Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

ak7451ctrl.cpp@39:3821886c902e, 2017-07-18 (annotated)

Committer:
masahikofukasawa
Date:
Tue Jul 18 23:20:26 2017 +0000
Revision:
39:3821886c902e
Parent:
34:1ea3357c8d9a
Child:
43:45225713cd58
For AK09970 Small demo board. Takezawa-san's request.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
masahikofukasawa 11:cef8dc1cf010 1 #include "ak7451ctrl.h"
masahikofukasawa 11:cef8dc1cf010 2 #include "debug.h"
masahikofukasawa 11:cef8dc1cf010 3
masahikofukasawa 11:cef8dc1cf010 4 /**
masahikofukasawa 11:cef8dc1cf010 5 * Constructor.
masahikofukasawa 11:cef8dc1cf010 6 *
masahikofukasawa 11:cef8dc1cf010 7 */
masahikofukasawa 27:41aa9fb23a2f 8 Ak7451Ctrl::Ak7451Ctrl() : AkmSensor(){
masahikofukasawa 11:cef8dc1cf010 9 ak7451 = NULL;
masahikofukasawa 11:cef8dc1cf010 10 }
masahikofukasawa 11:cef8dc1cf010 11
masahikofukasawa 11:cef8dc1cf010 12 /**
masahikofukasawa 11:cef8dc1cf010 13 * Destructor.
masahikofukasawa 11:cef8dc1cf010 14 *
masahikofukasawa 11:cef8dc1cf010 15 */
masahikofukasawa 11:cef8dc1cf010 16 Ak7451Ctrl::~Ak7451Ctrl(){
masahikofukasawa 11:cef8dc1cf010 17 if (ak7451) delete ak7451;
masahikofukasawa 11:cef8dc1cf010 18 }
masahikofukasawa 11:cef8dc1cf010 19
masahikofukasawa 11:cef8dc1cf010 20 AkmSensor::Status Ak7451Ctrl::init(const uint8_t id, const uint8_t subid){
masahikofukasawa 11:cef8dc1cf010 21 primaryId = id;
masahikofukasawa 11:cef8dc1cf010 22 subId = subid;
masahikofukasawa 11:cef8dc1cf010 23
masahikofukasawa 11:cef8dc1cf010 24 if(subId == SUB_ID_AK7451){
tkstreet 25:76c11ab5060e 25 SPI* mSpi; // SPI connection
tkstreet 25:76c11ab5060e 26 DigitalOut* mCs; // Chip select pin
tkstreet 25:76c11ab5060e 27
tkstreet 25:76c11ab5060e 28 // Initialize SPI connection
masahikofukasawa 11:cef8dc1cf010 29 AK7451::Status status = AK7451::ERROR;
masahikofukasawa 11:cef8dc1cf010 30 mSpi = new SPI(SPI_MOSI, SPI_MISO, SPI_SCK);
masahikofukasawa 11:cef8dc1cf010 31 mSpi->format(8,1); // 8bit, Mode=1
masahikofukasawa 11:cef8dc1cf010 32 mSpi->frequency(1000000);
tkstreet 25:76c11ab5060e 33
tkstreet 25:76c11ab5060e 34 // Initialize chip select pin
masahikofukasawa 11:cef8dc1cf010 35 mCs = new DigitalOut(SPI_CS);
masahikofukasawa 11:cef8dc1cf010 36 ak7451 = new AK7451();
masahikofukasawa 11:cef8dc1cf010 37 ak7451->begin(mSpi, mCs);
masahikofukasawa 13:d008249f0359 38 sensorName = "AK7451";
masahikofukasawa 11:cef8dc1cf010 39
tkstreet 25:76c11ab5060e 40 // Set to User Mode
masahikofukasawa 11:cef8dc1cf010 41 status = ak7451->setOperationMode(AK7451::AK7451_USER_MODE);
masahikofukasawa 11:cef8dc1cf010 42 if( status != AK7451::SUCCESS ){
masahikofukasawa 39:3821886c902e 43 MSG("#Error: AK7451 user mode failed.\r\n");
masahikofukasawa 11:cef8dc1cf010 44 return AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 45 }
masahikofukasawa 11:cef8dc1cf010 46 MSG("#AK7451 user mode succeed.\r\n");
masahikofukasawa 30:5a241d9b3262 47
masahikofukasawa 30:5a241d9b3262 48 // E_RD 0x1 clockwise rotation
masahikofukasawa 30:5a241d9b3262 49 // E_Z_MODE 0x0 normal output
masahikofukasawa 30:5a241d9b3262 50 // E_ABZ_E 0x1 ABZ Output enable
masahikofukasawa 30:5a241d9b3262 51 // E_ABZ_HYS 0x2 ABZ Hysteresis=1LSB
