Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

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

Committer:
masahikofukasawa
Date:
Sat Mar 11 01:14:15 2017 +0000
Revision:
27:41aa9fb23a2f
Parent:
20:2fca76521680
Child:
29:b488d2c89fba
modified for multi sensor demo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
masahikofukasawa 0:7a00359e701e 1 #include "akmakd.h"
masahikofukasawa 0:7a00359e701e 2 #include "ak8963.h"
masahikofukasawa 0:7a00359e701e 3 #include "ak099xx.h"
masahikofukasawa 0:7a00359e701e 4 #include "debug.h"
masahikofukasawa 0:7a00359e701e 5
masahikofukasawa 0:7a00359e701e 6 /**
masahikofukasawa 0:7a00359e701e 7 * Constructor.
masahikofukasawa 0:7a00359e701e 8 *
masahikofukasawa 0:7a00359e701e 9 */
masahikofukasawa 27:41aa9fb23a2f 10 AkmAkd::AkmAkd() : AkmSensor(){
masahikofukasawa 0:7a00359e701e 11 compass = NULL;
masahikofukasawa 0:7a00359e701e 12 drdy = NULL;
masahikofukasawa 0:7a00359e701e 13 }
masahikofukasawa 0:7a00359e701e 14
masahikofukasawa 0:7a00359e701e 15 /**
masahikofukasawa 0:7a00359e701e 16 * Destructor.
masahikofukasawa 0:7a00359e701e 17 *
masahikofukasawa 0:7a00359e701e 18 */
masahikofukasawa 0:7a00359e701e 19 AkmAkd::~AkmAkd(){
masahikofukasawa 0:7a00359e701e 20 drdy->rise(0);
masahikofukasawa 0:7a00359e701e 21 if (compass) delete compass;
masahikofukasawa 0:7a00359e701e 22 if (drdy) delete drdy;
masahikofukasawa 0:7a00359e701e 23 }
masahikofukasawa 0:7a00359e701e 24
masahikofukasawa 20:2fca76521680 25 AkmSensor::Status AkmAkd::checkSensor( const uint8_t primaryid, const uint8_t subid, AkmECompass::DeviceId* devid){
masahikofukasawa 19:8dcc4f323bdc 26 AK099XX* ak099xx;
masahikofukasawa 19:8dcc4f323bdc 27 AK8963* ak8963;
masahikofukasawa 19:8dcc4f323bdc 28
masahikofukasawa 19:8dcc4f323bdc 29 switch(subid){
masahikofukasawa 19:8dcc4f323bdc 30 case AkmAkd::SUB_ID_AK8963N:
masahikofukasawa 19:8dcc4f323bdc 31 case AkmAkd::SUB_ID_AK8963C:
masahikofukasawa 20:2fca76521680 32 *devid = AkmECompass::AK8963;
masahikofukasawa 19:8dcc4f323bdc 33 AkmAkd::sensorName = "AK8963";
masahikofukasawa 19:8dcc4f323bdc 34 ak8963 = new AK8963();
masahikofukasawa 19:8dcc4f323bdc 35 compass = ak8963;
masahikofukasawa 19:8dcc4f323bdc 36 break;
masahikofukasawa 19:8dcc4f323bdc 37 case AkmAkd::SUB_ID_AK09911C:
masahikofukasawa 20:2fca76521680 38 *devid = AkmECompass::AK09911;
masahikofukasawa 19:8dcc4f323bdc 39 AkmAkd::sensorName = "AK09911C";
masahikofukasawa 19:8dcc4f323bdc 40 if(primaryId == AKM_PRIMARY_ID_AKD_SPI)
masahikofukasawa 19:8dcc4f323bdc 41 return AkmSensor::ERROR; // No SPI support
masahikofukasawa 19:8dcc4f323bdc 42 ak099xx = new AK099XX();
masahikofukasawa 19:8dcc4f323bdc 43 compass = ak099xx;
masahikofukasawa 19:8dcc4f323bdc 44 break;
masahikofukasawa 19:8dcc4f323bdc 45 case AkmAkd::SUB_ID_AK09912C:
masahikofukasawa 20:2fca76521680 46 *devid = AkmECompass::AK09912;
masahikofukasawa 19:8dcc4f323bdc 47 AkmAkd::sensorName = "AK09912C";
masahikofukasawa 19:8dcc4f323bdc 48 ak099xx = new AK099XX();
masahikofukasawa 19:8dcc4f323bdc 49 compass = ak099xx;
masahikofukasawa 19:8dcc4f323bdc 50 break;
masahikofukasawa 19:8dcc4f323bdc 51 case AkmAkd::SUB_ID_AK09915C:
masahikofukasawa 20:2fca76521680 52 *devid = AkmECompass::AK09915;
masahikofukasawa 19:8dcc4f323bdc 53 AkmAkd::sensorName = "AK09915C";
masahikofukasawa 19:8dcc4f323bdc 54 ak099xx = new AK099XX();
masahikofukasawa 19:8dcc4f323bdc 55 compass = ak099xx;
masahikofukasawa 19:8dcc4f323bdc 56 break;
masahikofukasawa 19:8dcc4f323bdc 57 case AkmAkd::SUB_ID_AK09915D:
masahikofukasawa 20:2fca76521680 58 *devid = AkmECompass::AK09915;
masahikofukasawa 19:8dcc4f323bdc 59 AkmAkd::sensorName = "AK09915D";
masahikofukasawa 19:8dcc4f323bdc 60 ak099xx = new AK099XX();
masahikofukasawa 19:8dcc4f323bdc 61 compass = ak099xx;
masahikofukasawa 19:8dcc4f323bdc 62 break;
masahikofukasawa 19:8dcc4f323bdc 63 case AkmAkd::SUB_ID_AK09916C:
masahikofukasawa 20:2fca76521680 64 *devid = AkmECompass::AK09916C;
masahikofukasawa 19:8dcc4f323bdc 65 AkmAkd::sensorName = "AK09916C";
masahikofukasawa 19:8dcc4f323bdc 66 if(primaryId == AKM_PRIMARY_ID_AKD_SPI)
masahikofukasawa 19:8dcc4f323bdc 67 return AkmSensor::ERROR; // No SPI support
masahikofukasawa 19:8dcc4f323bdc 68 ak099xx = new AK099XX();
masahikofukasawa 19:8dcc4f323bdc 69 compass = ak099xx;
masahikofukasawa 19:8dcc4f323bdc 70 break;
masahikofukasawa 19:8dcc4f323bdc 71 case AkmAkd::SUB_ID_AK09916D:
masahikofukasawa 20:2fca76521680 72 *devid = AkmECompass::AK09916D;
masahikofukasawa 19:8dcc4f323bdc 73 AkmAkd::sensorName = "AK09916D";
masahikofukasawa 19:8dcc4f323bdc 74 if(primaryId == AKM_PRIMARY_ID_AKD_SPI)
masahikofukasawa 19:8dcc4f323bdc 75 return AkmSensor::ERROR; // No SPI support
masahikofukasawa 19:8dcc4f323bdc 76 ak099xx = new AK099XX();
masahikofukasawa 19:8dcc4f323bdc 77 compass = ak099xx;
masahikofukasawa 19:8dcc4f323bdc 78 break;
masahikofukasawa 19:8dcc4f323bdc 79 case AkmAkd::SUB_ID_AK09918:
masahikofukasawa 20:2fca76521680 80 *devid = AkmECompass::AK09918;
masahikofukasawa 19:8dcc4f323bdc 81 AkmAkd::sensorName = "AK09918";
masahikofukasawa 19:8dcc4f323bdc 82 if(primaryId == AKM_PRIMARY_ID_AKD_SPI)
masahikofukasawa 19:8dcc4f323bdc 83 return AkmSensor::ERROR; // No SPI support
masahikofukasawa 19:8dcc4f323bdc 84 ak099xx = new AK099XX();
masahikofukasawa 19:8dcc4f323bdc 85 compass = ak099xx;
masahikofukasawa 19:8dcc4f323bdc 86 break;
masahikofukasawa 19:8dcc4f323bdc 87 default:
masahikofukasawa 19:8dcc4f323bdc 88 return AkmSensor::ERROR;
masahikofukasawa 19:8dcc4f323bdc 89 }
masahikofukasawa 19:8dcc4f323bdc 90 return AkmSensor::SUCCESS;
masahikofukasawa 19:8dcc4f323bdc 91 }
masahikofukasawa 19:8dcc4f323bdc 92
