Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

ak7401ctrl.cpp@39:3821886c902e, 2017-07-18 (annotated)

Committer:
masahikofukasawa
Date:
Tue Jul 18 23:20:26 2017 +0000
Revision:
39:3821886c902e
Parent:
30:5a241d9b3262
Child:
43:45225713cd58
For AK09970 Small demo board. Takezawa-san's request.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
masahikofukasawa 10:5c69b067d88a 1 #include "ak7401ctrl.h"
masahikofukasawa 10:5c69b067d88a 2 #include "debug.h"
masahikofukasawa 10:5c69b067d88a 3
masahikofukasawa 10:5c69b067d88a 4 /**
masahikofukasawa 10:5c69b067d88a 5 * Constructor.
masahikofukasawa 10:5c69b067d88a 6 *
masahikofukasawa 10:5c69b067d88a 7 */
masahikofukasawa 27:41aa9fb23a2f 8 Ak7401Ctrl::Ak7401Ctrl() : AkmSensor(){
masahikofukasawa 10:5c69b067d88a 9 ak7401 = NULL;
masahikofukasawa 10:5c69b067d88a 10 }
masahikofukasawa 10:5c69b067d88a 11
masahikofukasawa 10:5c69b067d88a 12 /**
masahikofukasawa 10:5c69b067d88a 13 * Destructor.
masahikofukasawa 10:5c69b067d88a 14 *
masahikofukasawa 10:5c69b067d88a 15 */
masahikofukasawa 10:5c69b067d88a 16 Ak7401Ctrl::~Ak7401Ctrl(){
masahikofukasawa 10:5c69b067d88a 17 if (ak7401) delete ak7401;
masahikofukasawa 10:5c69b067d88a 18 }
masahikofukasawa 10:5c69b067d88a 19
masahikofukasawa 10:5c69b067d88a 20 AkmSensor::Status Ak7401Ctrl::init(const uint8_t id, const uint8_t subid){
masahikofukasawa 10:5c69b067d88a 21 primaryId = id;
masahikofukasawa 10:5c69b067d88a 22 subId = subid;
masahikofukasawa 10:5c69b067d88a 23
masahikofukasawa 10:5c69b067d88a 24 if(subId == SUB_ID_AK7401){
masahikofukasawa 10:5c69b067d88a 25 SPI* mSpi;
masahikofukasawa 10:5c69b067d88a 26 DigitalOut* mCs;
masahikofukasawa 10:5c69b067d88a 27 AK7401::Status status = AK7401::ERROR;
masahikofukasawa 10:5c69b067d88a 28 mSpi = new SPI(SPI_MOSI, SPI_MISO, SPI_SCK);
masahikofukasawa 10:5c69b067d88a 29 mSpi->format(8,1); // 8bit, Mode=1
masahikofukasawa 10:5c69b067d88a 30 mSpi->frequency(1000000);
masahikofukasawa 10:5c69b067d88a 31 mCs = new DigitalOut(SPI_CS);
masahikofukasawa 10:5c69b067d88a 32 ak7401 = new AK7401();
masahikofukasawa 10:5c69b067d88a 33 ak7401->begin(mSpi, mCs);
masahikofukasawa 13:d008249f0359 34 sensorName = "AK7401";
masahikofukasawa 10:5c69b067d88a 35
masahikofukasawa 10:5c69b067d88a 36 status = ak7401->setOperationMode(AK7401::AK7401_USER_MODE);
masahikofukasawa 10:5c69b067d88a 37 if( status != AK7401::SUCCESS ){
masahikofukasawa 14:21e177fc308a 38 MSG("#AK7401 set USER mode failed.\r\n");
masahikofukasawa 10:5c69b067d88a 39 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 40 }
masahikofukasawa 14:21e177fc308a 41
masahikofukasawa 14:21e177fc308a 42 // check connection
masahikofukasawa 14:21e177fc308a 43 status = ak7401->checkConnection();
masahikofukasawa 14:21e177fc308a 44 if( status != AK7401::SUCCESS ){
masahikofukasawa 14:21e177fc308a 45 MSG("#AK7401 check connection failed.\r\n");
masahikofukasawa 14:21e177fc308a 46 return AkmSensor::ERROR;
masahikofukasawa 14:21e177fc308a 47 }
masahikofukasawa 14:21e177fc308a 48
masahikofukasawa 14:21e177fc308a 49 // change rotation direction to CW from CCW
masahikofukasawa 10:5c69b067d88a 50 char data[2] = {0x00,0x07}; // set clockwise rotation
masahikofukasawa 10:5c69b067d88a 51 status = ak7401->writeEEPROM(0x05,data); // set clockwise
masahikofukasawa 10:5c69b067d88a 52 if( status != AK7401::SUCCESS ){
masahikofukasawa 14:21e177fc308a 53 MSG("#AK7401 set rotation failed.\r\n");
masahikofukasawa 10:5c69b067d88a 54 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 55 }
