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Adafruit_MLX90393.h
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Adafruit_MLX90393.h
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/******************************************************************************
This is a library for the MLX90393 magnetometer.
Designed specifically to work with the MLX90393 breakout from Adafruit:
----> https://www.adafruit.com/products/4022
These sensors use I2C to communicate, 2 pins are required to interface.
Adafruit invests time and resources providing this open source code, please
support Adafruit and open-source hardware by purchasing products from
Adafruit!
Written by Kevin Townsend/ktown for Adafruit Industries.
MIT license, all text above must be included in any redistribution
*****************************************************************************/
#ifndef ADAFRUIT_MLX90393_H
#define ADAFRUIT_MLX90393_H
#include "Arduino.h"
#include <Adafruit_I2CDevice.h>
#include <Adafruit_SPIDevice.h>
#include <Adafruit_Sensor.h>
#define MLX90393_DEFAULT_ADDR (0x0C) /* Can also be 0x18, depending on IC */
#define MLX90393_AXIS_ALL (0x0E) /**< X+Y+Z axis bits for commands. */
#define MLX90393_CONF1 (0x00) /**< Gain */
#define MLX90393_CONF2 (0x01) /**< Burst, comm mode */
#define MLX90393_CONF3 (0x02) /**< Oversampling, filter, res. */
#define MLX90393_CONF4 (0x03) /**< Sensitivty drift. */
#define MLX90393_GAIN_SHIFT (4) /**< Left-shift for gain bits. */
#define MLX90393_HALL_CONF (0x0C) /**< Hall plate spinning rate adj. */
#define MLX90393_STATUS_OK (0x00) /**< OK value for status response. */
#define MLX90393_STATUS_SMMODE (0x08) /**< SM Mode status response. */
#define MLX90393_STATUS_RESET (0x01) /**< Reset value for status response. */
#define MLX90393_STATUS_ERROR (0xFF) /**< OK value for status response. */
#define MLX90393_STATUS_MASK (0xFC) /**< Mask for status OK checks. */
/** Register map. */
enum {
MLX90393_REG_SB = (0x10), /**< Start burst mode. */
MLX90393_REG_SW = (0x20), /**< Start wakeup on change mode. */
MLX90393_REG_SM = (0x30), /**> Start single-meas mode. */
MLX90393_REG_RM = (0x40), /**> Read measurement. */
MLX90393_REG_RR = (0x50), /**< Read register. */
MLX90393_REG_WR = (0x60), /**< Write register. */
MLX90393_REG_EX = (0x80), /**> Exit moode. */
MLX90393_REG_HR = (0xD0), /**< Memory recall. */
MLX90393_REG_HS = (0x70), /**< Memory store. */
MLX90393_REG_RT = (0xF0), /**< Reset. */
MLX90393_REG_NOP = (0x00), /**< NOP. */
};
/** Gain settings for CONF1 register. */
typedef enum mlx90393_gain {
MLX90393_GAIN_5X = (0x00),
MLX90393_GAIN_4X,
MLX90393_GAIN_3X,
MLX90393_GAIN_2_5X,
MLX90393_GAIN_2X,
MLX90393_GAIN_1_67X,
MLX90393_GAIN_1_33X,
MLX90393_GAIN_1X
} mlx90393_gain_t;
/** Resolution settings for CONF3 register. */
typedef enum mlx90393_resolution {
MLX90393_RES_16,
MLX90393_RES_17,
MLX90393_RES_18,
MLX90393_RES_19,
} mlx90393_resolution_t;
/** Axis designator. */
typedef enum mlx90393_axis {
MLX90393_X,
MLX90393_Y,
MLX90393_Z
} mlx90393_axis_t;
/** Digital filter settings for CONF3 register. */
typedef enum mlx90393_filter {
MLX90393_FILTER_0,
MLX90393_FILTER_1,
MLX90393_FILTER_2,
MLX90393_FILTER_3,
MLX90393_FILTER_4,
MLX90393_FILTER_5,
MLX90393_FILTER_6,
MLX90393_FILTER_7,
} mlx90393_filter_t;
/** Oversampling settings for CONF3 register. */
typedef enum mlx90393_oversampling {
MLX90393_OSR_0,
MLX90393_OSR_1,
MLX90393_OSR_2,
MLX90393_OSR_3,
} mlx90393_oversampling_t;
/** Lookup table to convert raw values to uT based on [HALLCONF][GAIN_SEL][RES].
