configure sensors on FRDM KL46Z and send data through Serial port. Need host(PC) software to interact with. Sampling rate can vary by proper instruction
Dependencies: EventFramework mbed
MAG3110.h@0:2b49a387e831, 2014-02-15 (annotated)
- Committer:
- xmnan
- Date:
- Sat Feb 15 07:52:46 2014 +0000
- Revision:
- 0:2b49a387e831
original version.; Utilize EventFrameWork; sensors: MMA8451Q MAG3110 TSISensor lightSensor + analog input
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
xmnan | 0:2b49a387e831 | 1 | /* |
xmnan | 0:2b49a387e831 | 2 | * MAG3110 Sensor Library for mbed |
xmnan | 0:2b49a387e831 | 3 | * TODO: Add proper header |
xmnan | 0:2b49a387e831 | 4 | */ |
xmnan | 0:2b49a387e831 | 5 | |
xmnan | 0:2b49a387e831 | 6 | #ifndef MAG3110_H |
xmnan | 0:2b49a387e831 | 7 | #define MAG3110_H |
xmnan | 0:2b49a387e831 | 8 | |
xmnan | 0:2b49a387e831 | 9 | #include "mbed.h" |
xmnan | 0:2b49a387e831 | 10 | |
xmnan | 0:2b49a387e831 | 11 | #define PI 3.14159265359 |
xmnan | 0:2b49a387e831 | 12 | |
xmnan | 0:2b49a387e831 | 13 | #define MAG_ADDR 0x1D |
xmnan | 0:2b49a387e831 | 14 | |
xmnan | 0:2b49a387e831 | 15 | // define registers |
xmnan | 0:2b49a387e831 | 16 | #define MAG_DR_STATUS 0x00 |
xmnan | 0:2b49a387e831 | 17 | #define MAG_OUT_X_MSB 0x01 |
xmnan | 0:2b49a387e831 | 18 | #define MAG_OUT_X_LSB 0x02 |
xmnan | 0:2b49a387e831 | 19 | #define MAG_OUT_Y_MSB 0x03 |
xmnan | 0:2b49a387e831 | 20 | #define MAG_OUT_Y_LSB 0x04 |
xmnan | 0:2b49a387e831 | 21 | #define MAG_OUT_Z_MSB 0x05 |
xmnan | 0:2b49a387e831 | 22 | #define MAG_OUT_Z_LSB 0x06 |
xmnan | 0:2b49a387e831 | 23 | #define MAG_WHO_AM_I 0x07 |
xmnan | 0:2b49a387e831 | 24 | #define MAG_SYSMOD 0x08 |
xmnan | 0:2b49a387e831 | 25 | #define MAG_OFF_X_MSB 0x09 |
xmnan | 0:2b49a387e831 | 26 | #define MAG_OFF_X_LSB 0x0A |
xmnan | 0:2b49a387e831 | 27 | #define MAG_OFF_Y_MSB 0x0B |
xmnan | 0:2b49a387e831 | 28 | #define MAG_OFF_Y_LSB 0x0C |
xmnan | 0:2b49a387e831 | 29 | #define MAG_OFF_Z_MSB 0x0D |
xmnan | 0:2b49a387e831 | 30 | #define MAG_OFF_Z_LSB 0x0E |
xmnan | 0:2b49a387e831 | 31 | #define MAG_DIE_TEMP 0x0F |
xmnan | 0:2b49a387e831 | 32 | #define MAG_CTRL_REG1 0x10 |
xmnan | 0:2b49a387e831 | 33 | #define MAG_CTRL_REG2 0x11 |
xmnan | 0:2b49a387e831 | 34 | |
xmnan | 0:2b49a387e831 | 35 | // what should WHO_AM_I return? |
xmnan | 0:2b49a387e831 | 36 | #define MAG_3110_WHO_AM_I_VALUE 0xC4 |
xmnan | 0:2b49a387e831 | 37 | |
xmnan | 0:2b49a387e831 | 38 | |
xmnan | 0:2b49a387e831 | 39 | // Fields in registers |
xmnan | 0:2b49a387e831 | 40 | // CTRL_REG1: dr2,dr1,dr0 os1,os0 fr tm ac |
xmnan | 0:2b49a387e831 | 41 | |
xmnan | 0:2b49a387e831 | 42 | // Sampling rate from 80Hz down to 0.625Hz |
xmnan | 0:2b49a387e831 | 43 | #define MAG_3110_SAMPLE80 0 |
xmnan | 0:2b49a387e831 | 44 | #define MAG_3110_SAMPLE40 0x20 |
xmnan | 0:2b49a387e831 | 45 | #define MAG_3110_SAMPLE20 0x40 |
xmnan | 0:2b49a387e831 | 46 | #define MAG_3110_SAMPLE10 0x60 |
xmnan | 0:2b49a387e831 | 47 | #define MAG_3110_SAMPLE5 0x80 |
