Diff: Magnetometer.cpp

Revision:

46:fd5a62296b12

Parent:

40:8e852115fe55

--- a/Magnetometer.cpp	Wed May 27 11:45:00 2015 +0000
+++ b/Magnetometer.cpp	Wed May 27 13:01:43 2015 +0000
@@ -8,13 +8,13 @@
 {
     if (powerOn()) {
         readCalibrationData(); // temperature calibration
-        
+
         // Initialise hard-iron and soft-iron correction. The minima and maxima values were measured
         // smartplane2 prototype gives a starting point for the background calibrator.
         float minimums[] = { -1536.0f, -2701.0f, -2112.0f };
         float maximums[] = { 187, 1665, 39 };
         calibrator.setExtremes(minimums, maximums);
-    
+
         INFO("Bosch Sensortec BMX055-Magneto found");
         powerOff();
     } else {
@@ -88,16 +88,16 @@
     const int16_t temp = ((int16_t)(((uint16_t)((((int32_t)dig_xyz1) << 14)/(data_r != 0 ? data_r : dig_xyz1))) - ((uint16_t)0x4000)));
     const int32_t temp2 = (((((int32_t)dig_xy2) * ((((int32_t)temp) * ((int32_t)temp)) >> 7)) + (((int32_t)temp) * ((int32_t)(((int16_t)dig_xy1) << 7)))) >> 9);
     input[0] = ((int16_t)((((int32_t)mdata_x) *
-                (((temp2 +
-                ((int32_t)0x100000)) * ((int32_t)(((int16_t)dig_x2) + ((int16_t)0xA0)))) >> 12)) >> 13)) + (((int16_t)dig_x1) << 3);
+                           (((temp2 +
+                              ((int32_t)0x100000)) * ((int32_t)(((int16_t)dig_x2) + ((int16_t)0xA0)))) >> 12)) >> 13)) + (((int16_t)dig_x1) << 3);
 
     input[1] = ((int16_t)((((int32_t)mdata_y) *
-                (((temp2 +
-                ((int32_t)0x100000)) * ((int32_t)(((int16_t)dig_y2) + ((int16_t)0xA0)))) >> 12)) >> 13)) + (((int16_t)dig_y1) << 3);
+                           (((temp2 +
+                              ((int32_t)0x100000)) * ((int32_t)(((int16_t)dig_y2) + ((int16_t)0xA0)))) >> 12)) >> 13)) + (((int16_t)dig_y1) << 3);
 
     input[2] = (((((int32_t)(mdata_z - dig_z4)) << 15) - ((((int32_t)dig_z3) * ((int32_t)(((int16_t)data_r) -
-                  ((int16_t)dig_xyz1))))>>2))/(dig_z2 + ((int16_t)(((((int32_t)dig_z1) * ((((int16_t)data_r) << 1)))+(1<<15))>>16))));
-                  
+                 ((int16_t)dig_xyz1))))>>2))/(dig_z2 + ((int16_t)(((((int32_t)dig_z1) * ((((int16_t)data_r) << 1)))+(1<<15))>>16))));
+
     float output[3];
     calibrator.run(input, output);