--- /dev/null
+
+#include "MAG3110.h"
+#include "mbed.h"
+
+/******************************************************************************
+ * Constructors
+ ******************************************************************************/
+MAG3110::MAG3110(PinName sda, PinName scl): _i2c(sda, scl),
+ _i2c_address(0x1D), _pc(NULL), _debug(false)
+{
+ begin();
+}
+
+MAG3110::MAG3110(PinName sda, PinName scl, Serial *pc): _i2c(sda, scl),
+ _i2c_address(0x1D), _pc(pc), _debug(true)
+{
+ 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;
+ _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;
+}
+
+
+
+
+