[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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| 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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