Diff: magnetometer.cpp

Revision:

10:75c8ce89aeb7

Parent:

9:87a7169b4d5c

Child:

11:de7c9ae7ef65

--- a/magnetometer.cpp	Thu Mar 26 21:35:19 2020 +0000
+++ b/magnetometer.cpp	Thu Mar 26 21:59:18 2020 +0000
@@ -10,31 +10,34 @@
 
 bool mag_init()
 {
-// allow magnetometer hardware time to start
-   if ( Kernel::get_ms_count() < 500U){
-       ThisThread::sleep_until(500U);
-   }
-   if (! hmc5883L_ID1.detected(true)){
-      return false; // usr has been notified
-   }
+// if startup, allow magnetometer hardware time to start
+    if ( Kernel::get_ms_count() < 500U){
+        ThisThread::sleep_until(500U);
+    }
+    if (! hmc5883L_ID1.detected(true)){
+        return false; // usr has been notified
+    }
    
-   hmc5883L_ID1.set_idle_mode();
-   
-   constexpr auto earth_magnetic_field_flux_density = 31.869_uT;
-   bool const success =
-        hmc5883L_ID1.set_samples_average(8) &&
-        hmc5883L_ID1.set_range( earth_magnetic_field_flux_density * 2U);
+    hmc5883L_ID1.set_idle_mode();
    
     // gains from calib engine
     quan::three_d::vect<double> gain{1.37689,1.35057,1.56647};
-    hmc5883L_ID1.set_gain(gain);
     
-    // offsets from calib engine
+    // offsets from calibration engine
+    // Need an option to output raw data for calibration
     quan::three_d::vect<
         quan::magnetic_flux_density::uT
     > offset{10.5724_uT,-10.869_uT,2.241468_uT};
-    hmc5883L_ID1.set_offset(offset);
-    return success;
+   
+   // TODO should be max earthmagnetic field or 
+   // as a function of location
+   constexpr auto earth_magnetic_field_flux_density = 31.869_uT;
+   
+   return
+        hmc5883L_ID1.set_samples_average(8) &&
+        hmc5883L_ID1.set_range( earth_magnetic_field_flux_density * 2U) &&
+        hmc5883L_ID1.set_gain(gain) && 
+        hmc5883L_ID1.set_offset(offset);
 }
 
 bool mag_start_measurement()