Diff: src/Compass.cpp

Revision:

0:4b83b332b327

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/src/Compass.cpp	Fri Feb 24 11:25:05 2017 +0000
@@ -0,0 +1,32 @@
+/* Developed by Jean-Paul Saysana - jls44 - MSc Student in Computer Security*/
+/* Internet of Things and Mobile Devices - CO838 University of Kent*/
+
+#include "Compass.h"
+
+/* I2c bus */
+I2C i2c(PTE25, PTE24);
+
+/* To retrieve the axis6 from eCompass libray's header, to get the compass angle */
+extern axis6_t axis6;
+
+/* Parameters for the constructor of magnetometer and accelerometer*/
+Compass::Compass(uint8_t addr) : mag(i2c, addr), acc(i2c, addr) {
+    /* enabling accelerometer and magnetometer*/
+    acc.enable();
+    mag.enable();
+}
+
+/* Return the angle of the compass */
+float Compass::GetAngle() const {
+    return axis6.yaw;
+}
+
+float Compass::GetCompass() {
+    /* Get the axis in raw values of the accelerometer and magnetometer. */
+    acc.getAxis(acc_raw);
+    mag.getAxis(mag_raw);
+    /* Run the eCompass */
+    run(acc_raw, mag_raw);
+    /* After running it, we can return the angle.  */
+    return GetAngle();
+}
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