File content as of revision 2:0b59cfeee8ee:

#include "AK9752.h"
#include "AK9752_reg.h"

#define CONV16I(high,low)  ((int16_t)(((high) << 8) | (low)))

#define LEN_ONE_BYTE            1       /**<! Data length of 1 byte data. */
#define LEN_BUF_THRESHOLD       8       /**<! Data length of Threshold settings. From THIRH to THTMPL */
#define LEN_BUF_IR_DATA         7       /**<! Data length of IR sensor data. From ST1 to ST2. */
#define VAL_SOFTWARE_RESET      0x01    
#define ST1_STATUS_FLAG_DRDY    0x01
#define INT_STATUS_FLAG_DR      0x01
#define INT_STATUS_FLAG_TMPL    0x02
#define INT_STATUS_FLAG_TMPH    0x04
#define INT_STATUS_FLAG_IRL     0x08
#define INT_STATUS_FLAG_IRH     0x10
#define INT_STATUS_MASK         0x1F
#define ST2_STATUS_FLAG_DOR     0x01


AK9752::AK9752() {
}

void AK9752::init(I2C *conn, SlaveAddress addr) {
    slaveAddress = addr;
    connection = conn;
}

AK9752::Status AK9752::checkConnection() {
    AK9752::Status status = AK9752::SUCCESS;
    
    // Gets the WIA register value.
    char buf[2];
    if ((status=AK9752::read(AK9752_REG_ADDR_WIA1, buf, 2)) != SUCCESS) {
        return status;
    }

    // Checks the obtained value equals to the supposed value.
    if ( (buf[0] != AK9752_REG_VALUE_WIA1) ||  (buf[1] != AK9752_REG_VALUE_WIA2) ) {
        return AK9752::ERROR;
    }
    
    return status;
}

AK9752::Status AK9752::read(char registerAddress, char *buf, int length) {
    // Writes the first register address
    if (connection->write((slaveAddress << 1), &registerAddress, LEN_ONE_BYTE) != 0) {
        // I2C write failed.
        return AK9752::ERROR_I2C_WRITE;
    }
    
    // Reads register data
    if (connection->read((slaveAddress << 1), buf, length) != 0) {
        // I2C read failed.
        return AK9752::ERROR_I2C_READ;
    }
    
    return AK9752::SUCCESS;
}

AK9752::Status AK9752::write(char registerAddress, const char *buf, int length) {
    int bufLength = length + 1;
    char data[bufLength];

    // Creates data to be sent.
    data[0] = registerAddress;    
    for (int i=0; i < length; i++) {
        data[1+i] = buf[i];
    }
    
    // Writes data. 
    if (connection->write((slaveAddress << 1), data, bufLength) != 0) {
        // I2C write failed.
        return AK9752::ERROR_I2C_WRITE;
    }

    return AK9752::SUCCESS;
}

AK9752::Status AK9752::getInterruptEnable(InterruptStatus *intStatus){
    Status status;
    
    char buf = 0;
    if((status=read(AK9752_REG_ADDR_INTEN, &buf, LEN_ONE_BYTE)) != SUCCESS) {
        return status;
    }
    
    intStatus->irh = ((buf & INT_STATUS_FLAG_IRH) > 0) ? true : false;
    intStatus->irl = ((buf & INT_STATUS_FLAG_IRL) > 0) ? true : false;
    intStatus->tmph = ((buf & INT_STATUS_FLAG_TMPH) > 0) ? true : false;
    intStatus->tmpl = ((buf & INT_STATUS_FLAG_TMPL) > 0) ? true : false;
    intStatus->dr = ((buf & INT_STATUS_FLAG_DR) > 0) ? true : false;
    
    return SUCCESS;
}

AK9752::Status AK9752::setInterruptEnable(const AK9752::InterruptStatus *intStatus) {
    char buf = 0;
    
    buf += intStatus->irh ? INT_STATUS_FLAG_IRH : 0;
    buf += intStatus->irl ? INT_STATUS_FLAG_IRL : 0;
    buf += intStatus->tmph ? INT_STATUS_FLAG_TMPH : 0;
    buf += intStatus->tmpl ? INT_STATUS_FLAG_TMPL : 0;
    buf += intStatus->dr ? INT_STATUS_FLAG_DR : 0;
    
    Status status;
    if ((status=write(AK9752_REG_ADDR_INTEN, &buf, LEN_ONE_BYTE)) != SUCCESS) {
        return status;    
    }
    
    char readback = 0;
    if ((status=read(AK9752_REG_ADDR_INTEN, &readback, LEN_ONE_BYTE)) != SUCCESS) {
        return status;
    }
    if ((readback & INT_STATUS_MASK) != buf) {
        return ERROR;
    }
    
    return SUCCESS;
}

AK9752::Status AK9752::getData(char *buf) {
    Status status;
    if ((status=read(AK9752_REG_ADDR_ST1, buf, LEN_BUF_IR_DATA)) != SUCCESS) {
        return status;
    }
    return SUCCESS;
}

