Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

ak9752ctrl.cpp@27:41aa9fb23a2f, 2017-03-11 (annotated)

Committer:
masahikofukasawa
Date:
Sat Mar 11 01:14:15 2017 +0000
Revision:
27:41aa9fb23a2f
Parent:
16:d85be9bafb80
Child:
29:b488d2c89fba
modified for multi sensor demo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
masahikofukasawa 10:5c69b067d88a 1 #include "ak9752ctrl.h"
masahikofukasawa 10:5c69b067d88a 2 #include "debug.h"
masahikofukasawa 10:5c69b067d88a 3
masahikofukasawa 10:5c69b067d88a 4 #define CONV16I(high,low) ((int16_t)(((high) << 8) | (low)))
masahikofukasawa 10:5c69b067d88a 5
masahikofukasawa 10:5c69b067d88a 6 /**
masahikofukasawa 10:5c69b067d88a 7 * Constructor.
masahikofukasawa 10:5c69b067d88a 8 *
masahikofukasawa 10:5c69b067d88a 9 */
masahikofukasawa 27:41aa9fb23a2f 10 Ak9752Ctrl::Ak9752Ctrl() : AkmSensor(){
masahikofukasawa 10:5c69b067d88a 11 ak9752 = NULL;
masahikofukasawa 10:5c69b067d88a 12 interrupt = NULL;
masahikofukasawa 10:5c69b067d88a 13 }
masahikofukasawa 10:5c69b067d88a 14
masahikofukasawa 10:5c69b067d88a 15 /**
masahikofukasawa 10:5c69b067d88a 16 * Destructor.
masahikofukasawa 10:5c69b067d88a 17 *
masahikofukasawa 10:5c69b067d88a 18 */
masahikofukasawa 10:5c69b067d88a 19 Ak9752Ctrl::~Ak9752Ctrl(){
masahikofukasawa 10:5c69b067d88a 20 if (ak9752) delete ak9752;
masahikofukasawa 10:5c69b067d88a 21 if (interrupt) delete interrupt;
masahikofukasawa 10:5c69b067d88a 22 }
masahikofukasawa 10:5c69b067d88a 23
masahikofukasawa 10:5c69b067d88a 24 AkmSensor::Status Ak9752Ctrl::init(const uint8_t id, const uint8_t subid){
masahikofukasawa 10:5c69b067d88a 25 primaryId = id;
masahikofukasawa 10:5c69b067d88a 26 subId = subid;
masahikofukasawa 10:5c69b067d88a 27
masahikofukasawa 10:5c69b067d88a 28 interrupt = new InterruptIn(I2C_DRDY);
masahikofukasawa 10:5c69b067d88a 29 I2C* i2c = new I2C(I2C_SDA,I2C_SCL);
masahikofukasawa 10:5c69b067d88a 30 i2c->frequency(I2C_SPEED_100KHZ);
masahikofukasawa 10:5c69b067d88a 31
masahikofukasawa 10:5c69b067d88a 32 if(subId == SUB_ID_AK9752){
masahikofukasawa 10:5c69b067d88a 33 ak9752 = new AK9752();
masahikofukasawa 13:d008249f0359 34 sensorName = "AK9752";
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 AK9752::SlaveAddress slaveAddr[]
masahikofukasawa 10:5c69b067d88a 43 = { AK9752::SLAVE_ADDR_1 };
masahikofukasawa 10:5c69b067d88a 44
masahikofukasawa 10:5c69b067d88a 45 for(int i=0; i<sizeof(slaveAddr); i++)
masahikofukasawa 10:5c69b067d88a 46 {
masahikofukasawa 10:5c69b067d88a 47 ak9752->init(i2c, slaveAddr[i]);
masahikofukasawa 10:5c69b067d88a 48 // Checks connectivity
masahikofukasawa 10:5c69b067d88a 49 if(ak9752->checkConnection() == Ak9752Ctrl::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 50 // found
masahikofukasawa 10:5c69b067d88a 51 foundSensor = true;
masahikofukasawa 10:5c69b067d88a 52 break;
masahikofukasawa 10:5c69b067d88a 53 }
masahikofukasawa 10:5c69b067d88a 54 }
masahikofukasawa 10:5c69b067d88a 55 if(foundSensor != true) return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 56
masahikofukasawa 10:5c69b067d88a 57 // reset
masahikofukasawa 10:5c69b067d88a 58 if (ak9752->reset() != AK9752::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 59 MSG("#Failed to reset AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 60 }
masahikofukasawa 10:5c69b067d88a 61
