mag3110: Added upm support for sensor MAG3110

MAG3110 is a three-axis digital magnetometer.

Signed-off-by: Norbert Wesp <nwesp@phytec.de>
Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>

doxy/samples.mapping.txt

@@ -77,3 +77,4 @@ p9813.cxx	P9813Sample.java	p9813.js	p9813.py
 tcs37727.cxx tcs37727.py
 tmp006.cxx tmp006.py
 mma8x5x.cxx mma8x5x.py
+mag3110.cxx mag3110.py

examples/c++/CMakeLists.txt

@@ -337,6 +337,7 @@ add_example (mmc35240)
 add_example (tcs37727)
 add_example (tmp006)
 add_example (mma8x5x)
+add_example (mag3110)
 
 # These are special cases where you specify example binary, source file and module(s)
 include_directories (${PROJECT_SOURCE_DIR}/src)

examples/c++/mag3110.cxx

@@ -0,0 +1,76 @@
+/* Author: Norbert Wesp <nwesp@phytec.de>
+ * Copyright (c) 2017 Phytec Messtechnik GmbH.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <unistd.h>
+#include <iostream>
+#include <signal.h>
+
+#include "mag3110.hpp"
+
+using namespace upm;
+
+bool run = true;
+
+void sig_handler(int sig)
+{
+  if (sig == SIGINT)
+    run = false;
+}
+
+int main(int argc, char **argv)
+{
+  signal(SIGINT, sig_handler);
+
+//! [Interesting]
+  upm::mag3110_data_t data;
+
+  cout << "Initializing test-application..." << endl;
+
+  // Instantiate an MAG3110 instance on bus 1
+  upm::MAG3110 *mySensor = new upm::MAG3110(1);
+
+  // activate periodic measurements
+  mySensor->setActive();
+
+  // update and print available values every second
+  while (run)
+    {
+      mySensor->getData (&data, true);
+        cout << "x: " << data.x << endl
+             << "y: " << data.y << endl
+             << "z: " << data.z << endl
+             << "Status: " << data.status << endl
+             << "Die temperature: " << data.dtemp << endl;
+
+        cout << endl;
+
+        sleep(1);
+    }
+
+  cout << "Exiting test-application..." << endl;
+
+  delete mySensor;
+//! [Interesting]
+
+  return 0;
+}

examples/python/mag3110.py

@@ -0,0 +1,62 @@
+#!/usr/bin/python
+# Author: Norbert Wesp <nwesp@phytec.de>
+# Copyright (c) 2017 Phytec Messtechnik GmbH.
+#
+# based on: tcs3414cs.py
+#
+# Permission is hereby granted, free of charge, to any person obtaining
+# a copy of this software and associated documentation files (the
+# "Software"), to deal in the Software without restriction, including
+# without limitation the rights to use, copy, modify, merge, publish,
+# distribute, sublicense, and/or sell copies of the Software, and to
+# permit persons to whom the Software is furnished to do so, subject to
+# the following conditions:
+#
+# The above copyright notice and this permission notice shall be
+# included in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+from __future__ import print_function
+import time, sys, signal, atexit
+from upm import pyupm_mag3110 as MAG3110
+
+def main():
+    # Instantiate the Three-Axis Digital Magnetometer Sensor on I2C on bus 1
+    mySensor = MAG3110.MAG3110(1)
+
+    ## Exit handlers ##
+    # This stops python from printing a stacktrace when you hit control-C
+    def SIGINTHandler(signum, frame):
+        raise SystemExit
+
+    # This lets you run code on exit,
+    # including functions from mySensor
+    def exitHandler():
+        print("Exiting")
+        sys.exit(0)
+
+    # Register exit handlers
+    atexit.register(exitHandler)
+    signal.signal(signal.SIGINT, SIGINTHandler)
+
+    data = MAG3110.mag3110_data_t()
+
+    # activate periodic measurements
+    mySensor.setActive();
+
+    # Print out the x, y, z, status and die temperature value every 0.5 seconds
+    while(1):
+        mySensor.getData(data, True)
+        print(data.x, data.y, data.z, hex(data.status), data.dtemp)
+
+        time.sleep(.5)
+
+if __name__ == '__main__':
+    main()

