Revision 2:2645c4d75671, committed 2011-06-17
- Comitter:
- ssozonoff
- Date:
- Fri Jun 17 22:35:48 2011 +0000
- Parent:
- 1:bdf678f27614
- Commit message:
- Fixed issue with Pitch and Roll negative values
Changed in this revision
HMC6343.cpp | Show annotated file Show diff for this revision Revisions of this file |
HMC6343.h | Show annotated file Show diff for this revision Revisions of this file |
diff -r bdf678f27614 -r 2645c4d75671 HMC6343.cpp --- 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; }
diff -r bdf678f27614 -r 2645c4d75671 HMC6343.h --- a/HMC6343.h Sun May 01 13:51:14 2011 +0000 +++ b/HMC6343.h Fri Jun 17 22:35:48 2011 +0000 @@ -112,9 +112,9 @@ struct Heading { - double heading; - double pitch; - double roll; + float heading; + float pitch; + float roll; }; /**