Diff: CMPS03.cpp

Revision:

3:3e9586433ce5

Parent:

2:e09ad9c1f751

Child:

5:7bfdf8ff9c5e

--- a/CMPS03.cpp	Tue May 22 17:15:22 2018 +0000
+++ b/CMPS03.cpp	Thu May 31 17:26:29 2018 +0000
@@ -1,54 +1,11 @@
 #include "CMPS03.h"
 
-CMPS03::CMPS03(PinName pwm, PinName sda, PinName scl, int address) : _boussole(pwm)
+CMPS03::CMPS03(PinName pwm) : _boussole(pwm)
 {
     _boussole.rise(callback(this, &CMPS03::rise));
     _boussole.fall(callback(this, &CMPS03::fall));
+    _boussole.enable_irq();
     _tim.start();
-    _i2c = new I2C(sda, scl);
-    //Compass designed to work at 100KHz. See datasheet for details.
-    _i2c->frequency(100000);
-    _i2cAddress = address;
-}
-
-char CMPS03::readSoftwareRevision(void)
-{
-
-    char registerNumber   = SOFTWARE_REVISION_REG;
-    char registerContents = 0;
-
-    //First, send the number of register we wish to read,
-    //in this case, command register, number 0.
-    _i2c->write(_i2cAddress, &registerNumber, 1);
-
-    //Now, read one byte, which will be the contents of the command register.
-    _i2c->read(_i2cAddress, &registerContents, 1);
-
-    return registerContents;
-
-}
-
-double CMPS03::readBearing(void)
-{
-
-    char registerNumber = COMPASS_BEARING_WORD_REG;
-    char registerContents[2] = {0x00, 0x00};
-
-    //First, send the number of register we wish to read,
-    //in this case, register numbers 2, 3, which hold the
-    //compass bearing as a 16-bit word.
-    _i2c->write(_i2cAddress, &registerNumber, 1);
-
-    //Now read two bytes which will be the contents of
-    //these registers.
-    _i2c->read(_i2cAddress, registerContents, 2);
-
-    //Register 2 [read first], was the high byte, followed by
-    //register 3 [read second], which was the low byte.
-    double _i2cbearing = (((int)registerContents[0] << 8) | ((int)registerContents[1]))/10.0;
-
-    return _i2cbearing;
-
 }
 
 void CMPS03::rise(void)
@@ -60,7 +17,7 @@
 {
 
     _stopTime = _tim.read_us();
-    _pwmBearing = (_stopTime - _startTime)/100.0;
+    _pwmBearing = ((double)(_stopTime - _startTime - 1000)/100.0);
 }
 
 
@@ -69,6 +26,7 @@
     return _pwmBearing;
 }
 
-CMPS03::operator double() {
+CMPS03::operator double()
+{
     return _pwmBearing;
 }