bonekit 0.0.2-arm-linux

data/ext/bonekit/beaglebone_global_const.c

@@ -0,0 +1,132 @@
+/*
+ 
+ beaglebone_global_const.c
+ BoneKit
+ 
+ Copyright (cc) 2012 Luis Laugga.
+ Some rights reserved, all wrongs deserved.
+ 
+ Permission is hereby granted, free of charge, to any person obtaining a copy of
+ this software and associated documentation files (the "Software"), to deal in
+ the Software without restriction, including without limitation the rights to
+ use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ the Software, and to permit persons to whom the Software is furnished to do so,
+ subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ 
+*/
+
+#include "beaglebone_global_const.h"
+
+#include "ruby.h"
+#include "beaglebone.h"
+
+void BoneKit_Beaglebone_global_const_init()
+{  
+  rb_define_global_const("USR0", INT2NUM(USR0));
+  rb_define_global_const("USR1", INT2NUM(USR1));
+  rb_define_global_const("USR2", INT2NUM(USR2));
+  rb_define_global_const("USR3", INT2NUM(USR3));
+  rb_define_global_const("P8_1", INT2NUM(P8_1));
+  rb_define_global_const("P8_2", INT2NUM(P8_2));
+  rb_define_global_const("P8_3", INT2NUM(P8_3));
+  rb_define_global_const("P8_4", INT2NUM(P8_4));
+  rb_define_global_const("P8_5", INT2NUM(P8_5));
+  rb_define_global_const("P8_6", INT2NUM(P8_6));
+  rb_define_global_const("P8_7", INT2NUM(P8_7));
+  rb_define_global_const("P8_8", INT2NUM(P8_8));
+  rb_define_global_const("P8_9", INT2NUM(P8_9));
+  rb_define_global_const("P8_10", INT2NUM(P8_10));
+  rb_define_global_const("P8_11", INT2NUM(P8_11));
+  rb_define_global_const("P8_12", INT2NUM(P8_12));
+  rb_define_global_const("P8_13", INT2NUM(P8_13));
+  rb_define_global_const("P8_14", INT2NUM(P8_14));
+  rb_define_global_const("P8_15", INT2NUM(P8_15));
+  rb_define_global_const("P8_16", INT2NUM(P8_16));
+  rb_define_global_const("P8_17", INT2NUM(P8_17));
+  rb_define_global_const("P8_18", INT2NUM(P8_18));
+  rb_define_global_const("P8_19", INT2NUM(P8_19));
+  rb_define_global_const("P8_20", INT2NUM(P8_20));
+  rb_define_global_const("P8_21", INT2NUM(P8_21));
+  rb_define_global_const("P8_22", INT2NUM(P8_22));
+  rb_define_global_const("P8_23", INT2NUM(P8_23));
+  rb_define_global_const("P8_24", INT2NUM(P8_24));
+  rb_define_global_const("P8_25", INT2NUM(P8_25));
+  rb_define_global_const("P8_26", INT2NUM(P8_26));
+  rb_define_global_const("P8_27", INT2NUM(P8_27));
+  rb_define_global_const("P8_28", INT2NUM(P8_28));
+  rb_define_global_const("P8_29", INT2NUM(P8_29));
+  rb_define_global_const("P8_30", INT2NUM(P8_30));
+  rb_define_global_const("P8_31", INT2NUM(P8_31));
+  rb_define_global_const("P8_32", INT2NUM(P8_32));
+  rb_define_global_const("P8_33", INT2NUM(P8_33));
+  rb_define_global_const("P8_34", INT2NUM(P8_34));
+  rb_define_global_const("P8_35", INT2NUM(P8_35));
+  rb_define_global_const("P8_36", INT2NUM(P8_36));
