Yujing Qian / MAG3110

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

Dependents:   202Ahm1

Fork of MAG3110 by Aaron Huang

MAG3110.h@2:fb8024297377, 2013-05-24 (annotated)

Committer:
SomeRandomBloke
Date:
Fri May 24 20:08:12 2013 +0000
Revision:
2:fb8024297377
Parent:
1:5a0e7a58d980
Child:
3:bc784c24f3b2
update

Who changed what in which revision?

UserRevisionLine numberNew contents of line
SomeRandomBloke 1:5a0e7a58d980 1 /*
SomeRandomBloke 1:5a0e7a58d980 2 * MAG3110 Sensor Library for mbed
SomeRandomBloke 0:63a8594a3866 3 * TODO: Add proper header
SomeRandomBloke 0:63a8594a3866 4 */
SomeRandomBloke 0:63a8594a3866 5
SomeRandomBloke 0:63a8594a3866 6 #ifndef MAG3110_H
SomeRandomBloke 0:63a8594a3866 7 #define MAG3110_H
SomeRandomBloke 0:63a8594a3866 8
SomeRandomBloke 0:63a8594a3866 9 #include "mbed.h"
SomeRandomBloke 0:63a8594a3866 10
SomeRandomBloke 0:63a8594a3866 11 #define PI 3.14159265359
SomeRandomBloke 0:63a8594a3866 12
SomeRandomBloke 0:63a8594a3866 13 #define MAG_ADDR 0x1D
SomeRandomBloke 0:63a8594a3866 14
SomeRandomBloke 0:63a8594a3866 15 // define registers
SomeRandomBloke 0:63a8594a3866 16 #define MAG_DR_STATUS 0x00
SomeRandomBloke 0:63a8594a3866 17 #define MAG_OUT_X_MSB 0x01
SomeRandomBloke 0:63a8594a3866 18 #define MAG_OUT_X_LSB 0x02
SomeRandomBloke 0:63a8594a3866 19 #define MAG_OUT_Y_MSB 0x03
SomeRandomBloke 0:63a8594a3866 20 #define MAG_OUT_Y_LSB 0x04
SomeRandomBloke 0:63a8594a3866 21 #define MAG_OUT_Z_MSB 0x05
SomeRandomBloke 0:63a8594a3866 22 #define MAG_OUT_Z_LSB 0x06
SomeRandomBloke 0:63a8594a3866 23 #define MAG_WHO_AM_I 0x07
SomeRandomBloke 0:63a8594a3866 24 #define MAG_SYSMOD 0x08
SomeRandomBloke 0:63a8594a3866 25 #define MAG_OFF_X_MSB 0x09
SomeRandomBloke 0:63a8594a3866 26 #define MAG_OFF_X_LSB 0x0A
SomeRandomBloke 0:63a8594a3866 27 #define MAG_OFF_Y_MSB 0x0B
SomeRandomBloke 0:63a8594a3866 28 #define MAG_OFF_Y_LSB 0x0C
SomeRandomBloke 0:63a8594a3866 29 #define MAG_OFF_Z_MSB 0x0D
SomeRandomBloke 0:63a8594a3866 30 #define MAG_OFF_Z_LSB 0x0E
SomeRandomBloke 0:63a8594a3866 31 #define MAG_DIE_TEMP 0x0F
SomeRandomBloke 0:63a8594a3866 32 #define MAG_CTRL_REG1 0x10
SomeRandomBloke 0:63a8594a3866 33 #define MAG_CTRL_REG2 0x11
SomeRandomBloke 0:63a8594a3866 34
SomeRandomBloke 0:63a8594a3866 35 // what should WHO_AM_I return?
SomeRandomBloke 0:63a8594a3866 36 #define MAG_3110_WHO_AM_I_VALUE 0xC4
SomeRandomBloke 0:63a8594a3866 37
SomeRandomBloke 0:63a8594a3866 38
SomeRandomBloke 0:63a8594a3866 39 // Fields in registers
SomeRandomBloke 0:63a8594a3866 40 // CTRL_REG1: dr2,dr1,dr0 os1,os0 fr tm ac
SomeRandomBloke 0:63a8594a3866 41
SomeRandomBloke 0:63a8594a3866 42 // Sampling rate from 80Hz down to 0.625Hz
SomeRandomBloke 0:63a8594a3866 43 #define MAG_3110_SAMPLE80 0
SomeRandomBloke 0:63a8594a3866 44 #define MAG_3110_SAMPLE40 0x20
