/*
HMC5883L.cpp?-?Class?file?for?the?HMC5883L?Triple?Axis?Digital?Compass?Arduino?Library.

Version:?1.1.0
（c）?2014?Korneliusz?Jarzebski
www.jarzebski.pl

This?program?is?free?software:?you?can?redistribute?it?and/or?modify
it?under?the?terms?of?the?version?3?GNU?General?Public?License?as
published?by?the?Free?Software?Foundation.

This?program?is?distributed?in?the?hope?that?it?will?be?useful
but?WITHOUT?ANY?WARRANTY;?without?even?the?implied?warranty?of
MERCHANTABILITY?or?FITNESS?FOR?A?PARTICULAR?PURPOSE.??See?the
GNU?General?Public?License?for?more?details.

You?should?have?received?a?copy?of?the?GNU?General?Public?License
along?with?this?program.??If?not?see?.
*/

#if?ARDUINO?>=?100
#include?“Arduino.h“
#else
#include?“WProgram.h“
#endif

#include?

#include?“HMC5883L.h“

bool?HMC5883L::begin（）
{
????Wire.begin（）;

????if?（（fastRegister8（HMC5883L_REG_IDENT_A）?!=?0x48）
????||?（fastRegister8（HMC5883L_REG_IDENT_B）?!=?0x34）
????||?（fastRegister8（HMC5883L_REG_IDENT_C）?!=?0x33））
????{
	return?false;
????}

????setRange（HMC5883L_RANGE_1_3GA）;
????setMeasurementMode（HMC5883L_CONTINOUS）;
????setDataRate（HMC5883L_DATARATE_15HZ）;
????setSamples（HMC5883L_SAMPLES_1）;

????mgPerDigit?=?0.92f;

????return?true;
}

Vector?HMC5883L::readRaw（void）
{
????v.XAxis?=?readRegister16（HMC5883L_REG_OUT_X_M）?-?xOffset;
????v.YAxis?=?readRegister16（HMC5883L_REG_OUT_Y_M）?-?yOffset;
????v.ZAxis?=?readRegister16（HMC5883L_REG_OUT_Z_M）;

????return?v;
}

Vector?HMC5883L::readNormalize（void）
{
????v.XAxis?=?（（float）readRegister16（HMC5883L_REG_OUT_X_M）?-?xOffset）?*?mgPerDigit;
????v.YAxis?=?（（float）readRegister16（HMC5883L_REG_OUT_Y_M）?-?yOffset）?*?mgPerDigit;
????v.ZAxis?=?（float）readRegister16（HMC5883L_REG_OUT_Z_M）?*?mgPerDigit;

????return?v;
}

void?HMC5883L::setOffset（int?xo?int?yo）
{
????xOffset?=?xo;
????yOffset?=?yo;
}

void?HMC5883L::setRange（hmc5883l_range_t?range）
{
????switch（range）
????{
	case?HMC5883L_RANGE_0_88GA:
	????mgPerDigit?=?0.073f;
	????break;

	case?HMC5883L_RANGE_1_3GA:
	????mgPerDigit?=?0.92f;
	????break;

	case?HMC5883L_RANGE_1_9GA:
	????mgPerDigit?=?1.22f;
	????break;

	case?HMC5883L_RANGE_2_5GA:
	????mgPerDigit?=?1.52f;
	????break;

	case?HMC5883L_RANGE_4GA:
	????mgPerDigit?=?2.27f;
	????break;

	case?HMC5883L_RANGE_4_7GA:
	????mgPerDigit?=?2.56f;
	????break;

	case?HMC5883L_RANGE_5_6GA:
	????mgPerDigit?=?3.03f;
	????break;

	case?HMC5883L_RANGE_8_1GA:
	????mgPerDigit?=?4.35f;
	????break;

	default:
	????break;
????}

????writeRegister8（HMC5883L_REG_CONFIG_B?range?<}

hmc5883l_range_t?HMC5883L::getRange（void）
{
????return?（hmc5883l_range_t）（（readRegister8（HMC5883L_REG_CONFIG_B）?>>?5））;
}

void?HMC5883L::setMeasurementMode（hmc5883l_mode_t?mode）
{
????uint8_t?value;

????value?=?readRegister8（HMC5883L_REG_MODE）;
????value?&=?0b11111100;
????value?|=?mode;

????writeRegister8（HMC5883L_REG_MODE?value）;
}

hmc5883l_mode_t?HMC5883L::getMeasurementMode（void）
{
????uint8_t?value;

????value?=?readRegister8（HM