src/mag3110/CMakeLists.txt

@@ -0,0 +1,5 @@
+set (libname "mag3110")
+set (libdescription "Three-Axis Digital Magnetometer")
+set (module_src ${libname}.cpp)
+set (module_hpp ${libname}.hpp)
+upm_module_init()

src/mag3110/javaupm_mag3110.i

@@ -0,0 +1,19 @@
+%module javaupm_mag3110
+%include "../upm.i"
+
+%{
+    #include "mag3110.hpp"
+%}
+
+%include "mag3110.hpp"
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_mag3110");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}

src/mag3110/jsupm_mag3110.i

@@ -0,0 +1,8 @@
+%module jsupm_mag3110
+%include "../upm.i"
+
+%{
+    #include "mag3110.hpp"
+%}
+
+%include "mag3110.hpp"

src/mag3110/mag3110.cpp

@@ -0,0 +1,269 @@
+/*
+ * Author: Norbert Wesp <nwesp@phytec.de>
+ * Copyright (c) 2017 Phytec Messtechnik GmbH.
+ *
+ * based on: RIOT-driver mag3110 by Johann Fischer <j.fischer@phytec.de>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <iostream>
+#include <string>
+#include <stdexcept>
+
+#include <unistd.h>
+#include <stdlib.h>
+#include <endian.h>
+
+#include "mag3110.hpp"
+
+using namespace upm;
+
+MAG3110::MAG3110 (int bus, uint8_t dros, int devAddr) : m_i2ControlCtx(bus) {
+    s_data->x = 0;
+    s_data->y = 0;
+    s_data->z = 0;
+    s_data->status = 0;
+    s_data->dtemp = 0;
+
+    uint8_t reg;
+
+    m_name = MAG3110_NAME;
+
+    m_controlAddr = devAddr;
+    m_bus = bus;
+
+    if (dros > MAG3110_DROS_0008_128) {
+        throw std::invalid_argument(std::string(__FUNCTION__) +
+                                    ": given DR-OS invalid");
+    }
+
+    mraa::Result ret = m_i2ControlCtx.address(m_controlAddr);
+    if (ret != mraa::SUCCESS) {
+        throw std::invalid_argument(std::string(__FUNCTION__) +
+                                    ": mraa_i2c_address() failed");
+    }
+
+    if (checkID() != 0) {
+        /* sensor_id does not match! maybe wrong sensor chosen? */
+        throw std::invalid_argument(std::string(__FUNCTION__) +
+                                    ": checkID() failed");
+    }
+
+    /* enable automatic magnetic sensor reset */
+    reg = MAG3110_CTRL_REG2_AUTO_MRST_EN;
+    ret = m_i2ControlCtx.writeReg(MAG3110_CTRL_REG2, reg);
+    if (ret != mraa::SUCCESS) {
+        throw std::invalid_argument(std::string(__FUNCTION__) +
+                                    ": mraa_i2c_write_byte_data() failed");
+    }
+
+    reg = MAG3110_CTRL_REG1_DROS(dros);
+    ret = m_i2ControlCtx.writeReg(MAG3110_CTRL_REG1, reg);
+    if (ret != mraa::SUCCESS) {
+        throw std::invalid_argument(std::string(__FUNCTION__) +
+                                    ": mraa_i2c_write_byte_data() failed");
+    }
+}
+
+int
+MAG3110::checkID(void)
+{
+    uint8_t id;
+
+    id = m_i2ControlCtx.readReg(MAG3110_DEVICE_ID_REG);
+
+    if (id != MAG3110_DEVICE_ID) {
+        return -1;
+    }
+
+    return 0;
+}
+
+int
+MAG3110::setUserOffset(int16_t x, int16_t y, int16_t z)
+{
+    mraa::Result ret;
+    ret = m_i2ControlCtx.writeWordReg(MAG3110_OFF_X_MSB, (uint16_t)x);
+    if (ret != mraa::SUCCESS) {
+        throw std::invalid_argument(std::string(__FUNCTION__) +
+                                    ": mraa_i2c_write_word_data() failed");
+        return -1;
+    }
+
+    ret = m_i2ControlCtx.writeWordReg(MAG3110_OFF_Y_MSB, (uint16_t)y);