masahikofukasawa 30:5a241d9b3262 56 /*
masahikofukasawa 10:5c69b067d88a 57 status = ak7401->setOperationMode(AK7401::AK7401_NORMAL_MODE);
masahikofukasawa 10:5c69b067d88a 58 if( status != AK7401::SUCCESS ){
masahikofukasawa 14:21e177fc308a 59 MSG("#AK7401 set NORMAL mode failed.\r\n");
masahikofukasawa 10:5c69b067d88a 60 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 61 }
masahikofukasawa 30:5a241d9b3262 62 */
masahikofukasawa 14:21e177fc308a 63 MSG("#AK7401 init succeed.\r\n");
masahikofukasawa 11:cef8dc1cf010 64
masahikofukasawa 11:cef8dc1cf010 65 interval = SENSOR_SAMPLING_RATE; // 10Hz
masahikofukasawa 10:5c69b067d88a 66 }
masahikofukasawa 10:5c69b067d88a 67 else{
masahikofukasawa 10:5c69b067d88a 68 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 69 }
masahikofukasawa 10:5c69b067d88a 70
masahikofukasawa 10:5c69b067d88a 71 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 72 }
masahikofukasawa 10:5c69b067d88a 73
masahikofukasawa 10:5c69b067d88a 74 AkmSensor::Status Ak7401Ctrl::startSensor(){
masahikofukasawa 30:5a241d9b3262 75 AK7401::Status status = ak7401->setOperationMode(AK7401::AK7401_NORMAL_MODE);
masahikofukasawa 30:5a241d9b3262 76 if( status != AK7401::SUCCESS ){
masahikofukasawa 30:5a241d9b3262 77 MSG("#AK7401 set NORMAL mode failed.\r\n");
masahikofukasawa 30:5a241d9b3262 78 return AkmSensor::ERROR;
masahikofukasawa 30:5a241d9b3262 79 }
masahikofukasawa 29:b488d2c89fba 80 ticker.attach(callback(this, &base::setEvent), interval);
masahikofukasawa 10:5c69b067d88a 81 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 82 }
masahikofukasawa 10:5c69b067d88a 83
masahikofukasawa 10:5c69b067d88a 84 AkmSensor::Status Ak7401Ctrl::startSensor(const float sec){
masahikofukasawa 30:5a241d9b3262 85 AK7401::Status status = ak7401->setOperationMode(AK7401::AK7401_NORMAL_MODE);
masahikofukasawa 30:5a241d9b3262 86 if( status != AK7401::SUCCESS ){
masahikofukasawa 30:5a241d9b3262 87 MSG("#AK7401 set NORMAL mode failed.\r\n");
masahikofukasawa 30:5a241d9b3262 88 return AkmSensor::ERROR;
masahikofukasawa 30:5a241d9b3262 89 }
masahikofukasawa 10:5c69b067d88a 90 interval = sec;
masahikofukasawa 29:b488d2c89fba 91 ticker.attach(callback(this, &base::setEvent), interval);
masahikofukasawa 29:b488d2c89fba 92 MSG("#Start sensor %s.\r\n",sensorName);
masahikofukasawa 10:5c69b067d88a 93 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 94 }
masahikofukasawa 10:5c69b067d88a 95
masahikofukasawa 10:5c69b067d88a 96 AkmSensor::Status Ak7401Ctrl::stopSensor(){
masahikofukasawa 30:5a241d9b3262 97 AK7401::Status status = ak7401->setOperationMode(AK7401::AK7401_USER_MODE);
masahikofukasawa 30:5a241d9b3262 98 if( status != AK7401::SUCCESS ){
masahikofukasawa 30:5a241d9b3262 99 MSG("#AK7401 set USER mode failed.\r\n");
masahikofukasawa 30:5a241d9b3262 100 return AkmSensor::ERROR;
masahikofukasawa 30:5a241d9b3262 101 }
masahikofukasawa 10:5c69b067d88a 102 ticker.detach();
masahikofukasawa 29:b488d2c89fba 103 AkmSensor::clearEvent();
masahikofukasawa 10:5c69b067d88a 104 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 105 }
masahikofukasawa 10:5c69b067d88a 106
masahikofukasawa 10:5c69b067d88a 107 AkmSensor::Status Ak7401Ctrl::readSensorData(Message* msg){
masahikofukasawa 29:b488d2c89fba 108 AkmSensor::clearEvent();
masahikofukasawa 29:b488d2c89fba 109
masahikofukasawa 10:5c69b067d88a 110 char angle[2] = {0x00,0x00};
masahikofukasawa 10:5c69b067d88a 111 AK7401::Status status = ak7401->readAngle(angle);
