Revision 17:e096e85f6c36, committed 2012-10-31

Comitter:

maetugr

Date:

Wed Oct 31 16:53:01 2012 +0000

Parent:

16:74a6531350b5

Child:

18:c8c09a3913ba

Commit message:

alle Sensoren mit i2c auf I2C_Sensor umgestellt (nicht getestet), noch keine calibration save per I2C_Sensor

Changed in this revision

--- a/Sensors/Acc/ADXL345.cpp	Wed Oct 31 14:44:07 2012 +0000
+++ b/Sensors/Acc/ADXL345.cpp	Wed Oct 31 16:53:01 2012 +0000
@@ -1,91 +1,47 @@
 #include "ADXL345.h"
-#include "mbed.h"
-
-ADXL345::ADXL345(PinName sda, PinName scl) : i2c(sda, scl) {
 
-    //400kHz, allowing us to use the fastest data rates.
-    //there are other chips on board, sorry
-    i2c.frequency(400000);   
+ADXL345::ADXL345(PinName sda, PinName scl) : I2C_Sensor(sda, scl, ADXL345_I2C_ADDRESS)
+{
     // initialize the BW data rate
-    char tx[2];
-    tx[0] = ADXL345_BW_RATE_REG;
-    tx[1] = ADXL345_1600HZ; //value greater than or equal to 0x0A is written into the rate bits (Bit D3 through Bit D0) in the BW_RATE register 
-    i2c.write( ADXL345_WRITE , tx, 2);  
+    writeRegister(ADXL345_BW_RATE_REG, ADXL345_1600HZ); //value greater than or equal to 0x0A is written into the rate bits (Bit D3 through Bit D0) in the BW_RATE register
 
     //Data format (for +-16g) - This is done by setting Bit D3 of the DATA_FORMAT register (Address 0x31) and writing a value of 0x03 to the range bits (Bit D1 and Bit D0) of the DATA_FORMAT register (Address 0x31).
-   
- char rx[2];
-    rx[0] = ADXL345_DATA_FORMAT_REG;
-    rx[1] = 0x0B; 
-     // full res and +_16g
- i2c.write( ADXL345_WRITE , rx, 2); 
+    writeRegister(ADXL345_DATA_FORMAT_REG, 0x0B);       // full res and +_16g
  
     // Set Offset  - programmed into the OFSX, OFSY, and OFXZ registers, respectively, as 0xFD, 0x03 and 0xFE.
-  char x[2];
-    x[0] = ADXL345_OFSX_REG ;
-    //x[1] = 0xFD; 
-    x[1] = 0x00; 
- i2c.write( ADXL345_WRITE , x, 2);
-  char y[2];
-    y[0] = ADXL345_OFSY_REG ;
-    //y[1] = 0x03;
-    y[1] = 0x00; 
- i2c.write( ADXL345_WRITE , y, 2);
- char z[2];
-    z[0] = ADXL345_OFSZ_REG ;
-    //z[1] = 0xFE;
-    z[1] = 0x00;
- i2c.write( ADXL345_WRITE , z, 2);
+    writeRegister(ADXL345_OFSX_REG, 0x00);              // TODO: 0xFD (sein offset! brauch ich auch?)
+    writeRegister(ADXL345_OFSY_REG, 0x00);              // y[1] = 0x03;
+    writeRegister(ADXL345_OFSZ_REG, 0x00);              // z[1] = 0xFE;
  
- // MY INITIALISATION -------------------------------------------------------
- 
-    writeReg(ADXL345_POWER_CTL_REG, 0x00); // set power control
-    writeReg(ADXL345_DATA_FORMAT_REG, 0x0B); // set data format
-    setDataRate(ADXL345_3200HZ); // set data rate
-    writeReg(ADXL345_POWER_CTL_REG, 0x08); // set mode
+    writeRegister(ADXL345_POWER_CTL_REG, 0x00);         // set power control
+    writeRegister(ADXL345_DATA_FORMAT_REG, 0x0B);       // set data format
+    setDataRate(ADXL345_3200HZ);                        // set data rate
+    writeRegister(ADXL345_POWER_CTL_REG, 0x08);         // set mode
 }
 
-void ADXL345::read(){
-    char buffer[6];    
-    readMultiReg(ADXL345_DATAX0_REG, buffer, 6);
+void ADXL345::read()
+{
+    char buffer[6];                                     // 8-Bit pieces of axis data
     