+  rb_define_global_const("P8_37", INT2NUM(P8_37));
+  rb_define_global_const("P8_38", INT2NUM(P8_38));
+  rb_define_global_const("P8_39", INT2NUM(P8_39));
+  rb_define_global_const("P8_40", INT2NUM(P8_40));
+  rb_define_global_const("P8_41", INT2NUM(P8_41));
+  rb_define_global_const("P8_42", INT2NUM(P8_42));
+  rb_define_global_const("P8_43", INT2NUM(P8_43));
+  rb_define_global_const("P8_44", INT2NUM(P8_44));
+  rb_define_global_const("P8_45", INT2NUM(P8_45));
+  rb_define_global_const("P8_46", INT2NUM(P8_46));
+  rb_define_global_const("P9_1", INT2NUM(P9_1));
+  rb_define_global_const("P9_2", INT2NUM(P9_2));
+  rb_define_global_const("P9_3", INT2NUM(P9_3));
+  rb_define_global_const("P9_4", INT2NUM(P9_4));
+  rb_define_global_const("P9_5", INT2NUM(P9_5));
+  rb_define_global_const("P9_6", INT2NUM(P9_6));
+  rb_define_global_const("P9_7", INT2NUM(P9_7));
+  rb_define_global_const("P9_8", INT2NUM(P9_8));
+  rb_define_global_const("P9_9", INT2NUM(P9_9));
+  rb_define_global_const("P9_10", INT2NUM(P9_10));
+  rb_define_global_const("P9_11", INT2NUM(P9_11));
+  rb_define_global_const("P9_12", INT2NUM(P9_12));
+  rb_define_global_const("P9_13", INT2NUM(P9_13));
+  rb_define_global_const("P9_14", INT2NUM(P9_14));
+  rb_define_global_const("P9_15", INT2NUM(P9_15));
+  rb_define_global_const("P9_16", INT2NUM(P9_16));
+  rb_define_global_const("P9_17", INT2NUM(P9_17));
+  rb_define_global_const("P9_18", INT2NUM(P9_18));
+  rb_define_global_const("P9_19", INT2NUM(P9_19));
+  rb_define_global_const("P9_20", INT2NUM(P9_20));
+  rb_define_global_const("P9_21", INT2NUM(P9_21));
+  rb_define_global_const("P9_22", INT2NUM(P9_22));
+  rb_define_global_const("P9_23", INT2NUM(P9_23));
+  rb_define_global_const("P9_24", INT2NUM(P9_24));
+  rb_define_global_const("P9_25", INT2NUM(P9_25));
+  rb_define_global_const("P9_26", INT2NUM(P9_26));
+  rb_define_global_const("P9_27", INT2NUM(P9_27));
+  rb_define_global_const("P9_28", INT2NUM(P9_28));
+  rb_define_global_const("P9_29", INT2NUM(P9_29));
+  rb_define_global_const("P9_30", INT2NUM(P9_30));
+  rb_define_global_const("P9_31", INT2NUM(P9_31));
+  rb_define_global_const("P9_32", INT2NUM(P9_32));
+  rb_define_global_const("P9_33", INT2NUM(P9_33));
+  rb_define_global_const("P9_34", INT2NUM(P9_34));
+  rb_define_global_const("P9_35", INT2NUM(P9_35));
+  rb_define_global_const("P9_36", INT2NUM(P9_36));
+  rb_define_global_const("P9_37", INT2NUM(P9_37));
+  rb_define_global_const("P9_38", INT2NUM(P9_38));
+  rb_define_global_const("P9_39", INT2NUM(P9_39));
+  rb_define_global_const("P9_40", INT2NUM(P9_40));
+  rb_define_global_const("P9_41", INT2NUM(P9_41));
+  rb_define_global_const("P9_42", INT2NUM(P9_42));
+  rb_define_global_const("P9_43", INT2NUM(P9_43));
+  rb_define_global_const("P9_44", INT2NUM(P9_44));
+  rb_define_global_const("P9_45", INT2NUM(P9_45));
+  rb_define_global_const("P9_46", INT2NUM(P9_46));
+}