SomeRandomBloke 0:63a8594a3866 45 #define MAG_3110_SAMPLE20 0x40
SomeRandomBloke 0:63a8594a3866 46 #define MAG_3110_SAMPLE10 0x60
SomeRandomBloke 0:63a8594a3866 47 #define MAG_3110_SAMPLE5 0x80
SomeRandomBloke 0:63a8594a3866 48 #define MAG_3110_SAMPLE2_5 0xA0
SomeRandomBloke 0:63a8594a3866 49 #define MAG_3110_SAMPLE1_25 0xC0
SomeRandomBloke 0:63a8594a3866 50 #define MAG_3110_SAMPLE0_625 0xE0
SomeRandomBloke 0:63a8594a3866 51
SomeRandomBloke 0:63a8594a3866 52 // How many samples to average (lowers data rate)
SomeRandomBloke 0:63a8594a3866 53 #define MAG_3110_OVERSAMPLE1 0
SomeRandomBloke 0:63a8594a3866 54 #define MAG_3110_OVERSAMPLE2 0x08
SomeRandomBloke 0:63a8594a3866 55 #define MAG_3110_OVERSAMPLE3 0x10
SomeRandomBloke 0:63a8594a3866 56 #define MAG_3110_OVERSAMPLE4 0x18
SomeRandomBloke 0:63a8594a3866 57
SomeRandomBloke 0:63a8594a3866 58 // read only 1 byte per axis
SomeRandomBloke 0:63a8594a3866 59 #define MAG_3110_FASTREAD 0x04
SomeRandomBloke 0:63a8594a3866 60 // do one measurement (even if in standby mode)
SomeRandomBloke 0:63a8594a3866 61 #define MAG_3110_TRIGGER 0x02
SomeRandomBloke 0:63a8594a3866 62 // put in active mode
SomeRandomBloke 0:63a8594a3866 63 #define MAG_3110_ACTIVE 0x01
SomeRandomBloke 0:63a8594a3866 64
SomeRandomBloke 0:63a8594a3866 65 // CTRL_REG2: AUTO_MRST_EN _ RAW MAG_RST _ _ _ _ _
SomeRandomBloke 0:63a8594a3866 66 // reset sensor after each reading
SomeRandomBloke 0:63a8594a3866 67 #define MAG_3110_AUTO_MRST_EN 0x80
SomeRandomBloke 0:63a8594a3866 68 // don't subtract user offsets
SomeRandomBloke 0:63a8594a3866 69 #define MAG_3110_RAW 0x20
SomeRandomBloke 0:63a8594a3866 70 // reset magnetic sensor after too-large field
SomeRandomBloke 0:63a8594a3866 71 #define MAG_3110_MAG_RST 0x10
SomeRandomBloke 0:63a8594a3866 72
SomeRandomBloke 0:63a8594a3866 73 // DR_STATUS Register ZYXOW ZOW YOW XOW ZYXDR ZDR YDR XDR
SomeRandomBloke 0:63a8594a3866 74 #define MAG_3110_ZYXDR 0x08
SomeRandomBloke 0:63a8594a3866 75
SomeRandomBloke 0:63a8594a3866 76 class MAG3110
SomeRandomBloke 0:63a8594a3866 77 {
SomeRandomBloke 1:5a0e7a58d980 78 public:
SomeRandomBloke 1:5a0e7a58d980 79 /**
SomeRandomBloke 1:5a0e7a58d980 80 * MAG3110 constructor
SomeRandomBloke 1:5a0e7a58d980 81 * @param sda SDA pin
SomeRandomBloke 1:5a0e7a58d980 82 * @param sdl SCL pin
SomeRandomBloke 1:5a0e7a58d980 83 * @param addr addr of the I2C peripheral
SomeRandomBloke 1:5a0e7a58d980 84 */
SomeRandomBloke 1:5a0e7a58d980 85 MAG3110(PinName sda, PinName scl);
SomeRandomBloke 1:5a0e7a58d980 86 /**
SomeRandomBloke 1:5a0e7a58d980 87 * MAG3110 constructor
SomeRandomBloke 1:5a0e7a58d980 88 * @param sda SDA pin
SomeRandomBloke 1:5a0e7a58d980 89 * @param sdl SCL pin
SomeRandomBloke 1:5a0e7a58d980 90 * @param addr addr of the I2C peripheral
SomeRandomBloke 1:5a0e7a58d980 91 * @param pc serial port object to output debug messages