masahikofukasawa 30:5a241d9b3262 52 // ABZ_RES 0x0 ABZ phase resolution = 1024ppr
masahikofukasawa 30:5a241d9b3262 53 char data[2] = {0x02,0xA0};
tkstreet 25:76c11ab5060e 54
masahikofukasawa 11:cef8dc1cf010 55 status = ak7451->writeEEPROM(0x07,data); // set clockwise
masahikofukasawa 11:cef8dc1cf010 56 if( status != AK7451::SUCCESS ){
masahikofukasawa 39:3821886c902e 57 MSG("#Error: AK7451 write EEPROM failed.\r\n");
masahikofukasawa 11:cef8dc1cf010 58 return AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 59 }
masahikofukasawa 39:3821886c902e 60 MSG("#Error: AK7451 write EEPROM succeed.\r\n");
tkstreet 34:1ea3357c8d9a 61
masahikofukasawa 30:5a241d9b3262 62 /*
tkstreet 25:76c11ab5060e 63 // Set to Normal Mode
masahikofukasawa 11:cef8dc1cf010 64 status = ak7451->setOperationMode(AK7451::AK7451_NORMAL_MODE);
masahikofukasawa 11:cef8dc1cf010 65 if( status != AK7451::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 66 MSG("#AK7451 normal mode failed.\r\n");
masahikofukasawa 11:cef8dc1cf010 67 return AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 68 }
masahikofukasawa 11:cef8dc1cf010 69 MSG("#AK7451 normal mode succeed.\r\n");
masahikofukasawa 30:5a241d9b3262 70 */
masahikofukasawa 11:cef8dc1cf010 71 interval = SENSOR_SAMPLING_RATE; // 10Hz
masahikofukasawa 11:cef8dc1cf010 72 }
masahikofukasawa 11:cef8dc1cf010 73 else{
masahikofukasawa 11:cef8dc1cf010 74 return AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 75 }
masahikofukasawa 11:cef8dc1cf010 76
masahikofukasawa 11:cef8dc1cf010 77 return AkmSensor::SUCCESS;
masahikofukasawa 11:cef8dc1cf010 78 }
masahikofukasawa 11:cef8dc1cf010 79
masahikofukasawa 11:cef8dc1cf010 80 AkmSensor::Status Ak7451Ctrl::startSensor(){
masahikofukasawa 30:5a241d9b3262 81 AK7451::Status status = ak7451->setOperationMode(AK7451::AK7451_NORMAL_MODE);
masahikofukasawa 30:5a241d9b3262 82 if( status != AK7451::SUCCESS ){
masahikofukasawa 39:3821886c902e 83 MSG("#Error: AK7451 normal mode failed.\r\n");
masahikofukasawa 30:5a241d9b3262 84 return AkmSensor::ERROR;
masahikofukasawa 30:5a241d9b3262 85 }
masahikofukasawa 29:b488d2c89fba 86 ticker.attach(callback(this, &AkmSensor::setEvent), interval);
masahikofukasawa 11:cef8dc1cf010 87 return AkmSensor::SUCCESS;
masahikofukasawa 11:cef8dc1cf010 88 }
masahikofukasawa 11:cef8dc1cf010 89
masahikofukasawa 11:cef8dc1cf010 90 AkmSensor::Status Ak7451Ctrl::startSensor(const float sec){
masahikofukasawa 30:5a241d9b3262 91 AK7451::Status status = ak7451->setOperationMode(AK7451::AK7451_NORMAL_MODE);
masahikofukasawa 30:5a241d9b3262 92 if( status != AK7451::SUCCESS ){
masahikofukasawa 39:3821886c902e 93 MSG("#Error: AK7451 normal mode failed.\r\n");
masahikofukasawa 30:5a241d9b3262 94 return AkmSensor::ERROR;
masahikofukasawa 30:5a241d9b3262 95 }
masahikofukasawa 30:5a241d9b3262 96
masahikofukasawa 11:cef8dc1cf010 97 interval = sec;
masahikofukasawa 29:b488d2c89fba 98 ticker.attach(callback(this, &AkmSensor::setEvent), interval);
masahikofukasawa 29:b488d2c89fba 99 MSG("#Start sensor %s.\r\n",sensorName);
masahikofukasawa 11:cef8dc1cf010 100 return AkmSensor::SUCCESS;
masahikofukasawa 11:cef8dc1cf010 101 }
masahikofukasawa 11:cef8dc1cf010 102
