Diff: Sensors/Comp/HMC5883.cpp

Revision:

33:fd98776b6cc7

Parent:

32:e2e02338805e

Child:

34:3aa1cbcde59d

--- a/Sensors/Comp/HMC5883.cpp	Tue Apr 02 16:57:56 2013 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,81 +0,0 @@
-#include "HMC5883.h"
-
-HMC5883::HMC5883(PinName sda, PinName scl) : I2C_Sensor(sda, scl, HMC5883_I2C_ADDRESS)
-{   
-    // load calibration values
-    //loadCalibrationValues(scale, 3, "COMPASS_SCALE.txt");
-    //loadCalibrationValues(offset, 3, "COMPASS_OFFSET.txt");
-    
-    // initialize HMC5883
-    writeRegister(HMC5883_CONF_REG_A, 0x78);                // 8 samples, 75Hz output, normal mode
-    //writeRegister(HMC5883_CONF_REG_A, 0x19);              // 8 samples, 75Hz output, test mode! (should get constant values from measurement, see datasheet)
-    writeRegister(HMC5883_CONF_REG_B, 0x20);                // Gain for +- 1.3 gauss (earth compass ~0.6 gauss)
-    writeRegister(HMC5883_MODE_REG, 0x00);                  // continuous measurement-mode
-}
-
-void HMC5883::read()
-{
-    readraw();
-    for(int i = 0; i < 3; i++)
-        data[i] = scale[i] * (float)(raw[i]) + offset[i];
-}
-
-void HMC5883::calibrate(int s)
-{
-    int Min[3];                                             // values for achieved maximum and minimum amplitude in calibrating environment
-    int Max[3];
-    
-    Timer calibrate_timer;                                  // timer to know when calibration is finished
-    calibrate_timer.start();
-    
-    while(calibrate_timer.read() < s)                       // take measurements for s seconds
-    {
-        readraw();
-        for(int i = 0; i < 3; i++) {
-            Min[i] = Min[i] < raw[i] ? Min[i] : raw[i];      // after each measurement check if there's a new minimum or maximum
-            Max[i] = Max[i] > raw[i] ? Max[i] : raw[i];
-        }
-    }
-    
-    for(int i = 0; i < 3; i++) {
-        scale[i]= 2000 / (float)(Max[i]-Min[i]);            // calculate scale and offset out of the measured maxima and minima
-        offset[i]= 1000 - (float)(Max[i]) * scale[i];       // the lower bound is -1000, the higher one 1000
-    }
-    
-    saveCalibrationValues(scale, 3, "COMPASS_SCALE.txt");   // save new scale and offset values to flash
-    saveCalibrationValues(offset, 3, "COMPASS_OFFSET.txt");
-}
-
-void HMC5883::readraw()
-{
-    char buffer[6];                                         // 8-Bit pieces of axis data
-    
-    readMultiRegister(HMC5883_DATA_OUT_X_MSB, buffer, 6);   // read axis registers using I2C
-    
-    raw[0] = (short) (buffer[0] << 8 | buffer[1]);          // join 8-Bit pieces to 16-bit short integers
-    raw[1] = (short) (buffer[4] << 8 | buffer[5]);          // X, Z and Y (yes, order is stupid like this, see datasheet)
-    raw[2] = (short) (buffer[2] << 8 | buffer[3]);
-}
-
-float HMC5883::get_angle()
-{
-    #define RAD2DEG     57.295779513082320876798154814105
-
-    float Heading;
-    
-    Heading = RAD2DEG * atan2(data[0],data[1]);
-    Heading += 1.367;                   // correction of the angle between geographical and magnetical north direction, called declination
-                                        // if you need an east-declination += DecAngle, if you need west-declination -= DecAngle
-                                        // for me in Switzerland, Bern it's ca. 1.367 degree east
-                                        // see:     http://magnetic-declination.com/
-                                        // for me:  http://www.swisstopo.admin.ch/internet/swisstopo/de/home/apps/calc/declination.html
-    if(Heading < 0)  
-        Heading += 360;                 // minimum 0 degree
-        
-    if(Heading > 360)   
-        Heading -= 360;                 // maximum 360 degree
-
-    return Heading;
-}
-    
-