SomeRandomBloke 1:5a0e7a58d980 92 */
SomeRandomBloke 1:5a0e7a58d980 93 MAG3110(PinName sda, PinName scl, Serial *pc); //pass serial for debug
SomeRandomBloke 1:5a0e7a58d980 94 /**
SomeRandomBloke 1:5a0e7a58d980 95 * Setup the Magnetometer
SomeRandomBloke 1:5a0e7a58d980 96 *
SomeRandomBloke 1:5a0e7a58d980 97 */
SomeRandomBloke 1:5a0e7a58d980 98 void begin();
SomeRandomBloke 1:5a0e7a58d980 99 /**
SomeRandomBloke 1:5a0e7a58d980 100 * Read a register, return its value as int
SomeRandomBloke 1:5a0e7a58d980 101 * @param regAddr The address to read
SomeRandomBloke 1:5a0e7a58d980 102 * @return value in register
SomeRandomBloke 1:5a0e7a58d980 103 */
SomeRandomBloke 1:5a0e7a58d980 104 int readReg(char regAddr);
SomeRandomBloke 1:5a0e7a58d980 105 /**
SomeRandomBloke 1:5a0e7a58d980 106 * Read a value from a pair of registers, return as int
SomeRandomBloke 1:5a0e7a58d980 107 * @param regAddr The address to read
SomeRandomBloke 1:5a0e7a58d980 108 * @return Value from 2 consecutive registers
SomeRandomBloke 1:5a0e7a58d980 109 */
SomeRandomBloke 1:5a0e7a58d980 110 int readVal(char regAddr);
SomeRandomBloke 1:5a0e7a58d980 111 /**
SomeRandomBloke 1:5a0e7a58d980 112 * Calculate the heading
SomeRandomBloke 1:5a0e7a58d980 113 * @return heading in degrees
SomeRandomBloke 1:5a0e7a58d980 114 */
SomeRandomBloke 1:5a0e7a58d980 115 float getHeading();
SomeRandomBloke 1:5a0e7a58d980 116 /**
SomeRandomBloke 1:5a0e7a58d980 117 * Perform a read on the X, Y and Z values.
SomeRandomBloke 1:5a0e7a58d980 118 * @param xVal Pointer to X value
SomeRandomBloke 1:5a0e7a58d980 119 * @param yVal Pointer to Y value
SomeRandomBloke 1:5a0e7a58d980 120 * @param zVal Pointer to Z value
SomeRandomBloke 1:5a0e7a58d980 121 */
SomeRandomBloke 1:5a0e7a58d980 122 void getValues(int *xVal, int *yVal, int *zVal);
SomeRandomBloke 1:5a0e7a58d980 123 /**
SomeRandomBloke 1:5a0e7a58d980 124 * Set the calibration parameters if required.
SomeRandomBloke 1:5a0e7a58d980 125 * @param minX Minimum value for X range
SomeRandomBloke 1:5a0e7a58d980 126 * @param maxX Maximum value for X range
SomeRandomBloke 1:5a0e7a58d980 127 * @param minY Minimum value for Y range
SomeRandomBloke 1:5a0e7a58d980 128 * @param maxY maximum value for Y range
SomeRandomBloke 1:5a0e7a58d980 129 */
SomeRandomBloke 1:5a0e7a58d980 130 void setCalibration(int minX, int maxX, int minY, int maxY);
SomeRandomBloke 2:fb8024297377 131
SomeRandomBloke 2:fb8024297377 132 private:
SomeRandomBloke 2:fb8024297377 133 int _i2c_address;
SomeRandomBloke 2:fb8024297377 134 I2C _i2c;
SomeRandomBloke 2:fb8024297377 135 Serial *_pc;
SomeRandomBloke 2:fb8024297377 136 bool _debug;
SomeRandomBloke 2:fb8024297377 137 int _avgX, _avgY;
SomeRandomBloke 2:fb8024297377 138
SomeRandomBloke 0:63a8594a3866 139 };
SomeRandomBloke 1:5a0e7a58d980 140 #endif