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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 HMC5843(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(HMC5843);
+}