Piotr Woźniak / Mbed 2 deprecated KL46Z-Lab2_fullll

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Dependencies:   MAG3110 MMA8451Q SLCD- TSI USBDevice mbed

MAG3110/MAG3110.h@0:339b7abfa147, 2014-04-16 (annotated)

Committer:
Osator
Date:
Wed Apr 16 12:20:00 2014 +0000
Revision:
0:339b7abfa147
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
Osator 0:339b7abfa147 1 /*
Osator 0:339b7abfa147 2 * MAG3110 Sensor Library for mbed
Osator 0:339b7abfa147 3 * TODO: Add proper header
Osator 0:339b7abfa147 4 */
Osator 0:339b7abfa147 5
Osator 0:339b7abfa147 6 #ifndef MAG3110_H
Osator 0:339b7abfa147 7 #define MAG3110_H
Osator 0:339b7abfa147 8
Osator 0:339b7abfa147 9 #include "mbed.h"
Osator 0:339b7abfa147 10
Osator 0:339b7abfa147 11 #define PI 3.14159265359
Osator 0:339b7abfa147 12
Osator 0:339b7abfa147 13 #define MAG_ADDR 0x1D
Osator 0:339b7abfa147 14
Osator 0:339b7abfa147 15 // define registers
Osator 0:339b7abfa147 16 #define MAG_DR_STATUS 0x00
Osator 0:339b7abfa147 17 #define MAG_OUT_X_MSB 0x01
Osator 0:339b7abfa147 18 #define MAG_OUT_X_LSB 0x02
Osator 0:339b7abfa147 19 #define MAG_OUT_Y_MSB 0x03
Osator 0:339b7abfa147 20 #define MAG_OUT_Y_LSB 0x04
Osator 0:339b7abfa147 21 #define MAG_OUT_Z_MSB 0x05
Osator 0:339b7abfa147 22 #define MAG_OUT_Z_LSB 0x06
Osator 0:339b7abfa147 23 #define MAG_WHO_AM_I 0x07
Osator 0:339b7abfa147 24 #define MAG_SYSMOD 0x08
Osator 0:339b7abfa147 25 #define MAG_OFF_X_MSB 0x09
Osator 0:339b7abfa147 26 #define MAG_OFF_X_LSB 0x0A
Osator 0:339b7abfa147 27 #define MAG_OFF_Y_MSB 0x0B
Osator 0:339b7abfa147 28 #define MAG_OFF_Y_LSB 0x0C
Osator 0:339b7abfa147 29 #define MAG_OFF_Z_MSB 0x0D
Osator 0:339b7abfa147 30 #define MAG_OFF_Z_LSB 0x0E
Osator 0:339b7abfa147 31 #define MAG_DIE_TEMP 0x0F
Osator 0:339b7abfa147 32 #define MAG_CTRL_REG1 0x10
Osator 0:339b7abfa147 33 #define MAG_CTRL_REG2 0x11
Osator 0:339b7abfa147 34
Osator 0:339b7abfa147 35 // what should WHO_AM_I return?
Osator 0:339b7abfa147 36 #define MAG_3110_WHO_AM_I_VALUE 0xC4
Osator 0:339b7abfa147 37
Osator 0:339b7abfa147 38
Osator 0:339b7abfa147 39 // Fields in registers
Osator 0:339b7abfa147 40 // CTRL_REG1: dr2,dr1,dr0 os1,os0 fr tm ac
Osator 0:339b7abfa147 41
Osator 0:339b7abfa147 42 // Sampling rate from 80Hz down to 0.625Hz
Osator 0:339b7abfa147 43 #define MAG_3110_SAMPLE80 0
Osator 0:339b7abfa147 44 #define MAG_3110_SAMPLE40 0x20
Osator 0:339b7abfa147 45 #define MAG_3110_SAMPLE20 0x40
Osator 0:339b7abfa147 46 #define MAG_3110_SAMPLE10 0x60
Osator 0:339b7abfa147 47 #define MAG_3110_SAMPLE5 0x80
Osator 0:339b7abfa147 48 #define MAG_3110_SAMPLE2_5 0xA0
Osator 0:339b7abfa147 49 #define MAG_3110_SAMPLE1_25 0xC0
Osator 0:339b7abfa147 50 #define MAG_3110_SAMPLE0_625 0xE0
Osator 0:339b7abfa147 51
Osator 0:339b7abfa147 52 // How many samples to average (lowers data rate)
Osator 0:339b7abfa147 53 #define MAG_3110_OVERSAMPLE1 0
Osator 0:339b7abfa147 54 #define MAG_3110_OVERSAMPLE2 0x08
Osator 0:339b7abfa147 55 #define MAG_3110_OVERSAMPLE3 0x10
Osator 0:339b7abfa147 56 #define MAG_3110_OVERSAMPLE4 0x18
Osator 0:339b7abfa147 57
Osator 0:339b7abfa147 58 // read only 1 byte per axis
Osator 0:339b7abfa147 59 #define MAG_3110_FASTREAD 0x04
Osator 0:339b7abfa147 60 // do one measurement (even if in standby mode)
Osator 0:339b7abfa147 61 #define MAG_3110_TRIGGER 0x02
Osator 0:339b7abfa147 62 // put in active mode
Osator 0:339b7abfa147 63 #define MAG_3110_ACTIVE 0x01
Osator 0:339b7abfa147 64
Osator 0:339b7abfa147 65 // CTRL_REG2: AUTO_MRST_EN _ RAW MAG_RST _ _ _ _ _
Osator 0:339b7abfa147 66 // reset sensor after each reading
Osator 0:339b7abfa147 67 #define MAG_3110_AUTO_MRST_EN 0x80
Osator 0:339b7abfa147 68 // don't subtract user offsets
