Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

ak9750ctrl.cpp@47:221ec4b404ec, 2017-12-14 (annotated)

Committer:
masahikofukasawa
Date:
Thu Dec 14 00:21:43 2017 +0000
Revision:
47:221ec4b404ec
Parent:
46:5938ad2039b0 
debugged for warning. again.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
masahikofukasawa 10:5c69b067d88a 1 #include "ak9750ctrl.h"
masahikofukasawa 10:5c69b067d88a 2
masahikofukasawa 10:5c69b067d88a 3 #define CONV16I(high,low) ((int16_t)(((high) << 8) | (low)))
masahikofukasawa 10:5c69b067d88a 4
masahikofukasawa 10:5c69b067d88a 5 /**
masahikofukasawa 10:5c69b067d88a 6 * Constructor.
masahikofukasawa 10:5c69b067d88a 7 *
masahikofukasawa 10:5c69b067d88a 8 */
masahikofukasawa 27:41aa9fb23a2f 9 Ak9750Ctrl::Ak9750Ctrl() : AkmSensor(){
masahikofukasawa 10:5c69b067d88a 10 ak9750 = NULL;
masahikofukasawa 10:5c69b067d88a 11 }
masahikofukasawa 10:5c69b067d88a 12
masahikofukasawa 10:5c69b067d88a 13 /**
masahikofukasawa 10:5c69b067d88a 14 * Destructor.
masahikofukasawa 10:5c69b067d88a 15 *
masahikofukasawa 10:5c69b067d88a 16 */
masahikofukasawa 10:5c69b067d88a 17 Ak9750Ctrl::~Ak9750Ctrl(){
masahikofukasawa 10:5c69b067d88a 18 if (ak9750) delete ak9750;
masahikofukasawa 10:5c69b067d88a 19 }
masahikofukasawa 10:5c69b067d88a 20
masahikofukasawa 10:5c69b067d88a 21 AkmSensor::Status Ak9750Ctrl::init(const uint8_t id, const uint8_t subid){
masahikofukasawa 10:5c69b067d88a 22 primaryId = id;
masahikofukasawa 10:5c69b067d88a 23 subId = subid;
masahikofukasawa 10:5c69b067d88a 24
masahikofukasawa 10:5c69b067d88a 25 I2C* i2c = new I2C(I2C_SDA,I2C_SCL);
masahikofukasawa 40:42e48427e4b7 26 i2c->frequency(I2C_SPEED);
masahikofukasawa 10:5c69b067d88a 27
masahikofukasawa 10:5c69b067d88a 28 if(subId == SUB_ID_AK9750){
masahikofukasawa 10:5c69b067d88a 29 ak9750 = new AK9750();
masahikofukasawa 13:d008249f0359 30 sensorName = "AK9750";
masahikofukasawa 13:d008249f0359 31 }
masahikofukasawa 13:d008249f0359 32 else if(subId == SUB_ID_AK9753){
masahikofukasawa 13:d008249f0359 33 ak9750 = new AK9750();
masahikofukasawa 13:d008249f0359 34 sensorName = "AK9753";
masahikofukasawa 10:5c69b067d88a 35 }
masahikofukasawa 10:5c69b067d88a 36 else{
masahikofukasawa 10:5c69b067d88a 37 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 38 }
masahikofukasawa 10:5c69b067d88a 39
masahikofukasawa 10:5c69b067d88a 40 bool foundSensor = false;
masahikofukasawa 10:5c69b067d88a 41
masahikofukasawa 10:5c69b067d88a 42 AK9750::SlaveAddress slaveAddr[]
masahikofukasawa 10:5c69b067d88a 43 = { AK9750::SLAVE_ADDR_1,
masahikofukasawa 10:5c69b067d88a 44 AK9750::SLAVE_ADDR_2,
masahikofukasawa 10:5c69b067d88a 45 AK9750::SLAVE_ADDR_3};
masahikofukasawa 10:5c69b067d88a 46
masahikofukasawa 47:221ec4b404ec 47 for(unsigned int i=0; i<sizeof(slaveAddr); i++)
masahikofukasawa 10:5c69b067d88a 48 {
masahikofukasawa 10:5c69b067d88a 49 ak9750->init(i2c, slaveAddr[i]);
masahikofukasawa 10:5c69b067d88a 50 // Checks connectivity
masahikofukasawa 47:221ec4b404ec 51 if(ak9750->checkConnection() == AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 52 // found
masahikofukasawa 10:5c69b067d88a 53 foundSensor = true;
masahikofukasawa 10:5c69b067d88a 54 break;
masahikofukasawa 10:5c69b067d88a 55 }
masahikofukasawa 10:5c69b067d88a 56 }
masahikofukasawa 10:5c69b067d88a 57 if(foundSensor != true){
masahikofukasawa 39:3821886c902e 58 MSG("#Error: Failed to checkConnection AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 59 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 60 }
masahikofukasawa 10:5c69b067d88a 61
masahikofukasawa 10:5c69b067d88a 62 // reset
masahikofukasawa 10:5c69b067d88a 63 if (ak9750->reset() != AK9750::SUCCESS) {
masahikofukasawa 39:3821886c902e 64 MSG("#Error: Failed to reset AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 65 }
