2 * MAG3110 Sensor Library for mbed
3 * TODO: Add proper header
11 #define PI 3.14159265359
16 #define MAG_DR_STATUS 0x00
17 #define MAG_OUT_X_MSB 0x01
18 #define MAG_OUT_X_LSB 0x02
19 #define MAG_OUT_Y_MSB 0x03
20 #define MAG_OUT_Y_LSB 0x04
21 #define MAG_OUT_Z_MSB 0x05
22 #define MAG_OUT_Z_LSB 0x06
23 #define MAG_WHO_AM_I 0x07
24 #define MAG_SYSMOD 0x08
25 #define MAG_OFF_X_MSB 0x09
26 #define MAG_OFF_X_LSB 0x0A
27 #define MAG_OFF_Y_MSB 0x0B
28 #define MAG_OFF_Y_LSB 0x0C
29 #define MAG_OFF_Z_MSB 0x0D
30 #define MAG_OFF_Z_LSB 0x0E
31 #define MAG_DIE_TEMP 0x0F
32 #define MAG_CTRL_REG1 0x10
33 #define MAG_CTRL_REG2 0x11
35 // what should WHO_AM_I return?
36 #define MAG_3110_WHO_AM_I_VALUE 0xC4
39 // Fields in registers
40 // CTRL_REG1: dr2,dr1,dr0 os1,os0 fr tm ac
42 // Sampling rate from 80Hz down to 0.625Hz
43 #define MAG_3110_SAMPLE80 0
44 #define MAG_3110_SAMPLE40 0x20
45 #define MAG_3110_SAMPLE20 0x40
46 #define MAG_3110_SAMPLE10 0x60
47 #define MAG_3110_SAMPLE5 0x80
48 #define MAG_3110_SAMPLE2_5 0xA0
49 #define MAG_3110_SAMPLE1_25 0xC0
50 #define MAG_3110_SAMPLE0_625 0xE0
52 // How many samples to average (lowers data rate)
53 #define MAG_3110_OVERSAMPLE1 0
54 #define MAG_3110_OVERSAMPLE2 0x08
55 #define MAG_3110_OVERSAMPLE3 0x10
56 #define MAG_3110_OVERSAMPLE4 0x18
58 // read only 1 byte per axis
59 #define MAG_3110_FASTREAD 0x04
60 // do one measurement (even if in standby mode)
61 #define MAG_3110_TRIGGER 0x02
63 #define MAG_3110_ACTIVE 0x01
65 // CTRL_REG2: AUTO_MRST_EN _ RAW MAG_RST _ _ _ _ _
66 // reset sensor after each reading
67 #define MAG_3110_AUTO_MRST_EN 0x80
68 // don't subtract user offsets
69 #define MAG_3110_RAW 0x20
70 // reset magnetic sensor after too-large field
71 #define MAG_3110_MAG_RST 0x10
73 // DR_STATUS Register ZYXOW ZOW YOW XOW ZYXDR ZDR YDR XDR
74 #define MAG_3110_ZYXDR 0x08
77 * MAG3110 Class to read X/Y/Z data from the magentometer
87 * @param addr addr of the I2C peripheral
89 MAG3110(PinName sda, PinName scl);
91 * Debug version of constructor
94 * @param addr Address of the I2C peripheral
95 * @param pc Serial object to output debug messages
97 MAG3110(PinName sda, PinName scl, Serial *pc); //pass serial for debug
99 * Setup the Magnetometer
104 * Read a register, return its value as int
105 * @param regAddr The address to read
106 * @return value in register
108 int readReg(char regAddr);
110 * Read a value from a pair of registers, return as int
111 * @param regAddr The address to read
112 * @return Value from 2 consecutive registers
114 int readVal(char regAddr);
116 * Calculate the heading
117 * @return heading in degrees
121 * Perform a read on the X, Y and Z values.
122 * @param xVal Pointer to X value
123 * @param yVal Pointer to Y value
124 * @param zVal Pointer to Z value
126 void getValues(int *xVal, int *yVal, int *zVal);
128 * Set the calibration parameters if required.
129 * @param minX Minimum value for X range
130 * @param maxX Maximum value for X range
131 * @param minY Minimum value for Y range
132 * @param maxY maximum value for Y range
134 void setCalibration(int minX, int maxX, int minY, int maxY);