--- /dev/null
+/*
+ * MAG3110 Sensor Library for mbed
+ * TODO: Add proper header
+ */
+
+#ifndef MAG3110_H
+#define MAG3110_H
+
+#include "mbed.h"
+
+#define PI 3.14159265359
+
+#define MAG_ADDR 0x1D
+
+// define registers
+#define MAG_DR_STATUS 0x00
+#define MAG_OUT_X_MSB 0x01
+#define MAG_OUT_X_LSB 0x02
+#define MAG_OUT_Y_MSB 0x03
+#define MAG_OUT_Y_LSB 0x04
+#define MAG_OUT_Z_MSB 0x05
+#define MAG_OUT_Z_LSB 0x06
+#define MAG_WHO_AM_I 0x07
+#define MAG_SYSMOD 0x08
+#define MAG_OFF_X_MSB 0x09
+#define MAG_OFF_X_LSB 0x0A
+#define MAG_OFF_Y_MSB 0x0B
+#define MAG_OFF_Y_LSB 0x0C
+#define MAG_OFF_Z_MSB 0x0D
+#define MAG_OFF_Z_LSB 0x0E
+#define MAG_DIE_TEMP 0x0F
+#define MAG_CTRL_REG1 0x10
+#define MAG_CTRL_REG2 0x11
+
+// what should WHO_AM_I return?
+#define MAG_3110_WHO_AM_I_VALUE 0xC4
+
+
+// Fields in registers
+// CTRL_REG1: dr2,dr1,dr0 os1,os0 fr tm ac
+
+// Sampling rate from 80Hz down to 0.625Hz
+#define MAG_3110_SAMPLE80 0
+#define MAG_3110_SAMPLE40 0x20
+#define MAG_3110_SAMPLE20 0x40
+#define MAG_3110_SAMPLE10 0x60
+#define MAG_3110_SAMPLE5 0x80
+#define MAG_3110_SAMPLE2_5 0xA0
+#define MAG_3110_SAMPLE1_25 0xC0
+#define MAG_3110_SAMPLE0_625 0xE0
+
+// How many samples to average (lowers data rate)
+#define MAG_3110_OVERSAMPLE1 0
+#define MAG_3110_OVERSAMPLE2 0x08
+#define MAG_3110_OVERSAMPLE3 0x10
+#define MAG_3110_OVERSAMPLE4 0x18
+
+// read only 1 byte per axis
+#define MAG_3110_FASTREAD 0x04
+// do one measurement (even if in standby mode)
+#define MAG_3110_TRIGGER 0x02
+// put in active mode
+#define MAG_3110_ACTIVE 0x01
+
+// CTRL_REG2: AUTO_MRST_EN _ RAW MAG_RST _ _ _ _ _
+// reset sensor after each reading
+#define MAG_3110_AUTO_MRST_EN 0x80
+// don't subtract user offsets
+#define MAG_3110_RAW 0x20
+// reset magnetic sensor after too-large field
+#define MAG_3110_MAG_RST 0x10
+
+// DR_STATUS Register ZYXOW ZOW YOW XOW ZYXDR ZDR YDR XDR
+#define MAG_3110_ZYXDR 0x08
+
+/**
+ * MAG3110 Class to read X/Y/Z data from the magentometer
+ *
+ */
+class MAG3110
+{
+public:
+ /**
+ * Main constructor
+ * @param sda SDA pin
+ * @param sdl SCL pin
+ * @param addr addr of the I2C peripheral
+ */
+ MAG3110(PinName sda, PinName scl);
+ /**
+ * Debug version of constructor
+ * @param sda SDA pin
+ * @param sdl SCL pin
+ * @param addr Address of the I2C peripheral
+ * @param pc Serial object to output debug messages
+ */
+ MAG3110(PinName sda, PinName scl, Serial *pc); //pass serial for debug
+ /**
+ * Setup the Magnetometer
+ *
+ */
+ void begin();
+ /**
+ * Read a register, return its value as int
+ * @param regAddr The address to read
+ * @return value in register
+ */
+ int readReg(char regAddr);
+ /**
+ * Read a value from a pair of registers, return as int
+ * @param regAddr The address to read
+ * @return Value from 2 consecutive registers
+ */
+ int readVal(char regAddr);
+ /**
+ * Calculate the heading
+ * @return heading in degrees
+ */
+ float getHeading();
+ /**
+ * Perform a read on the X, Y and Z values.
+ * @param xVal Pointer to X value
+ * @param yVal Pointer to Y value
+ * @param zVal Pointer to Z value
+ */
+ void getValues(int *xVal, int *yVal, int *zVal);
+ /**
+ * Set the calibration parameters if required.
+ * @param minX Minimum value for X range
+ * @param maxX Maximum value for X range
+ * @param minY Minimum value for Y range
+ * @param maxY maximum value for Y range
+ */
+ void setCalibration(int minX, int maxX, int minY, int maxY);
+
+private:
+ I2C _i2c;
+ int _i2c_address;
+ Serial *_pc;
+ bool _debug;
+ int _avgX, _avgY;
+
+};
+#endif