+    if (ret != mraa::SUCCESS) {
+        throw std::invalid_argument(std::string(__FUNCTION__) +
+                                    ": mraa_i2c_write_word_data() failed");
+        return -1;
+    }
+
+    ret = m_i2ControlCtx.writeWordReg(MAG3110_OFF_Z_MSB, (uint16_t)z);
+    if (ret != mraa::SUCCESS) {
+        throw std::invalid_argument(std::string(__FUNCTION__) +
+                                    ": mraa_i2c_write_word_data() failed");
+        return -1;
+    }
+
+    return 0;
+}
+
+int
+MAG3110::setActive(void)
+{
+    uint8_t reg;
+
+    reg = m_i2ControlCtx.readReg(MAG3110_CTRL_REG1);
+
+    reg |= MAG3110_CTRL_REG1_AC;
+
+    mraa::Result ret = m_i2ControlCtx.writeReg(MAG3110_CTRL_REG1, reg);
+    if (ret != mraa::SUCCESS) {
+        throw std::invalid_argument(std::string(__FUNCTION__) +
+                                    ": mraa_i2c_write_byte_data() failed");
+        return -1;
+    }
+
+    return 0;
+}
+
+int
+MAG3110::setStandby(void)
+{
+    uint8_t reg;
+
+    reg = m_i2ControlCtx.readReg(MAG3110_CTRL_REG1);
+
+    reg &= ~MAG3110_CTRL_REG1_AC;
+
+    mraa::Result ret = m_i2ControlCtx.writeReg(MAG3110_CTRL_REG1, reg);
+    if (ret != mraa::SUCCESS) {
+        throw std::invalid_argument(std::string(__FUNCTION__) +
+                                    ": mraa_i2c_write_byte_data() failed");
+        return -1;
+    }
+
+    return 0;
+}
+
+int
+MAG3110::isReady(void)
+{
+    uint8_t reg;
+
+    reg = m_i2ControlCtx.readReg(MAG3110_DR_STATUS);
+
+    return (int)(reg & MAG3110_DR_STATUS_ZYXDR);
+}
+
+int
+MAG3110::sampleData(void)
+{
+    uint8_t buf[7];
+    uint8_t dtemp;
+    int re = 0;
+
+    re = m_i2ControlCtx.readBytesReg(MAG3110_DR_STATUS, buf, 7);
+    if (re != 7) {
+        /* did not read enough bytes */
+        return -1;
+    }
+
+    s_data->status = buf[0];
+    s_data->x = ((int16_t)buf[1] << 8) | buf[2];
+    s_data->y = ((int16_t)buf[3] << 8) | buf[4];
+    s_data->z = ((int16_t)buf[5] << 8) | buf[6];
+
+    dtemp = m_i2ControlCtx.readReg(MAG3110_DIE_TEMP);
+
+    s_data->dtemp = dtemp;
+
+    return 0;
+}
+
+int16_t
+MAG3110::getX(int bSampleData)
+{
+    if (bSampleData) {
+        if (sampleData() != 0) {
+            /* error in read values from reg */
+            return -999;
+        }
+    }
+
+    return s_data->x;
+}
+
+int16_t
+MAG3110::getY(int bSampleData)
+{
+    if (bSampleData) {
+        if (sampleData() != 0) {
+            /* error in read values from reg */
+            return -999;
+        }
+    }
+
+    return s_data->y;
+}
+
+int16_t
+MAG3110::getZ(int bSampleData)
+{
+    if (bSampleData) {
+        if (sampleData() != 0) {
+            /* error in read values from reg */
+            return -999;
+        }
+    }
+
+    return s_data->z;
+}
+
+uint8_t
+MAG3110::getStatus(void)
+{
+    return s_data->status;
+}
+
+int8_t
+MAG3110::getDieTemperature(void)
+{
+    return s_data->dtemp;
+}
+
+int
+MAG3110::getData(mag3110_data_t* data, int bSampleData)
+{
+    if (bSampleData) {
+        if (sampleData() != 0) {
+            /* error in read values from reg */
+            return -1;
+        }
+    }
+
+    data->x = s_data->x;
+    data->y = s_data->y;
+    data->z = s_data->z;
+    data->status = s_data->status;
+    data->dtemp = s_data->dtemp;
+
+    return 0;
+}

