MAG3110 library with calibrate operation included
Dependents: FRDM-KL46-Template AxedaGo-Freescal_FRDM-KL46Z revert AxedaGo-Freescal_FRDM-KL46Z HC-05_S2B_HelloWorld_WIZwiki-W7500_sensores
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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; +} + + + + +