Diff: MAG3110.h

Revision:

7:f246f14f8bd2

Parent:

6:1da3fe7b3510

--- 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