Shaojie Wang / Useless

totally useless

Dependents:   Final_Homework1 ee202Homework1 EE202A_Homework1

Fork of MAG3110 by Andrew Lindsay

MAG3110.cpp@5:34cf17e4dbf5, 2014-02-08 (annotated)

Committer:
bmdlh
Date:
Sat Feb 08 22:18:07 2014 +0000
Revision:
5:34cf17e4dbf5
Parent:
1:5a0e7a58d980 
useless

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 ******************************************************************************/
bmdlh 5:34cf17e4dbf5 8 MAG3110::MAG3110(PinName sda, PinName scl,float dateRate, int overSample): _i2c(sda, scl),
bmdlh 5:34cf17e4dbf5 9 _i2c_address(0x0E<<1), _pc(NULL), _debug(false)
bmdlh 5:34cf17e4dbf5 10 {
bmdlh 5:34cf17e4dbf5 11 Setdr(dateRate);
bmdlh 5:34cf17e4dbf5 12 Setosr(overSample);
bmdlh 5:34cf17e4dbf5 13 begin();
bmdlh 5:34cf17e4dbf5 14 }
bmdlh 5:34cf17e4dbf5 15
SomeRandomBloke 1:5a0e7a58d980 16 MAG3110::MAG3110(PinName sda, PinName scl): _i2c(sda, scl),
bmdlh 5:34cf17e4dbf5 17 _i2c_address(0x0E<<1), _pc(NULL), _debug(false),dr(MAG_3110_SAMPLE80),osr(MAG_3110_OVERSAMPLE2)
SomeRandomBloke 0:63a8594a3866 18 {
SomeRandomBloke 1:5a0e7a58d980 19 begin();
SomeRandomBloke 1:5a0e7a58d980 20 }
SomeRandomBloke 0:63a8594a3866 21
SomeRandomBloke 1:5a0e7a58d980 22 MAG3110::MAG3110(PinName sda, PinName scl, Serial *pc): _i2c(sda, scl),
bmdlh 5:34cf17e4dbf5 23 _i2c_address(0x0E<<1), _pc(pc), _debug(true),dr(MAG_3110_SAMPLE80),osr(MAG_3110_OVERSAMPLE2)
SomeRandomBloke 1:5a0e7a58d980 24 {
SomeRandomBloke 1:5a0e7a58d980 25 begin();
SomeRandomBloke 0:63a8594a3866 26 }
SomeRandomBloke 0:63a8594a3866 27
SomeRandomBloke 1:5a0e7a58d980 28 void MAG3110::begin()
SomeRandomBloke 0:63a8594a3866 29 {
bmdlh 5:34cf17e4dbf5 30
SomeRandomBloke 1:5a0e7a58d980 31 char cmd[2];
SomeRandomBloke 0:63a8594a3866 32
SomeRandomBloke 1:5a0e7a58d980 33 cmd[0] = MAG_CTRL_REG2;
SomeRandomBloke 1:5a0e7a58d980 34 cmd[1] = 0x80;
SomeRandomBloke 1:5a0e7a58d980 35 _i2c.write(_i2c_address, cmd, 2);
SomeRandomBloke 1:5a0e7a58d980 36
SomeRandomBloke 1:5a0e7a58d980 37 cmd[0] = MAG_CTRL_REG1;
bmdlh 5:34cf17e4dbf5 38 // cmd[1] = MAG_3110_SAMPLE80+MAG_3110_OVERSAMPLE2+MAG_3110_ACTIVE;
bmdlh 5:34cf17e4dbf5 39 cmd[1] = dr+osr+MAG_3110_ACTIVE;
SomeRandomBloke 1:5a0e7a58d980 40 _i2c.write(_i2c_address, cmd, 2);
SomeRandomBloke 1:5a0e7a58d980 41
SomeRandomBloke 1:5a0e7a58d980 42 // No adjustment initially
SomeRandomBloke 1:5a0e7a58d980 43 _avgX = 0;
SomeRandomBloke 1:5a0e7a58d980 44 _avgY = 0;