-    data[0] = (short) ((int)buffer[1] << 8 | (int)buffer[0]);
-    data[1] = (short) ((int)buffer[3] << 8 | (int)buffer[2]);
-    data[2] = (short) ((int)buffer[5] << 8 | (int)buffer[4]);
+    readMultiRegister(ADXL345_DATAX0_REG, buffer, 6);   // read axis registers using I2C
+    
+    data[0] = (short) (buffer[1] << 8 | buffer[0]);     // join 8-Bit pieces to 16-bit short integers
+    data[1] = (short) (buffer[3] << 8 | buffer[2]);
+    data[2] = (short) (buffer[5] << 8 | buffer[4]);
     
     // calculate the angles for roll and pitch (0,1)
-    float R = sqrt(pow((float)data[0],2) + pow((float)data[1],2) + pow((float)data[2],2));
-    angle[0] = -(Rad2Deg * acos((float)data[1] / R)-90);
-    angle[1] =   Rad2Deg * acos((float)data[0] / R)-90;
-    angle[2] =   Rad2Deg * acos((float)data[2] / R);
+    float R = sqrt(pow((float)data[0],2) + pow((float)data[1],2) + pow((float)data[2],2));  // calculate the absolute of the magnetic field vector
+    angle[0] = -(RAD2DEG * acos((float)data[1] / R)-90);                                    // roll - angle of magnetic field vector in x direction
+    angle[1] =   RAD2DEG * acos((float)data[0] / R)-90;                                    // pitch - angle of magnetic field vector in y direction
+    angle[2] =   RAD2DEG * acos((float)data[2] / R);                                        // angle from magnetic field vector in direction which it has
 }
 
-void ADXL345::writeReg(char address, char data){ 
-   char tx[2];
-   tx[0] = address;
-   tx[1] = data;
-   i2c.write(ADXL345_WRITE, tx, 2);
-}
-
-char ADXL345::readReg(char address){   
-   char tx = address;
-   char output; 
-    i2c.write( ADXL345_WRITE , &tx, 1);  //tell it what you want to read
-    i2c.read( ADXL345_READ , &output, 1);    //tell it where to store the data
-    return output; 
-}
-
-void ADXL345::readMultiReg(char address, char* output, int size) {
-    i2c.write(ADXL345_WRITE, &address, 1, true); //tell it where to read from
-    i2c.read(ADXL345_READ , output, size, true); //tell it where to store the data read
-}
-
-void ADXL345::setDataRate(char rate) {
-    //Get the current register contents, so we don't clobber the power bit.
-    char registerContents = readReg(ADXL345_BW_RATE_REG);
+void ADXL345::setDataRate(char rate)
+{
+    char registerContents = readRegister(ADXL345_BW_RATE_REG); // get the current register contents, so we don't clobber the power bit
 
     registerContents &= 0x10;
     registerContents |= rate;
 
-    writeReg(ADXL345_BW_RATE_REG, registerContents);
+    writeRegister(ADXL345_BW_RATE_REG, registerContents);
 }
\ No newline at end of file

--- a/Sensors/Acc/ADXL345.h	Wed Oct 31 14:44:07 2012 +0000
+++ b/Sensors/Acc/ADXL345.h	Wed Oct 31 16:53:01 2012 +0000
@@ -4,38 +4,45 @@
 #define ADXL345_H
 
 #include "mbed.h"
+#include "I2C_Sensor.h"
+
+#define ADXL345_I2C_ADDRESS        0
+// read or write bytes
+//#define ADXL345_READ    0xA7  
+//#define ADXL345_WRITE   0xA6 
+//#define ADXL345_ADDRESS 0x53
 
