MSS
AKM AK09970N 3D Magnetic Sensor with Programmable Switch
Diff: AK09970N.cpp
- Revision:
- 1:2b2ead3e4efc
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/AK09970N.cpp Thu Dec 28 07:24:03 2017 +0000
@@ -0,0 +1,588 @@
+#include "mbed.h"
+#include "AK09970N.h"
+
+/* Read only Registers */
+#define REG_ID 0x00
+#define REG_STATUS 0x10
+#define REG_ST_X 0x11
+#define REG_ST_Y 0x12
+#define REG_ST_X_Y 0x13
+#define REG_ST_Z 0x14
+#define REG_ST_X_Z 0x15
+#define REG_ST_Y_Z 0x16
+#define REG_ST_X_Y_Z 0x17
+#define REG_ST_BX 0x19
+#define REG_ST_BY 0x1A
+#define REG_ST_BX_BY 0x1B
+#define REG_ST_BZ 0x1C
+#define REG_ST_BX_BZ 0x1D
+#define REG_ST_BY_BZ 0x1E
+#define REG_ST_BX_BY_BZ 0x1F
+/* Read/Write Registers */
+#define REG_INT 0x20
+#define REG_CONFIG 0x21
+#define REG_THS_X1 0x22
+#define REG_THS_X2 0x23
+#define REG_THS_Y1 0x24
+#define REG_THS_Y2 0x25
+#define REG_THS_Z1 0x26
+#define REG_THS_Z2 0x27
+/* Special function */
+#define REG_RESET 0x30
+#define REG_I2C_Disable 0x31
+#define REG_TEST1 0x40
+#define REG_TEST2 0x41
+
+AK09970N::AK09970N(PinName sda, PinName scl, int addr) : m_i2c(sda, scl), m_addr(addr<<1) {
+ uint8_t data[2] ;
+ // activate the peripheral
+ _mode = 0 ; /* power-down mode */
+ _sdr = 0 ; /* Sensor drive setting */
+ _smr = 0 ; /* 0: High sensitivity 1: Wide measurement range */
+ data[0] = REG_INT ;
+ data[1] = 0x01 ;
+ writeRegs(data, 2) ;
+}
+
+AK09970N::~AK09970N() { }
+
+int AK09970N::readRegs(int addr, uint8_t * data, int len) {
+ int result ;
+ char t[1] = {addr};
+ result = m_i2c.write(m_addr, t, 1, true);
+ if (result == 0) {
+ m_i2c.read(m_addr, (char *)data, len);
+ }
+ return( result ) ;
+}
+
+int AK09970N::writeRegs(uint8_t * data, int len) {
+ int result ;
+ result = m_i2c.write(m_addr, (char *)data, len);
+ return( result ) ;
+}
+
+int AK09970N::software_reset(void)
+{
+ int result ;
+ uint8_t data[2] = { REG_RESET, 0x01 } ;
+ result = writeRegs(data, 2) ;
+ return( result ) ;
+}
+
+int AK09970N::getID(uint16_t *CompanyID, uint16_t *DeviceID)
+{
+ int result ;
+ uint8_t data[4] ;
+ result = readRegs(REG_ID, data, 4) ;
+ if (result == 0) {
+ *CompanyID = data[0] ;
+ *DeviceID = data[1] ;
+ }
+ return( result ) ;
+}
+
+/**
+ * REG_STATUS 0x10
+ * REG_STATUS[15:10] (reserved)
+ * REG_STATUS[9] DOR : 0: Normal 1: Data overrun
+ * REG_STATUS[8] ERRADC : 0: Normal 1: ADC overflow
+ * REG_STATUS[7] ERRXY : 0: Normal 1: Magnetic sensor overflow (X and/or Y)
+ * REG_STATUS[6] SWZ2 : exceed_THSeshold 2
+ * REG_STATUS[5] SWZ1 : exceed_THSeshold 1
+ * REG_STATUS[4] SWY2 : exceed_THSeshold 2
+ * REG_STATUS[3] SWY1 : exceed_THSeshold 1
+ * REG_STATUS[2] SWX2 : exceed THSeshold 2
+ * REG_STATUS[1] SWX1 : exceed THSeshold 1
+ * REG_STATUS[0] DRDY : 0: Normal 1: Data is ready
