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
Fork of MAG3110 by
MAG3110.h
- Committer:
- SomeRandomBloke
- Date:
- 2013-05-24
- Revision:
- 2:fb8024297377
- Parent:
- 1:5a0e7a58d980
- Child:
- 3:bc784c24f3b2
File content as of revision 2:fb8024297377:
/* * MAG3110 Sensor Library for mbed * TODO: Add proper header */ #ifndef MAG3110_H #define MAG3110_H #include "mbed.h" #define PI 3.14159265359 #define MAG_ADDR 0x1D // define registers #define MAG_DR_STATUS 0x00 #define MAG_OUT_X_MSB 0x01 #define MAG_OUT_X_LSB 0x02 #define MAG_OUT_Y_MSB 0x03 #define MAG_OUT_Y_LSB 0x04 #define MAG_OUT_Z_MSB 0x05 #define MAG_OUT_Z_LSB 0x06 #define MAG_WHO_AM_I 0x07 #define MAG_SYSMOD 0x08 #define MAG_OFF_X_MSB 0x09 #define MAG_OFF_X_LSB 0x0A #define MAG_OFF_Y_MSB 0x0B #define MAG_OFF_Y_LSB 0x0C #define MAG_OFF_Z_MSB 0x0D #define MAG_OFF_Z_LSB 0x0E #define MAG_DIE_TEMP 0x0F #define MAG_CTRL_REG1 0x10 #define MAG_CTRL_REG2 0x11 // what should WHO_AM_I return? #define MAG_3110_WHO_AM_I_VALUE 0xC4 // Fields in registers // CTRL_REG1: dr2,dr1,dr0 os1,os0 fr tm ac // Sampling rate from 80Hz down to 0.625Hz #define MAG_3110_SAMPLE80 0 #define MAG_3110_SAMPLE40 0x20 #define MAG_3110_SAMPLE20 0x40 #define MAG_3110_SAMPLE10 0x60 #define MAG_3110_SAMPLE5 0x80 #define MAG_3110_SAMPLE2_5 0xA0 #define MAG_3110_SAMPLE1_25 0xC0 #define MAG_3110_SAMPLE0_625 0xE0 // How many samples to average (lowers data rate) #define MAG_3110_OVERSAMPLE1 0 #define MAG_3110_OVERSAMPLE2 0x08 #define MAG_3110_OVERSAMPLE3 0x10 #define MAG_3110_OVERSAMPLE4 0x18 // read only 1 byte per axis #define MAG_3110_FASTREAD 0x04 // do one measurement (even if in standby mode) #define MAG_3110_TRIGGER 0x02 // put in active mode #define MAG_3110_ACTIVE 0x01 // CTRL_REG2: AUTO_MRST_EN _ RAW MAG_RST _ _ _ _ _ // reset sensor after each reading #define MAG_3110_AUTO_MRST_EN 0x80 // don't subtract user offsets #define MAG_3110_RAW 0x20 // reset magnetic sensor after too-large field #define MAG_3110_MAG_RST 0x10 // DR_STATUS Register ZYXOW ZOW YOW XOW ZYXDR ZDR YDR XDR #define MAG_3110_ZYXDR 0x08 class MAG3110 { public: /** * MAG3110 constructor * @param sda SDA pin * @param sdl SCL pin * @param addr addr of the I2C peripheral */ MAG3110(PinName sda, PinName scl); /** * MAG3110 constructor * @param sda SDA pin * @param sdl SCL pin * @param addr addr of the I2C peripheral * @param pc serial port object to output debug messages */ MAG3110(PinName sda, PinName scl, Serial *pc); //pass serial for debug /** * Setup the Magnetometer * */ void begin(); /** * Read a register, return its value as int * @param regAddr The address to read * @return value in register */ int readReg(char regAddr); /** * Read a value from a pair of registers, return as int * @param regAddr The address to read * @return Value from 2 consecutive registers */ int readVal(char regAddr); /** * Calculate the heading * @return heading in degrees */ float getHeading(); /** * Perform a read on the X, Y and Z values. * @param xVal Pointer to X value * @param yVal Pointer to Y value * @param zVal Pointer to Z value */ void getValues(int *xVal, int *yVal, int *zVal); /** * Set the calibration parameters if required. * @param minX Minimum value for X range * @param maxX Maximum value for X range * @param minY Minimum value for Y range * @param maxY maximum value for Y range */ void setCalibration(int minX, int maxX, int minY, int maxY); private: int _i2c_address; I2C _i2c; Serial *_pc; bool _debug; int _avgX, _avgY; }; #endif