Junaid Ahmed / Mbed 2 deprecated mbed_test_fastest_rate-bo

fastes

Dependencies:   mbed

Fork of mbed_test_fastest_rate by Bo-Jhang Ho

MAG3110/MAG3110.h@0:459f1731fa6a, 2014-02-03 (annotated)

Committer:
TimeString
Date:
Mon Feb 03 02:45:03 2014 +0000
Revision:
0:459f1731fa6a
fastest sampling rate for all sensors

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UserRevisionLine numberNew contents of line
TimeString 0:459f1731fa6a 1 /*
TimeString 0:459f1731fa6a 2 * MAG3110 Sensor Library for mbed
TimeString 0:459f1731fa6a 3 * TODO: Add proper header
TimeString 0:459f1731fa6a 4 */
TimeString 0:459f1731fa6a 5
TimeString 0:459f1731fa6a 6 #ifndef MAG3110_H
TimeString 0:459f1731fa6a 7 #define MAG3110_H
TimeString 0:459f1731fa6a 8
TimeString 0:459f1731fa6a 9 #include "mbed.h"
TimeString 0:459f1731fa6a 10
TimeString 0:459f1731fa6a 11 #define PI 3.14159265359
TimeString 0:459f1731fa6a 12
TimeString 0:459f1731fa6a 13 #define MAG_ADDR 0x1D
TimeString 0:459f1731fa6a 14
TimeString 0:459f1731fa6a 15 // define registers
TimeString 0:459f1731fa6a 16 #define MAG_DR_STATUS 0x00
TimeString 0:459f1731fa6a 17 #define MAG_OUT_X_MSB 0x01
TimeString 0:459f1731fa6a 18 #define MAG_OUT_X_LSB 0x02
TimeString 0:459f1731fa6a 19 #define MAG_OUT_Y_MSB 0x03
TimeString 0:459f1731fa6a 20 #define MAG_OUT_Y_LSB 0x04
TimeString 0:459f1731fa6a 21 #define MAG_OUT_Z_MSB 0x05
TimeString 0:459f1731fa6a 22 #define MAG_OUT_Z_LSB 0x06
TimeString 0:459f1731fa6a 23 #define MAG_WHO_AM_I 0x07
TimeString 0:459f1731fa6a 24 #define MAG_SYSMOD 0x08
TimeString 0:459f1731fa6a 25 #define MAG_OFF_X_MSB 0x09
TimeString 0:459f1731fa6a 26 #define MAG_OFF_X_LSB 0x0A
TimeString 0:459f1731fa6a 27 #define MAG_OFF_Y_MSB 0x0B
TimeString 0:459f1731fa6a 28 #define MAG_OFF_Y_LSB 0x0C
TimeString 0:459f1731fa6a 29 #define MAG_OFF_Z_MSB 0x0D
TimeString 0:459f1731fa6a 30 #define MAG_OFF_Z_LSB 0x0E
TimeString 0:459f1731fa6a 31 #define MAG_DIE_TEMP 0x0F
TimeString 0:459f1731fa6a 32 #define MAG_CTRL_REG1 0x10
TimeString 0:459f1731fa6a 33 #define MAG_CTRL_REG2 0x11
TimeString 0:459f1731fa6a 34
TimeString 0:459f1731fa6a 35 // what should WHO_AM_I return?
TimeString 0:459f1731fa6a 36 #define MAG_3110_WHO_AM_I_VALUE 0xC4
TimeString 0:459f1731fa6a 37
TimeString 0:459f1731fa6a 38
TimeString 0:459f1731fa6a 39 // Fields in registers
TimeString 0:459f1731fa6a 40 // CTRL_REG1: dr2,dr1,dr0 os1,os0 fr tm ac
TimeString 0:459f1731fa6a 41
TimeString 0:459f1731fa6a 42 // Sampling rate from 80Hz down to 0.625Hz
TimeString 0:459f1731fa6a 43 #define MAG_3110_SAMPLE80 0
TimeString 0:459f1731fa6a 44 #define MAG_3110_SAMPLE40 0x20
TimeString 0:459f1731fa6a 45 #define MAG_3110_SAMPLE20 0x40
TimeString 0:459f1731fa6a 46 #define MAG_3110_SAMPLE10 0x60
TimeString 0:459f1731fa6a 47 #define MAG_3110_SAMPLE5 0x80
TimeString 0:459f1731fa6a 48 #define MAG_3110_SAMPLE2_5 0xA0
TimeString 0:459f1731fa6a 49 #define MAG_3110_SAMPLE1_25 0xC0
TimeString 0:459f1731fa6a 50 #define MAG_3110_SAMPLE0_625 0xE0
TimeString 0:459f1731fa6a 51
TimeString 0:459f1731fa6a 52 // How many samples to average (lowers data rate)
TimeString 0:459f1731fa6a 53 #define MAG_3110_OVERSAMPLE1 0
TimeString 0:459f1731fa6a 54 #define MAG_3110_OVERSAMPLE2 0x08
TimeString 0:459f1731fa6a 55 #define MAG_3110_OVERSAMPLE3 0x10
TimeString 0:459f1731fa6a 56 #define MAG_3110_OVERSAMPLE4 0x18
TimeString 0:459f1731fa6a 57
TimeString 0:459f1731fa6a 58 // read only 1 byte per axis
TimeString 0:459f1731fa6a 59 #define MAG_3110_FASTREAD 0x04
TimeString 0:459f1731fa6a 60 // do one measurement (even if in standby mode)
TimeString 0:459f1731fa6a 61 #define MAG_3110_TRIGGER 0x02
TimeString 0:459f1731fa6a 62 // put in active mode
TimeString 0:459f1731fa6a 63 #define MAG_3110_ACTIVE 0x01
TimeString 0:459f1731fa6a 64
TimeString 0:459f1731fa6a 65 // CTRL_REG2: AUTO_MRST_EN _ RAW MAG_RST _ _ _ _ _
TimeString 0:459f1731fa6a 66 // reset sensor after each reading
TimeString 0:459f1731fa6a 67 #define MAG_3110_AUTO_MRST_EN 0x80