masahikofukasawa 11:cef8dc1cf010 103 AkmSensor::Status Ak7451Ctrl::stopSensor(){
masahikofukasawa 30:5a241d9b3262 104 AK7451::Status status;
masahikofukasawa 30:5a241d9b3262 105 status = ak7451->setOperationMode(AK7451::AK7451_USER_MODE);
masahikofukasawa 30:5a241d9b3262 106 if( status != AK7451::SUCCESS ){
masahikofukasawa 39:3821886c902e 107 MSG("#Error: AK7451 user mode failed.\r\n");
masahikofukasawa 30:5a241d9b3262 108 return AkmSensor::ERROR;
masahikofukasawa 30:5a241d9b3262 109 }
masahikofukasawa 11:cef8dc1cf010 110 ticker.detach();
masahikofukasawa 29:b488d2c89fba 111 AkmSensor::clearEvent();
masahikofukasawa 11:cef8dc1cf010 112 return AkmSensor::SUCCESS;
masahikofukasawa 11:cef8dc1cf010 113 }
masahikofukasawa 11:cef8dc1cf010 114
masahikofukasawa 11:cef8dc1cf010 115 AkmSensor::Status Ak7451Ctrl::readSensorData(Message* msg){
masahikofukasawa 29:b488d2c89fba 116 AkmSensor::clearEvent();
masahikofukasawa 29:b488d2c89fba 117
masahikofukasawa 11:cef8dc1cf010 118 char angle[2] = {0x00,0x00};
masahikofukasawa 11:cef8dc1cf010 119 AK7451::Status status = ak7451->readAngle(angle);
masahikofukasawa 11:cef8dc1cf010 120
masahikofukasawa 11:cef8dc1cf010 121 msg->setCommand(Message::CMD_START_MEASUREMENT);
masahikofukasawa 11:cef8dc1cf010 122 msg->setArgument( 0, status );
masahikofukasawa 11:cef8dc1cf010 123 msg->setArgument( 1, angle[0] );
masahikofukasawa 11:cef8dc1cf010 124 msg->setArgument( 2, angle[1] );
masahikofukasawa 11:cef8dc1cf010 125
masahikofukasawa 11:cef8dc1cf010 126 if( status != SUCCESS){
masahikofukasawa 11:cef8dc1cf010 127 return AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 128 }
masahikofukasawa 11:cef8dc1cf010 129 return AkmSensor::SUCCESS;
masahikofukasawa 11:cef8dc1cf010 130 }
masahikofukasawa 11:cef8dc1cf010 131
masahikofukasawa 11:cef8dc1cf010 132 AkmSensor::Status Ak7451Ctrl::requestCommand(Message* in, Message* out){
masahikofukasawa 11:cef8dc1cf010 133 AkmSensor::Status status = AkmSensor::SUCCESS;
masahikofukasawa 11:cef8dc1cf010 134
masahikofukasawa 11:cef8dc1cf010 135 Message::Command cmd = in->getCommand();
masahikofukasawa 11:cef8dc1cf010 136
masahikofukasawa 11:cef8dc1cf010 137 switch(cmd){
masahikofukasawa 30:5a241d9b3262 138 case Message::CMD_ANGLE_READ:
masahikofukasawa 30:5a241d9b3262 139 {
masahikofukasawa 30:5a241d9b3262 140 // read angle
masahikofukasawa 30:5a241d9b3262 141 char angle[2] = {0x00,0x00};
masahikofukasawa 30:5a241d9b3262 142 char density = 0x00;
masahikofukasawa 30:5a241d9b3262 143 char abnormal = 0x00;
masahikofukasawa 30:5a241d9b3262 144
masahikofukasawa 30:5a241d9b3262 145 if( ak7451->readAngleMeasureCommand(angle, &density, &abnormal) != AK7451::SUCCESS ){
masahikofukasawa 39:3821886c902e 146 MSG("#Error: read angle\r\n");
masahikofukasawa 30:5a241d9b3262 147 status = AkmSensor::ERROR;
masahikofukasawa 30:5a241d9b3262 148 }
masahikofukasawa 30:5a241d9b3262 149 out->setCommand(Message::CMD_ANGLE_READ);
masahikofukasawa 30:5a241d9b3262 150 out->setArgument( 0, (abnormal != 0x03)|(status == AkmSensor::ERROR) ? 0x01 : 0x00 );
masahikofukasawa 30:5a241d9b3262 151 out->setArgument( 1, angle[0] );
masahikofukasawa 30:5a241d9b3262 152 out->setArgument( 2, angle[1] );