masahikofukasawa 11:cef8dc1cf010 62 MSG("#Init success AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 63 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 64 }
masahikofukasawa 10:5c69b067d88a 65
masahikofukasawa 10:5c69b067d88a 66 void Ak9752Ctrl::detectINT(){
masahikofukasawa 10:5c69b067d88a 67 event = true;
masahikofukasawa 10:5c69b067d88a 68 }
masahikofukasawa 10:5c69b067d88a 69
masahikofukasawa 10:5c69b067d88a 70 AkmSensor::Status Ak9752Ctrl::startSensor(){
masahikofukasawa 11:cef8dc1cf010 71 // read one data to clear INT pin
masahikofukasawa 11:cef8dc1cf010 72 AK9752::SensorData data;
masahikofukasawa 11:cef8dc1cf010 73 ak9752->getSensorData(&data);
masahikofukasawa 11:cef8dc1cf010 74
masahikofukasawa 11:cef8dc1cf010 75 // enable interrupt
masahikofukasawa 16:d85be9bafb80 76 interrupt->fall(callback(this, &Ak9752Ctrl::detectINT));
masahikofukasawa 11:cef8dc1cf010 77
masahikofukasawa 11:cef8dc1cf010 78 // set operation mode
masahikofukasawa 10:5c69b067d88a 79 if(ak9752->setOperationMode(mode,fc_tmp, fc_ir) != AK9752::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 80 MSG("#Start sensor failed.\r\n");
masahikofukasawa 10:5c69b067d88a 81 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 82 }
masahikofukasawa 10:5c69b067d88a 83
masahikofukasawa 11:cef8dc1cf010 84 MSG("#Start sensor succceeded.\r\n");
masahikofukasawa 10:5c69b067d88a 85 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 86 }
masahikofukasawa 10:5c69b067d88a 87
masahikofukasawa 10:5c69b067d88a 88 AkmSensor::Status Ak9752Ctrl::startSensor(const float sec){
masahikofukasawa 16:d85be9bafb80 89 interrupt->fall(callback(this, &Ak9752Ctrl::detectINT));
masahikofukasawa 10:5c69b067d88a 90 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 91 }
masahikofukasawa 10:5c69b067d88a 92
masahikofukasawa 10:5c69b067d88a 93 AkmSensor::Status Ak9752Ctrl::stopSensor(){
masahikofukasawa 10:5c69b067d88a 94 event = false;
masahikofukasawa 11:cef8dc1cf010 95 interrupt->fall(NULL);
masahikofukasawa 10:5c69b067d88a 96 if(ak9752->setOperationMode(AK9752::MODE_STANDBY, fc_tmp, fc_ir) != AK9752::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 97 MSG("#Error setOperationMode. AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 98 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 99 }
masahikofukasawa 10:5c69b067d88a 100
masahikofukasawa 10:5c69b067d88a 101 // read one data to clear INT pin
masahikofukasawa 11:cef8dc1cf010 102 AK9752::SensorData data;
masahikofukasawa 11:cef8dc1cf010 103 ak9752->getSensorData(&data);
masahikofukasawa 10:5c69b067d88a 104
masahikofukasawa 10:5c69b067d88a 105 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 106 }
masahikofukasawa 10:5c69b067d88a 107
masahikofukasawa 10:5c69b067d88a 108 AkmSensor::Status Ak9752Ctrl::readSensorData(Message* msg){
masahikofukasawa 10:5c69b067d88a 109 event = false;
masahikofukasawa 10:5c69b067d88a 110
masahikofukasawa 10:5c69b067d88a 111 AK9752::SensorData data;
masahikofukasawa 10:5c69b067d88a 112 AK9752::Status status = ak9752->getSensorData(&data);
masahikofukasawa 10:5c69b067d88a 113 if( status != AK9752::SUCCESS){
masahikofukasawa 11:cef8dc1cf010 114 MSG("#Error getSensorData. AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 115 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 116 }
masahikofukasawa 10:5c69b067d88a 117 msg->setCommand(Message::CMD_START_MEASUREMENT);
