Diff: Sensors/Comp/HMC5883.cpp

Revision:

14:cf260677ecde

Parent:

13:4737ee9ebfee

Child:

15:753c5d6a63b3

--- a/Sensors/Comp/HMC5883.cpp	Thu Oct 25 19:27:56 2012 +0000
+++ b/Sensors/Comp/HMC5883.cpp	Sat Oct 27 10:53:43 2012 +0000
@@ -1,9 +1,9 @@
 #include "mbed.h"
 #include "HMC5883.h"
 
-HMC5883::HMC5883(PinName sda, PinName scl) :  local("local"), i2c(sda, scl)
+HMC5883::HMC5883(PinName sda, PinName scl) :  i2c(sda, scl), local("local")
 {
-    i2c.frequency(400000); // zu testen!!
+    i2c.frequency(400000); // TODO: zu testen!!
     
     // load calibration values
     FILE *fp = fopen("/local/compass.txt", "r");
@@ -18,8 +18,8 @@
     writeReg(HMC5883_CONF_REG_B, 0x20); // Gain for +- 1.3 gauss (earth compass ~0.6 gauss)
     writeReg(HMC5883_MODE_REG, 0x00); // continuous measurement-mode
     
-    /*
-    // Scaling with testmode (not important, just from data sheet)
+    /*          (not important, just from data sheet)
+    // Scaling with testmode
     for(int j = 0; j < 3; j++) // set all scales to 1 first so the measurement for scaling is not already scaled
         scale[j] = 1;
     
@@ -105,18 +105,16 @@
     float Heading;
     
     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
                                         //http://www.swisstopo.admin.ch/internet/swisstopo/de/home/apps/calc/declination.html
- 
     if(Heading < 0)  
         Heading += 360;                 // minimum 0 degree
         
     if(Heading > 360)   
         Heading -= 360;                 // maximum 360 degree
-        
+
     return Heading;
 }