masahikofukasawa 15:1238993fd75f 66 /*
masahikofukasawa 10:5c69b067d88a 67 // Set to EEPROM mode to EEPROM access
masahikofukasawa 10:5c69b067d88a 68 if(ak9750->setOperationMode(AK9750::MODE_EEPROM_ACCESS, AK9750::DF_0P3HZ) != AK9750::SUCCESS) {
masahikofukasawa 39:3821886c902e 69 MSG("#Error: setOperationMode to EEPROM mode. AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 70 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 71 }
masahikofukasawa 15:1238993fd75f 72 */
masahikofukasawa 10:5c69b067d88a 73 // Gets threshold from EEPROM
masahikofukasawa 10:5c69b067d88a 74 AK9750::Threshold th;
masahikofukasawa 10:5c69b067d88a 75 if (ak9750->getThresholdFromEEPROM(&th) != AK9750::SUCCESS) {
masahikofukasawa 39:3821886c902e 76 MSG("#Error: Failed to get threshold from EEPROM AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 77 }
masahikofukasawa 15:1238993fd75f 78 MSG("#Threshold:(0x%02X,0x%02X,0x%02X,0x%02X)\r\n",th.eth13h,th.eth13l,th.eth24h,th.eth24l);
masahikofukasawa 15:1238993fd75f 79
masahikofukasawa 10:5c69b067d88a 80 // Gets hysteresis from EEPROM
masahikofukasawa 10:5c69b067d88a 81 AK9750::Hysteresis hys;
masahikofukasawa 10:5c69b067d88a 82 if (ak9750->getHysteresisFromEEPROM(&hys) != AK9750::SUCCESS) {
masahikofukasawa 39:3821886c902e 83 MSG("#Error: Failed to get hysteresis from EEPROM AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 84 }
masahikofukasawa 15:1238993fd75f 85 MSG("#Hysteresis:(0x%02X,0x%02X)\r\n",hys.ehys13,hys.ehys24);
masahikofukasawa 15:1238993fd75f 86
masahikofukasawa 10:5c69b067d88a 87 // Gets interrupt status from EEPROM
masahikofukasawa 10:5c69b067d88a 88 AK9750::InterruptStatus intStatus;
masahikofukasawa 10:5c69b067d88a 89 if ((ak9750->getInterruptEnableFromEEPROM(&intStatus)) != AK9750::SUCCESS) {
masahikofukasawa 39:3821886c902e 90 MSG("#Error: Failed to get interrupts of AK9750 from EEPROM.\r\n");
masahikofukasawa 10:5c69b067d88a 91 }
masahikofukasawa 15:1238993fd75f 92 MSG("#Interrupt:(0x%02X,0x%02X,0x%02X,0x%02X,0x%02X)\r\n",intStatus.ir13h,intStatus.ir13l,intStatus.ir24h,intStatus.ir24l,intStatus.drdy);
masahikofukasawa 10:5c69b067d88a 93
masahikofukasawa 10:5c69b067d88a 94 // Gets operation mode from EEPROM
masahikofukasawa 10:5c69b067d88a 95 if ((ak9750->getOperationModeFromEEPROM(&mode,&filter)) != AK9750::SUCCESS) {
masahikofukasawa 39:3821886c902e 96 MSG("#Error: Failed to get operation mode of AK9750 from EEPROM.\r\n");
masahikofukasawa 10:5c69b067d88a 97 }
masahikofukasawa 11:cef8dc1cf010 98 MSG("#Operation Mode:(0x%02X,0x%02X)\r\n",mode, filter);
masahikofukasawa 15:1238993fd75f 99 /*
masahikofukasawa 10:5c69b067d88a 100 // Back to Stand-by Mode for register access
masahikofukasawa 10:5c69b067d88a 101 if(ak9750->setOperationMode(AK9750::MODE_STANDBY, filter) != AK9750::SUCCESS) {
masahikofukasawa 39:3821886c902e 102 MSG("#Error: setOperationMode to stand-by mode of AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 103 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 104 }
masahikofukasawa 15:1238993fd75f 105 */
masahikofukasawa 10:5c69b067d88a 106 // Sets threshold from the red EEPROM values
masahikofukasawa 10:5c69b067d88a 107 if (ak9750->setThreshold(&th) != AK9750::SUCCESS) {
masahikofukasawa 39:3821886c902e 108 MSG("#Error: Failed to set threshold to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 109 }
masahikofukasawa 10:5c69b067d88a 110
masahikofukasawa 10:5c69b067d88a 111 // Sets hysteresis from the red EEPROM values
masahikofukasawa 10:5c69b067d88a 112 if (ak9750->setHysteresis(&hys) != AK9750::SUCCESS) {
masahikofukasawa 39:3821886c902e 113 MSG("#Error: Failed to set hysteresis to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 114 }
masahikofukasawa 10:5c69b067d88a 115
masahikofukasawa 10:5c69b067d88a 116 // Sets interruput status from the red EEPROM values