data/ext/bonekit/beaglebone_global_const.h

@@ -0,0 +1,33 @@
+/*
+ 
+ beaglebone_global_const.h
+ BoneKit
+ 
+ Copyright (cc) 2012 Luis Laugga.
+ Some rights reserved, all wrongs deserved.
+ 
+ Permission is hereby granted, free of charge, to any person obtaining a copy of
+ this software and associated documentation files (the "Software"), to deal in
+ the Software without restriction, including without limitation the rights to
+ use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ the Software, and to permit persons to whom the Software is furnished to do so,
+ subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ 
+*/
+
+#ifndef BONEKIT_BEAGLEBONE_GLOBAL_CONST_H__
+#define BONEKIT_BEAGLEBONE_GLOBAL_CONST_H__
+
+void BoneKit_Beaglebone_global_const_init();
+
+#endif

data/ext/bonekit/extconf.rb

@@ -0,0 +1,32 @@
+#
+#  extconf.rb
+#  BoneKit
+# 
+#  Copyright (c) 2012 Luis Laugga. 
+#  Some rights reserved, all wrongs deserved.
+#
+#  Permission is hereby granted, free of charge, to any person obtaining a copy of
+#  this software and associated documentation files (the "Software"), to deal in
+#  the Software without restriction, including without limitation the rights to
+#  use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+#  the Software, and to permit persons to whom the Software is furnished to do so,
+#  subject to the following conditions:
+# 
+#  The above copyright notice and this permission notice shall be included in all
+#  copies or substantial portions of the Software.
+# 
+#  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+#  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+#  FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+#  COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+#  IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+#  CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+#
+
+require 'mkmf'
+
+create_makefile('bonekit/bonekit')
+
+require 'rake/extensiontask'
+
+Rake::ExtensionTask.new('bonekit')

data/ext/bonekit/gpio.c

@@ -0,0 +1,147 @@
+/*
+
+ gpio.c
+ BoneKit
+
+ Copyright (cc) 2012 Luis Laugga.
+ Some rights reserved, all wrongs deserved.
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of
+ this software and associated documentation files (the "Software"), to deal in
+ the Software without restriction, including without limitation the rights to
+ use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ the Software, and to permit persons to whom the Software is furnished to do so,
+ subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+*/
+
+#include "gpio.h"
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <string.h>
+
+int gpio_read(unsigned int gpio, const char * filename, char * value, unsigned int length)
+{
+  int fd, len;
+  char filepath[GPIO_LEN];
+  snprintf(filepath, sizeof(filepath), "%s/gpio%d/%s", GPIO_DIR, gpio, filename);
+  
+  if((fd = open(filepath, O_RDONLY | O_NONBLOCK)) < 0)
+    return -1;
+  
+  lseek(fd, 0, SEEK_SET);
+  read(fd, value, length);
+  close(fd);
+  
+  return 0;
+}
+
+int gpio_write(unsigned int gpio, const char * filename, char * value)
+{
+  int fd;
+  char filepath[GPIO_LEN];
+  snprintf(filepath, sizeof(filepath), "%s/gpio%d/%s", GPIO_DIR, gpio, filename);
+
+  if((fd = open(filepath, O_WRONLY)) < 0)
+    return -1;
+
+  write(fd, value, strlen(value));
+  close(fd);
+
+  return 0;
+}
+
+int gpio_export(unsigned int gpio)
+{
+  int fd, len;
+  char str_gpio[10];
+    
+  if((fd = open("/sys/class/gpio/export", O_WRONLY)) < 0)
+    return -1;
+    
+  len = snprintf(str_gpio, sizeof(str_gpio), "%d", gpio);
+  write(fd, str_gpio, len);
+  close(fd);
+}
+
+int gpio_unexport(unsigned int gpio)
+{
+  int fd, len;
+  char str_gpio[10];
+    
+  if((fd = open("/sys/class/gpio/unexport", O_WRONLY)) < 0)
+    return -1;
+    
+  len = snprintf(str_gpio, sizeof(str_gpio), "%d", gpio);
+  write(fd, str_gpio, len);
+  close(fd); 
+}
+
+int gpio_set_direction(unsigned int gpio, unsigned int direction)
+{
+  if(direction == OUTPUT)
+  {
+    if(gpio_write(gpio, "direction", "out") < 0)
+      return -1;   
+  }
+  else
+  {
+    if(gpio_write(gpio, "direction", "in") < 0)
+      return -1;  
+  }
+    
+  return 0;
+}
+
+int gpio_get_direction(unsigned int gpio, unsigned int * direction)
+{
+  const unsigned int length = 3;
+  char buffer[length];
+    
+  if(gpio_read(gpio, "direction", buffer, length) < 0)
+    return -1;
+    
+  if(strcmp(buffer, "out") == 0)
+    *direction = OUTPUT;
+  else
+    *direction = INPUT;
+    
+  return 0; 
+}
+
+int gpio_set_value(unsigned int gpio, unsigned int value)
+{     
+  char buffer[GPIO_LEN];
+  sprintf(buffer, "%d", value); // convert value to string, decimal base
+  
+  if(gpio_write(gpio, "value", buffer) < 0)
+    return -1;
+    
+  return 0;
+}
+
+int gpio_get_value(unsigned int gpio, unsigned int * value)
+{
+  const unsigned int length = 2;
+  char buffer[length];
+    
+  if(gpio_read(gpio, "value", buffer, length) < 0)
+    return -1;
+    
+  *value = atoi(buffer);
+    
+  return 0;
+}