 // register addresses
-#define ADXL345_DEVID_REG          0x00
-#define ADXL345_THRESH_TAP_REG     0x1D
-#define ADXL345_OFSX_REG           0x1E
-#define ADXL345_OFSY_REG           0x1F
-#define ADXL345_OFSZ_REG           0x20
-#define ADXL345_DUR_REG            0x21
-#define ADXL345_LATENT_REG         0x22
-#define ADXL345_WINDOW_REG         0x23
-#define ADXL345_THRESH_ACT_REG     0x24
-#define ADXL345_THRESH_INACT_REG   0x25
-#define ADXL345_TIME_INACT_REG     0x26
-#define ADXL345_ACT_INACT_CTL_REG  0x27
-#define ADXL345_THRESH_FF_REG      0x28
-#define ADXL345_TIME_FF_REG        0x29
-#define ADXL345_TAP_AXES_REG       0x2A
-#define ADXL345_ACT_TAP_STATUS_REG 0x2B
-#define ADXL345_BW_RATE_REG        0x2C
-#define ADXL345_POWER_CTL_REG      0x2D
-#define ADXL345_INT_ENABLE_REG     0x2E
-#define ADXL345_INT_MAP_REG        0x2F
-#define ADXL345_INT_SOURCE_REG     0x30
-#define ADXL345_DATA_FORMAT_REG    0x31
-#define ADXL345_DATAX0_REG         0x32
-#define ADXL345_DATAX1_REG         0x33
-#define ADXL345_DATAY0_REG         0x34
-#define ADXL345_DATAY1_REG         0x35
-#define ADXL345_DATAZ0_REG         0x36
-#define ADXL345_DATAZ1_REG         0x37
-#define ADXL345_FIFO_CTL           0x38
-#define ADXL345_FIFO_STATUS        0x39
+#define ADXL345_DEVID_REG           0x00
+#define ADXL345_THRESH_TAP_REG      0x1D
+#define ADXL345_OFSX_REG            0x1E
+#define ADXL345_OFSY_REG            0x1F
+#define ADXL345_OFSZ_REG            0x20
+#define ADXL345_DUR_REG             0x21
+#define ADXL345_LATENT_REG          0x22
+#define ADXL345_WINDOW_REG          0x23
+#define ADXL345_THRESH_ACT_REG      0x24
+#define ADXL345_THRESH_INACT_REG    0x25
+#define ADXL345_TIME_INACT_REG      0x26
+#define ADXL345_ACT_INACT_CTL_REG   0x27
+#define ADXL345_THRESH_FF_REG       0x28
+#define ADXL345_TIME_FF_REG         0x29
+#define ADXL345_TAP_AXES_REG        0x2A
+#define ADXL345_ACT_TAP_STATUS_REG  0x2B
+#define ADXL345_BW_RATE_REG         0x2C
+#define ADXL345_POWER_CTL_REG       0x2D
+#define ADXL345_INT_ENABLE_REG      0x2E
+#define ADXL345_INT_MAP_REG         0x2F
+#define ADXL345_INT_SOURCE_REG      0x30
+#define ADXL345_DATA_FORMAT_REG     0x31
+#define ADXL345_DATAX0_REG          0x32
+#define ADXL345_DATAX1_REG          0x33
+#define ADXL345_DATAY0_REG          0x34
+#define ADXL345_DATAY1_REG          0x35
+#define ADXL345_DATAZ0_REG          0x36
+#define ADXL345_DATAZ1_REG          0x37
+#define ADXL345_FIFO_CTL            0x38
+#define ADXL345_FIFO_STATUS         0x39
 
 // data rate codes
 #define ADXL345_3200HZ      0x0F
@@ -49,11 +56,6 @@
 #define ADXL345_12HZ5       0x07
 #define ADXL345_6HZ25       0x06
 
-// read or write bytes
-#define ADXL345_READ    0xA7  
-#define ADXL345_WRITE   0xA6 
-#define ADXL345_ADDRESS 0x53
-
 //the ADXL345 7-bit address is 0x53 when ALT ADDRESS is low as it is on the sparkfun chip: when ALT ADDRESS is high the address is 0x1D
 //when ALT ADDRESS pin is high:
 //#define ADXL345_READ    0x3B   
@@ -64,24 +66,18 @@
 #define ADXL345_Y           0x01
 #define ADXL345_Z           0x02
 
-#define Rad2Deg         57.295779513082320876798154814105
+#define RAD2DEG         57.295779513082320876798154814105
 
-typedef char byte;
-
-class ADXL345
+class ADXL345 : public I2C_Sensor
 {
     public:
-        ADXL345(PinName sda, PinName scl); // constructor, uses i2c
-        void read(); // read all axis to array
-        int data[3]; // where the measured data is saved
-        float angle[3]; // where the calculated angles are stored
+        ADXL345(PinName sda, PinName scl);  // constructor, uses I2C_Sensor
+        void read();                        // reads all axis to array
+        int data[3];                        // where the measured data is saved
+        float angle[3];                     // where the calculated angles are stored
        
     private:
-        I2C i2c; // i2c object to communicate
-        void writeReg(byte reg, byte value); // write one single register to sensor
-        byte readReg(byte reg); // read one single register from sensor
-        void readMultiReg(char startAddress, char* ptr_output, int size); // read multiple regs
-        void setDataRate(char rate); // data rate configuration (not only a reg to write)
+        void setDataRate(char rate);        // data rate configuration (not only a reg to write)
 };
 
