File content as of revision 6:1da3fe7b3510:

/*
 * MAG3110 Sensor Library for mbed
 * TODO: Add proper header
 */

#ifndef MAG3110_H
#define MAG3110_H

#include "mbed.h"
#include "MotionSensor.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_WHOAMI  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

/**
 * MAG3110 Class to read X/Y/Z data from the magentometer
 *
 */
class MAG3110 : public MotionSensor
{
public:
    /**
     * Main constructor
     * @param sda SDA pin
     * @param sdl SCL pin
     * @param addr addr of the I2C peripheral
     */
    MAG3110(PinName sda, PinName scl);

    void enable(void);
    void disable(void);
    uint32_t sampleRate(uint32_t fequency);
    uint32_t whoAmI(void);
    uint32_t dataReady(void);
    void getX(int16_t * x);
    void getY(int16_t * y);
    void getZ(int16_t * z);
    void getX(float * x);
    void getY(float * y);
    void getZ(float * z);
    void getAxis(MotionSensorDataCounts &data);
    void getAxis(MotionSensorDataUnits &data);
    void readRegs(int addr, uint8_t * data, int len);
  
private:
  I2C m_i2c;
  char m_addr;
  int16_t getMagAxis(uint8_t addr);
  void writeRegs(uint8_t * data, int len);

};
#endif