Diff: MAG3110.cpp

Revision:

0:63a8594a3866

Child:

1:5a0e7a58d980

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MAG3110.cpp	Sun May 19 20:34:27 2013 +0000
@@ -0,0 +1,87 @@
+
+#include "MAG3110.h"
+#include "mbed.h"
+
+/******************************************************************************
+ * Constructors
+ ******************************************************************************/
+MAG3110::MAG3110(I2C *i2c):
+    _i2c_address(0x1D), _i2c(i2c),_pc(NULL), _debug(false)
+{
+
+}
+
+MAG3110::MAG3110(I2C *i2c, Serial *pc):
+    _i2c_address(0x1D), _i2c(i2c), _pc(pc), _debug(true)
+{
+
+}
+
+// Read a single byte form 8 bit register, return as int
+int MAG3110::readReg(char regAddr)
+{
+    char cmd[1];
+
+    cmd[0] = regAddr;
+    _i2c->write(_i2c_address, cmd, 1);
+
+    cmd[0] = 0x00;
+    _i2c->read(_i2c_address, 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(_i2c_address, cmd, 1);
+
+    cmd[0] = 0x00;
+    cmd[1] = 0x00;
+    _i2c->read(_i2c_address, cmd, 2);
+    return (int)( (cmd[1]|(cmd[0] << 8))); //concatenate the MSB and LSB
+}
+
+
+void MAG3110::begin()
+{
+    char cmd[2];
+
+    cmd[0] = MAG_CTRL_REG2;
+    cmd[1] = 0x80;
+    _i2c->write(_i2c_address, cmd, 2);
+
+    cmd[0] = MAG_CTRL_REG1;
+    cmd[1] = MAG_3110_SAMPLE80+MAG_3110_OVERSAMPLE2+MAG_3110_ACTIVE;
+    _i2c->write(_i2c_address, cmd, 2);
+}
+
+float MAG3110::getHeading()
+{
+    int xVal = readVal(MAG_OUT_X_MSB);
+    int yVal = readVal(MAG_OUT_Y_MSB);
+    return (atan2((double)(yVal - _avgY),(double)(xVal - _avgX)))*180/PI;
+}
+
+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(int minX, int maxX, int minY, int maxY )
+{
+    _avgX=(maxX+minX)/2;
+    _avgY=(maxY+minY)/2;
+}
+
+
+
+
+