masahikofukasawa 30:5a241d9b3262 153 out->setArgument( 3, density );
masahikofukasawa 30:5a241d9b3262 154 break;
masahikofukasawa 30:5a241d9b3262 155 }
masahikofukasawa 11:cef8dc1cf010 156 case Message::CMD_ANGLE_ZERO_RESET:
masahikofukasawa 11:cef8dc1cf010 157 {
masahikofukasawa 30:5a241d9b3262 158 AK7451::Status st;
masahikofukasawa 30:5a241d9b3262 159 /*
masahikofukasawa 30:5a241d9b3262 160 AK7451::OperationMode mode = AK7451::AK7451_USER_MODE;
masahikofukasawa 11:cef8dc1cf010 161
masahikofukasawa 30:5a241d9b3262 162 // check the mode
masahikofukasawa 30:5a241d9b3262 163 char data[1];
masahikofukasawa 30:5a241d9b3262 164 if( ak7451->readRegister(0x00, data) != AK7451::SUCCESS) {
masahikofukasawa 30:5a241d9b3262 165 MSG("#NORMAL MODE detected. Set into USER mode.\r\n");
masahikofukasawa 30:5a241d9b3262 166 mode = AK7451::AK7451_NORMAL_MODE;
masahikofukasawa 30:5a241d9b3262 167 st = ak7451->setOperationMode(AK7451::AK7451_USER_MODE);
masahikofukasawa 30:5a241d9b3262 168 if( st != AK7451::SUCCESS ){
masahikofukasawa 39:3821886c902e 169 MSG("#Error: when set user mode\r\n");
masahikofukasawa 30:5a241d9b3262 170 status = AkmSensor::ERROR;
masahikofukasawa 30:5a241d9b3262 171 }
masahikofukasawa 11:cef8dc1cf010 172 }
masahikofukasawa 30:5a241d9b3262 173 */
masahikofukasawa 11:cef8dc1cf010 174 st = ak7451->setAngleZero(); // reset ZP data
masahikofukasawa 11:cef8dc1cf010 175 if( st != AK7451::SUCCESS ){
masahikofukasawa 39:3821886c902e 176 MSG("#Error: setAngleZero: code=%d\r\n",st);
masahikofukasawa 11:cef8dc1cf010 177 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 178 }
masahikofukasawa 30:5a241d9b3262 179 /*
masahikofukasawa 30:5a241d9b3262 180 st = ak7451->setOperationMode(mode);
masahikofukasawa 11:cef8dc1cf010 181 if( st != AK7451::SUCCESS ){
masahikofukasawa 39:3821886c902e 182 MSG("#Error: when set mode:%d\r\n",mode);
masahikofukasawa 11:cef8dc1cf010 183 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 184 }
masahikofukasawa 30:5a241d9b3262 185 */
masahikofukasawa 11:cef8dc1cf010 186 if( status == AkmSensor::ERROR ){
masahikofukasawa 11:cef8dc1cf010 187 out->setArgument(0,1);
masahikofukasawa 11:cef8dc1cf010 188 }else{
masahikofukasawa 11:cef8dc1cf010 189 out->setArgument(0,0);
masahikofukasawa 11:cef8dc1cf010 190 }
masahikofukasawa 11:cef8dc1cf010 191 break;
masahikofukasawa 11:cef8dc1cf010 192 }
masahikofukasawa 30:5a241d9b3262 193 case Message::CMD_REG_WRITE:
masahikofukasawa 30:5a241d9b3262 194 case Message::CMD_REG_WRITEN:
masahikofukasawa 30:5a241d9b3262 195 {
masahikofukasawa 30:5a241d9b3262 196 char address = in->getArgument(0);
masahikofukasawa 30:5a241d9b3262 197 int len = in->getArgument(1);
masahikofukasawa 30:5a241d9b3262 198 if(len != 2){
masahikofukasawa 39:3821886c902e 199 MSG("#Error: length=%d. Only support 2byte length\r\n",len);
masahikofukasawa 30:5a241d9b3262 200 status = AkmSensor::ERROR;
masahikofukasawa 30:5a241d9b3262 201 return status;
masahikofukasawa 30:5a241d9b3262 202 }
masahikofukasawa 30:5a241d9b3262 203 if(in->getArgNum() != len+2){
masahikofukasawa 39:3821886c902e 204 MSG("#Error: argument num. Args=%d\r\n",in->getArgNum());
masahikofukasawa 30:5a241d9b3262 205 status = AkmSensor::ERROR;