SomeRandomBloke 0:63a8594a3866 45 }
SomeRandomBloke 0:63a8594a3866 46
SomeRandomBloke 0:63a8594a3866 47 // Read a single byte form 8 bit register, return as int
SomeRandomBloke 0:63a8594a3866 48 int MAG3110::readReg(char regAddr)
SomeRandomBloke 0:63a8594a3866 49 {
SomeRandomBloke 0:63a8594a3866 50 char cmd[1];
SomeRandomBloke 0:63a8594a3866 51
SomeRandomBloke 0:63a8594a3866 52 cmd[0] = regAddr;
SomeRandomBloke 1:5a0e7a58d980 53 _i2c.write(_i2c_address, cmd, 1);
SomeRandomBloke 0:63a8594a3866 54
SomeRandomBloke 0:63a8594a3866 55 cmd[0] = 0x00;
SomeRandomBloke 1:5a0e7a58d980 56 _i2c.read(_i2c_address, cmd, 1);
SomeRandomBloke 0:63a8594a3866 57 return (int)( cmd[0]);
SomeRandomBloke 0:63a8594a3866 58 }
SomeRandomBloke 0:63a8594a3866 59
SomeRandomBloke 0:63a8594a3866 60
SomeRandomBloke 0:63a8594a3866 61 // read a register per, pass first reg value, reading 2 bytes increments register
SomeRandomBloke 0:63a8594a3866 62 // Reads MSB first then LSB
SomeRandomBloke 0:63a8594a3866 63 int MAG3110::readVal(char regAddr)
SomeRandomBloke 0:63a8594a3866 64 {
SomeRandomBloke 0:63a8594a3866 65 char cmd[2];
SomeRandomBloke 0:63a8594a3866 66
SomeRandomBloke 0:63a8594a3866 67 cmd[0] = regAddr;
SomeRandomBloke 1:5a0e7a58d980 68 _i2c.write(_i2c_address, cmd, 1);
SomeRandomBloke 0:63a8594a3866 69
SomeRandomBloke 0:63a8594a3866 70 cmd[0] = 0x00;
SomeRandomBloke 0:63a8594a3866 71 cmd[1] = 0x00;
SomeRandomBloke 1:5a0e7a58d980 72 _i2c.read(_i2c_address, cmd, 2);
SomeRandomBloke 0:63a8594a3866 73 return (int)( (cmd[1]|(cmd[0] << 8))); //concatenate the MSB and LSB
SomeRandomBloke 0:63a8594a3866 74 }
SomeRandomBloke 0:63a8594a3866 75
SomeRandomBloke 0:63a8594a3866 76
SomeRandomBloke 0:63a8594a3866 77 float MAG3110::getHeading()
SomeRandomBloke 0:63a8594a3866 78 {
SomeRandomBloke 0:63a8594a3866 79 int xVal = readVal(MAG_OUT_X_MSB);
SomeRandomBloke 0:63a8594a3866 80 int yVal = readVal(MAG_OUT_Y_MSB);
SomeRandomBloke 0:63a8594a3866 81 return (atan2((double)(yVal - _avgY),(double)(xVal - _avgX)))*180/PI;
SomeRandomBloke 0:63a8594a3866 82 }
SomeRandomBloke 0:63a8594a3866 83
SomeRandomBloke 0:63a8594a3866 84 void MAG3110::getValues(int *xVal, int *yVal, int *zVal)
SomeRandomBloke 0:63a8594a3866 85 {
SomeRandomBloke 0:63a8594a3866 86 *xVal = readVal(MAG_OUT_X_MSB);
SomeRandomBloke 0:63a8594a3866 87 *yVal = readVal(MAG_OUT_Y_MSB);
SomeRandomBloke 0:63a8594a3866 88 *zVal = readVal(MAG_OUT_Z_MSB);
