Osamu Koizumi / AK8963

This is a device driver of AK8963, which is 3-axis magnetometer manufactured by AKM.

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AK8963 Class Reference
Data Structures | Public Types | Public Member Functions

AK8963 Class Reference

This is a device driver of AK8963. More...

#include <ak8963.h>

Data Structures

struct  MagneticVector
 Structure to hold a magnetic vector. More...

Public Types

enum  SlaveAddress { SLAVE_ADDR_1 = 0x0c, SLAVE_ADDR_2 = 0x0d, SLAVE_ADDR_3 = 0x0e, SLAVE_ADDR_4 = 0x0f }
 

Possible slave address of AK8963.

More...
enum  OperationMode { MODE_POWER_DOWN = 0x00, MODE_SINGLE_MEASUREMENT = 0x01, MODE_CONTINUOUS_1 = 0x02, MODE_CONTINUOUS_2 = 0x06 }
 

Available opration modes in AK8963.

More...
enum  Status {
  SUCCESS, ERROR_I2C_READ, ERROR_I2C_WRITE, ERROR,
  DATA_READY, NOT_DATA_READY
}
 

Status of function.

More...

Public Member Functions

 AK8963 (I2C *conn, SlaveAddress addr)
 Constructor.
Status checkConnection ()
 Check the connection.
Status setOperationMode (OperationMode mode)
 Sets device operation mode.
Status isDataReady ()
 Check if data is ready, i.e.
Status getMagneticVector (MagneticVector *vec)
 Gets magnetic vector from the device.

Detailed Description

This is a device driver of AK8963.

Note:
AK8963 is a 3-axis magnetometer (magnetic sensor) device manufactured by AKM.

Example: 

 #include "mbed.h"
 #include "ak8963.h"
 
 #define I2C_SPEED_100KHZ    100000
 #define I2C_SPEED_400KHZ    400000
 
 int main() {
     // Creates an instance of I2C
     I2C connection(I2C_SDA0, I2C_SCL0);
     connection.frequency(I2C_SPEED_100KHZ);

     // Creates an instance of AK8963
     AK8963 ak8963(&connection, AK8963::SLAVE_ADDR_1);
     
     // Checks connectivity
     if(ak8963.checkConnection() != AK8963::SUCCESS) {
         // Failed to check device connection.
         // - error handling here -
     }
     
     // Puts the device into continuous measurement mode.
     if(ak8963.setOperationMode(AK8963::MODE_CONTINUOUS_1) != AK8963::SUCCESS) {
         // Failed to set the device into continuous measurement mode.
         // - error handling here -
     }

     while(true) {
         // checks DRDY
         if (statusAK8963 == AK8963::DATA_READY) {
             AK8963::MagneticVector mag;
             ak8963.getMagneticVector(&mag);
             // You may use serial output to see data.
             // serial.printf("%d,%5.1f,%5.1f,%5.1f\n",
             //    mag.isOverflow,
             //    mag.mx, mag.my, mag.mz);
             statusAK8963 = AK8963::NOT_DATA_READY;
         } else if (statusAK8963 == AK8963::NOT_DATA_READY) {
             // Nothing to do.
         } else {
             // - error handling here -
         }
     }
 }

Definition at line 58 of file ak8963.h.

Member Enumeration Documentation

enum OperationMode

Available opration modes in AK8963.

Enumerator:
MODE_POWER_DOWN 

Power-down mode.

MODE_SINGLE_MEASUREMENT 

Single measurement mode.

MODE_CONTINUOUS_1 

Continuous measurement mode 1, 8 Hz.

MODE_CONTINUOUS_2 

Continuous measurement mode 2, 100 Hz.

Definition at line 74 of file ak8963.h.

enum SlaveAddress

Possible slave address of AK8963.

Selected by CAD1 and CAD0 pins.

Enumerator:
SLAVE_ADDR_1 

CAD0 = Low, CAD1 = Low.

SLAVE_ADDR_2 

CAD0 = High, CAD1 = Low.

SLAVE_ADDR_3 

CAD0 = Low, CAD1 = High.

SLAVE_ADDR_4 

CAD0 = High, CAD1 = High.

Definition at line 64 of file ak8963.h.

enum Status

Status of function.

Enumerator:
SUCCESS 

The function processed successfully.

ERROR_I2C_READ 

Error related to I2C read.

ERROR_I2C_WRITE 

Error related to I2C write.

ERROR 

General Error.

DATA_READY 

Data ready.

NOT_DATA_READY 

Data ready is not asserted.

Definition at line 84 of file ak8963.h.

Constructor & Destructor Documentation

AK8963 ( I2C *  conn,
SlaveAddress  addr 
)

Constructor.

Parameters:
conninstance of I2C
addrslave address of the device

Definition at line 52 of file ak8963.cpp.

Member Function Documentation

AK8963::Status checkConnection (  )

Check the connection.

Note:
Connection check is performed by reading a register which has a fixed value and verify it.
Returns:
Returns SUCCESS when succeeded, otherwise returns another code.

Definition at line 58 of file ak8963.cpp.

AK8963::Status getMagneticVector ( MagneticVector *  vec )

Gets magnetic vector from the device.

Parameters:
vecPointer to a instance of MagneticVector
Returns:
Returns SUCCESS when succeeded, otherwise returns another code.

Definition at line 167 of file ak8963.cpp.

AK8963::Status isDataReady (  )

Check if data is ready, i.e.

measurement is finished.

Returns:
Returns DATA_READY if data is ready or NOT_DATA_READY if data is not ready. If error happens, returns another code.

Definition at line 110 of file ak8963.cpp.

AK8963::Status setOperationMode ( AK8963::OperationMode  mode )

Sets device operation mode.

Parameters:
modedevice opration mode
Returns:
Returns SUCCESS when succeeded, otherwise returns another code.

Definition at line 141 of file ak8963.cpp.

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