 #endif

--- a/Sensors/Alt/BMP085.h	Wed Oct 31 14:44:07 2012 +0000
+++ b/Sensors/Alt/BMP085.h	Wed Oct 31 16:53:01 2012 +0000
@@ -4,7 +4,6 @@
 #include "mbed.h"
 #include "I2C_Sensor.h"
 
-// I2C address
 #define BMP085_I2C_ADDRESS 0xEE
 
 class BMP085 : public I2C_Sensor

--- a/Sensors/Comp/HMC5883.cpp	Wed Oct 31 14:44:07 2012 +0000
+++ b/Sensors/Comp/HMC5883.cpp	Wed Oct 31 16:53:01 2012 +0000
@@ -1,10 +1,7 @@
-#include "mbed.h"
 #include "HMC5883.h"
 
-HMC5883::HMC5883(PinName sda, PinName scl) :  i2c(sda, scl), local("local")
-{
-    i2c.frequency(400000); // TODO: zu testen!!
-    
+HMC5883::HMC5883(PinName sda, PinName scl) : I2C_Sensor(sda, scl, HMC5883_I2C_ADDRESS), local("local")
+{   
     // load calibration values
     FILE *fp = fopen("/local/compass.txt", "r");
     for(int i = 0; i < 3; i++)
@@ -14,9 +11,9 @@
     fclose(fp);
     
     // initialize HMC5883 for scaling
-    writeReg(HMC5883_CONF_REG_A, 0x19); // 8 samples, 75Hz output, test mode for scaling!
-    writeReg(HMC5883_CONF_REG_B, 0x20); // Gain for +- 1.3 gauss (earth compass ~0.6 gauss)
-    writeReg(HMC5883_MODE_REG, 0x00); // continuous measurement-mode
+    writeRegister(HMC5883_CONF_REG_A, 0x19); // 8 samples, 75Hz output, test mode for scaling!
+    writeRegister(HMC5883_CONF_REG_B, 0x20); // Gain for +- 1.3 gauss (earth compass ~0.6 gauss)
+    writeRegister(HMC5883_MODE_REG, 0x00); // continuous measurement-mode
     
     /*          (not important, just from data sheet)
     // Scaling with testmode
@@ -36,7 +33,7 @@
     */
     
     // set normal mode
-    writeReg(HMC5883_CONF_REG_A, 0x78); // 8 samples, 75Hz output, normal mode
+    writeRegister(HMC5883_CONF_REG_A, 0x78); // 8 samples, 75Hz output, normal mode
 }
 
 void HMC5883::read()
@@ -76,35 +73,22 @@
 
 void HMC5883::readraw()
 {
-    char buffer[6];
-    
-    readMultiReg(HMC5883_DATA_OUT_X_MSB, buffer, 6); // read the raw data from I2C
+    char buffer[6];                                         // 8-Bit pieces of axis data
     
-    // join MSB and LSB of X, Z and Y (yes, order is so stupid, see datasheet)
-    raw[0] = (short) (buffer[0] << 8 | buffer[1]);
-    raw[1] = (short) (buffer[4] << 8 | buffer[5]);
+    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]);
 }
 
-void HMC5883::writeReg(char address, char data){ 
-    char tx[2];
-    tx[0] = address;
-    tx[1] = data;
-    i2c.write(I2CADR_W(HMC5883_ADDRESS), tx, 2);
-}
-
-void HMC5883::readMultiReg(char address, char* output, int size) {
-    i2c.write(I2CADR_W(HMC5883_ADDRESS), &address, 1, true); //tell it where to read from
-    i2c.read(I2CADR_R(HMC5883_ADDRESS) , output, size, true); //tell it where to store the data read
-}
-
 float HMC5883::get_angle()
 {
-    #define Rad2Deg     57.295779513082320876798154814105
+    #define RAD2DEG     57.295779513082320876798154814105
 
     float Heading;
     
-    Heading = Rad2Deg * atan2(data[0],data[1]);
+    Heading = RAD2DEG * atan2(data[0],data[1]);
     Heading += 1.367;                   //bei Ost-Deklination  += DecAngle, bei West-Deklination -= DecAngle
                                         //Missweisung = Winkel zwischen geographischer und magnetischer Nordrichtung
                                         //Bern ca. 1.367 Grad Ost

