used with BBC microbit
Fork of MAG3110 by
Diff: MAG3110.cpp
- Revision:
- 7:f246f14f8bd2
- Parent:
- 6:1da3fe7b3510
diff -r 1da3fe7b3510 -r f246f14f8bd2 MAG3110.cpp --- a/MAG3110.cpp Fri May 16 18:19:17 2014 +0000 +++ b/MAG3110.cpp Mon Oct 29 19:00:45 2018 +0000 @@ -1,151 +1,66 @@ #include "MAG3110.h" #include "mbed.h" -#include "MotionSensor.h" /****************************************************************************** * Constructors ******************************************************************************/ -MAG3110::MAG3110(PinName sda, PinName scl): m_i2c(sda, scl), - m_addr(0x1d) +MAG3110::MAG3110(PinName sda, PinName scl): _i2c(sda, scl), + _i2c_address(0x1D), _pc(NULL), _debug(false) +{ + begin(); +} + +MAG3110::MAG3110(PinName sda, PinName scl, Serial *pc): _i2c(sda, scl), + _i2c_address(0x1D), _pc(pc), _debug(true) +{ + begin(); +} + +void MAG3110::begin() { char cmd[2]; cmd[0] = MAG_CTRL_REG2; cmd[1] = 0x80; - m_i2c.write(m_addr, cmd, 2); - -} + _i2c.write(_i2c_address, cmd, 2); -void MAG3110::enable(void) { - uint8_t data[2]; - readRegs( MAG_CTRL_REG1, &data[1], 1); - data[1] |= 0x01; - data[0] = MAG_CTRL_REG1; - writeRegs(data, 2); + cmd[0] = MAG_CTRL_REG1; + cmd[1] = MAG_3110_SAMPLE80+MAG_3110_OVERSAMPLE2+MAG_3110_ACTIVE; + _i2c.write(_i2c_address, cmd, 2); + + // No adjustment initially + _avgX = 0; + _avgY = 0; } - -void MAG3110::disable(void) { - uint8_t data[2]; - readRegs( MAG_CTRL_REG1, &data[1], 1); - data[1] &= 0xFE; - data[0] = MAG_CTRL_REG1; - writeRegs(data, 2); -} - - -void MAG3110::readRegs(int addr, uint8_t * data, int len) +// Read a single byte form 8 bit register, return as int +int MAG3110::readReg(char regAddr) { char cmd[1]; - cmd[0] = addr; - m_i2c.write( m_addr, cmd, 1, true); - m_i2c.read( m_addr, (char *) data, len); - return; -} - - -void MAG3110::writeRegs(uint8_t * data, int len) { - m_i2c.write(m_addr, (char *)data, len); -} - - -uint32_t MAG3110::whoAmI() { - uint8_t who_am_i = 0; - readRegs(MAG_WHOAMI, &who_am_i, 1); - return (uint32_t) who_am_i; -} + cmd[0] = regAddr; + _i2c.write(_i2c_address, cmd, 1); -uint32_t MAG3110::dataReady(void) { - uint8_t stat = 0; - readRegs(MAG_DR_STATUS, &stat, 1); - return (uint32_t) stat; -} - -uint32_t MAG3110::sampleRate(uint32_t f) { - return(50); // for now sample rate is fixed at 50Hz -} - - -void MAG3110::getX(float * x) { - *x = (float(getMagAxis(MAG_OUT_X_MSB)) * 0.1f); -} - -void MAG3110::getY(float * y) { - *y = (float(getMagAxis(MAG_OUT_Y_MSB)) * 0.1f); -} - -void MAG3110::getZ(float * z) { - *z = (float(getMagAxis(MAG_OUT_Z_MSB)) * 0.1f); + cmd[0] = 0x00; + _i2c.read(_i2c_address, cmd, 1); + return (int)( cmd[0]); } -void MAG3110::getX(int16_t * d) { - *d = getMagAxis(MAG_OUT_X_MSB); -} - -void MAG3110::getY(int16_t * d) { - *d = getMagAxis(MAG_OUT_Y_MSB); -} - -void MAG3110::getZ(int16_t * d) { - *d = getMagAxis(MAG_OUT_Z_MSB); -} - -int16_t MAG3110::getMagAxis(uint8_t addr) { - int16_t acc; - uint8_t res[2]; - readRegs(addr, res, 2); - - acc = (res[0] << 8) | res[1]; - - return acc; -} - - -void MAG3110::getAxis(MotionSensorDataUnits &data) { - int16_t t[3]; - uint8_t res[6]; - - readRegs(MAG_OUT_X_MSB, res, 6); - t[0] = (res[0] << 8) | res[1]; - t[1] = (res[2] << 8) | res[3]; - t[2] = (res[4] << 8) | res[5]; - data.x = ((float) t[0]) * 0.1f; - data.y = ((float) t[1]) * 0.1f; - data.z = ((float) t[2]) * 0.1f; -} - - -void MAG3110::getAxis(MotionSensorDataCounts &data) { - - uint8_t res[6]; - readRegs(MAG_OUT_X_MSB, res, 6); - - data.x = (res[0] << 8) | res[1]; - data.y = (res[2] << 8) | res[3]; - data.z = (res[4] << 8) | res[5]; -} -/* // 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]; - int16_t t; + cmd[0] = regAddr; - if(_i2c.write(m_addr, cmd, 1)) { - printf("MAG3110 write error\r\n"); - _i2c.stop(); - _i2c.start(); - } + _i2c.write(_i2c_address, cmd, 1); cmd[0] = 0x00; cmd[1] = 0x00; - _i2c.read(m_addr, cmd, 2); - t = (cmd[0] * 256) + (unsigned short) cmd[1]; - return ((int) t); //concatenate the MSB and LSB + _i2c.read(_i2c_address, cmd, 2); + return (int)( (cmd[1]|(cmd[0] << 8))); //concatenate the MSB and LSB } @@ -163,32 +78,14 @@ *zVal = readVal(MAG_OUT_Z_MSB); } -void MAG3110::ReadXYZ(float * mag) -{ - int x, y, z; - x = readVal(MAG_OUT_X_MSB); - y = readVal(MAG_OUT_Y_MSB); - z = readVal(MAG_OUT_Z_MSB); - mag[0] = (float) x / 10.0; - mag[1] = (float) y / 10.0; - mag[2] = (float) z / 10.0; - -} - -void MAG3110::ReadXYZraw(int16_t * mag_raw) -{ - mag_raw[0] = readVal(MAG_OUT_X_MSB); - mag_raw[1] = readVal(MAG_OUT_Y_MSB); - mag_raw[2] = readVal(MAG_OUT_Z_MSB); -} void MAG3110::setCalibration(int minX, int maxX, int minY, int maxY ) { _avgX=(maxX+minX)/2; _avgY=(maxY+minY)/2; } -*/ +