masahikofukasawa 10:5c69b067d88a 118 msg->setArgument( 0, data.intStatus.irh);
masahikofukasawa 10:5c69b067d88a 119 msg->setArgument( 1, data.intStatus.irl);
masahikofukasawa 10:5c69b067d88a 120 msg->setArgument( 2, data.intStatus.tmph);
masahikofukasawa 10:5c69b067d88a 121 msg->setArgument( 3, data.intStatus.tmpl);
masahikofukasawa 10:5c69b067d88a 122 msg->setArgument( 4, data.intStatus.dr);
masahikofukasawa 10:5c69b067d88a 123 msg->setArgument( 5,(char)((int32_t)(data.ir) >> 8));
masahikofukasawa 10:5c69b067d88a 124 msg->setArgument( 6, (char)((int32_t)(data.ir) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 125 msg->setArgument( 7,(char)((int32_t)(data.temperature) >> 8));
masahikofukasawa 10:5c69b067d88a 126 msg->setArgument( 8, (char)((int32_t)(data.temperature) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 127 msg->setArgument( 9, data.dor);
masahikofukasawa 10:5c69b067d88a 128
masahikofukasawa 10:5c69b067d88a 129 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 130 }
masahikofukasawa 10:5c69b067d88a 131
masahikofukasawa 10:5c69b067d88a 132 AkmSensor::Status Ak9752Ctrl::requestCommand(Message* in, Message* out){
masahikofukasawa 10:5c69b067d88a 133 AkmSensor::Status status = AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 134 Message::Command cmd = in->getCommand();
masahikofukasawa 10:5c69b067d88a 135 AK9752::Threshold th;
masahikofukasawa 10:5c69b067d88a 136 AK9752::InterruptStatus interrupt;
masahikofukasawa 10:5c69b067d88a 137
masahikofukasawa 10:5c69b067d88a 138 out->setCommand(cmd);
masahikofukasawa 10:5c69b067d88a 139
masahikofukasawa 10:5c69b067d88a 140 switch(cmd){
masahikofukasawa 10:5c69b067d88a 141 case Message::CMD_IR_GET_THRESHOLD:
masahikofukasawa 10:5c69b067d88a 142 {
masahikofukasawa 10:5c69b067d88a 143 if (ak9752->getThreshold(&th) != AK9752::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 144 MSG("#Failed to set threshold to AK9752.\r\n");
masahikofukasawa 15:1238993fd75f 145 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 146 }
masahikofukasawa 10:5c69b067d88a 147 out->setArgument(0,(char)((int32_t)(th.thirh) >> 8));
masahikofukasawa 10:5c69b067d88a 148 out->setArgument(1,(char)((int32_t)(th.thirh) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 149 out->setArgument(2,(char)((int32_t)(th.thirl) >> 8));
masahikofukasawa 10:5c69b067d88a 150 out->setArgument(3,(char)((int32_t)(th.thirl) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 151 out->setArgument(4,(char)((int32_t)(th.thtmph) >> 8));
masahikofukasawa 10:5c69b067d88a 152 out->setArgument(5,(char)((int32_t)(th.thtmph) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 153 out->setArgument(6,(char)((int32_t)(th.thtmpl) >> 8));
masahikofukasawa 10:5c69b067d88a 154 out->setArgument(7,(char)((int32_t)(th.thtmpl) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 155 break;
masahikofukasawa 10:5c69b067d88a 156 }
masahikofukasawa 10:5c69b067d88a 157 case Message::CMD_IR_SET_THRESHOLD:
masahikofukasawa 10:5c69b067d88a 158 {
masahikofukasawa 10:5c69b067d88a 159 th.thirh = CONV16I(in->getArgument(0), in->getArgument(1));
masahikofukasawa 10:5c69b067d88a 160 th.thirl = CONV16I(in->getArgument(2), in->getArgument(3));
masahikofukasawa 10:5c69b067d88a 161 th.thtmph = CONV16I(in->getArgument(4), in->getArgument(5));