--- a/Sensors/Comp/HMC5883.h	Wed Oct 31 14:44:07 2012 +0000
+++ b/Sensors/Comp/HMC5883.h	Wed Oct 31 16:53:01 2012 +0000
@@ -1,17 +1,20 @@
+// based on http://mbed.org/users/BlazeX/code/HMC5883/
+
 #ifndef HMC5883_H
 #define HMC5883_H
 
+#include "mbed.h"
+#include "I2C_Sensor.h"
+
 #define HMC5883_CONF_REG_A      0x00
 #define HMC5883_CONF_REG_B      0x01
 #define HMC5883_MODE_REG        0x02
 #define HMC5883_DATA_OUT_X_MSB  0x03
 
 // I2C addresses
-#define HMC5883_ADDRESS 0x1E
-#define I2CADR_W(ADR)           (ADR << 1&0xFE) // ADR & 1111 1110
-#define I2CADR_R(ADR)           (ADR << 1|0x01) // ADR | 0000 0001
+#define HMC5883_I2C_ADDRESS 0x1E
 
-class HMC5883
+class HMC5883 : public I2C_Sensor
 {           
     public:
         HMC5883(PinName sda, PinName scl);
@@ -22,16 +25,10 @@
         float get_angle();
          
     private:
-        I2C i2c;
-        
-        // raw data and function to measure it
+        // raw data and function to get it
         int raw[3];
         void readraw();
         
-        // I2C functions
-        void writeReg(char address, char data);
-        void readMultiReg(char address, char* output, int size);
-        
         // calibration parameters and their saving
         int Min[3];
         int Max[3];

--- a/Sensors/Gyro/L3G4200D.cpp	Wed Oct 31 14:44:07 2012 +0000
+++ b/Sensors/Gyro/L3G4200D.cpp	Wed Oct 31 16:53:01 2012 +0000
@@ -1,8 +1,4 @@
-#include "mbed.h"
 #include "L3G4200D.h"
-#include <math.h>
-
-#define L3G4200D_I2C_ADDRESS 0xD0               // TODO: Adressen???
 
 L3G4200D::L3G4200D(PinName sda, PinName scl) : I2C_Sensor(sda, scl, L3G4200D_I2C_ADDRESS)
 {
@@ -37,7 +33,8 @@
             
     float Gyro_calib[3] = {0,0,0};                      // temporary var for the sum of calibration measurement
     
-    for (int i = 0; i < 50; i++) {                      // read 50 times the data in a very short time
+    const int count = 50;
+    for (int i = 0; i < count; i++) {                   // read 50 times the data in a very short time
         read();
         for (int j = 0; j < 3; j++)
             Gyro_calib[j] += data[j];
@@ -52,11 +49,11 @@
 {
     char buffer[6];                                     // 8-Bit pieces of axis data
     
-    buffer[0] = L3G4200D_OUT_X_L | (1 << 7);
+    //buffer[0] = L3G4200D_OUT_X_L | (1 << 7);          // TODO: wiiiiiiso?!
     
-    readMultiRegister(L3G4200D_OUT_X_L, buffer, 6);     // parameter: 
+    readMultiRegister(L3G4200D_OUT_X_L | (1 << 7), buffer, 6); // read axis registers using I2C
     
-    data[0] = (short) (buffer[1] << 8 | buffer[0]);     // compose 8-Bit pieces to 16-bit short integers
+    data[0] = (short) (buffer[1] << 8 | buffer[0]);     // join 8-Bit pieces to 16-bit short integers
     data[1] = (short) (buffer[3] << 8 | buffer[2]);
     data[2] = (short) (buffer[5] << 8 | buffer[4]);
     

--- a/Sensors/Gyro/L3G4200D.h	Wed Oct 31 14:44:07 2012 +0000
+++ b/Sensors/Gyro/L3G4200D.h	Wed Oct 31 16:53:01 2012 +0000
@@ -6,37 +6,39 @@
 #include "mbed.h"
 #include "I2C_Sensor.h"
 
+#define L3G4200D_I2C_ADDRESS    0xD0               // TODO: Adressen???
+
 // register addresses
-#define L3G4200D_WHO_AM_I      0x0F
+#define L3G4200D_WHO_AM_I       0x0F
 
