Diff: HMC6343.cpp

Revision:

2:2645c4d75671

Parent:

1:bdf678f27614

--- a/HMC6343.cpp	Sun May 01 13:51:14 2011 +0000
+++ b/HMC6343.cpp	Fri Jun 17 22:35:48 2011 +0000
@@ -39,6 +39,8 @@
  */
 #include "HMC6343.h"
 
+short h, r, p;
+
 template<class TYPE> inline TYPE BIT(const TYPE & x) {
     return TYPE(1) << x;
 }
@@ -68,10 +70,14 @@
     wait_ms(1);
 
     i2c_->read((HMC6343_I2C_ADDRESS << 1) | 0x01, rx, 6, true);
+    
+    h = ((((int)rx[0] << 8) | (int)rx[1]));
+    r = ((((int)rx[4] << 8) | (int)rx[5]));
+    p = ((((int)rx[2] << 8) | (int)rx[3]));
 
-    p_heading->heading = (double)((((int)rx[0] << 8) | (int)rx[1])) / 10;
-    p_heading->roll = (double)((((int)rx[4] << 8) | (int)rx[5])) / 10;
-    p_heading->pitch = (double)((((int)rx[2] << 8) | (int)rx[3])) / 10;
+    p_heading->heading = (float)h / 10;
+    p_heading->roll = (float)r / 10;
+    p_heading->pitch = (float)p / 10;
 }