Sensor reporting over USB CDC
Dependencies: MAG3110 MMA8451Q SLCD- TSI USBDevice mbed
MAG3110/MAG3110.cpp@0:7b58cdacf811, 2014-04-16 (annotated)
- Committer:
- wue
- Date:
- Wed Apr 16 12:20:12 2014 +0000
- Revision:
- 0:7b58cdacf811
Sensor reporting over USB CDC
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
wue | 0:7b58cdacf811 | 1 | |
wue | 0:7b58cdacf811 | 2 | #include "MAG3110.h" |
wue | 0:7b58cdacf811 | 3 | #include "mbed.h" |
wue | 0:7b58cdacf811 | 4 | |
wue | 0:7b58cdacf811 | 5 | /****************************************************************************** |
wue | 0:7b58cdacf811 | 6 | * Constructors |
wue | 0:7b58cdacf811 | 7 | ******************************************************************************/ |
wue | 0:7b58cdacf811 | 8 | MAG3110::MAG3110(PinName sda, PinName scl): _i2c(sda, scl), |
wue | 0:7b58cdacf811 | 9 | _i2c_address(0x1D), _pc(NULL), _debug(false) |
wue | 0:7b58cdacf811 | 10 | { |
wue | 0:7b58cdacf811 | 11 | begin(); |
wue | 0:7b58cdacf811 | 12 | } |
wue | 0:7b58cdacf811 | 13 | |
wue | 0:7b58cdacf811 | 14 | MAG3110::MAG3110(PinName sda, PinName scl, Serial *pc): _i2c(sda, scl), |
wue | 0:7b58cdacf811 | 15 | _i2c_address(0x1D), _pc(pc), _debug(true) |
wue | 0:7b58cdacf811 | 16 | { |
wue | 0:7b58cdacf811 | 17 | begin(); |
wue | 0:7b58cdacf811 | 18 | } |
wue | 0:7b58cdacf811 | 19 | |
wue | 0:7b58cdacf811 | 20 | void MAG3110::begin() |
wue | 0:7b58cdacf811 | 21 | { |
wue | 0:7b58cdacf811 | 22 | char cmd[2]; |
wue | 0:7b58cdacf811 | 23 | |
wue | 0:7b58cdacf811 | 24 | cmd[0] = MAG_CTRL_REG2; |
wue | 0:7b58cdacf811 | 25 | cmd[1] = 0x80; |
wue | 0:7b58cdacf811 | 26 | _i2c.write(_i2c_address, cmd, 2); |
wue | 0:7b58cdacf811 | 27 | |
wue | 0:7b58cdacf811 | 28 | cmd[0] = MAG_CTRL_REG1; |
wue | 0:7b58cdacf811 | 29 | cmd[1] = MAG_3110_SAMPLE80+MAG_3110_OVERSAMPLE2+MAG_3110_ACTIVE; |
wue | 0:7b58cdacf811 | 30 | _i2c.write(_i2c_address, cmd, 2); |
wue | 0:7b58cdacf811 | 31 | |
wue | 0:7b58cdacf811 | 32 | // No adjustment initially |
wue | 0:7b58cdacf811 | 33 | _avgX = 0; |
wue | 0:7b58cdacf811 | 34 | _avgY = 0; |
wue | 0:7b58cdacf811 | 35 | } |
wue | 0:7b58cdacf811 | 36 | |
wue | 0:7b58cdacf811 | 37 | // Read a single byte form 8 bit register, return as int |
wue | 0:7b58cdacf811 | 38 | int MAG3110::readReg(char regAddr) |
wue | 0:7b58cdacf811 | 39 | { |
wue | 0:7b58cdacf811 | 40 | char cmd[1]; |
wue | 0:7b58cdacf811 | 41 | |