TimeString 0:459f1731fa6a 68 // don't subtract user offsets
TimeString 0:459f1731fa6a 69 #define MAG_3110_RAW 0x20
TimeString 0:459f1731fa6a 70 // reset magnetic sensor after too-large field
TimeString 0:459f1731fa6a 71 #define MAG_3110_MAG_RST 0x10
TimeString 0:459f1731fa6a 72
TimeString 0:459f1731fa6a 73 // DR_STATUS Register ZYXOW ZOW YOW XOW ZYXDR ZDR YDR XDR
TimeString 0:459f1731fa6a 74 #define MAG_3110_ZYXDR 0x08
TimeString 0:459f1731fa6a 75
TimeString 0:459f1731fa6a 76 /**
TimeString 0:459f1731fa6a 77 * MAG3110 Class to read X/Y/Z data from the magentometer
TimeString 0:459f1731fa6a 78 *
TimeString 0:459f1731fa6a 79 */
TimeString 0:459f1731fa6a 80 class MAG3110
TimeString 0:459f1731fa6a 81 {
TimeString 0:459f1731fa6a 82 public:
TimeString 0:459f1731fa6a 83 /**
TimeString 0:459f1731fa6a 84 * Main constructor
TimeString 0:459f1731fa6a 85 * @param sda SDA pin
TimeString 0:459f1731fa6a 86 * @param sdl SCL pin
TimeString 0:459f1731fa6a 87 * @param addr addr of the I2C peripheral
TimeString 0:459f1731fa6a 88 */
TimeString 0:459f1731fa6a 89 MAG3110(PinName sda, PinName scl, int addr);
TimeString 0:459f1731fa6a 90 /**
TimeString 0:459f1731fa6a 91 * Debug version of constructor
TimeString 0:459f1731fa6a 92 * @param sda SDA pin
TimeString 0:459f1731fa6a 93 * @param sdl SCL pin
TimeString 0:459f1731fa6a 94 * @param addr Address of the I2C peripheral
TimeString 0:459f1731fa6a 95 * @param pc Serial object to output debug messages
TimeString 0:459f1731fa6a 96 */
TimeString 0:459f1731fa6a 97 MAG3110(PinName sda, PinName scl, Serial *pc); //pass serial for debug
TimeString 0:459f1731fa6a 98 /**
TimeString 0:459f1731fa6a 99 * Setup the Magnetometer
TimeString 0:459f1731fa6a 100 *
TimeString 0:459f1731fa6a 101 */
TimeString 0:459f1731fa6a 102 void begin();
TimeString 0:459f1731fa6a 103 /**
TimeString 0:459f1731fa6a 104 * Read a register, return its value as int
TimeString 0:459f1731fa6a 105 * @param regAddr The address to read
TimeString 0:459f1731fa6a 106 * @return value in register
TimeString 0:459f1731fa6a 107 */
TimeString 0:459f1731fa6a 108 int readReg(char regAddr);
TimeString 0:459f1731fa6a 109 /**
TimeString 0:459f1731fa6a 110 * Read a value from a pair of registers, return as int
TimeString 0:459f1731fa6a 111 * @param regAddr The address to read
TimeString 0:459f1731fa6a 112 * @return Value from 2 consecutive registers
TimeString 0:459f1731fa6a 113 */
TimeString 0:459f1731fa6a 114 int readVal(char regAddr);
TimeString 0:459f1731fa6a 115 /**
TimeString 0:459f1731fa6a 116 * Calculate the heading
TimeString 0:459f1731fa6a 117 * @return heading in degrees
TimeString 0:459f1731fa6a 118 */
TimeString 0:459f1731fa6a 119 float getHeading();
TimeString 0:459f1731fa6a 120 /**
TimeString 0:459f1731fa6a 121 * Perform a read on the X, Y and Z values.
TimeString 0:459f1731fa6a 122 * @param xVal Pointer to X value
TimeString 0:459f1731fa6a 123 * @param yVal Pointer to Y value
TimeString 0:459f1731fa6a 124 * @param zVal Pointer to Z value
TimeString 0:459f1731fa6a 125 */
TimeString 0:459f1731fa6a 126 void getValues(int *xVal, int *yVal, int *zVal);
TimeString 0:459f1731fa6a 127 /**
TimeString 0:459f1731fa6a 128 * Set the calibration parameters if required.
TimeString 0:459f1731fa6a 129 * @param minX Minimum value for X range
TimeString 0:459f1731fa6a 130 * @param maxX Maximum value for X range
TimeString 0:459f1731fa6a 131 * @param minY Minimum value for Y range
TimeString 0:459f1731fa6a 132 * @param maxY maximum value for Y range
TimeString 0:459f1731fa6a 133 */
TimeString 0:459f1731fa6a 134 void setCalibration(int minX, int maxX, int minY, int maxY);
TimeString 0:459f1731fa6a 135
TimeString 0:459f1731fa6a 136 private:
TimeString 0:459f1731fa6a 137 I2C _i2c;
TimeString 0:459f1731fa6a 138 int _i2c_address;
TimeString 0:459f1731fa6a 139 Serial *_pc;
TimeString 0:459f1731fa6a 140 bool _debug;
TimeString 0:459f1731fa6a 141 int _avgX, _avgY;
TimeString 0:459f1731fa6a 142
TimeString 0:459f1731fa6a 143 };
TimeString 0:459f1731fa6a 144 #endif