AK9752::Status AK9752::setThreshold(const Threshold *th) {
    Status status;
    char buf[LEN_BUF_THRESHOLD];
    
    buf[0] = (char)(((uint16_t)th->thirh & 0x00FF));         // THIRHL
    buf[1] = (char)(((uint16_t)th->thirh & 0xFF00) >> 8);    // THIRHH
    buf[2] = (char)(((uint16_t)th->thirl & 0x00FF));         // THIRLL 
    buf[3] = (char)(((uint16_t)th->thirl & 0xFF00) >> 8);    // THIRLH
    buf[4] = (char)(((uint16_t)th->thtmph & 0x00FF));        // THTMPHL
    buf[5] = (char)(((uint16_t)th->thtmph & 0xFF00) >> 8);   // THTMPHH
    buf[6] = (char)(((uint16_t)th->thtmpl & 0x00FF));        // THTMPLL 
    buf[7] = (char)(((uint16_t)th->thtmpl & 0xFF00) >> 8);   // THTMPLH
    
    if ((status=write(AK9752_REG_ADDR_THIRHL, buf, LEN_BUF_THRESHOLD)) != SUCCESS) {
        return status;
    }

    return SUCCESS;
}

AK9752::Status AK9752::getThreshold(Threshold *th) {
    Status status;
    char buf[LEN_BUF_THRESHOLD];
    
    if ((status=read(AK9752_REG_ADDR_THIRHL, buf, LEN_BUF_THRESHOLD)) != SUCCESS) {
        return status;
    }
    
    th->thirh = CONV16I(buf[1], buf[0]);
    th->thirl = CONV16I(buf[3], buf[2]);
    th->thtmph = CONV16I(buf[5], buf[4]);
    th->thtmpl = CONV16I(buf[7], buf[6]);
    
    return SUCCESS;
}

AK9752::Status AK9752::getOperationMode(OperationMode *mode, FcTmp *fc_tmp, FcIr *fc_ir){
        Status status;
    
    char buf[2];
    if ((status=read(AK9752_REG_ADDR_CNTL1, buf, 2)) != SUCCESS) {
        return status;
    }
    *fc_tmp = AK9752::FcTmp((buf[0] & 0x1C)>>2);
    *fc_ir = AK9752::FcIr(buf[0] & 0x03);
    *mode = AK9752::OperationMode(buf[1] & 0x03);
    
    return SUCCESS;
}

AK9752::Status AK9752::setOperationMode(OperationMode mode, FcTmp fc_tmp, FcIr fc_ir){
    Status status;
    
    char buf[2];
    buf[0] = (fc_tmp<<2 | fc_ir&0x03);
    buf[1] = mode;
    if ((status=write(AK9752_REG_ADDR_CNTL1, buf, 2)) != SUCCESS) {
        return status;
    }
    return SUCCESS;
}

AK9752::Status AK9752::reset() {
    Status status;
    char val = VAL_SOFTWARE_RESET;
    if ((status=write(AK9752_REG_ADDR_CNTL3, &val, LEN_ONE_BYTE)) != SUCCESS) {
        return status;
    }    
    return SUCCESS;
}

AK9752::Status AK9752::getSensorData(AK9752::SensorData *data) {
    Status status;
    char buf[LEN_BUF_IR_DATA];
    
    if ((status=getData(buf)) != SUCCESS) {
        return status;
    }

    // check DRDY 
    if( (buf[0] & ST1_STATUS_FLAG_DRDY) == 0 ){
        // DRDY=0, data not ready
        return ERROR;
    }
    
    // Interrupt Status
    data->intStatus.irh = ((buf[1] & INT_STATUS_FLAG_IRH) > 0) ? true : false;
    data->intStatus.irl = ((buf[1] & INT_STATUS_FLAG_IRL) > 0) ? true : false;
    data->intStatus.tmph = ((buf[1] & INT_STATUS_FLAG_TMPH) > 0) ? true : false;
    data->intStatus.tmpl = ((buf[1] & INT_STATUS_FLAG_TMPL) > 0) ? true : false;
    data->intStatus.dr = ((buf[1] & INT_STATUS_FLAG_DR) > 0) ? true : false;
    
    // IR sensor data
    data->ir = (int16_t)((buf[3] << 8) | buf[2]);
    
    // Temperature sensor data
    data->temperature = (int16_t)((buf[5] << 8) | buf[4]);

    // DOR Status
    data->dor = ((buf[1] & ST2_STATUS_FLAG_DOR) > 0) ? true : false;
    
    return SUCCESS;    
}