xmnan | 0:2b49a387e831 | 48 | #define MAG_3110_SAMPLE2_5 0xA0 |
xmnan | 0:2b49a387e831 | 49 | #define MAG_3110_SAMPLE1_25 0xC0 |
xmnan | 0:2b49a387e831 | 50 | #define MAG_3110_SAMPLE0_625 0xE0 |
xmnan | 0:2b49a387e831 | 51 | |
xmnan | 0:2b49a387e831 | 52 | // How many samples to average (lowers data rate) |
xmnan | 0:2b49a387e831 | 53 | #define MAG_3110_OVERSAMPLE1 0 //16 |
xmnan | 0:2b49a387e831 | 54 | #define MAG_3110_OVERSAMPLE2 0x08 //32, sample rate decrease to half |
xmnan | 0:2b49a387e831 | 55 | #define MAG_3110_OVERSAMPLE3 0x10 //64, sample rate decrease to 1/4 |
xmnan | 0:2b49a387e831 | 56 | #define MAG_3110_OVERSAMPLE4 0x18 //128 sample rate decrease to 1/8 |
xmnan | 0:2b49a387e831 | 57 | |
xmnan | 0:2b49a387e831 | 58 | // read only 1 byte per axis |
xmnan | 0:2b49a387e831 | 59 | #define MAG_3110_FASTREAD 0x04 |
xmnan | 0:2b49a387e831 | 60 | // do one measurement (even if in standby mode) |
xmnan | 0:2b49a387e831 | 61 | #define MAG_3110_TRIGGER 0x02 |
xmnan | 0:2b49a387e831 | 62 | // put in active mode |
xmnan | 0:2b49a387e831 | 63 | #define MAG_3110_ACTIVE 0x01 |
xmnan | 0:2b49a387e831 | 64 | |
xmnan | 0:2b49a387e831 | 65 | // CTRL_REG2: AUTO_MRST_EN _ RAW MAG_RST _ _ _ _ _ |
xmnan | 0:2b49a387e831 | 66 | // reset sensor after each reading |
xmnan | 0:2b49a387e831 | 67 | #define MAG_3110_AUTO_MRST_EN 0x80 |
xmnan | 0:2b49a387e831 | 68 | // don't subtract user offsets |
xmnan | 0:2b49a387e831 | 69 | #define MAG_3110_RAW 0x20 |
xmnan | 0:2b49a387e831 | 70 | // reset magnetic sensor after too-large field |
xmnan | 0:2b49a387e831 | 71 | #define MAG_3110_MAG_RST 0x10 |
xmnan | 0:2b49a387e831 | 72 | |
xmnan | 0:2b49a387e831 | 73 | // DR_STATUS Register ZYXOW ZOW YOW XOW ZYXDR ZDR YDR XDR |
xmnan | 0:2b49a387e831 | 74 | #define MAG_3110_ZYXDR 0x08 |
xmnan | 0:2b49a387e831 | 75 | |
xmnan | 0:2b49a387e831 | 76 | /** |
xmnan | 0:2b49a387e831 | 77 | * MAG3110 Class to read X/Y/Z data from the magentometer |
xmnan | 0:2b49a387e831 | 78 | * |
xmnan | 0:2b49a387e831 | 79 | */ |
xmnan | 0:2b49a387e831 | 80 | class MAG3110 |
xmnan | 0:2b49a387e831 | 81 | { |
xmnan | 0:2b49a387e831 | 82 | public: |
xmnan | 0:2b49a387e831 | 83 | /** |
xmnan | 0:2b49a387e831 | 84 | * Main constructor |
xmnan | 0:2b49a387e831 | 85 | * @param sda SDA pin |
xmnan | 0:2b49a387e831 | 86 | * @param sdl SCL pin |
xmnan | 0:2b49a387e831 | 87 | * @param addr addr of the I2C peripheral |
xmnan | 0:2b49a387e831 | 88 | */ |
xmnan | 0:2b49a387e831 | 89 | MAG3110(PinName sda, PinName scl); |
xmnan | 0:2b49a387e831 | 90 | /** |
xmnan | 0:2b49a387e831 | 91 | * Debug version of constructor |
xmnan | 0:2b49a387e831 | 92 | * @param sda SDA pin |
xmnan | 0:2b49a387e831 | 93 | * @param sdl SCL pin |
xmnan | 0:2b49a387e831 | 94 | * @param addr Address of the I2C peripheral |
xmnan | 0:2b49a387e831 | 95 | * @param pc Serial object to output debug messages |
xmnan | 0:2b49a387e831 | 96 | */ |
xmnan | 0:2b49a387e831 | 97 | MAG3110(PinName sda, PinName scl, Serial *pc); //pass serial for debug |
