basyo matsuo / HMC5883L

方位の引数の指定が違うので修正した。

Dependents:   GPS_Test05 All_system_kai2

Fork of HMC5883L by Tyler Weaver

Files at this revision

API Documentation at this revision

Revision 5:1b7f05908981, committed 2018-02-15

Comitter:
basyo38
Date:
Thu Feb 15 05:02:42 2018 +0000
Parent:
4:bc4e1201e092
Commit message:
HMC5883??????????

Changed in this revision

HMC5883L.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/HMC5883L.cpp	Tue Nov 06 17:35:51 2012 +0000
+++ b/HMC5883L.cpp	Thu Feb 15 05:02:42 2018 +0000
@@ -85,7 +85,7 @@
 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];
@@ -126,14 +126,14 @@
     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]);
+        output[i] = int16_t(((unsigned char)data[i*2] << 8) | (unsigned char)data[i*2+1]);//最上位ビットMSB|最下位ビットLSB
 }
 
 double HMC5883L::getHeadingXY()
 {
     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)
+    double heading = atan2(static_cast<double>(raw_data[2]), static_cast<double>(raw_data[0])); // heading = arctan(Y/X)
     
     // TODO: declenation angle compensation