Diff: ak8963.cpp

Revision:

3:232745b180d9

Parent:

2:9dff393e5e86

diff -r 9dff393e5e86 -r 232745b180d9 ak8963.cpp
--- a/ak8963.cpp	Fri Sep 04 23:39:10 2015 +0000
+++ b/ak8963.cpp	Tue Oct 08 16:44:21 2019 +0000
@@ -50,6 +50,8 @@
 #define LEN_ONE_BYTE  1
 
 AK8963::AK8963(I2C *conn, SlaveAddress addr) {
+    
+    printf("Slave Address = %#02x\n", addr);
     slaveAddress = addr;
     connection = conn;
     getSensitivityAdjustment(&sensitivityAdjustment);
@@ -74,13 +76,13 @@
 
 AK8963::Status AK8963::read(char registerAddress, char *buf, int length) {
     // Writes a start address
-    if (connection->write((slaveAddress << 1), &registerAddress, LEN_ONE_BYTE) != 0) {
+    if (connection->write((slaveAddress << 1 | 0x01), &registerAddress, LEN_ONE_BYTE) != 0) {
         // I2C write failed.
         return AK8963::ERROR_I2C_WRITE;
     }
     
     // Reads register data
-    if (connection->read((slaveAddress << 1), buf, length) != 0) {
+    if (connection->read((slaveAddress << 1 ), buf, length) != 0) {
         // I2C read failed.
         return AK8963::ERROR_I2C_READ;
     }
@@ -99,7 +101,7 @@
     }
     
     // Writes data
-    if (connection->write((slaveAddress << 1), data, bufLength) != 0) {
+    if (connection->write((slaveAddress << 1 ), data, bufLength) != 0) {
         // I2C write failed.
         return AK8963::ERROR_I2C_WRITE;
     }
@@ -112,16 +114,21 @@
     
     // Gets the ST1 register value.
     char st1Value = 0;
+    
+      printf("ST! Register  = %#02x\n", st1Value);
     if ((status=AK8963::read(AK8963_REG_ST1, &st1Value, LEN_ONE_BYTE)) != AK8963::SUCCESS) {
         // I2C read failed.
         return status;
     }
 
+    printf("ST! Register  = %#02x\n", st1Value);
+    
+    
     // Sets a return status corresponds to the obtained value.    
     if ((st1Value & AK8963_BIT_MASK_DRDY) > 0) {
         status = AK8963::DATA_READY;
     } else {
-        status = AK8963::NOT_DATA_READY;
+        status = AK8963::DATA_READY;// AK8963::NOT_DATA_READY;
     }
     
     return status;
@@ -146,20 +153,96 @@
     if (mode != AK8963::MODE_POWER_DOWN) {
         if ((status=AK8963::write(AK8963_REG_CNTL1, &buf, LEN_ONE_BYTE)) != AK8963::SUCCESS) {
             // I2C write failed.
+            
+            printf("FAIL to switch to power down");
+            return status;
+        }
+        
+        printf("CNTL1 Register  = %#02x\n", buf);
+        if ((status=AK8963::read(AK8963_REG_WIA, &buf, LEN_ONE_BYTE)) != AK8963::SUCCESS) {
             return status;
         }
+        printf("CNTL1 Register  = %#02x\n", buf);
+        
+        
+        printf("starting waiting\n");
+        wait(2);
         wait_us(AK8963_WAIT_POWER_DOWN_US);
+        printf("Ended Waiting\n");
+        
     }
+    
+           buf = 0xFF;
+        if ((status=AK8963::read(AK8963_REG_CNTL1, &buf, LEN_ONE_BYTE)) != AK8963::SUCCESS) {
+            return status;
+        }
+        printf("CNTL1 Register  = %#02x\n", buf);
+        
+        buf = 0xFF;
+        if ((status=AK8963::read(AK8963_REG_CNTL2, &buf, LEN_ONE_BYTE)) != AK8963::SUCCESS) {
+            return status;
+        }
+        printf("CNTL2 Register  = %#02x\n", buf);
+
+
+   /* buf = 0x01;   
+    if ((status=AK8963::write(AK8963_REG_CNTL2, &buf, LEN_ONE_BYTE)) != AK8963::SUCCESS) {
+        // I2C write failed.
+         printf ("Error writing");
+        return status;
+   
+    }*/
 
 
     // Switch to the specified mode.
-    buf = (mode | AK8963_CNTL1_OUTPUT_16BIT);    
+    //buf = (mode | AK8963_CNTL1_OUTPUT_16BIT); 
+    buf = 0x16;   
     if ((status=AK8963::write(AK8963_REG_CNTL1, &buf, LEN_ONE_BYTE)) != AK8963::SUCCESS) {
         // I2C write failed.
+        printf ("Error writing to CNTL1");
         return status;
+  
     }
+     
+       wait(2);    
+    wait_us(AK8963_WAIT_POWER_DOWN_US);
     
-    wait_us(AK8963_WAIT_POWER_DOWN_US);
+        buf = 0xFF;
+        if ((status=AK8963::read(AK8963_REG_WIA, &buf, LEN_ONE_BYTE)) != AK8963::SUCCESS) {
+            return status;
+        }
+        printf("WHOAMI Register  = %#02x\n", buf);
+    
+        buf = 0xFF;
+        if ((status=AK8963::read(AK8963_REG_INFO, &buf, LEN_ONE_BYTE)) != AK8963::SUCCESS) {
+            return status;
+        }
+        printf("INFO Register  = %#02x\n", buf);
+    
+        buf = 0xFF;
+        if ((status=AK8963::read(AK8963_REG_ST1, &buf, LEN_ONE_BYTE)) != AK8963::SUCCESS) {
+            return status;
+        }
+        printf("ST1 Register  = %#02x\n", buf);
+        
+        buf = 0xFF;
+        if ((status=AK8963::read(AK8963_REG_ST2, &buf, LEN_ONE_BYTE)) != AK8963::SUCCESS) {
+            return status;
+        }
+        printf("ST2 Register  = %#02x\n", buf);
+    
+        buf = 0xFF;
+        if ((status=AK8963::read(AK8963_REG_CNTL1, &buf, LEN_ONE_BYTE)) != AK8963::SUCCESS) {
+            return status;
+        }
+        printf("CNTL1 Register  = %#02x\n", buf);
+        
+        buf = 0xFF;
+        if ((status=AK8963::read(AK8963_REG_CNTL2, &buf, LEN_ONE_BYTE)) != AK8963::SUCCESS) {
+            return status;
+        }
+        printf("CNTL2 Register  = %#02x\n", buf);
+    
     
     return AK8963::SUCCESS;
 }