src/mag3110/mag3110.hpp

@@ -0,0 +1,296 @@
+/*
+ * Author: Norbert Wesp <nwesp@phytec.de>
+ * Copyright (c) 2017 Phytec Messtechnik GmbH.
+ *
+ * based on: RIOT-driver mag3110 by Johann Fischer <j.fischer@phytec.de>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <string>
+#include <mraa/i2c.hpp>
+#include <stdint.h>
+#include <stdbool.h>
+
+#define MAG3110_NAME "MAG3110"
+#define MAG3110_I2C_ADDRESS   0x0E
+#define MAG3110_DEVICE_ID     0xC4
+#define MAG3110_DEVICE_ID_REG 0x07
+
+/* MAG3110 Register Map */
+#define MAG3110_DR_STATUS            0x00 /**< Data ready status per axis */
+#define MAG3110_OUT_X_MSB            0x01 /**< Bits [15:8] of X measurement */
+#define MAG3110_OUT_X_LSB            0x02 /**< Bits [7:0] of X measurement */
+#define MAG3110_OUT_Y_MSB            0x03 /**< Bits [15:8] of Y measurement */
+#define MAG3110_OUT_Y_LSB            0x04 /**< Bits [7:0] of Y measurement */
+#define MAG3110_OUT_Z_MSB            0x05 /**< Bits [15:8] of Z measurement */
+#define MAG3110_OUT_Z_LSB            0x06 /**< Bits [7:0] of Z measurement */
+#define MAG3110_SYSMOD               0x08 /**< FIFO Status Register */
+#define MAG3110_OFF_X_MSB            0x09 /**< Bits [15:8] of user X offset */
+#define MAG3110_OFF_X_LSB            0x0A /**< Bits [7:0] of user X offset */
+#define MAG3110_OFF_Y_MSB            0x0B /**< Bits [15:8] of user Y offset */
+#define MAG3110_OFF_Y_LSB            0x0C /**< Bits [7:0] of user Y offset */
+#define MAG3110_OFF_Z_MSB            0x0D /**< Bits [15:8] of user Z offset */
+#define MAG3110_OFF_Z_LSB            0x0E /**< Bits [7:0] of user Z offset */
+#define MAG3110_DIE_TEMP             0x0F /**< Temperature, signed 8 bits */
+#define MAG3110_CTRL_REG1            0x10 /**< Operation modes */
+#define MAG3110_CTRL_REG2            0x11 /**< Operation modes */
+
+/* MAG3110 DR-STATUS Register */
+#define MAG3110_DR_STATUS_ZYXOW           (1 << 7)
+#define MAG3110_DR_STATUS_ZOW             (1 << 6)
+#define MAG3110_DR_STATUS_YOW             (1 << 5)
+#define MAG3110_DR_STATUS_XOW             (1 << 4)
+#define MAG3110_DR_STATUS_ZYXDR           (1 << 3)
+#define MAG3110_DR_STATUS_ZDR             (1 << 2)
+#define MAG3110_DR_STATUS_YDR             (1 << 1)
+#define MAG3110_DR_STATUS_XDR             (1 << 0)
+
+/* MAG3110 SYSMOD Register */
+#define MAG3110_SYSMOD_STANDBY            0
+#define MAG3110_SYSMOD_ACTIVE_RAW         1
+#define MAG3110_SYSMOD_ACTIVE             2
+
+/* MAG3110 Control Register 1 */
+#define MAG3110_CTRL_REG1_DROS_SHIFT      3
+#define MAG3110_CTRL_REG1_DROS_MASK       0xF8
+#define MAG3110_CTRL_REG1_DROS(x)         (((uint8_t)(((uint8_t)(x))<<\
+                                          MAG3110_CTRL_REG1_DROS_SHIFT))\
+                                          &MAG3110_CTRL_REG1_DROS_MASK)
+#define MAG3110_CTRL_REG1_FR              (1 << 2)
+#define MAG3110_CTRL_REG1_TM              (1 << 1)
+#define MAG3110_CTRL_REG1_AC              (1 << 0)
+
+/* MAG3110 Control Register 2 */
+#define MAG3110_CTRL_REG2_AUTO_MRST_EN    (1 << 7)
+#define MAG3110_CTRL_REG2_RAW             (1 << 5)
+#define MAG3110_CTRL_REG2_MAG_RST         (1 << 4)
+
+/* MAG3110 Output Rate (DR) and Over Sample (OS) Ratio for CTRL_REG1 */
+#define MAG3110_DROS_8000_16     0 /* DR 80   Hz, OS Ratio 16 */
+#define MAG3110_DROS_4000_32     1 /* DR 40   Hz, OS Ratio 32 */
+#define MAG3110_DROS_2000_64     2 /* DR 20   Hz, OS Ratio 64 */
+#define MAG3110_DROS_1000_128    3 /* DR 10   Hz, OS Ratio 128 */
+#define MAG3110_DROS_4000_16     4 /* DR 40   Hz, OS Ratio 16 */