masahikofukasawa 10:5c69b067d88a 162 th.thtmpl = CONV16I(in->getArgument(6), in->getArgument(7));
masahikofukasawa 10:5c69b067d88a 163 if (ak9752->setThreshold(&th) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 164 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 165 MSG("#Failed to set threshold to AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 166 }
masahikofukasawa 10:5c69b067d88a 167 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 168 break;
masahikofukasawa 10:5c69b067d88a 169 }
masahikofukasawa 10:5c69b067d88a 170 case Message::CMD_IR_GET_INTERRUPT:
masahikofukasawa 10:5c69b067d88a 171 {
masahikofukasawa 10:5c69b067d88a 172 if (ak9752->getInterruptEnable(&interrupt) != AK9752::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 173 MSG("#Failed to set hysteresis to AK9752.\r\n");
masahikofukasawa 15:1238993fd75f 174 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 175 }
masahikofukasawa 10:5c69b067d88a 176 out->setArgument(0, interrupt.irh);
masahikofukasawa 10:5c69b067d88a 177 out->setArgument(1, interrupt.irl);
masahikofukasawa 10:5c69b067d88a 178 out->setArgument(2, interrupt.tmph);
masahikofukasawa 10:5c69b067d88a 179 out->setArgument(3, interrupt.tmpl);
masahikofukasawa 10:5c69b067d88a 180 out->setArgument(4, interrupt.dr);
masahikofukasawa 10:5c69b067d88a 181 break;
masahikofukasawa 10:5c69b067d88a 182 }
masahikofukasawa 10:5c69b067d88a 183 case Message::CMD_IR_SET_INTERRUPT:
masahikofukasawa 10:5c69b067d88a 184 {
masahikofukasawa 10:5c69b067d88a 185 interrupt.irh = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 186 interrupt.irl = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 187 interrupt.tmph = in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 188 interrupt.tmpl = in->getArgument(3);
masahikofukasawa 10:5c69b067d88a 189 interrupt.dr = in->getArgument(4);
masahikofukasawa 10:5c69b067d88a 190 if (ak9752->setInterruptEnable(&interrupt) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 191 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 192 MSG("#Failed to set hysteresis to AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 193 }
masahikofukasawa 10:5c69b067d88a 194 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 195 break;
masahikofukasawa 10:5c69b067d88a 196 }
masahikofukasawa 10:5c69b067d88a 197 case Message::CMD_IR_GET_OPERATION_MODE:
masahikofukasawa 10:5c69b067d88a 198 {
masahikofukasawa 10:5c69b067d88a 199 if(ak9752->getOperationMode(&mode, &fc_tmp, &fc_ir) != AK9752::SUCCESS) {
masahikofukasawa 15:1238993fd75f 200 MSG("#Error getOperationMode. AK9752.\r\n");
masahikofukasawa 15:1238993fd75f 201 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 202 }
masahikofukasawa 10:5c69b067d88a 203 out->setArgument(0,(char)mode);
masahikofukasawa 10:5c69b067d88a 204 out->setArgument(1,(char)fc_tmp);
masahikofukasawa 10:5c69b067d88a 205 out->setArgument(2,(char)fc_ir);
masahikofukasawa 10:5c69b067d88a 206 break;
masahikofukasawa 10:5c69b067d88a 207 }
masahikofukasawa 10:5c69b067d88a 208 case Message::CMD_IR_SET_OPERATION_MODE:
masahikofukasawa 10:5c69b067d88a 209 {
masahikofukasawa 10:5c69b067d88a 210 mode = (AK9752::OperationMode)in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 211 fc_tmp = (AK9752::FcTmp)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 212 fc_ir = (AK9752::FcIr)in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 213 if(ak9752->setOperationMode(mode, fc_tmp, fc_ir) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 214 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 215 MSG("#Error setOperationMode. AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 216 }