Osator 0:339b7abfa147 69 #define MAG_3110_RAW 0x20
Osator 0:339b7abfa147 70 // reset magnetic sensor after too-large field
Osator 0:339b7abfa147 71 #define MAG_3110_MAG_RST 0x10
Osator 0:339b7abfa147 72
Osator 0:339b7abfa147 73 // DR_STATUS Register ZYXOW ZOW YOW XOW ZYXDR ZDR YDR XDR
Osator 0:339b7abfa147 74 #define MAG_3110_ZYXDR 0x08
Osator 0:339b7abfa147 75
Osator 0:339b7abfa147 76 /**
Osator 0:339b7abfa147 77 * MAG3110 Class to read X/Y/Z data from the magentometer
Osator 0:339b7abfa147 78 *
Osator 0:339b7abfa147 79 */
Osator 0:339b7abfa147 80 class MAG3110
Osator 0:339b7abfa147 81 {
Osator 0:339b7abfa147 82 public:
Osator 0:339b7abfa147 83 /**
Osator 0:339b7abfa147 84 * Main constructor
Osator 0:339b7abfa147 85 * @param sda SDA pin
Osator 0:339b7abfa147 86 * @param sdl SCL pin
Osator 0:339b7abfa147 87 * @param addr addr of the I2C peripheral
Osator 0:339b7abfa147 88 */
Osator 0:339b7abfa147 89 MAG3110(PinName sda, PinName scl);
Osator 0:339b7abfa147 90 /**
Osator 0:339b7abfa147 91 * Debug version of constructor
Osator 0:339b7abfa147 92 * @param sda SDA pin
Osator 0:339b7abfa147 93 * @param sdl SCL pin
Osator 0:339b7abfa147 94 * @param addr Address of the I2C peripheral
Osator 0:339b7abfa147 95 * @param pc Serial object to output debug messages
Osator 0:339b7abfa147 96 */
Osator 0:339b7abfa147 97 MAG3110(PinName sda, PinName scl, Serial *pc); //pass serial for debug
Osator 0:339b7abfa147 98 /**
Osator 0:339b7abfa147 99 * Setup the Magnetometer
Osator 0:339b7abfa147 100 *
Osator 0:339b7abfa147 101 */
Osator 0:339b7abfa147 102 void begin();
Osator 0:339b7abfa147 103 /**
Osator 0:339b7abfa147 104 * Read a register, return its value as int
Osator 0:339b7abfa147 105 * @param regAddr The address to read
Osator 0:339b7abfa147 106 * @return value in register
Osator 0:339b7abfa147 107 */
Osator 0:339b7abfa147 108 int readReg(char regAddr);
Osator 0:339b7abfa147 109 /**
Osator 0:339b7abfa147 110 * Read a value from a pair of registers, return as int
Osator 0:339b7abfa147 111 * @param regAddr The address to read
Osator 0:339b7abfa147 112 * @return Value from 2 consecutive registers
Osator 0:339b7abfa147 113 */
Osator 0:339b7abfa147 114 int readVal(char regAddr);
Osator 0:339b7abfa147 115 /**
Osator 0:339b7abfa147 116 * Calculate the heading
Osator 0:339b7abfa147 117 * @return heading in degrees
Osator 0:339b7abfa147 118 */
Osator 0:339b7abfa147 119 float getHeading();
Osator 0:339b7abfa147 120 /**
Osator 0:339b7abfa147 121 * Perform a read on the X, Y and Z values.
Osator 0:339b7abfa147 122 * @param xVal Pointer to X value
Osator 0:339b7abfa147 123 * @param yVal Pointer to Y value
Osator 0:339b7abfa147 124 * @param zVal Pointer to Z value
Osator 0:339b7abfa147 125 */
Osator 0:339b7abfa147 126 void getValues(int *xVal, int *yVal, int *zVal);
Osator 0:339b7abfa147 127 /**
Osator 0:339b7abfa147 128 * Set the calibration parameters if required.
Osator 0:339b7abfa147 129 * @param minX Minimum value for X range
Osator 0:339b7abfa147 130 * @param maxX Maximum value for X range
Osator 0:339b7abfa147 131 * @param minY Minimum value for Y range
Osator 0:339b7abfa147 132 * @param maxY maximum value for Y range
Osator 0:339b7abfa147 133 */
Osator 0:339b7abfa147 134 void setCalibration(int minX, int maxX, int minY, int maxY);
Osator 0:339b7abfa147 135
Osator 0:339b7abfa147 136 private:
Osator 0:339b7abfa147 137 I2C _i2c;
Osator 0:339b7abfa147 138 int _i2c_address;
Osator 0:339b7abfa147 139 Serial *_pc;
Osator 0:339b7abfa147 140 bool _debug;
Osator 0:339b7abfa147 141 int _avgX, _avgY;
Osator 0:339b7abfa147 142
Osator 0:339b7abfa147 143 };
Osator 0:339b7abfa147 144 #endif