main.cpp

00001 /* Copyright (c) 2016 MtM Technology Corporation, MIT License
00002  *
00003  * Permission is hereby granted, free of charge, to any person obtaining a copy of this software 
00004  * and associated documentation files (the "Software"), to deal in the Software without restriction, 
00005  * including without limitation the rights to use, copy, modify, merge, publish, distribute, 
00006  * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is 
00007  * furnished to do so, subject to the following conditions:
00008  *
00009  * The above copyright notice and this permission notice shall be included in all copies or 
00010  * substantial portions of the Software.
00011  *
00012  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING 
00013  * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND 
00014  * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, 
00015  * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 
00016  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
00017  */
00018 #include "mbed.h"
00019 #include "AK9750.h"
00020 #include "AK09912.h"
00021 #include "AK09970.h"
00022 #include "config.h"
00023 
00024 I2C i2c(p3, p2);
00025 
00026 #ifdef NRF52
00027 Serial pc(p18, p16);
00028 DigitalOut reset_sensor(p24, 1);   // Reset pin for AK09970 (Low active)
00029 AK9750 ak9750(i2c, p5);
00030 #else
00031 Serial pc(p15, p16);
00032 DigitalOut reset_sensor(p4, 1);   // Reset pin for AK09970 (Low active)
00033 AK9750 ak9750(i2c, p0);
00034 #endif
00035 
00036 AK09912 ak09912(i2c);
00037 AK09970 ak09970(i2c);
00038 
00039 volatile bool isIntEvent = false;
00040 static EventQueue eventQueue(/* event count */ 16 * EVENTS_EVENT_SIZE);
00041 int32_t count = 0;
00042 
00043 //==============================================================================
00044 static void IntEventCallback() {
00045     isIntEvent = true;
00046 }
00047 void readSensorCallback() {
00048 #if (CONFIG_RUN_MODE == RUN_ALL_SENSOR_COM)    
00049     AK9750::Data ak9750_data;
00050     AK09912::Data ak09912_data;
00051     AK09970::Data ak09970_data;
00052     int32_t triggered_area;
00053     ak9750.GetData(&ak9750_data);
00054     triggered_area = ak9750.GetTriggeredAreaNum(&ak9750_data);
00055     pc.printf("AK9750(%5.1fpA, %5.1fpA, %5.1fpA, %5.1fpA, %2.1f'C, Area%d)\n", 
00056     ak9750_data.ir1, ak9750_data.ir2, ak9750_data.ir3, ak9750_data.ir4, ak9750_data.tmp, triggered_area);
00057 
00058     ak09912.GetData(&ak09912_data);
00059     pc.printf("AK09912(%5.1fuT/LSB, %5.1fuT/LSB, %5.1fuT/LSB, %2.1f'C)\n",
00060     ak09912_data.x, ak09912_data.y, ak09912_data.z, ak09912_data.t);
00061 
00062     ak09970.GetData(&ak09970_data);
00063     pc.printf("AK09970(%6.1fuT/LSB, %6.1fuT/LSB, %6.1fuT/LSB)\n",
00064     ak09970_data.x, ak09970_data.y, ak09970_data.z);
00065 
00066     pc.printf("\n");
00067 #elif (CONFIG_RUN_MODE == RUN_IR_AK9750_APP)
00068     AK9750::Data ak9750_data;
00069     ak9750.GetData(&ak9750_data);
00070     pc.printf(" 3:%d,%d,%d,%d,%d,\r", count, (int32_t)ak9750_data.ir1, (int32_t)ak9750_data.ir2, (int32_t)ak9750_data.ir3, (int32_t)ak9750_data.ir4);
00071     count++;
00072      
00073 #elif (CONFIG_RUN_MODE == RUN_COMPASS_AK09912_APP)
00074     AK09912::Data ak09912_data;
00075     ak09912.GetData(&ak09912_data);
00076     pc.printf("C:%d,%d,%d,%d\r", count, (int32_t)ak09912_data.x, (int32_t)ak09912_data.y, (int32_t)ak09912_data.z);
00077     count++;
00078    
00079 #elif (CONFIG_RUN_MODE == RUN_MAGNETIC_AK09970_APP)
00080     AK09970::Data ak09970_data;
00081     ak09970.GetData(&ak09970_data);
