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u8 HMC5843_SelfTest(void)
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u8 HMC5843_SelfTest(void)
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{
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{
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        u32 time;
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        u32 time;
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        s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0;
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        s32 XMin = 0, XMax = 0, YMin = 0, YMax = 0, ZMin = 0, ZMax = 0;
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        s32 scale, scale_min, scale_max;
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        s16 scale, scale_min, scale_max;
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        u8 i = 0;
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        u8 i = 0;
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- 
 
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        // activate positive bias field  of 0.55 gauss
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        HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ|HMC5843_CRA_MODE_POSBIAS, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS);
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        // wait for stable readings
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        // activate positive bias field  of 0.55 gauss
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        time = SetDelay(50);
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        HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ|HMC5843_CRA_MODE_POSBIAS, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS);
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        while(!CheckDelay(time));
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        // averaging
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        // averaging
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        for(i = 0; i<20; i++)
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        for(i = 0; i<20; i++)
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        {
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        {
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                YMax += MagVector.Y;
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                YMax += MagVector.Y;
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                ZMax += MagVector.Z;
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                ZMax += MagVector.Z;
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        }
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        }
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        // activate negative bias field of 0.55 gauss
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        // activate negative bias field of 0.55 gauss
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        HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ|HMC5843_CRA_MODE_NEGBIAS, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS);
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        HMC5843_SetConfiguration(HMC5843_CRA_RATE_50HZ|HMC5843_CRA_MODE_NEGBIAS, HMC5843_CRB_GAIN_10GA, HMC5843_MODE_CONTINUOUS);
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    // wait for stable readings
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        time = SetDelay(50);
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    while(!CheckDelay(time));
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        while(!CheckDelay(time));
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        // averaging
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        // averaging
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        for(i = 0; i < 20; i++)
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        for(i = 0; i < 20; i++)
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        {
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        {
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                HMC5843_GetMagVector();
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                HMC5843_GetMagVector();
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                time = SetDelay(20);
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                time = SetDelay(20);
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        scale = 715;  // 1300 counts/Gauss * 0.55 Gauss = 715 counts
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        scale = 715;  // 1300 counts/Gauss * 0.55 Gauss = 715 counts
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        scale_min = (scale *  90)/100;
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        scale_min = (scale *  90)/100;
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        scale_max = (scale * 110)/100;
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        scale_max = (scale * 110)/100;
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        // check scale for all axes
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        // check scale for all axes
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        scale = (XMax - XMin)/40;
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        scale = (XMax - XMin)/40;
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        if((scale > scale_max) || (scale < scale_min)) return 0;
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        if((scale > scale_max) || (scale < scale_min)) return(0);
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        scale = (YMax + YMin)/40;
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        scale = (YMax - YMin)/40;
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        if((scale > scale_max) || (scale < scale_min)) return 0;
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        if((scale > scale_max) || (scale < scale_min)) return(0);
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        scale = (ZMax + ZMin)/40;
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        scale = (ZMax - ZMin)/40;
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        if((scale > scale_max) || (scale < scale_min)) return 0;
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        if((scale > scale_max) || (scale < scale_min)) return(0);
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        return 1;
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        return(1);
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}
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}
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        {
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        {
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                HMC5843_GetIdentification();
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                HMC5843_GetIdentification();
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                if (HMC5843_Identification.A != 0xFF) break; // break loop on success
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                if (HMC5843_Identification.A != 0xFF) break; // break loop on success
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                UART1_PutString(".");
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                UART1_PutString(".");
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                repeat++;
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                repeat++;
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        }while ((HMC5843_Identification.A == 0xFF) && (repeat < 12)); // 12*250ms=3s
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        }while ((HMC5843_Identification.A == 0xFF) && (repeat < 12));
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        // if we got it
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        // if we got it
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        if(HMC5843_Identification.A != 0xFF)
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        if(HMC5843_Identification.A != 0xFF)
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        {
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        {
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                sprintf(msg, " HMC5843 ID %d/%d/%d", HMC5843_Identification.A, HMC5843_Identification.B, HMC5843_Identification.C);
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                sprintf(msg, " HMC5843 ID %d/%d/%d", HMC5843_Identification.A, HMC5843_Identification.B, HMC5843_Identification.C);
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                UART1_PutString(msg);
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                UART1_PutString(msg);