masahikofukasawa 20:2fca76521680 93 AkmSensor::Status AkmAkd::init(const uint8_t primaryid, const uint8_t subid){
masahikofukasawa 20:2fca76521680 94 primaryId = primaryid;
masahikofukasawa 0:7a00359e701e 95 subId = subid;
masahikofukasawa 0:7a00359e701e 96
masahikofukasawa 20:2fca76521680 97 AkmECompass::DeviceId devid;
masahikofukasawa 19:8dcc4f323bdc 98
masahikofukasawa 9:6fa3e7b17c27 99 mode = AkmECompass::MODE_POWER_DOWN;
masahikofukasawa 9:6fa3e7b17c27 100 nsf = AkmECompass::NSF_DISABLE;
masahikofukasawa 9:6fa3e7b17c27 101 sdr = AkmECompass::SDR_LOW_POWER_DRIVE;
masahikofukasawa 9:6fa3e7b17c27 102
masahikofukasawa 0:7a00359e701e 103 if(primaryId == AKM_PRIMARY_ID_AKD_I2C){
masahikofukasawa 0:7a00359e701e 104
masahikofukasawa 7:e269411568c9 105 drdy = new InterruptIn(I2C_DRDY);
masahikofukasawa 7:e269411568c9 106 drdy->rise(0);
masahikofukasawa 7:e269411568c9 107
masahikofukasawa 0:7a00359e701e 108 I2C* i2c = new I2C(I2C_SDA,I2C_SCL);
masahikofukasawa 0:7a00359e701e 109 i2c->frequency(I2C_SPEED_100KHZ);
masahikofukasawa 0:7a00359e701e 110
masahikofukasawa 20:2fca76521680 111 if( checkSensor(primaryId,subId,&devid) != AkmSensor::SUCCESS ){
masahikofukasawa 19:8dcc4f323bdc 112 return AkmSensor::ERROR;
masahikofukasawa 0:7a00359e701e 113 }
masahikofukasawa 0:7a00359e701e 114
masahikofukasawa 0:7a00359e701e 115 AkmECompass::SlaveAddress slaveAddr[]
masahikofukasawa 0:7a00359e701e 116 = { AkmECompass::SLAVE_ADDR_1,
masahikofukasawa 0:7a00359e701e 117 AkmECompass::SLAVE_ADDR_2,
masahikofukasawa 0:7a00359e701e 118 AkmECompass::SLAVE_ADDR_3,
masahikofukasawa 0:7a00359e701e 119 AkmECompass::SLAVE_ADDR_4};
masahikofukasawa 0:7a00359e701e 120
masahikofukasawa 0:7a00359e701e 121 for(int i=0; i<sizeof(slaveAddr); i++)
masahikofukasawa 0:7a00359e701e 122 {
masahikofukasawa 20:2fca76521680 123 compass->init(i2c, slaveAddr[i], devid);
masahikofukasawa 0:7a00359e701e 124 // Checks connectivity
masahikofukasawa 0:7a00359e701e 125 if(compass->checkConnection() == AkmECompass::SUCCESS) {
masahikofukasawa 19:8dcc4f323bdc 126 MSG("#%s detected.\r\n", AkmAkd::sensorName);
masahikofukasawa 19:8dcc4f323bdc 127 return AkmSensor::SUCCESS;
masahikofukasawa 0:7a00359e701e 128 }
masahikofukasawa 0:7a00359e701e 129 }
masahikofukasawa 0:7a00359e701e 130 }else if(primaryId == AKM_PRIMARY_ID_AKD_SPI){
masahikofukasawa 7:e269411568c9 131
masahikofukasawa 7:e269411568c9 132 drdy = new InterruptIn(SPI_DRDY);
masahikofukasawa 7:e269411568c9 133 drdy->rise(0);
masahikofukasawa 0:7a00359e701e 134
masahikofukasawa 7:e269411568c9 135 SPI* spi = new SPI(SPI_MOSI, SPI_MISO, SPI_SCK);
masahikofukasawa 7:e269411568c9 136 spi->format(8,3); // 8bit, Mode=3
masahikofukasawa 7:e269411568c9 137 spi->frequency(1000000);
masahikofukasawa 7:e269411568c9 138
masahikofukasawa 7:e269411568c9 139 DigitalOut* cs = new DigitalOut(SPI_CS);