masahikofukasawa 10:5c69b067d88a 117 AK9750::Status status = ak9750->setInterruptEnable(&intStatus);
masahikofukasawa 10:5c69b067d88a 118 if (status != AK9750::SUCCESS) {
masahikofukasawa 39:3821886c902e 119 MSG("#Error: Failed to set interrupts of AK9750. Status = 0x%02X\r\n", status);
masahikofukasawa 10:5c69b067d88a 120 }
masahikofukasawa 10:5c69b067d88a 121
masahikofukasawa 15:1238993fd75f 122 if(ak9750->setOperationMode(mode, filter) != AK9750::SUCCESS) {
masahikofukasawa 39:3821886c902e 123 MSG("#Error: setOperationMode of AK9750.\r\n");
masahikofukasawa 15:1238993fd75f 124 return AkmSensor::ERROR;
masahikofukasawa 15:1238993fd75f 125 }
masahikofukasawa 15:1238993fd75f 126
masahikofukasawa 11:cef8dc1cf010 127 MSG("#Init success AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 128 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 129 }
masahikofukasawa 10:5c69b067d88a 130
masahikofukasawa 29:b488d2c89fba 131 void Ak9750Ctrl::setEvent(){
masahikofukasawa 29:b488d2c89fba 132 AK9750::Status status = ak9750->isDataReady();
masahikofukasawa 29:b488d2c89fba 133 if( status == AK9750::DATA_READY ) base::setEvent();
masahikofukasawa 10:5c69b067d88a 134 }
masahikofukasawa 10:5c69b067d88a 135
masahikofukasawa 10:5c69b067d88a 136 AkmSensor::Status Ak9750Ctrl::startSensor(){
masahikofukasawa 11:cef8dc1cf010 137 // read one data to clear INT pin
masahikofukasawa 11:cef8dc1cf010 138 AK9750::SensorData data;
masahikofukasawa 11:cef8dc1cf010 139 ak9750->getSensorData(&data);
masahikofukasawa 11:cef8dc1cf010 140
masahikofukasawa 11:cef8dc1cf010 141 // set operation mode
masahikofukasawa 10:5c69b067d88a 142 if(ak9750->setOperationMode(mode,filter) != AK9750::SUCCESS) {
masahikofukasawa 39:3821886c902e 143 MSG("#Error: Start sensor failed %s\r\n", sensorName);
masahikofukasawa 10:5c69b067d88a 144 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 145 }
masahikofukasawa 11:cef8dc1cf010 146
masahikofukasawa 29:b488d2c89fba 147 MSG("#Start sensor %s.\r\n",sensorName);
masahikofukasawa 10:5c69b067d88a 148 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 149 }
masahikofukasawa 10:5c69b067d88a 150
masahikofukasawa 10:5c69b067d88a 151 AkmSensor::Status Ak9750Ctrl::startSensor(const float sec){
masahikofukasawa 10:5c69b067d88a 152 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 153 }
masahikofukasawa 10:5c69b067d88a 154
masahikofukasawa 10:5c69b067d88a 155 AkmSensor::Status Ak9750Ctrl::stopSensor(){
masahikofukasawa 29:b488d2c89fba 156 AkmSensor::clearEvent();
masahikofukasawa 29:b488d2c89fba 157
masahikofukasawa 10:5c69b067d88a 158 if(ak9750->setOperationMode(AK9750::MODE_STANDBY, filter) != AK9750::SUCCESS) {
masahikofukasawa 39:3821886c902e 159 MSG("#Error: setOperationMode. AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 160 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 161 }
masahikofukasawa 10:5c69b067d88a 162
masahikofukasawa 10:5c69b067d88a 163 // read one data to clear INT pin
masahikofukasawa 11:cef8dc1cf010 164 AK9750::SensorData data;
masahikofukasawa 11:cef8dc1cf010 165 ak9750->getSensorData(&data);
masahikofukasawa 10:5c69b067d88a 166
masahikofukasawa 10:5c69b067d88a 167 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 168 }
masahikofukasawa 10:5c69b067d88a 169
masahikofukasawa 10:5c69b067d88a 170 AkmSensor::Status Ak9750Ctrl::readSensorData(Message* msg){
masahikofukasawa 29:b488d2c89fba 171 AkmSensor::clearEvent();
masahikofukasawa 10:5c69b067d88a 172
masahikofukasawa 10:5c69b067d88a 173 AK9750::SensorData data;
masahikofukasawa 10:5c69b067d88a 174 AK9750::Status status = ak9750->getSensorData(&data);
masahikofukasawa 10:5c69b067d88a 175 if( status != AK9750::SUCCESS){
