Revision 4:8723c07d4c45, committed 2016-06-09

Comitter:

Airium

Date:

Thu Jun 09 15:19:00 2016 +0000

Parent:

3:522d01930e6a

Commit message:

Add offset calibration for specific use in HPF-on situation and therefore remove (bool) HPF_state and isHPFEn() and associated code

Changed in this revision

--- a/LSM303DLHC.cpp	Tue Jun 07 15:18:48 2016 +0000
+++ b/LSM303DLHC.cpp	Thu Jun 09 15:19:00 2016 +0000
@@ -4,8 +4,6 @@
 LSM303DLHC::LSM303DLHC(PinName sda, PinName scl) : i2c(sda, scl){
     i2c.frequency(400000);
     
-    HPF_state = false; // reg default value corresponds to this
-    
     // HERE GIVES DEVICE DEFAULT
     ACtrl(LP_OFF);      // ACC Normal Power Mode
     ACtrl(ADR3);        // ACC ON and Date Rate 25Hz
@@ -45,16 +43,9 @@
     i2c.write(ACC_ADDRESS, data, 1);
     i2c.read(ACC_ADDRESS, data, 6);
     
-    // return the raw acceleration
-    if (HPF_state == HPF_ON){ // HPF has no offset
-        arr[0] = acc_scale[0]*((short)(data[1]<<8 | data[0])>>4);
-        arr[1] = acc_scale[1]*((short)(data[3]<<8 | data[2])>>4);
-        arr[2] = acc_scale[2]*((short)(data[5]<<8 | data[4])>>4);
-    }else{
-        arr[0] = acc_scale[0]*(acc_offset[0]+((short)(data[1]<<8 | data[0])>>4));
-        arr[1] = acc_scale[1]*(acc_offset[1]+((short)(data[3]<<8 | data[2])>>4));
-        arr[2] = acc_scale[2]*(acc_offset[2]+((short)(data[5]<<8 | data[4])>>4));
-    }
+    arr[0] = acc_scale[0]*(acc_offset[0]+((short)(data[1]<<8 | data[0])>>4));
+    arr[1] = acc_scale[1]*(acc_offset[1]+((short)(data[3]<<8 | data[2])>>4));
+    arr[2] = acc_scale[2]*(acc_offset[2]+((short)(data[5]<<8 | data[4])>>4));
 }
 
 void LSM303DLHC::GetMag(float arr[3]){
@@ -119,7 +110,6 @@
     i2c.read(ACC_ADDRESS, &data[1], 1);
     data[1] = data[1] & (0b11110111) | (cmd<<3);
     i2c.write(ACC_ADDRESS, data, 2); 
-    (cmd == HPF_ON)?(HPF_state = true):(HPF_state = false);
 }
 
 void LSM303DLHC::ACtrl(ACC_BDU cmd){
@@ -203,8 +193,4 @@
 void LSM303DLHC::TCal(float offset[1], float scale[1]){
     temp_offset[0] = offset[0];
     temp_scale[0] = scale[0];
-}
-
-bool LSM303DLHC::isHPFEn(){
-    return HPF_state;
 }
\ No newline at end of file

--- a/LSM303DLHC.h	Tue Jun 07 15:18:48 2016 +0000
+++ b/LSM303DLHC.h	Thu Jun 09 15:19:00 2016 +0000
@@ -20,8 +20,6 @@
     // affect data of GetAcc() by output = scale * ( offset + original )
     // but if internal HPF enable then output = scale * original
     // note linear acc has no offset
-bool isHPFEn(); // report HPF ON/OFF state for output
-    return bool = true if ACC_FDS = HPF_ON and vice versa
 
 -- MAGNETOMETER PART
 void GetMag( float arr[3] );  // Get magnetic flux density
@@ -144,10 +142,7 @@
         void MCal(float offset[3], float scale[3]); // Mag Calibration
         void TCal(float offset[1], float scale[1]); // Mag Calibration    
         
-        //// Other functions
-        bool isHPFEn(); // report HPF ON/OFF state for output
-        // return HPF_state
-        
+          
         //// Not implemented function
         bool isAccRdy(); // Check if acc has new data 
         // one way is to use high freq ticker to check STATUS_REG_A (27h)
@@ -161,7 +156,6 @@
         I2C i2c;
         
         char data[6];       // used as main data exchange
-        bool HPF_state;     // state of internal HPF
                
         // use offset to calibrate zero reading
         float acc_offset[3];