masahikofukasawa 19:8dcc4f323bdc 140
masahikofukasawa 20:2fca76521680 141 if( checkSensor(primaryId,subId,&devid) != AkmSensor::SUCCESS ){
masahikofukasawa 19:8dcc4f323bdc 142 return AkmSensor::ERROR;
masahikofukasawa 7:e269411568c9 143 }
masahikofukasawa 7:e269411568c9 144
masahikofukasawa 20:2fca76521680 145 compass->init(spi, cs, devid);
masahikofukasawa 7:e269411568c9 146 if(compass->checkConnection() == AkmECompass::SUCCESS) {
masahikofukasawa 19:8dcc4f323bdc 147 MSG("#%s detected.\r\n", AkmAkd::sensorName);
masahikofukasawa 19:8dcc4f323bdc 148 return AkmSensor::SUCCESS;
masahikofukasawa 7:e269411568c9 149 }
masahikofukasawa 0:7a00359e701e 150 }
masahikofukasawa 19:8dcc4f323bdc 151 return AkmSensor::ERROR;
masahikofukasawa 0:7a00359e701e 152 }
masahikofukasawa 0:7a00359e701e 153
masahikofukasawa 0:7a00359e701e 154
masahikofukasawa 0:7a00359e701e 155 void AkmAkd::checkDRDY(){
masahikofukasawa 0:7a00359e701e 156 AkmECompass::Status status = compass->isDataReady();
masahikofukasawa 0:7a00359e701e 157 if( status == AkmECompass::DATA_READY ||
masahikofukasawa 0:7a00359e701e 158 status == AkmECompass::DATA_OVER_RUN ) event = true;
masahikofukasawa 0:7a00359e701e 159 }
masahikofukasawa 0:7a00359e701e 160
masahikofukasawa 0:7a00359e701e 161 void AkmAkd::detectDRDY(){
masahikofukasawa 0:7a00359e701e 162 event = true;
masahikofukasawa 0:7a00359e701e 163 }
masahikofukasawa 0:7a00359e701e 164
masahikofukasawa 19:8dcc4f323bdc 165 AkmAkd::InterruptMode AkmAkd::getInterrupt(uint8_t primaryId, uint8_t subId){
masahikofukasawa 19:8dcc4f323bdc 166 AkmAkd::InterruptMode ret = AkmAkd::INTERRUPT_DISABLED;
masahikofukasawa 19:8dcc4f323bdc 167
masahikofukasawa 19:8dcc4f323bdc 168 if( primaryId == AKM_PRIMARY_ID_AKD_I2C &&
masahikofukasawa 19:8dcc4f323bdc 169 (subId == AkmAkd::SUB_ID_AK8963N ||
masahikofukasawa 19:8dcc4f323bdc 170 subId == AkmAkd::SUB_ID_AK8963C ||
masahikofukasawa 19:8dcc4f323bdc 171 subId == AkmAkd::SUB_ID_AK09912C ||
masahikofukasawa 19:8dcc4f323bdc 172 subId == AkmAkd::SUB_ID_AK09915C ) ){
masahikofukasawa 19:8dcc4f323bdc 173 ret = AkmAkd::INTERRUPT_ENABLED_PP;
masahikofukasawa 19:8dcc4f323bdc 174 }
masahikofukasawa 19:8dcc4f323bdc 175 else if( primaryId == AKM_PRIMARY_ID_AKD_I2C &&
masahikofukasawa 19:8dcc4f323bdc 176 (subId == AkmAkd::SUB_ID_AK09915D ||
masahikofukasawa 19:8dcc4f323bdc 177 subId == AkmAkd::SUB_ID_AK09916D ) ){
masahikofukasawa 19:8dcc4f323bdc 178 ret = AkmAkd::INTERRUPT_ENABLED_OD;
masahikofukasawa 19:8dcc4f323bdc 179 }
masahikofukasawa 19:8dcc4f323bdc 180 else{
masahikofukasawa 19:8dcc4f323bdc 181 // No DRDY
masahikofukasawa 19:8dcc4f323bdc 182 // No DRDY use for SPI interface
masahikofukasawa 19:8dcc4f323bdc 183 }
masahikofukasawa 19:8dcc4f323bdc 184 return ret;
masahikofukasawa 19:8dcc4f323bdc 185 }
masahikofukasawa 19:8dcc4f323bdc 186