00082     pc.printf("C:%d,%d,%d,%d\r", count, (int32_t)ak09970_data.x, (int32_t)ak09970_data.y, (int32_t)ak09970_data.z);
00083     count++;
00084 #endif  
00085 }
00086 //==============================================================================
00087 int main() {
00088     /* Disable the hardware flow control of Serial, then show the mbed version */
00089     pc.set_flow_control(SerialBase::Disabled);
00090     pc.baud(CONFIG_BAUDRATE);
00091     pc.printf("\n");
00092     pc.printf("mbed version(%d.%d.%d)\n", MBED_MAJOR_VERSION, MBED_MINOR_VERSION, MBED_PATCH_VERSION);
00093     pc.printf("\n");
00094 
00095     /* Reset sensor */
00096     reset_sensor = 1;
00097     wait_ms(10);
00098     reset_sensor = 0;
00099     wait_ms(10);
00100     reset_sensor = 1;
00101     wait_ms(10);
00102 
00103     /* Config device and check device ID */
00104     uint8_t id;
00105 
00106     ak9750.ConfigDevice();
00107     ak9750.GetDeviceID(&id);
00108     pc.printf("AK9750_DEVICE_ID(0x%02X)\n", id);
00109     if(id != ak9750.DEVICE_ID){
00110         pc.printf("Read Device ID fail !\n");
00111         while(1);
00112     }
00113     
00114     ak09912.ConfigDevice();
00115     ak09912.GetDeviceID(&id);
00116     pc.printf("AK09912_DEVICE_ID(0x%02X)\n", id);
00117     if(id != ak09912.DEVICE_ID){
00118         pc.printf("Read Device ID fail !\n");
00119         while(1);
00120     }
00121 
00122     ak09970.ConfigDevice();
00123     ak09970.GetDeviceID(&id);
00124     pc.printf("AK09970_DEVICE_ID(0x%02X)\n", id);
00125     if(id != ak09970.DEVICE_ID){
00126         pc.printf("Read Device ID fail !\n");
00127         while(1);
00128     }
00129 
00130 
00131     /* Main loop */
00132 #if (CONFIG_RUN_MODE == RUN_ALL_SENSOR_COM)
00133     eventQueue.call_every(200, readSensorCallback);
00134     eventQueue.dispatch_forever();
00135     
00136 #elif (CONFIG_RUN_MODE == RUN_IR_AK9750_APP)
00137     eventQueue.call_every(200, readASensorCallback);
00138     eventQueue.dispatch_forever();
00139     
00140 #elif (CONFIG_RUN_MODE == RUN_COMPASS_AK09912_APP)
00141     eventQueue.call_every(200, readASensorCallback);
00142     eventQueue.dispatch_forever();
00143     
00144 #elif (CONFIG_RUN_MODE == RUN_MAGNETIC_AK09970_APP)
00145     eventQueue.call_every(200, readASensorCallback);
00146     eventQueue.dispatch_forever();
00147     
00148 #elif (CONFIG_RUN_MODE == RUN_IR_AK9750_INT_COM)
00149     // Enable interrupt sources and set callback function
00150     ak9750.SetIntEvent(AK9750::INT_DR, &IntEventCallback);
00151     
00152     while (1) {
00153         /* If any interrupt occurred */
00154         if (isIntEvent) {
00155             /* Read interrupt status */
00156             uint8_t status = ak9750.GetIntStatus();
00157             if (status & AK9750::INT_DR) {
00158                 pc.printf("INT_DR\n");
00159                 /* Read data */
00160                 AK9750::Data data;
00161                 ak9750.GetData(&data);
00162                 pc.printf("AK9750(%5.1fpA, %5.1fpA, %5.1fpA, %5.1fpA)\n", data.ir1, data.ir2, data.ir3, data.ir4);
00163             }
00164             if (status & AK9750::INT_IR24L) pc.printf("INT_IR24L\n");
00165             if (status & AK9750::INT_IR24H) pc.printf("INT_IR24H\n");
00166             if (status & AK9750::INT_IR13L) pc.printf("INT_IR13L\n");
00167             if (status & AK9750::INT_IR13H) pc.printf("INT_IR13H\n");
00168             isIntEvent = false;
00169         }
00170     }
00171 #else
00172     #errror "Config run mode ...FAIL"
00173 #endif
00174 }