+#define MAG3110_DROS_2000_32     5 /* DR 20   Hz, OS Ratio 32 */
+#define MAG3110_DROS_1000_64     6 /* DR 10   Hz, OS Ratio 64 */
+#define MAG3110_DROS_0500_128    7 /* DR 5    Hz, OS Ratio 128 */
+#define MAG3110_DROS_2000_16     8 /* DR 20   Hz, OS Ratio 16 */
+#define MAG3110_DROS_1000_32     9 /* DR 10   Hz, OS Ratio 32 */
+#define MAG3110_DROS_0500_64    10 /* DR 5    Hz, OS Ratio 64 */
+#define MAG3110_DROS_0250_128   11 /* DR 2.5  Hz, OS Ratio 128 */
+#define MAG3110_DROS_1000_16    12 /* DR 10   Hz, OS Ratio 16 */
+#define MAG3110_DROS_0500_32    13 /* DR 5    Hz, OS Ratio 32 */
+#define MAG3110_DROS_0250_64    14 /* DR 2.5  Hz, OS Ratio 64 */
+#define MAG3110_DROS_0125_128   15 /* DR 1.25 Hz, OS Ratio 128 */
+#define MAG3110_DROS_0500_16    16 /* DR 5    Hz, OS Ratio 16 */
+#define MAG3110_DROS_0250_32    17 /* DR 2.5  Hz, OS Ratio 32 */
+#define MAG3110_DROS_0125_64    18 /* DR 1.25 Hz, OS Ratio 64 */
+#define MAG3110_DROS_0063_128   19 /* DR 0.63 Hz, OS Ratio 128 */
+#define MAG3110_DROS_0250_16    20 /* DR 2.5  Hz, OS Ratio 16 */
+#define MAG3110_DROS_0125_32    21 /* DR 1.25 Hz, OS Ratio 32 */
+#define MAG3110_DROS_0063_64    22 /* DR 0.63 Hz, OS Ratio 64 */
+#define MAG3110_DROS_0031_128   23 /* DR 0.31 Hz, OS Ratio 128 */
+#define MAG3110_DROS_0125_16    24 /* DR 1.25 Hz, OS Ratio 16 */
+#define MAG3110_DROS_0063_32    25 /* DR 0.63 Hz, OS Ratio 32 */
+#define MAG3110_DROS_0031_64    26 /* DR 0.31 Hz, OS Ratio 64 */
+#define MAG3110_DROS_0016_128   27 /* DR 0.16 Hz, OS Ratio 128 */
+#define MAG3110_DROS_0063_16    28 /* DR 0.63 Hz, OS Ratio 16 */
+#define MAG3110_DROS_0031_32    29 /* DR 0.31 Hz, OS Ratio 32 */
+#define MAG3110_DROS_0016_64    30 /* DR 0.16 Hz, OS Ratio 64 */
+#define MAG3110_DROS_0008_128   31 /* DR 0.08 Hz, OS Ratio 128 */
+#define MAG3110_DROS_DEFAULT    MAG3110_DROS_0125_128 
+                                /* Default Setting for testing*/
+
+namespace upm {
+
+typedef struct {
+    int16_t x;
+    int16_t y;
+    int16_t z;
+    uint8_t status;
+    int8_t dtemp;
+} mag3110_data_t;
+
+/**
+ * @brief MAG3110 Three-Axis Digital Magnetometer
+ * @defgroup mag3110 libupm-mag3110
+ * @ingroup freescale i2c accelerometer compass
+ */
+
+/**
+ * @library mag3110
+ * @sensor mag3110
+ * @comname MAG3110 Three-Axis Digital Magnetometer
+ * @type accelerometer compass
+ * @man freescale
+ * @web http://www.nxp.com/assets/documents/data/en/data-sheets/MAG3110.pdf
+ * @con i2c
+ *
+ * @brief API for the MAG3110 Three-Axis Digital Magnetometer
+ *
+ * Description in web-link above:
+ * The MAG3110 is a small, low-power digital 3D magnetic sensor with a wide
+ * dynamic range to allow operation in PCBs with high extraneous magnetic
+ * fields.
+ * It measures the components of the local magnetic field, the sum of the
+ * geomagnetic field and the magnetic field created by components on the
+ * circuit board.
+ * It can be used in conjunction with a 3-axis accelerometer so that
+ * orientation-independent accurate compass heading information may be achieved
+ * It is capable of measuring local magnetic fields up to 10 Gauss with output
+ * data rates up to 80 Hz.
+ *
+ * @snippet mag3110.cxx Interesting
+ */
+class MAG3110 {
+    public:
+        /**
+         *
+         * Instantiates an MAG3110 object
+         *
+         * @param bus Number of the used bus
+         * @param dros Data rate and over sampling selection
+         * @param devAddr Address of the used I2C device
+         */
+        MAG3110 (int bus, uint8_t dros=MAG3110_DROS_DEFAULT,
+                             int devAddr=MAG3110_I2C_ADDRESS);