+ */
+uint16_t AK09970N::getStatus(void)
+{
+ int result ;
+ uint8_t data[2] ;
+ uint16_t status = 0 ;
+ result = readRegs(REG_STATUS, data, 2) ;
+ if (result == 0) { /* success */
+ status = (data[0] << 8) | data[1] ;
+ }
+ return( status ) ;
+}
+
+int AK09970N::setINT(uint16_t value)
+{
+ int result ;
+ uint8_t data[3] ;
+ data[0] = REG_INT ;
+ data[1] = (value >> 8) & 0xFF ;
+ data[2] = value & 0xFF ;
+ result = writeRegs(data, 3) ;
+ return(result) ;
+}
+
+uint16_t AK09970N::getINT(void)
+{
+ int result ;
+ uint8_t data[2] ;
+ uint16_t value ;
+ result = readRegs(REG_INT, data, 2) ;
+ if (result == 0) {
+ value = (data[0] << 8) | data[1] ;
+ }
+ return(value) ;
+}
+
+int AK09970N::setConfig(uint8_t config)
+{
+ int result ;
+ uint8_t data[2] ;
+ data[0] = REG_CONFIG ;
+ data[1] = config ;
+ result = writeRegs(data, 2) ;
+ _mode = config & 0x0F ; /* operation mode 0: power down 1: single 2~: other */
+ _sdr = (config >> 4) & 0x01 ; /* Sensor drive setting */
+ _smr = (config >> 5) & 0x01 ; /* Measurement range and sensitivity */
+ return( result ) ;
+}
+
+uint8_t AK09970N::getConfig(void)
+{
+ int result ;
+ uint8_t config = 0x00 ;
+ result = readRegs(REG_CONFIG, &config, 1) ;
+ if (result == 0) { /* read success, reflect each bits */
+ _mode = config & 0x0F ;
+ _sdr = (config >> 4) & 0x01 ;
+ _smr = (config >> 5) & 0x01 ;
+ }
+ return( config ) ;
+}
+
+int AK09970N::singleShot(void)
+{
+ int result ;
+ uint8_t config ;
+ config = (_smr << 5)|(_sdr << 4)|0x01 ;
+ result = setConfig(config) ;
+ return( result ) ;
+}
+
+float AK09970N::i2f(int16_t value)
+{
+ float fvalue ;
+ if (_smr) {
+ fvalue = 0.0011 * ((float)value) ;
+ } else {
+ fvalue = 0.0031 * ((float)value) ;
+ }
+ return( fvalue ) ;
+}
+
+int AK09970N::getX(uint16_t *status, float *x)
+{
+ int result ;
+ int16_t hx ;
+ result = getHX(status, &hx) ;
+ if (result == 0) {
+ *x = i2f(hx) ;
+ }
+ return(result) ;
+}
+
+int AK09970N::getY(uint16_t *status, float *y)
+{
+ int result ;
+ int16_t hy ;
+ result = getHY(status, &hy) ;
+ if (result == 0) {
+ *y = i2f(hy) ;
+ }
+ return(result) ;
+}
+
+int AK09970N::getZ(uint16_t *status, float *z)
+{
+ int result ;
+ int16_t hz ;
+ result = getHZ(status, &hz) ;
+ if (result == 0) {
+ *z = i2f(hz) ;
+ }
+ return( result ) ;
+}
+int AK09970N::getX_Y(uint16_t *status, float *x, float *y)
+{
+ int result ;
+ int16_t hx, hy ;
+ result = getHX_HY(status, &hx, &hy) ;
+ if (result == 0) {
+ *x = i2f(hx) ;
+ *y = i2f(hy) ;
+ }
+ return( result ) ;
+}
+
+int AK09970N::getX_Z(uint16_t *status, float *x, float *z)
+{
+ int result ;
+ int16_t hx, hz ;
+ result = getHX_HZ(status, &hx, &hz) ;
+ if (result == 0) {
+ *x = i2f(hx) ;
+ *z = i2f(hz) ;
+ }
+ return( result ) ;
+}
+
+int AK09970N::getY_Z(uint16_t *status, float *y, float *z)