masahikofukasawa 10:5c69b067d88a 112
masahikofukasawa 10:5c69b067d88a 113 msg->setCommand(Message::CMD_START_MEASUREMENT);
masahikofukasawa 10:5c69b067d88a 114 msg->setArgument( 0, status );
masahikofukasawa 10:5c69b067d88a 115 msg->setArgument( 1, angle[0] );
masahikofukasawa 10:5c69b067d88a 116 msg->setArgument( 2, angle[1] );
masahikofukasawa 10:5c69b067d88a 117
masahikofukasawa 10:5c69b067d88a 118 if( status != SUCCESS){
masahikofukasawa 10:5c69b067d88a 119 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 120 }
masahikofukasawa 10:5c69b067d88a 121 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 122 }
masahikofukasawa 10:5c69b067d88a 123
masahikofukasawa 10:5c69b067d88a 124 AkmSensor::Status Ak7401Ctrl::requestCommand(Message* in, Message* out){
masahikofukasawa 10:5c69b067d88a 125 AkmSensor::Status status = AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 126 Message::Command cmd = in->getCommand();
masahikofukasawa 10:5c69b067d88a 127 switch(cmd){
masahikofukasawa 30:5a241d9b3262 128 case Message::CMD_ANGLE_READ:
masahikofukasawa 30:5a241d9b3262 129 {
masahikofukasawa 30:5a241d9b3262 130 // read angle
masahikofukasawa 30:5a241d9b3262 131 char angle[2] = {0x00,0x00};
masahikofukasawa 30:5a241d9b3262 132 char density = 0x00;
masahikofukasawa 30:5a241d9b3262 133 char abnormal = 0x00;
masahikofukasawa 30:5a241d9b3262 134
masahikofukasawa 30:5a241d9b3262 135 if( ak7401->readAngleMeasureCommand(angle, &density, &abnormal) != AK7401::SUCCESS ){
masahikofukasawa 39:3821886c902e 136 MSG("#Error: Read angle\r\n");
masahikofukasawa 30:5a241d9b3262 137 status = AkmSensor::ERROR;
masahikofukasawa 30:5a241d9b3262 138 }
masahikofukasawa 30:5a241d9b3262 139 out->setCommand(Message::CMD_ANGLE_READ);
masahikofukasawa 30:5a241d9b3262 140 out->setArgument( 0, ((abnormal&0x01)==0x00)|(status==AkmSensor::ERROR) ? 0x01 : 0x00 );
masahikofukasawa 30:5a241d9b3262 141 out->setArgument( 1, angle[0] );
masahikofukasawa 30:5a241d9b3262 142 out->setArgument( 2, angle[1] );
masahikofukasawa 30:5a241d9b3262 143 out->setArgument( 3, density );
masahikofukasawa 30:5a241d9b3262 144 break;
masahikofukasawa 30:5a241d9b3262 145 }
masahikofukasawa 10:5c69b067d88a 146 case Message::CMD_ANGLE_ZERO_RESET:
masahikofukasawa 10:5c69b067d88a 147 {
masahikofukasawa 14:21e177fc308a 148 if( ak7401->setAngleZero() != AK7401::SUCCESS ){
masahikofukasawa 39:3821886c902e 149 MSG("#Error: Set angle zero\r\n");
masahikofukasawa 10:5c69b067d88a 150 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 151 }
masahikofukasawa 10:5c69b067d88a 152 if( status == AkmSensor::ERROR ){
masahikofukasawa 10:5c69b067d88a 153 out->setArgument(0,1);
masahikofukasawa 10:5c69b067d88a 154 }else{
masahikofukasawa 10:5c69b067d88a 155 out->setArgument(0,0);
masahikofukasawa 10:5c69b067d88a 156 }
masahikofukasawa 10:5c69b067d88a 157 break;
masahikofukasawa 10:5c69b067d88a 158 }
masahikofukasawa 30:5a241d9b3262 159 case Message::CMD_REG_WRITE:
masahikofukasawa 30:5a241d9b3262 160 case Message::CMD_REG_WRITEN:
masahikofukasawa 30:5a241d9b3262 161 {
masahikofukasawa 30:5a241d9b3262 162 char address = in->getArgument(0);
masahikofukasawa 30:5a241d9b3262 163 int len = in->getArgument(1);
masahikofukasawa 30:5a241d9b3262 164 if(len != 2){
masahikofukasawa 39:3821886c902e 165 MSG("#Error: length=%d. Only support 2byte length\r\n",len);
masahikofukasawa 30:5a241d9b3262 166 status = AkmSensor::ERROR;
masahikofukasawa 30:5a241d9b3262 167 return status;