masahikofukasawa 10:5c69b067d88a 217 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 218 break;
masahikofukasawa 10:5c69b067d88a 219 }
masahikofukasawa 10:5c69b067d88a 220 case Message::CMD_REG_WRITE:
masahikofukasawa 10:5c69b067d88a 221 case Message::CMD_REG_WRITEN:
masahikofukasawa 10:5c69b067d88a 222 {
masahikofukasawa 10:5c69b067d88a 223 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 224 int len = (int)in->getArgument(1);
masahikofukasawa 15:1238993fd75f 225 if(in->getArgNum() != len+2){
masahikofukasawa 15:1238993fd75f 226 MSG("#Error argument num. Args=%d\r\n",in->getArgNum());
masahikofukasawa 15:1238993fd75f 227 status = AkmSensor::ERROR;
masahikofukasawa 15:1238993fd75f 228 out->setArgument(0,(char)status);
masahikofukasawa 15:1238993fd75f 229 return status;
masahikofukasawa 15:1238993fd75f 230 }
masahikofukasawa 15:1238993fd75f 231
masahikofukasawa 10:5c69b067d88a 232 char data[len];
masahikofukasawa 10:5c69b067d88a 233 for(int i=0; i<len; i++){
masahikofukasawa 15:1238993fd75f 234 data[i] = in->getArgument(i+2);
masahikofukasawa 10:5c69b067d88a 235 }
masahikofukasawa 10:5c69b067d88a 236 if( ak9752->write(address, data, len) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 237 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 238 MSG("#Error register write.\r\n");
masahikofukasawa 10:5c69b067d88a 239 }
masahikofukasawa 10:5c69b067d88a 240 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 241 break;
masahikofukasawa 10:5c69b067d88a 242 }
masahikofukasawa 10:5c69b067d88a 243 case Message::CMD_REG_READ:
masahikofukasawa 10:5c69b067d88a 244 case Message::CMD_REG_READN:
masahikofukasawa 10:5c69b067d88a 245 {
masahikofukasawa 15:1238993fd75f 246 if(in->getArgNum() != 2){
masahikofukasawa 15:1238993fd75f 247 MSG("#Error argument num. Args=%d\r\n",in->getArgNum());
masahikofukasawa 15:1238993fd75f 248 return AkmSensor::ERROR;
masahikofukasawa 15:1238993fd75f 249 }
masahikofukasawa 15:1238993fd75f 250
masahikofukasawa 10:5c69b067d88a 251 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 252 int len = (int)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 253 char data[len];
masahikofukasawa 10:5c69b067d88a 254 if( ak9752->read(address, data, len) != AK9752::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 255 MSG("#Error register read.\r\n");
masahikofukasawa 15:1238993fd75f 256 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 257 }
masahikofukasawa 10:5c69b067d88a 258 for(int i=0; i<len; i++){
masahikofukasawa 10:5c69b067d88a 259 out->setArgument(i, data[i]);
masahikofukasawa 10:5c69b067d88a 260 }
masahikofukasawa 10:5c69b067d88a 261 break;
masahikofukasawa 10:5c69b067d88a 262 }
masahikofukasawa 10:5c69b067d88a 263 default:
masahikofukasawa 10:5c69b067d88a 264 {
masahikofukasawa 11:cef8dc1cf010 265 MSG("#Error no command.\r\n");
masahikofukasawa 10:5c69b067d88a 266 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 267 break;
masahikofukasawa 10:5c69b067d88a 268 }
masahikofukasawa 10:5c69b067d88a 269 }
masahikofukasawa 10:5c69b067d88a 270 return status;
masahikofukasawa 10:5c69b067d88a 271 }