/* 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);
}