21 {
SomeRandomBloke 1:5a0e7a58d980 22 char cmd[2];
SomeRandomBloke 0:63a8594a3866 23
SomeRandomBloke 1:5a0e7a58d980 24 cmd[0] = MAG_CTRL_REG2;
SomeRandomBloke 1:5a0e7a58d980 25 cmd[1] = 0x80;
SomeRandomBloke 1:5a0e7a58d980 26 _i2c.write(_i2c_address, cmd, 2);
SomeRandomBloke 1:5a0e7a58d980 27
SomeRandomBloke 1:5a0e7a58d980 28 cmd[0] = MAG_CTRL_REG1;
SomeRandomBloke 1:5a0e7a58d980 29 cmd[1] = MAG_3110_SAMPLE80+MAG_3110_OVERSAMPLE2+MAG_3110_ACTIVE;
SomeRandomBloke 1:5a0e7a58d980 30 _i2c.write(_i2c_address, cmd, 2);
SomeRandomBloke 1:5a0e7a58d980 31
SomeRandomBloke 1:5a0e7a58d980 32 // No adjustment initially
SomeRandomBloke 1:5a0e7a58d980 33 _avgX = 0;
SomeRandomBloke 1:5a0e7a58d980 34 _avgY = 0;
SomeRandomBloke 0:63a8594a3866 35 }
SomeRandomBloke 0:63a8594a3866 36
SomeRandomBloke 0:63a8594a3866 37 // Read a single byte form 8 bit register, return as int
SomeRandomBloke 0:63a8594a3866 38 int MAG3110::readReg(char regAddr)
SomeRandomBloke 0:63a8594a3866 39 {
SomeRandomBloke 0:63a8594a3866 40 char cmd[1];
SomeRandomBloke 0:63a8594a3866 41
SomeRandomBloke 0:63a8594a3866 42 cmd[0] = regAddr;
SomeRandomBloke 1:5a0e7a58d980 43 _i2c.write(_i2c_address, cmd, 1);
SomeRandomBloke 0:63a8594a3866 44
SomeRandomBloke 0:63a8594a3866 45 cmd[0] = 0x00;
SomeRandomBloke 1:5a0e7a58d980 46 _i2c.read(_i2c_address, cmd, 1);
SomeRandomBloke 0:63a8594a3866 47 return (int)( cmd[0]);
SomeRandomBloke 0:63a8594a3866 48 }
SomeRandomBloke 0:63a8594a3866 49
SomeRandomBloke 0:63a8594a3866 50
SomeRandomBloke 0:63a8594a3866 51 // read a register per, pass first reg value, reading 2 bytes increments register
SomeRandomBloke 0:63a8594a3866 52 // Reads MSB first then LSB
SomeRandomBloke 0:63a8594a3866 53 int MAG3110::readVal(char regAddr)
SomeRandomBloke 0:63a8594a3866 54 {
SomeRandomBloke 0:63a8594a3866 55 char cmd[2];
SomeRandomBloke 0:63a8594a3866 56
SomeRandomBloke 0:63a8594a3866 57 cmd[0] = regAddr;
SomeRandomBloke 1:5a0e7a58d980 58 _i2c.write(_i2c_address, cmd, 1);
SomeRandomBloke 0:63a8594a3866 59
SomeRandomBloke 0:63a8594a3866 60 cmd[0] = 0x00;
SomeRandomBloke 0:63a8594a3866 61 cmd[1] = 0x00;
SomeRandomBloke 1:5a0e7a58d980 62 _i2c.read(_i2c_address, cmd, 2);
SomeRandomBloke 0:63a8594a3866 63 return (int)( (cmd[1]|(cmd[0] << 8))); //concatenate the MSB and LSB
SomeRandomBloke 0:63a8594a3866 64 }
SomeRandomBloke 0:63a8594a3866 65
SomeRandomBloke 0:63a8594a3866 66
SomeRandomBloke 0:63a8594a3866 67 float MAG3110::getHeading()
SomeRandomBloke 0:63a8594a3866 68 {
SomeRandomBloke 0:63a8594a3866 69 int xVal = readVal(MAG_OUT_X_MSB);
SomeRandomBloke 0:63a8594a3866 70 int yVal = readVal(MAG_OUT_Y_MSB);
SomeRandomBloke 0:63a8594a3866 71 return (atan2((double)(yVal - _avgY),(double)(xVal - _avgX)))*180/PI;
SomeRandomBloke 0:63a8594a3866 72 }
SomeRandomBloke 0:63a8594a3866 73
SomeRandomBloke 0:63a8594a3866 74 void MAG3110::getValues(int *xVal, int *yVal, int *zVal)
SomeRandomBloke 0:63a8594a3866 75 {
SomeRandomBloke 0:63a8594a3866 76 *xVal = readVal(MAG_OUT_X_MSB);
SomeRandomBloke 0:63a8594a3866 77 *yVal = readVal(MAG_OUT_Y_MSB);
SomeRandomBloke 0:63a8594a3866 78 *zVal = readVal(MAG_OUT_Z_MSB);
SomeRandomBloke 0:63a8594a3866 79 }
SomeRandomBloke 0:63a8594a3866 80
SomeRandomBloke 0:63a8594a3866 81
SomeRandomBloke 0:63a8594a3866 82 void MAG3110::setCalibration(int minX, int maxX, int minY, int maxY )
SomeRandomBloke 0:63a8594a3866 83 {
SomeRandomBloke 0:63a8594a3866 84 _avgX=(maxX+minX)/2;
SomeRandomBloke 0:63a8594a3866 85 _avgY=(maxY+minY)/2;
SomeRandomBloke 0:63a8594a3866 86 }
SomeRandomBloke 0:63a8594a3866 87
SomeRandomBloke 0:63a8594a3866 88
SomeRandomBloke 0:63a8594a3866 89
SomeRandomBloke 0:63a8594a3866 90
SomeRandomBloke 0:63a8594a3866 91