data/ext/bonekit/gpio.h

@@ -0,0 +1,60 @@
+/*
+ 
+ gpio.h
+ BoneKit
+ 
+ Copyright (cc) 2012 Luis Laugga.
+ Some rights reserved, all wrongs deserved.
+ 
+ Permission is hereby granted, free of charge, to any person obtaining a copy of
+ this software and associated documentation files (the "Software"), to deal in
+ the Software without restriction, including without limitation the rights to
+ use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ the Software, and to permit persons to whom the Software is furnished to do so,
+ subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ 
+*/
+
+#ifndef BONEKIT_GPIO_H__
+#define BONEKIT_GPIO_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  
+#define INPUT  0
+#define OUTPUT 1
+
+#define HIGH 1
+#define LOW  0
+  
+#define GPIO_DIR "/sys/class/gpio"
+#define GPIO_LEN 64
+
+int gpio_read(unsigned int, const char * , char *, unsigned int);
+int gpio_write(unsigned int, const char *, char *);
+
+int gpio_export(unsigned int);
+int gpio_unexport(unsigned int);
+
+int gpio_set_direction(unsigned int, unsigned int);
+int gpio_get_direction(unsigned int, unsigned int*);
+
+int gpio_set_value(unsigned int, unsigned int);
+int gpio_get_value(unsigned int, unsigned int*);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

data/ext/bonekit/hmc5883l.c

@@ -0,0 +1,107 @@
+/*
+ 
+ hmc5883l.c
+ BoneKit
+ 
+ Copyright (cc) 2012 Luis Laugga.
+ Some rights reserved, all wrongs deserved.
+ 
+ Permission is hereby granted, free of charge, to any person obtaining a copy of
+ this software and associated documentation files (the "Software"), to deal in
+ the Software without restriction, including without limitation the rights to
+ use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ the Software, and to permit persons to whom the Software is furnished to do so,
+ subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ 
+*/
+
+#include "hmc5883l.h"
+
+#define M_PI 3.14159265358979323846
+
+void selectDevice(int fd, int addr, char * name)
+{
+  if (ioctl(fd, I2C_SLAVE, addr) < 0)
+  {
+    fprintf(stderr, "%s not present\n", name);
+    exit(1);
+  }
+}
+
+void writeToDevice(int fd, int reg, int val)
+{
+  char buf[2];
+  buf[0]=reg;
+  buf[1]=val;
+  
+  if (write(fd, buf, 2) != 2)
+  {
+    fprintf(stderr, "Can't write to device\n");
+  }
+}
+
+void readFromDevice(int fd, uint8_t * buf, int len)
+{
+  int readRegister = 0x03;
+  if((write(fd, &readRegister, 1)) != 1)
+  {
+    //error
+  }
+  else
+  {
+    if(read(fd, buf, len) != len)
+    {
+      //error
+    }
+  }
+}
+
+hmc5883l_t * hmc5883l_create()
+{
+  hmc5883l_t * obj;
+  obj = malloc(sizeof(struct hmc5883l_s));
+  if(obj)
+  {
+    obj->_scale = 1;
+  
+    if ((obj->_fd = open("/dev/i2c-1", O_RDWR)) < 0)
+    {
+      // Open port for reading and writing
+      //printf("HMC5883L::Failed to open i2c bus\n");
+    }
+
+    selectDevice(obj->_fd, HMC5883L_Address, HMC5883L_Name);
+    writeToDevice(obj->_fd, ModeRegister, Measurement_Continuous);
+  }
+  
+  return obj;
+}
+
+void hmc5883l_destroy(hmc5883l_t * obj)
+{
+  free(obj);
+}
+
+float hmc5883l_heading(hmc5883l_t * obj)
+{
+  unsigned char buf[16];
+  readFromDevice(obj->_fd, buf, 6);
+  
+  short x = (buf[0] << 8) | buf[1];
+  short y = (buf[4] << 8) | buf[5];
+  short z = (buf[2] << 8) | buf[3];
+  
+  float angle = atan2(y, x) * 180 / M_PI;
+  
+  return angle;
+}