+{
+ int result ;
+ int16_t hy, hz ;
+ result = getHY_HZ(status, &hy, &hz) ;
+ if (result == 0) {
+ *y = i2f(hy) ;
+ *z = i2f(hz) ;
+ }
+ return( result ) ;
+}
+
+int AK09970N::getX_Y_Z(uint16_t *status, float *x, float *y, float *z)
+{
+ int result ;
+ int16_t hx, hy, hz ;
+ result = getHX_HY_HZ(status, &hx, &hy, &hz) ;
+ if (result == 0) {
+ *x = i2f(hx) ;
+ *y = i2f(hy) ;
+ *z = i2f(hz) ;
+ }
+ return( result ) ;
+}
+
+int AK09970N::getHX(uint16_t *status, int16_t *x)
+{
+ int result ;
+ uint8_t data[4] ;
+ result = readRegs(REG_ST_X, data, 4) ;
+ if (result == 0) { /* success */
+ *status = (data[0] << 8) | data[1] ;
+ *x = (int16_t)((data[2] << 8) | data[3]) ;
+ }
+ return( result ) ;
+}
+
+int AK09970N::getHY(uint16_t *status, int16_t *y)
+{
+ int result ;
+ uint8_t data[4] ;
+ result = readRegs(REG_ST_Y, data, 4) ;
+ if (result == 0) { /* success */
+ *status = (data[0] << 8) | data[1] ;
+ *y = (int16_t)((data[2] << 8) | data[3]) ;
+ }
+ return( result ) ;
+}
+
+int AK09970N::getHZ(uint16_t *status, int16_t *z)
+{
+ int result ;
+ uint8_t data[4] ;
+ result = readRegs(REG_ST_Z, data, 4) ;
+ if (result == 0) { /* success */
+ *status = (data[0] << 8) | data[1] ;
+ *z = (int16_t)((data[2] << 8) | data[3]) ;
+ }
+ return( result ) ;
+}
+
+int AK09970N::getHX_HY(uint16_t *status, int16_t *x, int16_t *y)
+{
+ int result ;
+ uint8_t data[6] ;
+ result = readRegs(REG_ST_X_Y, data, 6) ;
+ if (result == 0) { /* success */
+ *status = (data[0] << 8) | data[1] ;
+ *y = (int16_t)((data[2] << 8) | data[3]) ;
+ *x = (int16_t)((data[4] << 8) | data[5]) ;
+ }
+ return( result ) ;
+}
+
+int AK09970N::getHX_HZ(uint16_t *status, int16_t *x, int16_t *z)
+{
+ int result ;
+ uint8_t data[6] ;
+ result = readRegs(REG_ST_X_Z, data, 6) ;
+ if (result == 0) { /* success */
+ *status = (data[0] << 8) | data[1] ;
+ *z = (int16_t)((data[2] << 8) | data[3]) ;
+ *x = (int16_t)((data[4] << 8) | data[5]) ;
+ }
+ return( result ) ;
+}
+
+int AK09970N::getHY_HZ(uint16_t *status, int16_t *y, int16_t *z)
+{
+ int result ;
+ uint8_t data[6] ;
+ result = readRegs(REG_ST_Y_Z, data, 6) ;
+ if (result == 0) { /* success */
+ *status = (data[0] << 8) | data[1] ;
+ *z = (int16_t)((data[2] << 8) | data[3]) ;
+ *y = (int16_t)((data[4] << 8) | data[5]) ;
+ }
+ return( result ) ;
+}
+
+int AK09970N::getHX_HY_HZ(uint16_t *status, int16_t *x, int16_t *y, int16_t *z)
+{
+ int result ;
+ uint8_t data[8] ;
+ result = readRegs(REG_ST_X_Y_Z, data, 8) ;
+ if (result == 0) { /* success */
+ *status = (data[0] << 8) | data[1] ;
+ *z = (int16_t)((data[2] << 8) | data[3]) ;
+ *y = (int16_t)((data[4] << 8) | data[5]) ;
+ *x = (int16_t)((data[6] << 8) | data[7]) ;
+ }
+ return( result ) ;
+}
+
+/* get measured data 8bit versions */
