Revision 3:1e0cfed43467, committed 2017-04-28

Comitter:

masahikofukasawa

Date:

Fri Apr 28 20:31:42 2017 +0000

Parent:

2:b1079549c6a1

Commit message:

release RevD7.014. Add register access.

Changed in this revision

--- a/ak7451.cpp	Tue Nov 01 17:48:23 2016 +0000
+++ b/ak7451.cpp	Fri Apr 28 20:31:42 2017 +0000
@@ -155,6 +155,15 @@
 }
 
 /**
+ * Gets device operation mode.
+ *
+ * @return Returns OperationMode.
+ */
+AK7451::OperationMode AK7451::getOperationMode(){
+    return AK7451::operationMode;
+}
+
+/**
  * Reads angle data from the device.
  *
  * @param angle pointer to read angle data buffer
@@ -168,7 +177,7 @@
     
     // status check
     if( (command[0] & AK7451_READ_ANGLE_STATE_MD) != 0 ){
-        AK7451::setOperationMode(AK7451::AK7451_NORMAL_MODE);
+//        AK7451::setOperationMode(AK7451::AK7451_NORMAL_MODE);
         return AK7451::ERROR_IN_USER_MODE;
     }else if( (command[0] & AK7451_READ_ANGLE_STATE_ER) == 0 ){
         return AK7451::ERROR_ABNORMAL_STRENGTH;
@@ -200,7 +209,9 @@
     // perform measurement
     status = AK7451::write(AK7451_OPCODE_ANGLE_MEASURE_CODE, AK7451_REG_ANG, data);
     if(status != AK7451::SUCCESS) return status;
-
+    
+    wait(0.01);
+    
     // angle read
     status = AK7451::readRegister(AK7451_REG_ANG, data);
     if(status != AK7451::SUCCESS) return status;
@@ -215,7 +226,7 @@
     // abnormal_state code read
     status = AK7451::readRegister(AK7451_REG_ERRMON, data);
     if(status != AK7451::SUCCESS) return status;
-    *abnormal_state = data[1];
+    *abnormal_state = data[1]&0x03;
     
     return AK7451::SUCCESS;
 }
@@ -226,11 +237,19 @@
  * @return Returns SUCCESS when succeeded, otherwise returns another code.
  */
  AK7451::Status AK7451::setAngleZero(){
-    if(AK7451::operationMode != AK7451::AK7451_USER_MODE) return AK7451::ERROR_IN_NORMAL_MODE;
+        
+    AK7451::Status status = AK7451::SUCCESS;
+        
     char angle[2] = {0x00,0x00};
     char density;
     char abnormal_state;
-    AK7451::Status status;
+
+    // store the original mode
+    AK7451::OperationMode org = AK7451::operationMode;
+
+    // set to user mode
+    status = AK7451::setOperationMode(AK7451::AK7451_USER_MODE);
+    if(status != AK7451::SUCCESS) return status;        
     
     // initialize ZP register. Set ZP value to zero.
     status = AK7451::writeRegister(0x06,angle);
@@ -243,6 +262,12 @@
 
     // set read angle to ZP EEPROM
     status = AK7451::setAngleZero(angle);
+    if(status != AK7451::SUCCESS) return status;
+
+    // back to the original mode
+    status = AK7451::setOperationMode(org);
+    if(status != AK7451::SUCCESS) return status;        
+
     return status;
 }
 
@@ -254,7 +279,8 @@
  * @return Returns SUCCESS when succeeded, otherwise returns another code.
  */
 AK7451::Status AK7451::setAngleZero(const char *angle){
-    if(AK7451::operationMode != AK7451::AK7451_USER_MODE) return AK7451::ERROR_IN_NORMAL_MODE;
+//    if(AK7451::operationMode != AK7451::AK7451_USER_MODE) return AK7451::ERROR_IN_NORMAL_MODE;
+    AK7451::writeRegister(AK7451_REG_ZP, angle);
     return AK7451::writeEEPROM(AK7451_REG_ZP, angle);
 }
 
@@ -264,9 +290,10 @@
 
 
 /** 
- *  Reads data from device. 
- * @param buf buffer to store the read data
- * @param length bytes to be read
+ * Reads data from device. 
+ * @param operation_code OPCODE 
+ * @param address memory/register addredd
+ * @param *data pointer to the read buffer. length=2 fixed.
  * @return Returns SUCCESS when succeeded, otherwise returns another.
  */
 AK7451::Status AK7451::read(char operation_code, char address, char *data) {
@@ -287,8 +314,9 @@
 
 /** 
  * Writes data to the device. 
- * @param data data to be written
- * @param length of the data
+ * @param operation_code OPCODE 
+ * @param address memory/register addredd
+ * @param *data pointer to the read buffer. length=2 fixed.
  * @return Returns SUCCESS when succeeded, otherwise returns another.
  */
 AK7451::Status AK7451::write(char operation_code, char address, const char *data) {

--- a/ak7451.h	Tue Nov 01 17:48:23 2016 +0000
+++ b/ak7451.h	Fri Apr 28 20:31:42 2017 +0000
@@ -114,6 +114,13 @@
     Status setOperationMode(OperationMode mode);
 
     /**
+     * Gets device operation mode.
+     *
+     * @return Returns OperationMode.
+     */
+    OperationMode getOperationMode();
+
+    /**
      * Reads angle data from the device.
      *
      * @param angle pointer to read angle data buffer
@@ -167,16 +174,18 @@
 
     /** 
      *  Reads data from device. 
-     * @param buf buffer to store the read data
-     * @param length bytes to be read
+     * @param operation_code OPCODE 
+     * @param address memory/register addredd
+     * @param *data pointer to the read buffer. length=2 fixed.
      * @return Returns SUCCESS when succeeded, otherwise returns another.
      */
     Status read(char operation_code, char address, char *data);
 
     /** 
      * Writes data to the device. 
-     * @param data data to be written
-     * @param length of the data
+     * @param operation_code OPCODE 
+     * @param address memory/register addredd
+     * @param *data pointer to the read buffer. length=2 fixed.
      * @return Returns SUCCESS when succeeded, otherwise returns another.
      */
     Status write(char operation_code, char address, const char *data);