#ifndef i2c_h #define i2c_h #include "i2c.h" #include "i2c_Sensor.h" /** ###################################################################### Driver for the MAG3310-Sensor CONSUMPTION: standby 2 µA, measure 9-900 µA Details: up to 80Hz, ±1000 µT, Sensitivity of 0.10 µT ######################################################################## */ class MAG3110 : public i2cSensor, public manualSensor { private: /** ######### Register-Map ################################################################# */ static const uint8_t I2C_ADDRESS =(0x0E); static const uint8_t REG_DR_STATUS =(0x00); static const uint8_t REG_OUT_X_MSB =(0x01); static const uint8_t REG_OUT_X_LSB =(0x02); static const uint8_t REG_OUT_Y_MSB =(0x03); static const uint8_t REG_OUT_Y_LSB =(0x04); static const uint8_t REG_OUT_Z_MSB =(0x05); static const uint8_t REG_OUT_Z_LSB =(0x06); static const uint8_t REG_WHO_AM_I =(0x07); static const uint8_t MAG_VAL_WHO_AM_I =(0xC4); static const uint8_t REG_SYSMOD =(0x08); static const uint8_t REG_OFF_X_MSB =(0x09); static const uint8_t REG_OFF_X_LSB =(0x0A); static const uint8_t REG_OFF_Y_MSB =(0x0B); static const uint8_t REG_OFF_Y_LSB =(0x0C); static const uint8_t REG_OFF_Z_MSB =(0x0D); static const uint8_t REG_OFF_Z_LSB =(0x0E); static const uint8_t REG_DIE_TEMP =(0x0F); static const uint8_t REG_CTRL_REG1 =(0x10); static const uint8_t MASK_ACTIVE =(0x01); // standby --> active static const uint8_t MASK_TM =(0x02); // Trigger Measurement static const uint8_t MASK_FR =(0x04); // Fast read: skip low-registers static const uint8_t MASK_OSR =(B00011000); // Oversampling static const uint8_t VAL_OSR_16 =(B00000000); static const uint8_t VAL_OSR_32 =(B00001000); static const uint8_t VAL_OSR_64 =(B00010000); static const uint8_t VAL_OSR_128 =(B00011000); static const uint8_t MASK_DR =(B11100000); // datarate static const uint8_t VAL_DR_0 =(B00000000); static const uint8_t VAL_DR_1 =(B00100000); static const uint8_t VAL_DR_2 =(B01000000); static const uint8_t VAL_DR_3 =(B01100000); static const uint8_t VAL_DR_4 =(B10000000); static const uint8_t VAL_DR_5 =(B10100000); static const uint8_t VAL_DR_6 =(B11000000); static const uint8_t VAL_DR_7 =(B11100000); static const uint8_t REG_CTRL_REG2 =(0x11); static const uint8_t MASK_AUTO_MRST =(B10000000); // Magnetic Sensor reset static const uint8_t MASK_RAW =(B00100000); // read uncorrected RAW values static const uint8_t MASK_RESET =(B00010000); // Trigger a Reset static const uint8_t SYSMOD_STANDBY =(0x00); static const uint8_t SYSMOD_ACTIVE_RAW =(0x01); static const uint8_t SYSMOD_ACTIVE =(0x02); /** ######### function definition ################################################################# */ public: /**< TODO: do i need a constructor? */ MAG3110(void) { }; /**< Trigger a software-reset*/ inline void reset(void) { i2c.setRegister(I2C_ADDRESS,REG_CTRL_REG2,MASK_RESET, 255); }; /**< recommended: the resets occur automatically before each data acquisition*/ inline void setSensorAutoReset(const uint8_t enable=1) { uint8_t _value; if (enable) _value = MASK_AUTO_MRST; else _value = 0; i2c.setRegister(I2C_ADDRESS,REG_CTRL_REG2,MASK_AUTO_MRST, _value); }; /**< data values are not corrected by the user offset register values. */ inline void setRawMode(const uint8_t enable=1) { uint8_t _value; if (enable) _value = MASK_RAW; else _value = 0; i2c.setRegister(I2C_ADDRESS,REG_CTRL_REG2,MASK_RAW, _value); }; /**< switch between continious and trigger/manual mode */ inline void setEnabled(const uint8_t enable=1) { uint8_t _value; if (enable) _value = MASK_ACTIVE; else _value = 0; i2c.setRegister(I2C_ADDRESS,REG_CTRL_REG1,MASK_ACTIVE, _value); }; inline void setDataRate(const uint8_t hz=10) { uint8_t _value; // use modes with 1280 Hz ADC Rate if (hz > 40) _value = 0; // 80 Hz with 16x OS else if (hz > 20) _value = 1; // 40 Hz with 32x OS else if (hz > 10) _value = 2; // 20 Hz with 64x OS else if (hz > 5) _value = 3; // 10 Hz with 128x OS else if (hz >= 3) _value = 7; // 5 Hz with 128x OS, 640 Hz ADC else _value = 11; // 2.5Hz with 128x OS, 320 Hz ADC i2c.setRegister(I2C_ADDRESS, REG_CTRL_REG1, (MASK_DR | MASK_OSR), _value<<3); // set combination of data rate and oversampling } inline uint8_t initialize(void) { return initialize(100); }; inline uint8_t initialize(const uint8_t hzFreq) { if (i2c.probe(I2C_ADDRESS)==0) return 0; setEnabled(0); setSensorAutoReset(1); setRawMode(1); setDataRate(hzFreq); setEnabled(1); return 1; }; /**< only used when in manual/standby mode */ inline void triggerMeasurement(void) { i2c.setRegister(I2C_ADDRESS, REG_CTRL_REG1, MASK_TM, MASK_TM); }; /**< check for new data, return 1 when Measurement is ready */ inline uint8_t checkMeasurement(void) { uint8_t _val; i2c.read(I2C_ADDRESS, REG_DR_STATUS, &_val, 1); if (_val & B00001000) return 1; // Measurement finished else return 0; }; /**< wait for new data*/ inline uint8_t awaitMeasurement(void) { uint8_t _counter = 0; while (checkMeasurement()==0) { if (++_counter > 250) return 0; // check took longer than 250ms delay(1); }; return 1; // Measurement finished }; /**< get RAW values */ void getMeasurement(int16_t xyz_raw[]) { uint8_t buf[6]; i2c.read(I2C_ADDRESS, REG_OUT_X_MSB, buf, 6); xyz_raw[0] = (buf[0]<<8) | buf[1]; xyz_raw[1] = (buf[2]<<8) | buf[3]; xyz_raw[2] = (buf[4]<<8) | buf[5]; }; /**< values scaled to uT */ void getMeasurement(float xyz_uT[]) { uint8_t buf[6]; i2c.read(I2C_ADDRESS, REG_OUT_X_MSB, buf, 6); xyz_uT[0] = int16_t((buf[0]<<8) | buf[1])*0.2471f; xyz_uT[1] = int16_t((buf[2]<<8) | buf[3])*0.2479f; xyz_uT[2] = int16_t((buf[4]<<8) | buf[5])*0.2480f; }; }; /** ######### Preinstantiate Object ################################################################# */ /** < it's better when this is done by the user */ //PRESET preset = PRESET(); #endif