Oliver Fang / MAG3110

Modified MAG3110 with individual X, Y, and Z sampling

Dependents:   test

Fork of MAG3110 by Andrew Lindsay

MAG3110.cpp@5:b81ec73cd601, 2014-02-02 (annotated)

Committer:
oliverfang
Date:
Sun Feb 02 22:06:36 2014 +0000
Revision:
5:b81ec73cd601
Parent:
1:5a0e7a58d980 
Accelerometer and Magnetometer data collection

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 ******************************************************************************/
SomeRandomBloke 1:5a0e7a58d980 8 MAG3110::MAG3110(PinName sda, PinName scl): _i2c(sda, scl),
SomeRandomBloke 1:5a0e7a58d980 9 _i2c_address(0x1D), _pc(NULL), _debug(false)
SomeRandomBloke 0:63a8594a3866 10 {
SomeRandomBloke 1:5a0e7a58d980 11 begin();
SomeRandomBloke 1:5a0e7a58d980 12 }
SomeRandomBloke 0:63a8594a3866 13
SomeRandomBloke 1:5a0e7a58d980 14 MAG3110::MAG3110(PinName sda, PinName scl, Serial *pc): _i2c(sda, scl),
SomeRandomBloke 1:5a0e7a58d980 15 _i2c_address(0x1D), _pc(pc), _debug(true)
SomeRandomBloke 1:5a0e7a58d980 16 {
SomeRandomBloke 1:5a0e7a58d980 17 begin();
SomeRandomBloke 0:63a8594a3866 18 }
SomeRandomBloke 0:63a8594a3866 19
SomeRandomBloke 1:5a0e7a58d980 20 void MAG3110::begin()
SomeRandomBloke 0:63a8594a3866 21 {
SomeRandomBloke 1:5a0e7a58d980 22 char cmd[2];
SomeRandomBloke 0:63a8594a3866 23
SomeRandomBloke 1:5a0e7a58d980 24 cmd[0] = MAG_CTRL_REG2;
SomeRandomBloke 1:5a0e7a58d980 25 cmd[1] = 0x80;
SomeRandomBloke 1:5a0e7a58d980 26 _i2c.write(_i2c_address, cmd, 2);
SomeRandomBloke 1:5a0e7a58d980 27
SomeRandomBloke 1:5a0e7a58d980 28 cmd[0] = MAG_CTRL_REG1;
SomeRandomBloke 1:5a0e7a58d980 29 cmd[1] = MAG_3110_SAMPLE80+MAG_3110_OVERSAMPLE2+MAG_3110_ACTIVE;
SomeRandomBloke 1:5a0e7a58d980 30 _i2c.write(_i2c_address, cmd, 2);
SomeRandomBloke 1:5a0e7a58d980 31
SomeRandomBloke 1:5a0e7a58d980 32 // No adjustment initially
SomeRandomBloke 1:5a0e7a58d980 33 _avgX = 0;
SomeRandomBloke 1:5a0e7a58d980 34 _avgY = 0;
SomeRandomBloke 0:63a8594a3866 35 }
SomeRandomBloke 0:63a8594a3866 36
SomeRandomBloke 0:63a8594a3866 37 // Read a single byte form 8 bit register, return as int
SomeRandomBloke 0:63a8594a3866 38 int MAG3110::readReg(char regAddr)
SomeRandomBloke 0:63a8594a3866 39 {
SomeRandomBloke 0:63a8594a3866 40 char cmd[1];
SomeRandomBloke 0:63a8594a3866 41
SomeRandomBloke 0:63a8594a3866 42 cmd[0] = regAddr;
SomeRandomBloke 1:5a0e7a58d980 43 _i2c.write(_i2c_address, cmd, 1);
SomeRandomBloke 0:63a8594a3866 44
SomeRandomBloke 0:63a8594a3866 45 cmd[0] = 0x00;
SomeRandomBloke 1:5a0e7a58d980 46 _i2c.read(_i2c_address, cmd, 1);
SomeRandomBloke 0:63a8594a3866 47 return (int)( cmd[0]);
SomeRandomBloke 0:63a8594a3866 48 }
SomeRandomBloke 0:63a8594a3866 49
SomeRandomBloke 0:63a8594a3866 50