masahikofukasawa 39:3821886c902e 176 MSG("#Error: getSensorData. AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 177 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 178 }
masahikofukasawa 10:5c69b067d88a 179 msg->setCommand(Message::CMD_START_MEASUREMENT);
masahikofukasawa 10:5c69b067d88a 180 msg->setArgument( 0, data.intStatus.ir13h);
masahikofukasawa 10:5c69b067d88a 181 msg->setArgument( 1, data.intStatus.ir13l);
masahikofukasawa 10:5c69b067d88a 182 msg->setArgument( 2, data.intStatus.ir24h);
masahikofukasawa 10:5c69b067d88a 183 msg->setArgument( 3, data.intStatus.ir24l);
masahikofukasawa 10:5c69b067d88a 184 msg->setArgument( 4, data.intStatus.drdy);
masahikofukasawa 10:5c69b067d88a 185 msg->setArgument( 5,(char)((int32_t)(data.ir1) >> 8));
masahikofukasawa 10:5c69b067d88a 186 msg->setArgument( 6, (char)((int32_t)(data.ir1) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 187 msg->setArgument( 7,(char)((int32_t)(data.ir2) >> 8));
masahikofukasawa 10:5c69b067d88a 188 msg->setArgument( 8, (char)((int32_t)(data.ir2) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 189 msg->setArgument( 9,(char)((int32_t)(data.ir3) >> 8));
masahikofukasawa 10:5c69b067d88a 190 msg->setArgument( 10, (char)((int32_t)(data.ir3) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 191 msg->setArgument( 11,(char)((int32_t)(data.ir4) >> 8));
masahikofukasawa 10:5c69b067d88a 192 msg->setArgument( 12, (char)((int32_t)(data.ir4) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 193 msg->setArgument( 13,(char)((int32_t)(data.temperature) >> 8));
masahikofukasawa 10:5c69b067d88a 194 msg->setArgument( 14, (char)((int32_t)(data.temperature) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 195 msg->setArgument( 15, data.dor);
masahikofukasawa 10:5c69b067d88a 196
masahikofukasawa 10:5c69b067d88a 197 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 198 }
masahikofukasawa 10:5c69b067d88a 199
masahikofukasawa 10:5c69b067d88a 200 AkmSensor::Status Ak9750Ctrl::requestCommand(Message* in, Message* out){
masahikofukasawa 10:5c69b067d88a 201 AkmSensor::Status status = AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 202 Message::Command cmd = in->getCommand();
masahikofukasawa 10:5c69b067d88a 203 AK9750::Threshold th;
masahikofukasawa 10:5c69b067d88a 204 AK9750::Hysteresis hys;
masahikofukasawa 10:5c69b067d88a 205 AK9750::InterruptStatus interrupt;
masahikofukasawa 10:5c69b067d88a 206
masahikofukasawa 10:5c69b067d88a 207 out->setCommand(cmd);
masahikofukasawa 10:5c69b067d88a 208
masahikofukasawa 10:5c69b067d88a 209 switch(cmd){
masahikofukasawa 10:5c69b067d88a 210 case Message::CMD_IR_GET_THRESHOLD:
masahikofukasawa 10:5c69b067d88a 211 {
masahikofukasawa 10:5c69b067d88a 212 if (ak9750->getThreshold(&th) != AK9750::SUCCESS) {
masahikofukasawa 39:3821886c902e 213 MSG("#Error: Failed to get threshold of AK9750.\r\n");
masahikofukasawa 15:1238993fd75f 214 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 215 }
masahikofukasawa 10:5c69b067d88a 216 out->setArgument(0,(char)((int32_t)(th.eth13h) >> 8));
masahikofukasawa 10:5c69b067d88a 217 out->setArgument(1,(char)((int32_t)(th.eth13h) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 218 out->setArgument(2,(char)((int32_t)(th.eth13l) >> 8));
masahikofukasawa 10:5c69b067d88a 219 out->setArgument(3,(char)((int32_t)(th.eth13l) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 220 out->setArgument(4,(char)((int32_t)(th.eth24h) >> 8));
masahikofukasawa 10:5c69b067d88a 221 out->setArgument(5,(char)((int32_t)(th.eth24h) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 222 out->setArgument(6,(char)((int32_t)(th.eth24l) >> 8));
masahikofukasawa 10:5c69b067d88a 223 out->setArgument(7,(char)((int32_t)(th.eth24l) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 224 break;
masahikofukasawa 10:5c69b067d88a 225 }
