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/* Copyright 2012, Sebastian Reichel <sre@ring0.de>
*
* Permission to use, copy, modify, and/or distribute this software for any
* purpose with or without fee is hereby granted, provided that the above
* copyright notice and this permission notice appear in all copies.
*
* THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
* WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
* ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
* WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
* ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
* OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
*/
public class HMC5883L : I2CDevice, Compass {
public static const int COUNTS_PER_MGAUSS = 1090;
public HMC5883L(uint8 dev, uint8 addr = 0x1e) throws I2CError {
setup(dev, addr);
devsetup();
}
private void devsetup() throws I2CError {
if(get_byte(0x0a) != 'H' || get_byte(0x0b) != '4' || get_byte(0x0c) != '3')
log("HMC5883L", LogLevelFlags.LEVEL_ERROR, @"invalid device id");
else
log("HMC5883L", LogLevelFlags.LEVEL_DEBUG, @"correct device id");
set_byte(0x00, 0x10); /* default mode */
set_byte(0x01, 0x20); /* set gain: +/- 1.3Ga (default) */
set_byte(0x02, 0x00); /* continous conversion */
}
public void init(KeyFile cfg) throws KeyFileError, I2CError {
var adapter = cfg.get_uint64("HMC5883L", "i2c-adapter");
var address = cfg.get_uint64("HMC5883L", "i2c-address");
setup((uint8) adapter, (uint8) address);
devsetup();
}
public void get_data(out int16 x, out int16 y, out int16 z) throws I2CError {
var data = get_block(0x03, 6);
x = data[0] << 8 | data[1];
y = data[2] << 8 | data[3];
z = data[4] << 8 | data[5];
}
}
public Type register_plugin(Module module) {
// types are registered automatically
return typeof(HMC5883L);
}
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