*/
const float mlx90393_lsb_lookup[2][8][4][2] = {
/* HALLCONF = 0xC (default) */
{
/* GAIN_SEL = 0, 5x gain */
{{0.751, 1.210}, {1.502, 2.420}, {3.004, 4.840}, {6.009, 9.680}},
/* GAIN_SEL = 1, 4x gain */
{{0.601, 0.968}, {1.202, 1.936}, {2.403, 3.872}, {4.840, 7.744}},
/* GAIN_SEL = 2, 3x gain */
{{0.451, 0.726}, {0.901, 1.452}, {1.803, 2.904}, {3.605, 5.808}},
/* GAIN_SEL = 3, 2.5x gain */
{{0.376, 0.605}, {0.751, 1.210}, {1.502, 2.420}, {3.004, 4.840}},
/* GAIN_SEL = 4, 2x gain */
{{0.300, 0.484}, {0.601, 0.968}, {1.202, 1.936}, {2.403, 3.872}},
/* GAIN_SEL = 5, 1.667x gain */
{{0.250, 0.403}, {0.501, 0.807}, {1.001, 1.613}, {2.003, 3.227}},
/* GAIN_SEL = 6, 1.333x gain */
{{0.200, 0.323}, {0.401, 0.645}, {0.801, 1.291}, {1.602, 2.581}},
/* GAIN_SEL = 7, 1x gain */
{{0.150, 0.242}, {0.300, 0.484}, {0.601, 0.968}, {1.202, 1.936}},
},
/* HALLCONF = 0x0 */
{
/* GAIN_SEL = 0, 5x gain */
{{0.787, 1.267}, {1.573, 2.534}, {3.146, 5.068}, {6.292, 10.137}},
/* GAIN_SEL = 1, 4x gain */
{{0.629, 1.014}, {1.258, 2.027}, {2.517, 4.055}, {5.034, 8.109}},
/* GAIN_SEL = 2, 3x gain */
{{0.472, 0.760}, {0.944, 1.521}, {1.888, 3.041}, {3.775, 6.082}},
/* GAIN_SEL = 3, 2.5x gain */
{{0.393, 0.634}, {0.787, 1.267}, {1.573, 2.534}, {3.146, 5.068}},
/* GAIN_SEL = 4, 2x gain */
{{0.315, 0.507}, {0.629, 1.014}, {1.258, 2.027}, {2.517, 4.055}},
/* GAIN_SEL = 5, 1.667x gain */
{{0.262, 0.422}, {0.524, 0.845}, {1.049, 1.689}, {2.097, 3.379}},
/* GAIN_SEL = 6, 1.333x gain */
{{0.210, 0.338}, {0.419, 0.676}, {0.839, 1.352}, {1.678, 2.703}},
/* GAIN_SEL = 7, 1x gain */
{{0.157, 0.253}, {0.315, 0.507}, {0.629, 1.014}, {1.258, 2.027}},
}};
/** Lookup table for conversion time based on [DIF_FILT][OSR].
*/
const float mlx90393_tconv[8][4] = {
/* DIG_FILT = 0 */
{1.27, 1.84, 3.00, 5.30},
/* DIG_FILT = 1 */
{1.46, 2.23, 3.76, 6.84},
/* DIG_FILT = 2 */
{1.84, 3.00, 5.30, 9.91},
/* DIG_FILT = 3 */
{2.61, 4.53, 8.37, 16.05},
/* DIG_FILT = 4 */
{4.15, 7.60, 14.52, 28.34},
/* DIG_FILT = 5 */
{7.22, 13.75, 26.80, 52.92},
/* DIG_FILT = 6 */
{13.36, 26.04, 51.38, 102.07},
/* DIG_FILT = 7 */
{25.65, 50.61, 100.53, 200.37},
};
/**
* Driver for the Adafruit MLX90393 magnetometer breakout board.
*/
class Adafruit_MLX90393 : public Adafruit_Sensor {
public:
Adafruit_MLX90393();
bool begin_I2C(uint8_t i2c_addr = MLX90393_DEFAULT_ADDR,
TwoWire *wire = &Wire);
bool begin_SPI(uint8_t cs_pin, SPIClass *theSPI = &SPI);
bool reset(void);
bool exitMode(void);
bool readMeasurement(float *x, float *y, float *z);
bool startSingleMeasurement(void);
bool setGain(enum mlx90393_gain gain);
enum mlx90393_gain getGain(void);
bool setResolution(enum mlx90393_axis, enum mlx90393_resolution resolution);
enum mlx90393_resolution getResolution(enum mlx90393_axis);
bool setFilter(enum mlx90393_filter filter);
enum mlx90393_filter getFilter(void);
bool setOversampling(enum mlx90393_oversampling oversampling);
enum mlx90393_oversampling getOversampling(void);
bool setTrigInt(bool state);
bool readData(float *x, float *y, float *z);
bool getEvent(sensors_event_t *event);
void getSensor(sensor_t *sensor);
private:
Adafruit_I2CDevice *i2c_dev = NULL;
Adafruit_SPIDevice *spi_dev = NULL;
bool readRegister(uint8_t reg, uint16_t *data);
bool writeRegister(uint8_t reg, uint16_t data);
bool _init(void);
uint8_t transceive(uint8_t *txbuf, uint8_t txlen, uint8_t *rxbuf = NULL,
uint8_t rxlen = 0, uint8_t interdelay = 10);
enum mlx90393_gain _gain;
enum mlx90393_resolution _res_x, _res_y, _res_z;
enum mlx90393_filter _dig_filt;
enum mlx90393_oversampling _osr;
int32_t _sensorID = 90393;
int _cspin;
};
#endif /* ADAFRUIT_MLX90393_H */