masahikofukasawa 10:5c69b067d88a 226 case Message::CMD_IR_SET_THRESHOLD:
masahikofukasawa 10:5c69b067d88a 227 {
masahikofukasawa 10:5c69b067d88a 228 th.eth13h = CONV16I(in->getArgument(0), in->getArgument(1));
masahikofukasawa 10:5c69b067d88a 229 th.eth13l = CONV16I(in->getArgument(2), in->getArgument(3));
masahikofukasawa 10:5c69b067d88a 230 th.eth24h = CONV16I(in->getArgument(4), in->getArgument(5));
masahikofukasawa 10:5c69b067d88a 231 th.eth24l = CONV16I(in->getArgument(6), in->getArgument(7));
masahikofukasawa 10:5c69b067d88a 232 if (ak9750->setThreshold(&th) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 233 status = AkmSensor::ERROR;
masahikofukasawa 39:3821886c902e 234 MSG("#Error: Failed to set threshold to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 235 }
masahikofukasawa 10:5c69b067d88a 236 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 237 break;
masahikofukasawa 10:5c69b067d88a 238 }
masahikofukasawa 10:5c69b067d88a 239 case Message::CMD_IR_GET_HYSTERESIS:
masahikofukasawa 10:5c69b067d88a 240 {
masahikofukasawa 10:5c69b067d88a 241 if (ak9750->getHysteresis(&hys) != AK9750::SUCCESS) {
masahikofukasawa 39:3821886c902e 242 MSG("#Error: Failed to get hysteresis of AK9750.\r\n");
masahikofukasawa 15:1238993fd75f 243 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 244 }
masahikofukasawa 10:5c69b067d88a 245 out->setArgument(0,hys.ehys13);
masahikofukasawa 10:5c69b067d88a 246 out->setArgument(1,hys.ehys24);
masahikofukasawa 10:5c69b067d88a 247 break;
masahikofukasawa 10:5c69b067d88a 248 }
masahikofukasawa 10:5c69b067d88a 249 case Message::CMD_IR_SET_HYSTERESIS:
masahikofukasawa 10:5c69b067d88a 250 {
masahikofukasawa 10:5c69b067d88a 251 hys.ehys13 = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 252 hys.ehys24 = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 253 if (ak9750->setHysteresis(&hys) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 254 status = AkmSensor::ERROR;
masahikofukasawa 39:3821886c902e 255 MSG("#Error: Failed to set hysteresis to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 256 }
masahikofukasawa 10:5c69b067d88a 257 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 258 break;
masahikofukasawa 10:5c69b067d88a 259 }
masahikofukasawa 10:5c69b067d88a 260 case Message::CMD_IR_GET_INTERRUPT:
masahikofukasawa 10:5c69b067d88a 261 {
masahikofukasawa 10:5c69b067d88a 262 if (ak9750->getInterruptEnable(&interrupt) != AK9750::SUCCESS) {
masahikofukasawa 39:3821886c902e 263 MSG("#Error: Failed to get interrupt of AK9750.\r\n");
masahikofukasawa 15:1238993fd75f 264 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 265 }
masahikofukasawa 10:5c69b067d88a 266 out->setArgument(0, interrupt.ir13h);
masahikofukasawa 10:5c69b067d88a 267 out->setArgument(1, interrupt.ir13l);
masahikofukasawa 10:5c69b067d88a 268 out->setArgument(2, interrupt.ir24h);
masahikofukasawa 10:5c69b067d88a 269 out->setArgument(3, interrupt.ir24l);
masahikofukasawa 10:5c69b067d88a 270 out->setArgument(4, interrupt.drdy);
masahikofukasawa 10:5c69b067d88a 271 break;
masahikofukasawa 10:5c69b067d88a 272 }
masahikofukasawa 10:5c69b067d88a 273 case Message::CMD_IR_SET_INTERRUPT:
masahikofukasawa 10:5c69b067d88a 274 {
masahikofukasawa 10:5c69b067d88a 275 interrupt.ir13h = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 276 interrupt.ir13l = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 277 interrupt.ir24h = in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 278 interrupt.ir24l = in->getArgument(3);
masahikofukasawa 10:5c69b067d88a 279 interrupt.drdy = in->getArgument(4);
masahikofukasawa 10:5c69b067d88a 280 if (ak9750->setInterruptEnable(&interrupt) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 281 status = AkmSensor::ERROR;
masahikofukasawa 39:3821886c902e 282 MSG("#Error: Failed to set interrupt to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 283 }