SomeRandomBloke 0:63a8594a3866 51 // read a register per, pass first reg value, reading 2 bytes increments register
SomeRandomBloke 0:63a8594a3866 52 // Reads MSB first then LSB
SomeRandomBloke 0:63a8594a3866 53 int MAG3110::readVal(char regAddr)
SomeRandomBloke 0:63a8594a3866 54 {
SomeRandomBloke 0:63a8594a3866 55 char cmd[2];
SomeRandomBloke 0:63a8594a3866 56
SomeRandomBloke 0:63a8594a3866 57 cmd[0] = regAddr;
SomeRandomBloke 1:5a0e7a58d980 58 _i2c.write(_i2c_address, cmd, 1);
SomeRandomBloke 0:63a8594a3866 59
SomeRandomBloke 0:63a8594a3866 60 cmd[0] = 0x00;
SomeRandomBloke 0:63a8594a3866 61 cmd[1] = 0x00;
SomeRandomBloke 1:5a0e7a58d980 62 _i2c.read(_i2c_address, cmd, 2);
SomeRandomBloke 0:63a8594a3866 63 return (int)( (cmd[1]|(cmd[0] << 8))); //concatenate the MSB and LSB
SomeRandomBloke 0:63a8594a3866 64 }
SomeRandomBloke 0:63a8594a3866 65
SomeRandomBloke 0:63a8594a3866 66
SomeRandomBloke 0:63a8594a3866 67 float MAG3110::getHeading()
SomeRandomBloke 0:63a8594a3866 68 {
SomeRandomBloke 0:63a8594a3866 69 int xVal = readVal(MAG_OUT_X_MSB);
SomeRandomBloke 0:63a8594a3866 70 int yVal = readVal(MAG_OUT_Y_MSB);
SomeRandomBloke 0:63a8594a3866 71 return (atan2((double)(yVal - _avgY),(double)(xVal - _avgX)))*180/PI;
SomeRandomBloke 0:63a8594a3866 72 }
SomeRandomBloke 0:63a8594a3866 73
oliverfang 5:b81ec73cd601 74 int MAG3110::getXVal()
oliverfang 5:b81ec73cd601 75 {
oliverfang 5:b81ec73cd601 76 return readVal(MAG_OUT_X_MSB);
oliverfang 5:b81ec73cd601 77 }
oliverfang 5:b81ec73cd601 78
oliverfang 5:b81ec73cd601 79 int MAG3110::getYVal()
oliverfang 5:b81ec73cd601 80 {
oliverfang 5:b81ec73cd601 81 return readVal(MAG_OUT_Y_MSB);
oliverfang 5:b81ec73cd601 82 }
oliverfang 5:b81ec73cd601 83
oliverfang 5:b81ec73cd601 84 int MAG3110::getZVal()
oliverfang 5:b81ec73cd601 85 {
oliverfang 5:b81ec73cd601 86 return readVal(MAG_OUT_Z_MSB);
oliverfang 5:b81ec73cd601 87 }
oliverfang 5:b81ec73cd601 88
SomeRandomBloke 0:63a8594a3866 89 void MAG3110::getValues(int *xVal, int *yVal, int *zVal)
SomeRandomBloke 0:63a8594a3866 90 {
SomeRandomBloke 0:63a8594a3866 91 *xVal = readVal(MAG_OUT_X_MSB);
SomeRandomBloke 0:63a8594a3866 92 *yVal = readVal(MAG_OUT_Y_MSB);
SomeRandomBloke 0:63a8594a3866 93 *zVal = readVal(MAG_OUT_Z_MSB);
SomeRandomBloke 0:63a8594a3866 94 }
SomeRandomBloke 0:63a8594a3866 95
SomeRandomBloke 0:63a8594a3866 96 void MAG3110::setCalibration(int minX, int maxX, int minY, int maxY )
SomeRandomBloke 0:63a8594a3866 97 {
SomeRandomBloke 0:63a8594a3866 98 _avgX=(maxX+minX)/2;
SomeRandomBloke 0:63a8594a3866 99 _avgY=(maxY+minY)/2;
SomeRandomBloke 0:63a8594a3866 100 }
SomeRandomBloke 0:63a8594a3866 101
SomeRandomBloke 0:63a8594a3866 102
SomeRandomBloke 0:63a8594a3866 103
SomeRandomBloke 0:63a8594a3866 104
SomeRandomBloke 0:63a8594a3866 105