SomeRandomBloke 0:63a8594a3866 89 }
SomeRandomBloke 0:63a8594a3866 90
SomeRandomBloke 0:63a8594a3866 91
SomeRandomBloke 0:63a8594a3866 92 void MAG3110::setCalibration(int minX, int maxX, int minY, int maxY )
SomeRandomBloke 0:63a8594a3866 93 {
SomeRandomBloke 0:63a8594a3866 94 _avgX=(maxX+minX)/2;
SomeRandomBloke 0:63a8594a3866 95 _avgY=(maxY+minY)/2;
SomeRandomBloke 0:63a8594a3866 96 }
SomeRandomBloke 0:63a8594a3866 97
bmdlh 5:34cf17e4dbf5 98 void MAG3110::Setdr(float dateRate)
bmdlh 5:34cf17e4dbf5 99 {
bmdlh 5:34cf17e4dbf5 100 if (dateRate==80)
bmdlh 5:34cf17e4dbf5 101 dr=MAG_3110_SAMPLE80;
bmdlh 5:34cf17e4dbf5 102 else if(dateRate==40)
bmdlh 5:34cf17e4dbf5 103 dr=MAG_3110_SAMPLE40;
bmdlh 5:34cf17e4dbf5 104 else if(dateRate==20)
bmdlh 5:34cf17e4dbf5 105 dr=MAG_3110_SAMPLE20;
bmdlh 5:34cf17e4dbf5 106 else if(dateRate==10)
bmdlh 5:34cf17e4dbf5 107 dr=MAG_3110_SAMPLE10;
bmdlh 5:34cf17e4dbf5 108 else if(dateRate==5)
bmdlh 5:34cf17e4dbf5 109 dr=MAG_3110_SAMPLE5;
bmdlh 5:34cf17e4dbf5 110 else if(dateRate==2.5)
bmdlh 5:34cf17e4dbf5 111 dr=MAG_3110_SAMPLE2_5;
bmdlh 5:34cf17e4dbf5 112 else if(dateRate==1.25)
bmdlh 5:34cf17e4dbf5 113 dr=MAG_3110_SAMPLE1_25;
bmdlh 5:34cf17e4dbf5 114 else if(dateRate==0.625)
bmdlh 5:34cf17e4dbf5 115 dr=MAG_3110_SAMPLE0_625;
bmdlh 5:34cf17e4dbf5 116 else
bmdlh 5:34cf17e4dbf5 117 dr=MAG_3110_SAMPLE80;
bmdlh 5:34cf17e4dbf5 118 }
SomeRandomBloke 0:63a8594a3866 119
bmdlh 5:34cf17e4dbf5 120 void MAG3110::Setosr(int overSample)
bmdlh 5:34cf17e4dbf5 121 {
bmdlh 5:34cf17e4dbf5 122 switch(overSample)
bmdlh 5:34cf17e4dbf5 123 {
bmdlh 5:34cf17e4dbf5 124 case 16:osr=MAG_3110_OVERSAMPLE1;break;
bmdlh 5:34cf17e4dbf5 125 case 32:osr=MAG_3110_OVERSAMPLE2;break;
bmdlh 5:34cf17e4dbf5 126 case 64:osr=MAG_3110_OVERSAMPLE3;break;
bmdlh 5:34cf17e4dbf5 127 case 128:osr=MAG_3110_OVERSAMPLE4;break;
bmdlh 5:34cf17e4dbf5 128 default:osr=MAG_3110_OVERSAMPLE2;break;
bmdlh 5:34cf17e4dbf5 129 }
bmdlh 5:34cf17e4dbf5 130 }
SomeRandomBloke 0:63a8594a3866 131
bmdlh 5:34cf17e4dbf5 132 void MAG3110::Overwrite_dr_osr(float dateRate,int overSample)
bmdlh 5:34cf17e4dbf5 133 {
bmdlh 5:34cf17e4dbf5 134 char cmd[2];
bmdlh 5:34cf17e4dbf5 135 Setdr(dateRate);
bmdlh 5:34cf17e4dbf5 136 Setosr(overSample);
bmdlh 5:34cf17e4dbf5 137 cmd[0] = MAG_CTRL_REG1;
bmdlh 5:34cf17e4dbf5 138 cmd[1] = dr+osr+MAG_3110_ACTIVE;
bmdlh 5:34cf17e4dbf5 139 _i2c.write(_i2c_address, cmd, 2);
bmdlh 5:34cf17e4dbf5 140 }