mag_functions.c File Reference

#include "imu_functions.h"

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Functions
int	mag_write_reg (int i2c_dev, uint8_t reg, uint8_t data)
	Rev 0 - 11/11/2012 RLEG project - 2012. More...
uint8_t *	mag_read_reg (int i2c_dev, uint8_t reg, uint8_t count)
	READ COUNT 8-BIT REGISTER IN SEQUENCE. More...
int	mag_init (int i2c_dev, uint8_t rate, uint8_t range, uint8_t samples_avg, uint8_t meas_mode, uint8_t op_mode)
	INITIALIZE MAGNETOMETER. More...
int	mag_read_all_data (int i2c_dev, short int *data)
	READ ALL DATA AT ONCE (X, Y and Z) More...
short int	mag_read_data (int i2c_dev, int axis)
	READ DATA (X, Y or Z) More...

Function Documentation

int mag_init	(	int	i2c_dev,
		uint8_t	rate,
		uint8_t	range,
		uint8_t	samples_avg,
		uint8_t	meas_mode,
		uint8_t	op_mode
	)

INITIALIZE MAGNETOMETER.

Definition at line 53 of file mag_functions.c.

References MAG_CONFIG_A, MAG_CONFIG_B, MAG_MODE, and mag_write_reg().

Referenced by devices_init().

{ 
  uint8_t data=0;

  switch(rate){
    case 15:
      data=0x10;
      break;
    case 0:
      data=0x00;
      break;
    case 1:
      data=0x04;
      break;
    case 3:
      data=0x08;
      break;
    case 7:
      data=0x0C;
      break;
    case 30:
      data=0x14;
      break;
    case 75:
      data=0x18;
      break;
    default:
      perror("Wrong rate value");
      break;
  }
  
  switch(samples_avg){
    case 8:
      data=data|0x60;
      break;
    case 1:
      break;
    case 2:
      data=data|0x20;
      break;
    case 4:
      data=data|0x40;
      break;
    default:
      perror("Wrong samples_avg value");
      break;
  }
  
  data+=meas_mode;
  
  if(mag_write_reg(i2c_dev, MAG_CONFIG_A, data)<0){
    perror("Write in Configuration register A unsuccesful");
    return -1;
  }
  
  if(mag_write_reg(i2c_dev, MAG_CONFIG_B, range<<5)<0){
    perror("Write in configuration register B unsuccesful");
    return -1;
  }
  
  if(mag_write_reg(i2c_dev, MAG_MODE, op_mode)<0){
    perror("Write in mode register unsuccesful");
    return -1;
  }
  
  return 1;
}

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