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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18 | MAG3110::MAG3110()
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19 | {
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20 |
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21 | }
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22 |
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23 |
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24 |
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25 | // Configure magnetometer
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26 | void MAG3110::begin(void) {
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27 | //CTRL_REG1
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28 | //DR2|DR1|DR0|OS1|OS0|FastRead|Trigger|ActiveMode|
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29 | // 0 | 1 | 1 | 1 | 1 | 0 | 0 | 1 |=dec121
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30 | Wire.beginTransmission(MAG_ADDR);// transmit to device 0x0E
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31 | Wire.write(0x10); // cntrl register1
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32 | Wire.write(0x79); // Active Mode, 1.25 Hz datarate, 8x oversampling
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33 | Wire.endTransmission(); // stop transmitting
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34 |
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35 | delay(15);
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36 |
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37 | //CTRL_REG2:
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38 | //AutoMagRst|---|Raw|Mag_Rst|---|---|---|---|
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39 | // 1 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
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40 | Wire.beginTransmission(MAG_ADDR);// transmit to device 0x0E
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41 | Wire.write(0x11); // cntrl register2
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42 | Wire.write(0x80); // Auto resets before each measurement
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43 | Wire.endTransmission(); // stop transmitting
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44 | }
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45 |
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46 |
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47 | // read X value
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48 | int MAG3110::readx(void)
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49 | {
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50 | int xl, xh; //define the MSB and LSB
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51 |
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52 | Wire.beginTransmission(MAG_ADDR); // transmit to device 0x0E
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53 | Wire.write(0x01); // x MSB reg
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54 | Wire.endTransmission(); // stop transmitting
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55 |
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56 | delayMicroseconds(2); //needs at least 1.3us free time between start and stop
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57 |
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58 | Wire.requestFrom(MAG_ADDR, 1); // request 1 byte
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59 | while(Wire.available()) // slave may send less than requested
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60 | {
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61 | xh = Wire.read(); // receive the byte
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62 | }
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63 |
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64 | delayMicroseconds(2); //needs at least 1.3us free time between start and stop
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65 |
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66 | Wire.beginTransmission(MAG_ADDR); // transmit to device 0x0E
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67 | Wire.write(0x02); // x LSB reg
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68 | Wire.endTransmission(); // stop transmitting
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69 |
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70 | delayMicroseconds(2); //needs at least 1.3us free time between start and stop
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71 |
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72 | Wire.requestFrom(MAG_ADDR, 1); // request 1 byte
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73 | while(Wire.available()) // slave may send less than requested
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74 | {
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75 | xl = Wire.read(); // receive the byte
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76 | }
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77 |
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78 | int xout = (xl|(xh << 8)); //concatenate the MSB and LSB
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79 | return xout;
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80 | }
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81 |
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82 | //read Y value
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83 | int MAG3110::ready(void)
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84 | {
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85 | int yl, yh; //define the MSB and LSB
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86 |
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87 | Wire.beginTransmission(MAG_ADDR); // transmit to device 0x0E
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88 | Wire.write(0x03); // y MSB reg
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89 | Wire.endTransmission(); // stop transmitting
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90 |
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91 | delayMicroseconds(2); //needs at least 1.3us free time between start and stop
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92 |
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93 | Wire.requestFrom(MAG_ADDR, 1); // request 1 byte
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94 | while(Wire.available()) // slave may send less than requested
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95 | {
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96 | yh = Wire.read(); // receive the byte
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97 | }
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98 |
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99 | delayMicroseconds(2); //needs at least 1.3us free time between start and stop
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100 |
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101 | Wire.beginTransmission(MAG_ADDR); // transmit to device 0x0E
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102 | Wire.write(0x04); // y LSB reg
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103 | Wire.endTransmission(); // stop transmitting
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104 |
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105 | delayMicroseconds(2); //needs at least 1.3us free time between start and stop
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106 |
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107 | Wire.requestFrom(MAG_ADDR, 1); // request 1 byte
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108 | while(Wire.available()) // slave may send less than requested
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109 | {
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110 | yl = Wire.read(); // receive the byte
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111 | }
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112 |
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113 | int yout = (yl|(yh << 8)); //concatenate the MSB and LSB
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114 | return yout;
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115 | }
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116 |
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117 | // read Z value
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118 | int MAG3110::readz(void)
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119 | {
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120 | int zl, zh; //define the MSB and LSB
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121 |
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122 | Wire.beginTransmission(MAG_ADDR); // transmit to device 0x0E
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123 | Wire.write(0x05); // z MSB reg
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124 | Wire.endTransmission(); // stop transmitting
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125 |
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126 | delayMicroseconds(2); //needs at least 1.3us free time between start and stop
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127 |
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128 | Wire.requestFrom(MAG_ADDR, 1); // request 1 byte
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129 | while(Wire.available()) // slave may send less than requested
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130 | {
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131 | zh = Wire.read(); // receive the byte
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132 | }
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133 |
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134 | delayMicroseconds(2); //needs at least 1.3us free time between start and stop
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135 |
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136 | Wire.beginTransmission(MAG_ADDR); // transmit to device 0x0E
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137 | Wire.write(0x06); // z LSB reg
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138 | Wire.endTransmission(); // stop transmitting
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139 |
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140 | delayMicroseconds(2); //needs at least 1.3us free time between start and stop
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141 |
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142 | Wire.requestFrom(MAG_ADDR, 1); // request 1 byte
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143 | while(Wire.available()) // slave may send less than requested
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144 | {
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145 | zl = Wire.read(); // receive the byte
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146 | }
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147 |
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148 | int zout = (zl|(zh << 8)); //concatenate the MSB and LSB
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149 | return zout;
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150 | }
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151 |
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152 | MAG3110 mag3110;
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153 |
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