+
+        /**
+         * Check device_id of sensor
+         *
+         * @return  0 on success
+         *         -1 on error
+         */
+        int checkID(void);
+
+        /**
+         * Set user offset correction
+         * Offset correction register will be erased after accelerometer reset
+         *
+         * @param x Offset correction value for x-axis
+         * @param y Offset correction value for y-axis
+         * @param z Offset correction value for z-axis
+         *
+         * @return  0 on success
+         *         -1 on error
+         */
+        int setUserOffset(int16_t x, int16_t y, int16_t z);
+
+        /**
+         * Set active mode, this enables periodic measurements
+         *
+         * @return  0 on success
+         *         -1 on error
+         */
+        int setActive(void);
+
+        /**
+         * Set standby mode, this disables periodic measurements
+         *
+         * @return  0 on success
+         *         -1 on error
+         */
+        int setStandby(void);
+
+        /**
+         * Check for new set of measurement data.
+         *
+         * @return >0 if x-, y- and z-axis new sample is ready
+         *          0 if measurement is in progress
+         */
+        int isReady(void);
+
+        /**
+         * Read magnetometer's data and saves them to variables
+         *
+         * Info: To get the actual values for the magnetic field someone
+         * has to divide the returned values from the magnetometer by 10
+         *
+         * @return  0 on success
+         *         -1 on error
+         */
+        int sampleData(void);
+
+        /**
+         * Get x-axis magnetic field strength
+         *
+         * @param bSampleData Flag to read sensor
+         * @return The x-axis magnetic field strength on success
+         *         -999 on error
+         */
+        int16_t getX(int bSampleData = 0);
+
+        /**
+         * Get y-axis magnetic field strength
+         *
+         * @param bSampleData Flag to read sensor
+         * @return The y-axis magnetic field strength on success
+         *         -999 on error
+         */
+        int16_t getY(int bSampleData = 0);
+
+        /**
+         * Get z-axis magnetic field strength
+         *
+         * @param bSampleData Flag to read sensor
+         * @return The z-axis magnetic field strength on success
+         *         -999 on error
+         */
+        int16_t getZ(int bSampleData = 0);
+
+        /**
+         * Get value of status register
+         *
+         * @return Value of status register
+         */
+        uint8_t getStatus(void);
+
+        /**
+         * Get die temperature
+         *
+         * @return Die temperature
+         */
+        int8_t getDieTemperature(void);
+
+        /**
+         * Get sensor values
+         *
+         * @param data Sensor values
+         * @param bSampleData Flag to read sensor
+         * @return  0 on success
+         *         -1 on error
+         */
+        int getData(mag3110_data_t* data, int bSampleData = 0);
+
+    private:
+
+        std::string m_name;
+
+        int m_controlAddr;
+        int m_bus;
+        mraa::I2c m_i2ControlCtx;
+
+        mag3110_data_t s_data[1];
+};
+
+}

src/mag3110/pyupm_mag3110.i

@@ -0,0 +1,15 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+%module pyupm_mag3110
+%include "../upm.i"
+
+%feature("autodoc", "3");
+
+#ifdef DOXYGEN
+%include "mag3110_doc.i"
+#endif
+
+%include "mag3110.hpp"
+%{
+    #include "mag3110.hpp"
+%}