-#define L3G4200D_CTRL_REG1     0x20
-#define L3G4200D_CTRL_REG2     0x21
-#define L3G4200D_CTRL_REG3     0x22
-#define L3G4200D_CTRL_REG4     0x23
-#define L3G4200D_CTRL_REG5     0x24
-#define L3G4200D_REFERENCE     0x25
-#define L3G4200D_OUT_TEMP      0x26
-#define L3G4200D_STATUS_REG    0x27
+#define L3G4200D_CTRL_REG1      0x20
+#define L3G4200D_CTRL_REG2      0x21
+#define L3G4200D_CTRL_REG3      0x22
+#define L3G4200D_CTRL_REG4      0x23
+#define L3G4200D_CTRL_REG5      0x24
+#define L3G4200D_REFERENCE      0x25
+#define L3G4200D_OUT_TEMP       0x26
+#define L3G4200D_STATUS_REG     0x27
 
-#define L3G4200D_OUT_X_L       0x28
-#define L3G4200D_OUT_X_H       0x29
-#define L3G4200D_OUT_Y_L       0x2A
-#define L3G4200D_OUT_Y_H       0x2B
-#define L3G4200D_OUT_Z_L       0x2C
-#define L3G4200D_OUT_Z_H       0x2D
+#define L3G4200D_OUT_X_L        0x28
+#define L3G4200D_OUT_X_H        0x29
+#define L3G4200D_OUT_Y_L        0x2A
+#define L3G4200D_OUT_Y_H        0x2B
+#define L3G4200D_OUT_Z_L        0x2C
+#define L3G4200D_OUT_Z_H        0x2D
 
-#define L3G4200D_FIFO_CTRL_REG 0x2E
-#define L3G4200D_FIFO_SRC_REG  0x2F
+#define L3G4200D_FIFO_CTRL_REG  0x2E
+#define L3G4200D_FIFO_SRC_REG   0x2F
 
-#define L3G4200D_INT1_CFG      0x30
-#define L3G4200D_INT1_SRC      0x31
-#define L3G4200D_INT1_THS_XH   0x32
-#define L3G4200D_INT1_THS_XL   0x33
-#define L3G4200D_INT1_THS_YH   0x34
-#define L3G4200D_INT1_THS_YL   0x35
-#define L3G4200D_INT1_THS_ZH   0x36
-#define L3G4200D_INT1_THS_ZL   0x37
-#define L3G4200D_INT1_DURATION 0x38
+#define L3G4200D_INT1_CFG       0x30
+#define L3G4200D_INT1_SRC       0x31
+#define L3G4200D_INT1_THS_XH    0x32
+#define L3G4200D_INT1_THS_XL    0x33
+#define L3G4200D_INT1_THS_YH    0x34
+#define L3G4200D_INT1_THS_YL    0x35
+#define L3G4200D_INT1_THS_ZH    0x36
+#define L3G4200D_INT1_THS_ZL    0x37
+#define L3G4200D_INT1_DURATION  0x38
 
 class L3G4200D : public I2C_Sensor
 {
@@ -47,7 +49,7 @@
         int readTemp();                     // read temperature from sensor
         
     private:
-        float offset[3]; // offset that's subtracted from every measurement
+        float offset[3];                    // offset that's subtracted from every measurement
 };
 
 #endif
\ No newline at end of file

--- a/Sensors/I2C_Sensor.cpp	Wed Oct 31 14:44:07 2012 +0000
+++ b/Sensors/I2C_Sensor.cpp	Wed Oct 31 16:53:01 2012 +0000
@@ -1,4 +1,3 @@
-#include "mbed.h"
 #include "I2C_Sensor.h"
 
 // calculate the 8-Bit write/read I2C-Address from the 7-Bit adress of the device

--- a/Sensors/I2C_Sensor.h	Wed Oct 31 14:44:07 2012 +0000
+++ b/Sensors/I2C_Sensor.h	Wed Oct 31 16:53:01 2012 +0000
@@ -1,6 +1,10 @@
+// by MaEtUgR
+
 #ifndef I2C_Sensor_H
 #define I2C_Sensor_H
 
+#include "mbed.h"
+
 class I2C_Sensor
 {           
     public:

--- a/main.cpp	Wed Oct 31 14:44:07 2012 +0000
+++ b/main.cpp	Wed Oct 31 16:53:01 2012 +0000
@@ -11,7 +11,7 @@
 #include "IntCtrl.h"    // Interrupt Control by Roland Elmiger
 
 #define PI              3.1415926535897932384626433832795   // ratio of a circle's circumference to its diameter
-#define Rad2Deg         57.295779513082320876798154814105   // ratio between radians and degree (360/2Pi)
+#define RAD2DEG         57.295779513082320876798154814105   // ratio between radians and degree (360/2Pi)
 #define RATE            0.02                                // speed of the interrupt for Sensors and PID
 
 #define P_VALUE         0.1                                // viel zu tief!!!!!