masahikofukasawa 0:7a00359e701e 187 AkmSensor::Status AkmAkd::startSensor(){
masahikofukasawa 11:cef8dc1cf010 188 // read one data to clear DRDY
masahikofukasawa 9:6fa3e7b17c27 189 AkmECompass::MagneticVector mag;
masahikofukasawa 11:cef8dc1cf010 190 compass->getMagneticVector(&mag);
masahikofukasawa 9:6fa3e7b17c27 191
masahikofukasawa 19:8dcc4f323bdc 192 AkmAkd::InterruptMode int_mode = getInterrupt(primaryId,subId);
masahikofukasawa 11:cef8dc1cf010 193 // enable interrupt
masahikofukasawa 19:8dcc4f323bdc 194 if( int_mode == AkmAkd::INTERRUPT_ENABLED_PP ){
masahikofukasawa 10:5c69b067d88a 195 // Push-Pull DRDY
masahikofukasawa 16:d85be9bafb80 196 drdy->rise(callback(this, &AkmAkd::detectDRDY));
masahikofukasawa 0:7a00359e701e 197 }
masahikofukasawa 19:8dcc4f323bdc 198 else if( int_mode == AkmAkd::INTERRUPT_ENABLED_OD ){
masahikofukasawa 10:5c69b067d88a 199 // Open Drain DRDY
masahikofukasawa 16:d85be9bafb80 200 drdy->fall(callback(this, &AkmAkd::detectDRDY));
masahikofukasawa 10:5c69b067d88a 201 }
masahikofukasawa 0:7a00359e701e 202 else{
masahikofukasawa 10:5c69b067d88a 203 // No DRDY
masahikofukasawa 20:2fca76521680 204 ticker.attach(callback(this, &AkmAkd::checkDRDY), 1.0/AKDP_POLLING_FREQUENCY);
masahikofukasawa 0:7a00359e701e 205 }
masahikofukasawa 11:cef8dc1cf010 206
masahikofukasawa 11:cef8dc1cf010 207 // set operation mode
masahikofukasawa 11:cef8dc1cf010 208 if( subId == AkmAkd::SUB_ID_AK09915C || subId == AkmAkd::SUB_ID_AK09915D ){
masahikofukasawa 11:cef8dc1cf010 209 if(compass->setOperationMode(mode,nsf,sdr) != AkmECompass::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 210 MSG("#Start sensor failed.\r\n");
masahikofukasawa 11:cef8dc1cf010 211 return AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 212 }
masahikofukasawa 11:cef8dc1cf010 213 }
masahikofukasawa 11:cef8dc1cf010 214 else if( subId == AkmAkd::SUB_ID_AK09912C ){
masahikofukasawa 11:cef8dc1cf010 215 if(compass->setOperationMode(mode,nsf) != AkmECompass::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 216 MSG("#Start sensor failed.\r\n");
masahikofukasawa 11:cef8dc1cf010 217 return AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 218 }
masahikofukasawa 11:cef8dc1cf010 219 }
masahikofukasawa 11:cef8dc1cf010 220 else{
masahikofukasawa 11:cef8dc1cf010 221 if(compass->setOperationMode(mode) != AkmECompass::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 222 MSG("#Start sensor failed.\r\n");
masahikofukasawa 11:cef8dc1cf010 223 return AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 224 }
masahikofukasawa 11:cef8dc1cf010 225 }
masahikofukasawa 11:cef8dc1cf010 226
masahikofukasawa 11:cef8dc1cf010 227 MSG("#Start sensor succceeded.\r\n");
masahikofukasawa 0:7a00359e701e 228 return AkmSensor::SUCCESS;
masahikofukasawa 0:7a00359e701e 229 }
masahikofukasawa 0:7a00359e701e 230