+int AK09970N::getBX(uint16_t *status, int8_t *x)
+{
+ int result ;
+ uint8_t data[3] ;
+ result = readRegs(REG_ST_BX, data, 3) ;
+ if (result == 0) { /* success */
+ *status = (data[0] << 8) | data[1] ;
+ *x = (int8_t)data[2] ;
+ }
+ return( result ) ;
+}
+
+int AK09970N::getBY(uint16_t *status, int8_t *y)
+{
+ int result ;
+ uint8_t data[3] ;
+ result = readRegs(REG_ST_BY, data, 3) ;
+ if (result == 0) { /* success */
+ *status = (data[0] << 8) | data[1] ;
+ *y = (int8_t)data[2] ;
+ }
+ return( result ) ;
+}
+
+int AK09970N::getBZ(uint16_t *status, int8_t *z)
+{
+ int result ;
+ uint8_t data[3] ;
+ result = readRegs(REG_ST_BZ, data, 3) ;
+ if (result == 0) { /* success */
+ *status = (data[0] << 8) | data[1] ;
+ *z = (int8_t)data[2] ;
+ }
+ return( result ) ;
+}
+
+int AK09970N::getBX_BY(uint16_t *status, int8_t *x, int8_t *y)
+{
+ int result ;
+ uint8_t data[4] ;
+ result = readRegs(REG_ST_BX_BY, data, 4) ;
+ if (result == 0) { /* success */
+ *status = (data[0] << 8) | data[1] ;
+ *y = (int8_t)data[2] ;
+ *x = (int8_t)data[3] ;
+ }
+ return( result ) ;
+}
+
+int AK09970N::getBX_BZ(uint16_t *status, int8_t *x, int8_t *z)
+{
+ int result ;
+ uint8_t data[4] ;
+ result = readRegs(REG_ST_BX_BZ, data, 4) ;
+ if (result == 0) { /* success */
+ *status = (data[0] << 8) | data[1] ;
+ *z = (int8_t)data[2] ;
+ *x = (int8_t)data[3] ;
+ }
+ return( result ) ;
+}
+
+int AK09970N::getBY_BZ(uint16_t *status, int8_t *y, int8_t *z)
+{
+ int result ;
+ uint8_t data[4] ;
+ result = readRegs(REG_ST_BY_BZ, data, 4) ;
+ if (result == 0) { /* success */
+ *status = (data[0] << 8) | data[1] ;
+ *z = (int8_t)data[2] ;
+ *y = (int8_t)data[3] ;
+ }
+ return( result ) ;
+}
+
+int AK09970N::getBX_BY_BZ(uint16_t *status, int8_t *x, int8_t *y, int8_t *z)
+{
+ int result ;
+ uint8_t data[5] ;
+ result = readRegs(REG_ST_BX_BY_BZ, data, 4) ;
+ if (result == 0) { /* success */
+ *status = (data[0] << 8) | data[1] ;
+ *z = (int8_t)data[2] ;
+ *y = (int8_t)data[3] ;
+ *x = (int8_t)data[4] ;
+ }
+ return( result ) ;
+}
+
+int AK09970N::getTHS_X1(int16_t *bop, int16_t *brp)
+{
+ int result ;
+ uint8_t data[4] ;
+ result = readRegs(REG_THS_X1, data, 4) ;
+ if (result == 0) { /* success */
+ *bop = (int16_t)((data[0] << 8) | data[1]) ;
+ *brp = (int16_t)((data[2] << 8) | data[3]) ;
+ }
+ return( result ) ;
+}
+
+int AK09970N::getTHS_X2(int16_t *bop, int16_t *brp)
+{
+ int result ;
+ uint8_t data[4] ;
+ result = readRegs(REG_THS_X2, data, 4) ;
+ if (result == 0) { /* success */
+ *bop = (int16_t)((data[0] << 8) | data[1]) ;
+ *brp = (int16_t)((data[2] << 8) | data[3]) ;
+ }
+ return( result ) ;
+}
+
+int AK09970N::getTHS_Y1(int16_t *bop, int16_t *brp)
+{
+ int result ;
+ uint8_t data[4] ;
+ result = readRegs(REG_THS_Y1, data, 4) ;