masahikofukasawa 30:5a241d9b3262 206 out->setArgument(0,(char)status);
masahikofukasawa 30:5a241d9b3262 207 return status;
masahikofukasawa 30:5a241d9b3262 208 }
masahikofukasawa 30:5a241d9b3262 209
masahikofukasawa 30:5a241d9b3262 210 char data[len];
masahikofukasawa 30:5a241d9b3262 211 for(int i=0; i<len; i++){
masahikofukasawa 30:5a241d9b3262 212 data[i] = in->getArgument(i+2);
masahikofukasawa 30:5a241d9b3262 213 }
masahikofukasawa 30:5a241d9b3262 214 if( ak7451->writeRegister(address, data) != AK7451::SUCCESS) {
masahikofukasawa 30:5a241d9b3262 215 status = AkmSensor::ERROR;
masahikofukasawa 39:3821886c902e 216 MSG("#Error: register write.\r\n");
masahikofukasawa 30:5a241d9b3262 217 }
masahikofukasawa 30:5a241d9b3262 218 if( ak7451->writeEEPROM(address, data) != AK7451::SUCCESS) {
masahikofukasawa 30:5a241d9b3262 219 status = AkmSensor::ERROR;
masahikofukasawa 39:3821886c902e 220 MSG("#Error: EEPROM write.\r\n");
masahikofukasawa 30:5a241d9b3262 221 }
masahikofukasawa 30:5a241d9b3262 222 out->setArgument(0,(char)status);
masahikofukasawa 30:5a241d9b3262 223 break;
masahikofukasawa 30:5a241d9b3262 224 }
masahikofukasawa 30:5a241d9b3262 225 case Message::CMD_REG_READ:
masahikofukasawa 30:5a241d9b3262 226 case Message::CMD_REG_READN:
masahikofukasawa 30:5a241d9b3262 227 {
masahikofukasawa 30:5a241d9b3262 228 if(in->getArgNum() != 2){
masahikofukasawa 39:3821886c902e 229 MSG("#Error: argument num. Args=%d\r\n",in->getArgNum());
masahikofukasawa 30:5a241d9b3262 230 status = AkmSensor::ERROR;
masahikofukasawa 30:5a241d9b3262 231 return status;
masahikofukasawa 30:5a241d9b3262 232 }
masahikofukasawa 30:5a241d9b3262 233
masahikofukasawa 30:5a241d9b3262 234 char address = in->getArgument(0);
masahikofukasawa 30:5a241d9b3262 235 int len = in->getArgument(1);
masahikofukasawa 30:5a241d9b3262 236 if(len != 2){
masahikofukasawa 39:3821886c902e 237 MSG("#Error: length=%d. Only support 2byte length\r\n",len);
masahikofukasawa 30:5a241d9b3262 238 status = AkmSensor::ERROR;
masahikofukasawa 30:5a241d9b3262 239 return status;
masahikofukasawa 30:5a241d9b3262 240 }
masahikofukasawa 30:5a241d9b3262 241 char data[len];
masahikofukasawa 30:5a241d9b3262 242 if( ak7451->readRegister(address, data) != AK7451::SUCCESS) {
masahikofukasawa 30:5a241d9b3262 243 status = AkmSensor::ERROR;
masahikofukasawa 39:3821886c902e 244 MSG("#Error: register read.\r\n");
masahikofukasawa 30:5a241d9b3262 245 }
masahikofukasawa 30:5a241d9b3262 246 for(int i=0; i<len; i++){
masahikofukasawa 30:5a241d9b3262 247 out->setArgument(i, data[i]);
masahikofukasawa 30:5a241d9b3262 248 }
masahikofukasawa 30:5a241d9b3262 249 break;
masahikofukasawa 30:5a241d9b3262 250 }
masahikofukasawa 11:cef8dc1cf010 251 default:
masahikofukasawa 11:cef8dc1cf010 252 {
masahikofukasawa 39:3821886c902e 253 MSG("#Error: no command.\r\n");
masahikofukasawa 11:cef8dc1cf010 254 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 255 break;
masahikofukasawa 11:cef8dc1cf010 256 }
masahikofukasawa 11:cef8dc1cf010 257 }
masahikofukasawa 11:cef8dc1cf010 258
masahikofukasawa 11:cef8dc1cf010 259 return status;
masahikofukasawa 11:cef8dc1cf010 260 }
masahikofukasawa 11:cef8dc1cf010 261