masahikofukasawa 10:5c69b067d88a 284 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 285 break;
masahikofukasawa 10:5c69b067d88a 286 }
masahikofukasawa 10:5c69b067d88a 287 case Message::CMD_IR_GET_OPERATION_MODE:
masahikofukasawa 10:5c69b067d88a 288 {
masahikofukasawa 10:5c69b067d88a 289 if(ak9750->getOperationMode(&mode, &filter) != AK9750::SUCCESS) {
masahikofukasawa 39:3821886c902e 290 MSG("#Error: getOperationMode. AK9750.\r\n");
masahikofukasawa 15:1238993fd75f 291 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 292 }
masahikofukasawa 10:5c69b067d88a 293 out->setArgument(0,(char)mode);
masahikofukasawa 10:5c69b067d88a 294 out->setArgument(1,(char)filter);
masahikofukasawa 10:5c69b067d88a 295 break;
masahikofukasawa 10:5c69b067d88a 296 }
masahikofukasawa 10:5c69b067d88a 297 case Message::CMD_IR_SET_OPERATION_MODE:
masahikofukasawa 10:5c69b067d88a 298 {
masahikofukasawa 10:5c69b067d88a 299 mode = (AK9750::OperationMode)in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 300 filter = (AK9750::DigitalFilter)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 301 if(ak9750->setOperationMode(mode, filter) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 302 status = AkmSensor::ERROR;
masahikofukasawa 39:3821886c902e 303 MSG("#Error: setOperationMode. AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 304 }
masahikofukasawa 10:5c69b067d88a 305 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 306 break;
masahikofukasawa 10:5c69b067d88a 307 }
masahikofukasawa 10:5c69b067d88a 308 case Message::CMD_IR_GET_THRESHOLD_EEPROM:
masahikofukasawa 10:5c69b067d88a 309 {
masahikofukasawa 10:5c69b067d88a 310 if (ak9750->getThresholdFromEEPROM(&th) != AK9750::SUCCESS) {
masahikofukasawa 39:3821886c902e 311 MSG("#Error: Failed to get threshold of AK9750(EEPROM).\r\n");
masahikofukasawa 15:1238993fd75f 312 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 313 }
masahikofukasawa 10:5c69b067d88a 314 out->setArgument(0,(char)((int32_t)(th.eth13h) >> 8));
masahikofukasawa 10:5c69b067d88a 315 out->setArgument(1,(char)((int32_t)(th.eth13h) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 316 out->setArgument(2,(char)((int32_t)(th.eth13l) >> 8));
masahikofukasawa 10:5c69b067d88a 317 out->setArgument(3,(char)((int32_t)(th.eth13l) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 318 out->setArgument(4,(char)((int32_t)(th.eth24h) >> 8));
masahikofukasawa 10:5c69b067d88a 319 out->setArgument(5,(char)((int32_t)(th.eth24h) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 320 out->setArgument(6,(char)((int32_t)(th.eth24l) >> 8));
masahikofukasawa 10:5c69b067d88a 321 out->setArgument(7,(char)((int32_t)(th.eth24l) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 322 break;
masahikofukasawa 10:5c69b067d88a 323 }
masahikofukasawa 10:5c69b067d88a 324 case Message::CMD_IR_SET_THRESHOLD_EEPROM:
masahikofukasawa 10:5c69b067d88a 325 {
masahikofukasawa 10:5c69b067d88a 326 th.eth13h = CONV16I(in->getArgument(0), in->getArgument(1));
masahikofukasawa 10:5c69b067d88a 327 th.eth13l = CONV16I(in->getArgument(2), in->getArgument(3));
masahikofukasawa 10:5c69b067d88a 328 th.eth24h = CONV16I(in->getArgument(4), in->getArgument(5));
masahikofukasawa 10:5c69b067d88a 329 th.eth24l = CONV16I(in->getArgument(6), in->getArgument(7));
masahikofukasawa 10:5c69b067d88a 330 if (ak9750->setThresholdToEEPROM(&th) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 331 status = AkmSensor::ERROR;
masahikofukasawa 39:3821886c902e 332 MSG("#Error: Failed to set threshold to AK9750(EEPROM).\r\n");
masahikofukasawa 10:5c69b067d88a 333 }
masahikofukasawa 10:5c69b067d88a 334 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 335 break;
masahikofukasawa 10:5c69b067d88a 336 }