wue | 0:7b58cdacf811 | 42 | cmd[0] = regAddr; |
wue | 0:7b58cdacf811 | 43 | _i2c.write(_i2c_address, cmd, 1); |
wue | 0:7b58cdacf811 | 44 | |
wue | 0:7b58cdacf811 | 45 | cmd[0] = 0x00; |
wue | 0:7b58cdacf811 | 46 | _i2c.read(_i2c_address, cmd, 1); |
wue | 0:7b58cdacf811 | 47 | return (int)( cmd[0]); |
wue | 0:7b58cdacf811 | 48 | } |
wue | 0:7b58cdacf811 | 49 | |
wue | 0:7b58cdacf811 | 50 | |
wue | 0:7b58cdacf811 | 51 | // read a register per, pass first reg value, reading 2 bytes increments register |
wue | 0:7b58cdacf811 | 52 | // Reads MSB first then LSB |
wue | 0:7b58cdacf811 | 53 | int MAG3110::readVal(char regAddr) |
wue | 0:7b58cdacf811 | 54 | { |
wue | 0:7b58cdacf811 | 55 | char cmd[2]; |
wue | 0:7b58cdacf811 | 56 | |
wue | 0:7b58cdacf811 | 57 | cmd[0] = regAddr; |
wue | 0:7b58cdacf811 | 58 | _i2c.write(_i2c_address, cmd, 1); |
wue | 0:7b58cdacf811 | 59 | |
wue | 0:7b58cdacf811 | 60 | cmd[0] = 0x00; |
wue | 0:7b58cdacf811 | 61 | cmd[1] = 0x00; |
wue | 0:7b58cdacf811 | 62 | _i2c.read(_i2c_address, cmd, 2); |
wue | 0:7b58cdacf811 | 63 | return (int)( (cmd[1]|(cmd[0] << 8))); //concatenate the MSB and LSB |
wue | 0:7b58cdacf811 | 64 | } |
wue | 0:7b58cdacf811 | 65 | |
wue | 0:7b58cdacf811 | 66 | |
wue | 0:7b58cdacf811 | 67 | float MAG3110::getHeading() |
wue | 0:7b58cdacf811 | 68 | { |
wue | 0:7b58cdacf811 | 69 | int xVal = readVal(MAG_OUT_X_MSB); |
wue | 0:7b58cdacf811 | 70 | int yVal = readVal(MAG_OUT_Y_MSB); |
wue | 0:7b58cdacf811 | 71 | return (atan2((double)(yVal - _avgY),(double)(xVal - _avgX)))*180/PI; |
wue | 0:7b58cdacf811 | 72 | } |
wue | 0:7b58cdacf811 | 73 | |
wue | 0:7b58cdacf811 | 74 | void MAG3110::getValues(int *xVal, int *yVal, int *zVal) |
wue | 0:7b58cdacf811 | 75 | { |
wue | 0:7b58cdacf811 | 76 | *xVal = readVal(MAG_OUT_X_MSB); |
wue | 0:7b58cdacf811 | 77 | *yVal = readVal(MAG_OUT_Y_MSB); |
wue | 0:7b58cdacf811 | 78 | *zVal = readVal(MAG_OUT_Z_MSB); |
wue | 0:7b58cdacf811 | 79 | } |
wue | 0:7b58cdacf811 | 80 | |
wue | 0:7b58cdacf811 | 81 | |
wue | 0:7b58cdacf811 | 82 | void MAG3110::setCalibration(int minX, int maxX, int minY, int maxY ) |
wue | 0:7b58cdacf811 | 83 | { |
wue | 0:7b58cdacf811 | 84 | _avgX=(maxX+minX)/2; |
wue | 0:7b58cdacf811 | 85 | _avgY=(maxY+minY)/2; |
wue | 0:7b58cdacf811 | 86 | } |
wue | 0:7b58cdacf811 | 87 | |
wue | 0:7b58cdacf811 | 88 | |
wue | 0:7b58cdacf811 | 89 | |
wue | 0:7b58cdacf811 | 90 | |
wue | 0:7b58cdacf811 | 91 |