Revision 7:f246f14f8bd2, committed 2018-10-29

Comitter:

suntopbd

Date:

Mon Oct 29 19:00:45 2018 +0000

Parent:

6:1da3fe7b3510

Commit message:

none

Changed in this revision

--- 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;
 }
-*/
 
 
 
 
+

--- a/MAG3110.h	Fri May 16 18:19:17 2014 +0000
+++ b/MAG3110.h	Mon Oct 29 19:00:45 2018 +0000
@@ -7,7 +7,6 @@
 #define MAG3110_H
 
 #include "mbed.h"
-#include "MotionSensor.h"
 
 #define PI 3.14159265359
 
@@ -21,7 +20,7 @@
 #define MAG_OUT_Y_LSB 0x04
 #define MAG_OUT_Z_MSB 0x05
 #define MAG_OUT_Z_LSB 0x06
-#define MAG_WHOAMI  0x07
+#define MAG_WHO_AM_I  0x07
 #define MAG_SYSMOD    0x08
 #define MAG_OFF_X_MSB 0x09
 #define MAG_OFF_X_LSB 0x0A
@@ -78,7 +77,7 @@
  * MAG3110 Class to read X/Y/Z data from the magentometer
  *
  */
-class MAG3110 : public MotionSensor
+class MAG3110
 {
 public:
     /**
@@ -88,27 +87,58 @@
      * @param addr addr of the I2C peripheral
      */
     MAG3110(PinName sda, PinName scl);
+    /**
+     * Debug version of constructor
+     * @param sda SDA pin
+     * @param sdl SCL pin
+     * @param addr Address of the I2C peripheral
+     * @param pc Serial 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);
 
-    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);
+    I2C _i2c;
+    int _i2c_address;
+    Serial *_pc;
+    bool _debug;
+    int _avgX, _avgY;
 
 };
 #endif