Added function to retrieve raw data from sensor
Dependents: KL46_eCompass Multi-Sensor Freescale_Multi-Sensor_Shield Freescale_Multi-Sensor_Quadcopter ... more
Fork of MAG3110 by
MAG3110.cpp
- Committer:
- JimCarver
- Date:
- 2014-05-16
- Revision:
- 6:1da3fe7b3510
- Parent:
- 5:f3abe901c33a
File content as of revision 6:1da3fe7b3510:
#include "MAG3110.h" #include "mbed.h" #include "MotionSensor.h" /****************************************************************************** * Constructors ******************************************************************************/ MAG3110::MAG3110(PinName sda, PinName scl): m_i2c(sda, scl), m_addr(0x1d) { char cmd[2]; cmd[0] = MAG_CTRL_REG2; cmd[1] = 0x80; m_i2c.write(m_addr, 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); } 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) { 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; } 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); } 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(); } 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 } 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::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; } */