masahikofukasawa 30:5a241d9b3262 168 }
masahikofukasawa 30:5a241d9b3262 169 if(in->getArgNum() != len+2){
masahikofukasawa 39:3821886c902e 170 MSG("#Error: Argument num. Args=%d\r\n",in->getArgNum());
masahikofukasawa 30:5a241d9b3262 171 status = AkmSensor::ERROR;
masahikofukasawa 30:5a241d9b3262 172 out->setArgument(0,(char)status);
masahikofukasawa 30:5a241d9b3262 173 return status;
masahikofukasawa 30:5a241d9b3262 174 }
masahikofukasawa 30:5a241d9b3262 175
masahikofukasawa 30:5a241d9b3262 176 char data[len];
masahikofukasawa 30:5a241d9b3262 177 for(int i=0; i<len; i++){
masahikofukasawa 30:5a241d9b3262 178 data[i] = in->getArgument(i+2);
masahikofukasawa 30:5a241d9b3262 179 }
masahikofukasawa 30:5a241d9b3262 180 if( ak7401->writeRegister(address, data) != AK7401::SUCCESS) {
masahikofukasawa 30:5a241d9b3262 181 status = AkmSensor::ERROR;
masahikofukasawa 39:3821886c902e 182 MSG("#Error: Register write.\r\n");
masahikofukasawa 30:5a241d9b3262 183 }
masahikofukasawa 30:5a241d9b3262 184 if( ak7401->writeEEPROM(address, data) != AK7401::SUCCESS) {
masahikofukasawa 30:5a241d9b3262 185 status = AkmSensor::ERROR;
masahikofukasawa 39:3821886c902e 186 MSG("#Error: EEPROM write.\r\n");
masahikofukasawa 30:5a241d9b3262 187 }
masahikofukasawa 30:5a241d9b3262 188 out->setArgument(0,(char)status);
masahikofukasawa 30:5a241d9b3262 189 break;
masahikofukasawa 30:5a241d9b3262 190 }
masahikofukasawa 30:5a241d9b3262 191 case Message::CMD_REG_READ:
masahikofukasawa 30:5a241d9b3262 192 case Message::CMD_REG_READN:
masahikofukasawa 30:5a241d9b3262 193 {
masahikofukasawa 30:5a241d9b3262 194 if(in->getArgNum() != 2){
masahikofukasawa 39:3821886c902e 195 MSG("#Error: argument num. Args=%d\r\n",in->getArgNum());
masahikofukasawa 30:5a241d9b3262 196 status = AkmSensor::ERROR;
masahikofukasawa 30:5a241d9b3262 197 return status;
masahikofukasawa 30:5a241d9b3262 198 }
masahikofukasawa 30:5a241d9b3262 199
masahikofukasawa 30:5a241d9b3262 200 char address = in->getArgument(0);
masahikofukasawa 30:5a241d9b3262 201 int len = in->getArgument(1);
masahikofukasawa 30:5a241d9b3262 202 if(len != 2){
masahikofukasawa 39:3821886c902e 203 MSG("#Error: length=%d. Only support 2byte length\r\n",len);
masahikofukasawa 30:5a241d9b3262 204 status = AkmSensor::ERROR;
masahikofukasawa 30:5a241d9b3262 205 return status;
masahikofukasawa 30:5a241d9b3262 206 }
masahikofukasawa 30:5a241d9b3262 207 char data[len];
masahikofukasawa 30:5a241d9b3262 208 if( ak7401->readRegister(address, data) != AK7401::SUCCESS) {
masahikofukasawa 30:5a241d9b3262 209 status = AkmSensor::ERROR;
masahikofukasawa 39:3821886c902e 210 MSG("#Error: register read.\r\n");
masahikofukasawa 30:5a241d9b3262 211 }
masahikofukasawa 30:5a241d9b3262 212 for(int i=0; i<len; i++){
masahikofukasawa 30:5a241d9b3262 213 out->setArgument(i, data[i]);
masahikofukasawa 30:5a241d9b3262 214 }
masahikofukasawa 30:5a241d9b3262 215 break;
masahikofukasawa 30:5a241d9b3262 216 }
masahikofukasawa 10:5c69b067d88a 217 default:
masahikofukasawa 10:5c69b067d88a 218 {
masahikofukasawa 39:3821886c902e 219 MSG("#Error: no command.\r\n");
masahikofukasawa 10:5c69b067d88a 220 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 221 break;
masahikofukasawa 10:5c69b067d88a 222 }
masahikofukasawa 10:5c69b067d88a 223 }
masahikofukasawa 10:5c69b067d88a 224
masahikofukasawa 10:5c69b067d88a 225 return status;
masahikofukasawa 10:5c69b067d88a 226 }
masahikofukasawa 10:5c69b067d88a 227
masahikofukasawa 13:d008249f0359 228