data/ext/bonekit/hmc5883l.h

@@ -0,0 +1,92 @@
+/*
+ 
+ hmc5883l.h
+ BoneKit
+ 
+ Copyright (cc) 2012 Luis Laugga.
+ Some rights reserved, all wrongs deserved.
+ 
+ Permission is hereby granted, free of charge, to any person obtaining a copy of
+ this software and associated documentation files (the "Software"), to deal in
+ the Software without restriction, including without limitation the rights to
+ use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ the Software, and to permit persons to whom the Software is furnished to do so,
+ subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ 
+*/
+
+#ifndef BONEKIT_HMC5883L_H__
+#define BONEKIT_HMC5883L_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <unistd.h>
+#include <string.h>
+#include <sys/ioctl.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <linux/i2c-dev.h>
+#include <math.h>
+
+#define HMC5883L_Address 0x1E
+#define HMC5883L_Name "HMC5883L"
+#define ConfigurationRegisterA 0x00
+#define ConfigurationRegisterB 0x01
+#define ModeRegister 0x02
+#define DataRegisterBegin 0x03
+
+#define Measurement_Continuous 0x00
+#define Measurement_SingleShot 0x01
+#define Measurement_Idle 0x03
+
+#define ErrorCode_1 "Scalenotvalid"//Entered scale was not valid, valid gauss values are: 0.88, 1.3, 1.9, 2.5, 4.0, 4.7, 5.6, 8.1"
+#define ErrorCode_1_Num 1
+
+typedef struct
+{
+	float XAxis;
+	float YAxis;
+	float ZAxis;
+} hmc5883l_scaled_t;
+
+typedef struct
+{
+	int XAxis;
+	int YAxis;
+	int ZAxis;
+} hmc5883l_raw_t;
+
+struct hmc5883l_s
+{
+  float _scale;
+  float _fd;
+  float _buffer[32];
+};
+
+typedef struct hmc5883l_s hmc5883l_t;
+
+hmc5883l_t * hmc5883l_create();
+void hmc5883l_destroy(hmc5883l_t *);
+float hmc5883l_heading(hmc5883l_t *);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

data/ext/bonekit/hmc5883l_class.c

@@ -0,0 +1,66 @@
+/*
+ 
+ hmc5883l_class.h
+ BoneKit
+ 
+ Copyright (cc) 2012 Luis Laugga.
+ Some rights reserved, all wrongs deserved.
+ 
+ Permission is hereby granted, free of charge, to any person obtaining a copy of
+ this software and associated documentation files (the "Software"), to deal in
+ the Software without restriction, including without limitation the rights to
+ use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ the Software, and to permit persons to whom the Software is furnished to do so,
+ subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all
+ copies or substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ 
+*/
+
+#include "hmc5883l_class.h"
+
+#include "ruby.h"
+#include "hmc5883l.h"
+
+VALUE cBoneKit_HMC5883L;
+
+static void HMC5883L_free(void * ptr)
+{
+  if(ptr == NULL)
+      return;
+
+  hmc5883l_destroy(ptr);
+}
+
+static VALUE HMC5883L_new(VALUE class)
+{
+  hmc5883l_t * ptr = hmc5883l_create();
+  VALUE wrap_struct = Data_Wrap_Struct(class, 0, HMC5883L_free, ptr);
+  return wrap_struct;
+}
+
+static VALUE HMC5883L_heading(VALUE self)
+{
+  double value = 0.0f;
+  hmc5883l_t * ptr;
+  Data_Get_Struct(self, hmc5883l_t, ptr);
+  value = hmc5883l_heading(ptr);
+  return rb_float_new(value);
+}
+
+void BoneKit_HMC5883L_class_init()
+{
+  cBoneKit_HMC5883L = rb_define_class("HMC5883L", rb_cObject);
+  
+  rb_define_singleton_method(cBoneKit_HMC5883L, "new", HMC5883L_new, 0);
+  
+  rb_define_method(cBoneKit_HMC5883L, "heading", HMC5883L_heading, 0);
+}