magnetometer.cpp

00001 /*!
00002   @file magnetometer.cpp
00003 
00004   The implementation of the magnetometer signal class.
00005 
00006   @par Full Description
00007   The implementation of the magnetometer signal class.
00008 
00009   @if REVISION_HISTORY_INCLUDED
00010   @par Edit History
00011   @li [0]    wojciech.rynczuk@wp.pl    20-JAN-2015    Initial file revision.
00012   @endif
00013 
00014   @ingroup Signal
00015 
00016   The MIT License (MIT)
00017   Copyright (c) 2016 Wojciech Rynczuk
00018 
00019 */
00020 
00021 #include "magnetometer.hpp "
00022 
00023 Magnetometer::Magnetometer(const string& name, Logger& logger) : Signal(name, 32, logger)
00024 {
00025     m_Magnetometer = new MAG3110(PTE25, PTE24);
00026     m_MagXPrev = 0;
00027     m_MagYPrev = 0;
00028     m_MagZPrev = 0;
00029     m_MagXCurr = 0;;
00030     m_MagYCurr = 0;
00031     m_MagZCurr = 0;
00032 }
00033 
00034 Magnetometer::~Magnetometer()
00035 {
00036     delete m_Magnetometer;
00037 }
00038   
00039 void Magnetometer::PrintState()
00040 {
00041     string  suffix("MagX");
00042     string  msg("");
00043     int32_t time_ref = 0;
00044     
00045     m_MagXCurr = m_Magnetometer->readVal(MAG_OUT_X_MSB);
00046     m_MagYCurr = m_Magnetometer->readVal(MAG_OUT_Y_MSB);
00047     m_MagZCurr = m_Magnetometer->readVal(MAG_OUT_Z_MSB);
00048     if ( (CheckFilter()) || \
00049          (fabs((float)(m_MagXCurr - m_MagXPrev)) > 50) || \
00050          (fabs((float)(m_MagYCurr - m_MagYPrev)) > 50) || \
00051          (fabs((float)(m_MagZCurr - m_MagZPrev)) > 50))
00052     {
00053         PrintVector(m_MagXCurr, suffix, msg, time_ref);
00054         suffix = "MagY";
00055         time_ref = 0;
00056         PrintVector(m_MagYCurr, suffix, msg, time_ref);
00057         suffix = "MagZ";
00058         time_ref = 0;
00059         PrintVector(m_MagZCurr, suffix, msg, time_ref);
00060         m_MagXPrev = m_MagXCurr;
00061         m_MagYPrev = m_MagYCurr;
00062         m_MagZPrev = m_MagZCurr;
00063     }
00064 }