Diff: MAG3110.cpp

Revision:

0:2b49a387e831

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MAG3110.cpp	Sat Feb 15 07:52:46 2014 +0000
@@ -0,0 +1,140 @@
+
+#include "MAG3110.h"
+#include "mbed.h"
+
+/******************************************************************************
+ * Constructors
+ ******************************************************************************/
+MAG3110::MAG3110(PinName sda, PinName scl,float dateRate, int overSample): _i2c(sda, scl), 
+    _i2c_address(0x0E<<1), _pc(NULL), _debug(false)
+{   
+    Setdr(dateRate);
+    Setosr(overSample); 
+    begin();
+}
+
+MAG3110::MAG3110(PinName sda, PinName scl): _i2c(sda, scl), 
+    _i2c_address(0x0E<<1), _pc(NULL), _debug(false),dr(MAG_3110_SAMPLE80),osr(MAG_3110_OVERSAMPLE2)
+{
+    begin();
+}
+
+MAG3110::MAG3110(PinName sda, PinName scl, Serial *pc): _i2c(sda, scl), 
+   _i2c_address(0x0E<<1), _pc(pc), _debug(true),dr(MAG_3110_SAMPLE80),osr(MAG_3110_OVERSAMPLE2)
+{
+    begin();
+}
+
+void MAG3110::begin()
+{
+    
+    char cmd[2];
+
+    cmd[0] = MAG_CTRL_REG2;
+    cmd[1] = 0x80;
+    _i2c.write(_i2c_address, cmd, 2);
+
+    cmd[0] = MAG_CTRL_REG1;
+//    cmd[1] = MAG_3110_SAMPLE80+MAG_3110_OVERSAMPLE2+MAG_3110_ACTIVE;
+    cmd[1] = dr+osr+MAG_3110_ACTIVE;
+    _i2c.write(_i2c_address, cmd, 2);
+    
+    // No adjustment initially
+    _avgX = 0;
+    _avgY = 0;
+}
+
+// Read a single byte form 8 bit register, return as int
+int MAG3110::readReg(char regAddr)
+{
+    char cmd[1];
+
+    cmd[0] = regAddr;
+    _i2c.write(_i2c_address, cmd, 1);
+
+    cmd[0] = 0x00;
+    _i2c.read(_i2c_address, cmd, 1);
+    return (int)( cmd[0]);
+}
+
+
+// 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];
+
+    cmd[0] = regAddr;
+    _i2c.write(_i2c_address, cmd, 1);
+
+    cmd[0] = 0x00;
+    cmd[1] = 0x00;
+    _i2c.read(_i2c_address, cmd, 2);
+    return (int)( (cmd[1]|(cmd[0] << 8))); //concatenate the MSB and LSB
+}
+
+
+float MAG3110::getHeading()
+{
+    int xVal = readVal(MAG_OUT_X_MSB);
+    int yVal = readVal(MAG_OUT_Y_MSB);
+    return (atan2((double)(yVal - _avgY),(double)(xVal - _avgX)))*180/PI;
+}
+
+void MAG3110::getValues(int *xVal, int *yVal, int *zVal)
+{
+    *xVal = readVal(MAG_OUT_X_MSB);
+    *yVal = readVal(MAG_OUT_Y_MSB);
+    *zVal = readVal(MAG_OUT_Z_MSB);
+}
+
+
+void MAG3110::setCalibration(int minX, int maxX, int minY, int maxY )
+{
+    _avgX=(maxX+minX)/2;
+    _avgY=(maxY+minY)/2;
+}
+
+void MAG3110::Setdr(float dateRate)
+{
+        if (dateRate==80)
+            dr=MAG_3110_SAMPLE80;
+        else if(dateRate==40)
+            dr=MAG_3110_SAMPLE40;
+        else if(dateRate==20)
+            dr=MAG_3110_SAMPLE20;
+        else if(dateRate==10)
+            dr=MAG_3110_SAMPLE10;
+        else if(dateRate==5)
+            dr=MAG_3110_SAMPLE5;
+        else if(dateRate==2.5)
+            dr=MAG_3110_SAMPLE2_5;
+        else if(dateRate==1.25)
+            dr=MAG_3110_SAMPLE1_25;
+        else if(dateRate==0.625)
+            dr=MAG_3110_SAMPLE0_625;
+        else 
+            dr=MAG_3110_SAMPLE80;
+}
+
+void MAG3110::Setosr(int overSample)
+{
+       switch(overSample)
+    {
+        case 16:osr=MAG_3110_OVERSAMPLE1;break;
+        case 32:osr=MAG_3110_OVERSAMPLE2;break;
+        case 64:osr=MAG_3110_OVERSAMPLE3;break;
+        case 128:osr=MAG_3110_OVERSAMPLE4;break;
+        default:osr=MAG_3110_OVERSAMPLE2;break;
+    }   
+}
+
+void MAG3110::Overwrite_dr_osr(float dateRate,int overSample)
+{
+    char cmd[2];
+    Setdr(dateRate);
+    Setosr(overSample);
+    cmd[0] = MAG_CTRL_REG1;
+    cmd[1] = dr+osr+MAG_3110_ACTIVE;
+    _i2c.write(_i2c_address, cmd, 2);
+}