masahikofukasawa 10:5c69b067d88a 337 case Message::CMD_IR_GET_HYSTERESIS_EEPROM:
masahikofukasawa 10:5c69b067d88a 338 {
masahikofukasawa 10:5c69b067d88a 339 if (ak9750->getHysteresisFromEEPROM(&hys) != AK9750::SUCCESS) {
masahikofukasawa 39:3821886c902e 340 MSG("#Error: Failed to get hysteresis of AK9750(EEPROM).\r\n");
masahikofukasawa 15:1238993fd75f 341 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 342 }
masahikofukasawa 10:5c69b067d88a 343 out->setArgument(0,hys.ehys13);
masahikofukasawa 10:5c69b067d88a 344 out->setArgument(1,hys.ehys24);
masahikofukasawa 10:5c69b067d88a 345 break;
masahikofukasawa 10:5c69b067d88a 346 }
masahikofukasawa 10:5c69b067d88a 347 case Message::CMD_IR_SET_HYSTERESIS_EEPROM:
masahikofukasawa 10:5c69b067d88a 348 {
masahikofukasawa 10:5c69b067d88a 349 hys.ehys13 = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 350 hys.ehys24 = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 351 if (ak9750->setHysteresisToEEPROM(&hys) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 352 status = AkmSensor::ERROR;
masahikofukasawa 39:3821886c902e 353 MSG("#Error: Failed to set hysteresis to AK9750(EEPROM).\r\n");
masahikofukasawa 10:5c69b067d88a 354 }
masahikofukasawa 10:5c69b067d88a 355 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 356 break;
masahikofukasawa 10:5c69b067d88a 357 }
masahikofukasawa 10:5c69b067d88a 358 case Message::CMD_IR_GET_INTERRUPT_EEPROM:
masahikofukasawa 10:5c69b067d88a 359 {
masahikofukasawa 10:5c69b067d88a 360 if (ak9750->getInterruptEnableFromEEPROM(&interrupt) != AK9750::SUCCESS) {
masahikofukasawa 39:3821886c902e 361 MSG("#Error: Failed to get interrupt of AK9750(EEPROM).\r\n");
masahikofukasawa 15:1238993fd75f 362 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 363 }
masahikofukasawa 10:5c69b067d88a 364 out->setArgument(0, interrupt.ir13h);
masahikofukasawa 10:5c69b067d88a 365 out->setArgument(1, interrupt.ir13l);
masahikofukasawa 10:5c69b067d88a 366 out->setArgument(2, interrupt.ir24h);
masahikofukasawa 10:5c69b067d88a 367 out->setArgument(3, interrupt.ir24l);
masahikofukasawa 10:5c69b067d88a 368 out->setArgument(4, interrupt.drdy);
masahikofukasawa 10:5c69b067d88a 369 break;
masahikofukasawa 10:5c69b067d88a 370 }
masahikofukasawa 10:5c69b067d88a 371 case Message::CMD_IR_SET_INTERRUPT_EEPROM:
masahikofukasawa 10:5c69b067d88a 372 {
masahikofukasawa 10:5c69b067d88a 373 interrupt.ir13h = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 374 interrupt.ir13l = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 375 interrupt.ir24h = in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 376 interrupt.ir24l = in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 377 interrupt.drdy = in->getArgument(4);
masahikofukasawa 10:5c69b067d88a 378 if (ak9750->setInterruptEnableToEEPROM(&interrupt) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 379 status = AkmSensor::ERROR;
masahikofukasawa 39:3821886c902e 380 MSG("#Error: Failed to set interrupt to AK9750(EEPROM).\r\n");
masahikofukasawa 10:5c69b067d88a 381 }
masahikofukasawa 10:5c69b067d88a 382 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 383 break;
masahikofukasawa 10:5c69b067d88a 384 }
masahikofukasawa 10:5c69b067d88a 385 case Message::CMD_IR_GET_OPERATION_MODE_EEPROM:
masahikofukasawa 10:5c69b067d88a 386 {
masahikofukasawa 10:5c69b067d88a 387 if(ak9750->getOperationModeFromEEPROM(&mode, &filter) != AK9750::SUCCESS) {
masahikofukasawa 39:3821886c902e 388 MSG("#Error: getOperationMode. AK9750(EEPROM).\r\n");
masahikofukasawa 15:1238993fd75f 389 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 390 }
masahikofukasawa 10:5c69b067d88a 391 out->setArgument(0,(char)mode);
masahikofukasawa 10:5c69b067d88a 392 out->setArgument(1,(char)filter);
masahikofukasawa 10:5c69b067d88a 393 break;
