Diff: HMC5883L.cpp

Revision:

5:489c2f8770da

Parent:

4:bc4e1201e092

Child:

6:48004ffd01c5

--- a/HMC5883L.cpp	Tue Nov 06 17:35:51 2012 +0000
+++ b/HMC5883L.cpp	Fri Oct 19 09:20:17 2018 +0000
@@ -1,52 +1,17 @@
-/*
- * @file HMC5883L.cpp
- * @author Tyler Weaver
- *
- * @section LICENSE
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
- * and associated documentation files (the "Software"), to deal in the Software without restriction,
- * including without limitation the rights to use, copy, modify, merge, publish, distribute,
- * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all copies or
- * substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
- * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
- * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * @section DESCRIPTION
- *
- * HMC5883L 3-Axis Digital Compas IC
- * For use with the Sparkfun 9 Degrees of Freedom - Sensor Stick
- *
- * Datasheet:
- *
- * http://dlnmh9ip6v2uc.cloudfront.net/datasheets/Sensors/Magneto/HMC5883L-FDS.pdf
- */
-
 #include "HMC5883L.h"
 #include <new>
 
-HMC5883L::HMC5883L(PinName sda, PinName scl) : i2c_(*reinterpret_cast<I2C*>(i2cRaw))
+HMC5883L::HMC5883L(PinName p28, PinName p27) : i2c_(*reinterpret_cast<I2C*>(i2cRaw))
 {
-    // Placement new to avoid additional heap memory allocation.
-    new(i2cRaw) I2C(sda, scl);
-    
+    new(i2cRaw) I2C(p28, p27);
     init();
 }
 
 HMC5883L::~HMC5883L()
 {
-    // If the I2C object is initialized in the buffer in this object, call destructor of it.
     if(&i2c_ == reinterpret_cast<I2C*>(&i2cRaw))
         reinterpret_cast<I2C*>(&i2cRaw)->~I2C();
 }
-
 void HMC5883L::init()
 {
     // init - configure your setup here
@@ -60,7 +25,6 @@
     char cmd[2];
     cmd[0] = CONFIG_A_REG; // register a address
     cmd[1] = config;
-    
     i2c_.write(I2C_ADDRESS, cmd, 2);
 }
 
@@ -69,7 +33,6 @@
     char cmd[2];
     cmd[0] = CONFIG_B_REG; // register b address
     cmd[1] = config;
-    
     i2c_.write(I2C_ADDRESS, cmd, 2);
 }
 
@@ -85,7 +48,7 @@
 char HMC5883L::getConfigurationB()
 {
     char cmd[2];
-    cmd[0] = CONFIG_A_REG; // register b address
+    cmd[0] = CONFIG_B_REG; // register b address
     i2c_.write(I2C_ADDRESS, cmd, 1, true);
     i2c_.read(I2C_ADDRESS, &cmd[1], 1, false);
     return cmd[1];
@@ -117,14 +80,13 @@
     return cmd[1];
 }
 
-void HMC5883L::getXYZ(int16_t output[3])
+void HMC5883L::getXYZ(int16_t output[3])//データの取得
 {
     char cmd[2];
     char data[6];
     cmd[0] = 0x03; // starting point for reading
     i2c_.write(I2C_ADDRESS, cmd, 1, true); // set the pointer to the start of x
     i2c_.read(I2C_ADDRESS, data, 6, false);
-    
     for(int i = 0; i < 3; i++) // fill the output variables
         output[i] = int16_t(((unsigned char)data[i*2] << 8) | (unsigned char)data[i*2+1]);
 }
@@ -133,15 +95,11 @@
 {
     int16_t raw_data[3];
     getXYZ(raw_data);
-    double heading = atan2(static_cast<double>(raw_data[1]), static_cast<double>(raw_data[0])); // heading = arctan(Y/X)
-    
-    // TODO: declenation angle compensation
-    
+    double heading = atan2(static_cast<double>(raw_data[2]), static_cast<double>(raw_data[0])); // heading = arctan(Y/X) (Y/X)の逆正接
+    // 角度範囲の補正
     if(heading < 0.0) // fix sign
         heading += PI2;
-        
     if(heading > PI2) // fix overflow
         heading -= PI2;
-        
     return heading;
 }
\ No newline at end of file