modified version of MAG3110, include getX();getY();and getZ()
Fork of MAG3110 by
MAG3110.cpp
- Committer:
- aaronice
- Date:
- 2014-02-07
- Revision:
- 5:888035fbef65
- Parent:
- 1:5a0e7a58d980
- Child:
- 6:8f4028440d15
File content as of revision 5:888035fbef65:
#include "MAG3110.h" #include "mbed.h" /****************************************************************************** * Constructors ******************************************************************************/ MAG3110::MAG3110(PinName sda, PinName scl): _i2c(sda, scl), _i2c_address(0x0E<<1), _pc(NULL), _debug(false) { begin(); } MAG3110::MAG3110(PinName sda, PinName scl, Serial *pc): _i2c(sda, scl), _i2c_address(0x0E<<1), _pc(pc), _debug(true) { begin(); } 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); // No adjustment initially _avgX = 0; _avgY = 0; } // 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 } 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; }