xmnan | 0:2b49a387e831 | 98 | /** |
xmnan | 0:2b49a387e831 | 99 | * Setup the Magnetometer |
xmnan | 0:2b49a387e831 | 100 | * |
xmnan | 0:2b49a387e831 | 101 | */ |
xmnan | 0:2b49a387e831 | 102 | MAG3110(PinName sda, PinName scl,float dateRate, int overSample); |
xmnan | 0:2b49a387e831 | 103 | void Overwrite_dr_osr(float dateRate,int overSample); |
xmnan | 0:2b49a387e831 | 104 | void Setdr(float dateRate); |
xmnan | 0:2b49a387e831 | 105 | void Setosr(int overSample); |
xmnan | 0:2b49a387e831 | 106 | |
xmnan | 0:2b49a387e831 | 107 | void begin(); |
xmnan | 0:2b49a387e831 | 108 | /** |
xmnan | 0:2b49a387e831 | 109 | * Read a register, return its value as int |
xmnan | 0:2b49a387e831 | 110 | * @param regAddr The address to read |
xmnan | 0:2b49a387e831 | 111 | * @return value in register |
xmnan | 0:2b49a387e831 | 112 | */ |
xmnan | 0:2b49a387e831 | 113 | int readReg(char regAddr); |
xmnan | 0:2b49a387e831 | 114 | /** |
xmnan | 0:2b49a387e831 | 115 | * Read a value from a pair of registers, return as int |
xmnan | 0:2b49a387e831 | 116 | * @param regAddr The address to read |
xmnan | 0:2b49a387e831 | 117 | * @return Value from 2 consecutive registers |
xmnan | 0:2b49a387e831 | 118 | */ |
xmnan | 0:2b49a387e831 | 119 | int readVal(char regAddr); |
xmnan | 0:2b49a387e831 | 120 | /** |
xmnan | 0:2b49a387e831 | 121 | * Calculate the heading |
xmnan | 0:2b49a387e831 | 122 | * @return heading in degrees |
xmnan | 0:2b49a387e831 | 123 | */ |
xmnan | 0:2b49a387e831 | 124 | float getHeading(); |
xmnan | 0:2b49a387e831 | 125 | /** |
xmnan | 0:2b49a387e831 | 126 | * Perform a read on the X, Y and Z values. |
xmnan | 0:2b49a387e831 | 127 | * @param xVal Pointer to X value |
xmnan | 0:2b49a387e831 | 128 | * @param yVal Pointer to Y value |
xmnan | 0:2b49a387e831 | 129 | * @param zVal Pointer to Z value |
xmnan | 0:2b49a387e831 | 130 | */ |
xmnan | 0:2b49a387e831 | 131 | void getValues(int *xVal, int *yVal, int *zVal); |
xmnan | 0:2b49a387e831 | 132 | /** |
xmnan | 0:2b49a387e831 | 133 | * Set the calibration parameters if required. |
xmnan | 0:2b49a387e831 | 134 | * @param minX Minimum value for X range |
xmnan | 0:2b49a387e831 | 135 | * @param maxX Maximum value for X range |
xmnan | 0:2b49a387e831 | 136 | * @param minY Minimum value for Y range |
xmnan | 0:2b49a387e831 | 137 | * @param maxY maximum value for Y range |
xmnan | 0:2b49a387e831 | 138 | */ |
xmnan | 0:2b49a387e831 | 139 | void setCalibration(int minX, int maxX, int minY, int maxY); |
xmnan | 0:2b49a387e831 | 140 | |
xmnan | 0:2b49a387e831 | 141 | private: |
xmnan | 0:2b49a387e831 | 142 | I2C _i2c; |
xmnan | 0:2b49a387e831 | 143 | int _i2c_address; |
xmnan | 0:2b49a387e831 | 144 | Serial *_pc; |
xmnan | 0:2b49a387e831 | 145 | bool _debug; |
xmnan | 0:2b49a387e831 | 146 | int _avgX, _avgY; |
xmnan | 0:2b49a387e831 | 147 | char dr; //date rate |
xmnan | 0:2b49a387e831 | 148 | char osr; //over sample rate |
xmnan | 0:2b49a387e831 | 149 | |
xmnan | 0:2b49a387e831 | 150 | }; |
xmnan | 0:2b49a387e831 | 151 | #endif |