masahikofukasawa 10:5c69b067d88a 394 }
masahikofukasawa 10:5c69b067d88a 395 case Message::CMD_IR_SET_OPERATION_MODE_EEPROM:
masahikofukasawa 10:5c69b067d88a 396 {
masahikofukasawa 10:5c69b067d88a 397 mode = (AK9750::OperationMode)in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 398 filter = (AK9750::DigitalFilter)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 399 if(ak9750->setOperationModeToEEPROM(mode, filter) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 400 status = AkmSensor::ERROR;
masahikofukasawa 39:3821886c902e 401 MSG("#Error: setOperationMode. AK9750(EEPROM).\r\n");
masahikofukasawa 10:5c69b067d88a 402 }
masahikofukasawa 10:5c69b067d88a 403 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 404 break;
masahikofukasawa 10:5c69b067d88a 405 }
masahikofukasawa 10:5c69b067d88a 406 case Message::CMD_REG_WRITE:
masahikofukasawa 10:5c69b067d88a 407 case Message::CMD_REG_WRITEN:
masahikofukasawa 10:5c69b067d88a 408 {
masahikofukasawa 10:5c69b067d88a 409 char address = in->getArgument(0);
masahikofukasawa 46:5938ad2039b0 410 const int len = (int)in->getArgument(1);
masahikofukasawa 15:1238993fd75f 411 if(in->getArgNum() != len+2){
masahikofukasawa 39:3821886c902e 412 MSG("#Error: argument num. Args=%d\r\n",in->getArgNum());
masahikofukasawa 15:1238993fd75f 413 status = AkmSensor::ERROR;
masahikofukasawa 15:1238993fd75f 414 out->setArgument(0,(char)status);
masahikofukasawa 15:1238993fd75f 415 return status;
masahikofukasawa 15:1238993fd75f 416 }
masahikofukasawa 15:1238993fd75f 417
masahikofukasawa 10:5c69b067d88a 418 char data[len];
masahikofukasawa 10:5c69b067d88a 419 for(int i=0; i<len; i++){
masahikofukasawa 15:1238993fd75f 420 data[i] = in->getArgument(i+2);
masahikofukasawa 10:5c69b067d88a 421 }
masahikofukasawa 10:5c69b067d88a 422 if( ak9750->write(address, data, len) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 423 status = AkmSensor::ERROR;
masahikofukasawa 39:3821886c902e 424 MSG("#Error: register write.\r\n");
masahikofukasawa 10:5c69b067d88a 425 }
masahikofukasawa 10:5c69b067d88a 426 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 427 break;
masahikofukasawa 10:5c69b067d88a 428 }
masahikofukasawa 10:5c69b067d88a 429 case Message::CMD_REG_READ:
masahikofukasawa 10:5c69b067d88a 430 case Message::CMD_REG_READN:
masahikofukasawa 10:5c69b067d88a 431 {
masahikofukasawa 15:1238993fd75f 432 if(in->getArgNum() != 2){
masahikofukasawa 39:3821886c902e 433 MSG("#Error: argument num. Args=%d\r\n",in->getArgNum());
masahikofukasawa 15:1238993fd75f 434 return AkmSensor::ERROR;
masahikofukasawa 15:1238993fd75f 435 }
masahikofukasawa 15:1238993fd75f 436
masahikofukasawa 10:5c69b067d88a 437 char address = in->getArgument(0);
masahikofukasawa 46:5938ad2039b0 438 const int len = (int)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 439 char data[len];
masahikofukasawa 10:5c69b067d88a 440 if( ak9750->read(address, data, len) != AK9750::SUCCESS) {
masahikofukasawa 39:3821886c902e 441 MSG("#Error: register read.\r\n");
masahikofukasawa 15:1238993fd75f 442 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 443 }
masahikofukasawa 10:5c69b067d88a 444 for(int i=0; i<len; i++){
masahikofukasawa 10:5c69b067d88a 445 out->setArgument(i, data[i]);
masahikofukasawa 10:5c69b067d88a 446 }
masahikofukasawa 10:5c69b067d88a 447 break;
masahikofukasawa 10:5c69b067d88a 448 }
masahikofukasawa 10:5c69b067d88a 449 default:
masahikofukasawa 10:5c69b067d88a 450 {
masahikofukasawa 39:3821886c902e 451 MSG("#Error: no command.\r\n");
masahikofukasawa 10:5c69b067d88a 452 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 453 break;
masahikofukasawa 10:5c69b067d88a 454 }
masahikofukasawa 10:5c69b067d88a 455 }
masahikofukasawa 10:5c69b067d88a 456 return status;
masahikofukasawa 10:5c69b067d88a 457 }