[175] | 1 | /*
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| 2 | mag3110.cpp
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| 3 | libary for using the I2C mag3110 magnetometer
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| 4 |
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| 5 | (c) Written by Jeroen Cappaert for NanoSatisfi, August 2012
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| 6 |
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| 7 | - 21 Mar. 2016
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| 8 | Library modified to work with Arduino Lucky Shield
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| 9 | by andrea[at]arduino[dot]org
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| 10 |
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| 11 | */
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| 12 |
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| 13 | #include <Arduino.h>
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| 14 | #include "MAG3110.h"
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| 15 | #include <Wire.h>
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| 16 |
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| 17 | //Constructor
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[224] | 18 | // MAG3110::MAG3110()
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| 19 | // {
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| 20 | // }
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[175] | 21 |
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| 22 | // Configure magnetometer
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| 23 | void MAG3110::begin(void) {
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[224] | 24 |
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[175] | 25 | Wire.beginTransmission(MAG_ADDR);// transmit to device 0x0E
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[224] | 26 | Wire.write(0x11); // cntrl register2
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| 27 | Wire.write(0x80); // send 0x80, enable auto resets
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| 28 | Wire.endTransmission(); // stop transmitting
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[175] | 29 |
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| 30 | delay(15);
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| 31 |
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| 32 | Wire.beginTransmission(MAG_ADDR);// transmit to device 0x0E
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[224] | 33 | Wire.write(0x10); // cntrl register1
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| 34 | Wire.write(1); // send 0x01, active mode
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| 35 | Wire.endTransmission(); // stop transmitting
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[175] | 36 | }
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| 37 |
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[224] | 38 | void MAG3110::read()
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| 39 | {
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| 40 | mag_x =read16Data(0x01,0x02);
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| 41 | mag_y =read16Data(0x03,0x04);
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| 42 | mag_z =read16Data(0x05,0x06);
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| 43 | }
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| 44 | // read X value
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[175] | 45 |
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[224] | 46 | int MAG3110::read16Data(byte MSB, byte LSB)
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[175] | 47 | {
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| 48 | int xl, xh; //define the MSB and LSB
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| 49 |
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| 50 | Wire.beginTransmission(MAG_ADDR); // transmit to device 0x0E
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[224] | 51 | Wire.write(MSB); // x MSB reg
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[175] | 52 | Wire.endTransmission(); // stop transmitting
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| 53 |
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| 54 | delayMicroseconds(2); //needs at least 1.3us free time between start and stop
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| 55 |
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| 56 | Wire.requestFrom(MAG_ADDR, 1); // request 1 byte
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| 57 | while(Wire.available()) // slave may send less than requested
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| 58 | {
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| 59 | xh = Wire.read(); // receive the byte
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| 60 | }
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| 61 |
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| 62 | delayMicroseconds(2); //needs at least 1.3us free time between start and stop
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| 63 |
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| 64 | Wire.beginTransmission(MAG_ADDR); // transmit to device 0x0E
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[224] | 65 | Wire.write(LSB); // x LSB reg
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[175] | 66 | Wire.endTransmission(); // stop transmitting
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| 67 |
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| 68 | delayMicroseconds(2); //needs at least 1.3us free time between start and stop
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| 69 |
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| 70 | Wire.requestFrom(MAG_ADDR, 1); // request 1 byte
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| 71 | while(Wire.available()) // slave may send less than requested
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| 72 | {
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| 73 | xl = Wire.read(); // receive the byte
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| 74 | }
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| 75 |
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[224] | 76 | int out = (xl|(xh << 8)); //concatenate the MSB and LSB
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| 77 | if (out & 0b1000000000000000){
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| 78 | //float yout1 = ((~yout & 0b0111111111111111)+ 1)*(-1) ;
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| 79 | return float ((~out & 0b0111111111111111)+ 1)*(-1) ;
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[175] | 80 | }
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[224] | 81 | return float (out);
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[175] | 82 | }
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| 83 |
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| 84 |
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| 85 | MAG3110 mag3110;
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| 86 |
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