+ if (result == 0) { /* success */
+ *bop = (int16_t)((data[0] << 8) | data[1]) ;
+ *brp = (int16_t)((data[2] << 8) | data[3]) ;
+ }
+ return( result ) ;
+}
+
+int AK09970N::getTHS_Y2(int16_t *bop, int16_t *brp)
+{
+ int result ;
+ uint8_t data[4] ;
+ result = readRegs(REG_THS_Y2, data, 4) ;
+ if (result == 0) { /* success */
+ *bop = (int16_t)((data[0] << 8) | data[1]) ;
+ *brp = (int16_t)((data[2] << 8) | data[3]) ;
+ }
+ return( result ) ;
+}
+
+int AK09970N::getTHS_Z1(int16_t *bop, int16_t *brp)
+{
+ int result ;
+ uint8_t data[4] ;
+ result = readRegs(REG_THS_Z1, data, 4) ;
+ if (result == 0) { /* success */
+ *bop = (int16_t)((data[0] << 8) | data[1]) ;
+ *brp = (int16_t)((data[2] << 8) | data[3]) ;
+ }
+ return( result ) ;
+}
+
+int AK09970N::getTHS_Z2(int16_t *bop, int16_t *brp)
+{
+ int result ;
+ uint8_t data[4] ;
+ result = readRegs(REG_THS_Z2, data, 4) ;
+ if (result == 0) { /* success */
+ *bop = (int16_t)((data[0] << 8) | data[1]) ;
+ *brp = (int16_t)((data[2] << 8) | data[3]) ;
+ }
+ return( result ) ;
+}
+
+int AK09970N::setTHS_X1(int16_t bop, int16_t brp)
+{
+ int result ;
+ uint8_t data[5] ;
+ data[0] = REG_THS_X1 ;
+ data[1] = (bop >> 8) & 0xFF ;
+ data[2] = bop & 0xFF ;
+ data[3] = (brp >> 8) & 0xFF ;
+ data[4] = brp & 0xFF ;
+ result = writeRegs(data, 5) ;
+ return( result ) ;
+}
+
+int AK09970N::setTHS_X2(int16_t bop, int16_t brp)
+{
+ int result ;
+ uint8_t data[5] ;
+ data[0] = REG_THS_X2 ;
+ data[1] = (bop >> 8) & 0xFF ;
+ data[2] = bop & 0xFF ;
+ data[3] = (brp >> 8) & 0xFF ;
+ data[4] = brp & 0xFF ;
+ result = writeRegs(data, 5) ;
+ return( result ) ;
+}
+
+int AK09970N::setTHS_Y1(int16_t bop, int16_t brp)
+{
+ int result ;
+ uint8_t data[5] ;
+ data[0] = REG_THS_Y1 ;
+ data[1] = (bop >> 8) & 0xFF ;
+ data[2] = bop & 0xFF ;
+ data[3] = (brp >> 8) & 0xFF ;
+ data[4] = brp & 0xFF ;
+ result = writeRegs(data, 5) ;
+ return( result ) ;
+}
+
+int AK09970N::setTHS_Y2(int16_t bop, int16_t brp)
+{
+ int result ;
+ uint8_t data[5] ;
+ data[0] = REG_THS_Y2 ;
+ data[1] = (bop >> 8) & 0xFF ;
+ data[2] = bop & 0xFF ;
+ data[3] = (brp >> 8) & 0xFF ;
+ data[4] = brp & 0xFF ;
+ result = writeRegs(data, 5) ;
+ return( result ) ;
+}
+
+int AK09970N::setTHS_Z1(int16_t bop, int16_t brp)
+{
+ int result ;
+ uint8_t data[5] ;
+ data[0] = REG_THS_Z1 ;
+ data[1] = (bop >> 8) & 0xFF ;
+ data[2] = bop & 0xFF ;
+ data[3] = (brp >> 8) & 0xFF ;
+ data[4] = brp & 0xFF ;
+ result = writeRegs(data, 5) ;
+ return( result ) ;
+}
+
+int AK09970N::setTHS_Z2(int16_t bop, int16_t brp)
+{
+ int result ;
+ uint8_t data[5] ;
+ data[0] = REG_THS_Z2 ;
+ data[1] = (bop >> 8) & 0xFF ;
+ data[2] = bop & 0xFF ;
+ data[3] = (brp >> 8) & 0xFF ;
+ data[4] = brp & 0xFF ;
+ result = writeRegs(data, 5) ;
+ return( result ) ;
+}