masahikofukasawa 0:7a00359e701e 231 AkmSensor::Status AkmAkd::startSensor(const float sec){
masahikofukasawa 11:cef8dc1cf010 232 return AkmSensor::ERROR;
masahikofukasawa 0:7a00359e701e 233 }
masahikofukasawa 0:7a00359e701e 234
masahikofukasawa 0:7a00359e701e 235 AkmSensor::Status AkmAkd::stopSensor(){
masahikofukasawa 0:7a00359e701e 236 ticker.detach();
masahikofukasawa 11:cef8dc1cf010 237 event = false;
masahikofukasawa 11:cef8dc1cf010 238
masahikofukasawa 19:8dcc4f323bdc 239 AkmAkd::InterruptMode int_mode = getInterrupt(primaryId,subId);
masahikofukasawa 19:8dcc4f323bdc 240 if( int_mode == AkmAkd::INTERRUPT_ENABLED_PP ){
masahikofukasawa 19:8dcc4f323bdc 241 // Push-Pull DRDY
masahikofukasawa 11:cef8dc1cf010 242 drdy->rise(NULL);
masahikofukasawa 11:cef8dc1cf010 243 }
masahikofukasawa 19:8dcc4f323bdc 244 else if( int_mode == AkmAkd::INTERRUPT_ENABLED_OD ){
masahikofukasawa 11:cef8dc1cf010 245 // Open Drain DRDY
masahikofukasawa 11:cef8dc1cf010 246 drdy->fall(NULL);
masahikofukasawa 11:cef8dc1cf010 247 }
masahikofukasawa 19:8dcc4f323bdc 248 else{
masahikofukasawa 19:8dcc4f323bdc 249 // No DRDY
masahikofukasawa 19:8dcc4f323bdc 250 }
masahikofukasawa 20:2fca76521680 251
masahikofukasawa 0:7a00359e701e 252 // Puts the device into power down mode.
masahikofukasawa 20:2fca76521680 253 if( subId == AkmAkd::SUB_ID_AK09915C || subId == AkmAkd::SUB_ID_AK09915D ){
masahikofukasawa 20:2fca76521680 254 if(compass->setOperationMode(AkmECompass::MODE_POWER_DOWN,nsf,sdr) != AkmECompass::SUCCESS) {
masahikofukasawa 20:2fca76521680 255 return AkmSensor::ERROR;
masahikofukasawa 20:2fca76521680 256 }
masahikofukasawa 20:2fca76521680 257 }else{
masahikofukasawa 20:2fca76521680 258 if(compass->setOperationMode(AkmECompass::MODE_POWER_DOWN) != AkmECompass::SUCCESS) {
masahikofukasawa 20:2fca76521680 259 return AkmSensor::ERROR;
masahikofukasawa 20:2fca76521680 260 }
masahikofukasawa 0:7a00359e701e 261 }
masahikofukasawa 20:2fca76521680 262
masahikofukasawa 11:cef8dc1cf010 263 // read one data to clear DRDY
masahikofukasawa 11:cef8dc1cf010 264 AkmECompass::MagneticVector mag;
masahikofukasawa 11:cef8dc1cf010 265 compass->getMagneticVector(&mag);
masahikofukasawa 11:cef8dc1cf010 266
masahikofukasawa 0:7a00359e701e 267 return AkmSensor::SUCCESS;
masahikofukasawa 0:7a00359e701e 268 }
masahikofukasawa 0:7a00359e701e 269
masahikofukasawa 0:7a00359e701e 270 AkmSensor::Status AkmAkd::readSensorData(Message* msg){
masahikofukasawa 0:7a00359e701e 271 event = false;
masahikofukasawa 0:7a00359e701e 272
masahikofukasawa 0:7a00359e701e 273 AkmECompass::MagneticVector mag;
masahikofukasawa 0:7a00359e701e 274 AkmECompass::Status status = compass->getMagneticVector(&mag);
masahikofukasawa 0:7a00359e701e 275 if( status != AkmECompass::SUCCESS){
masahikofukasawa 0:7a00359e701e 276 return AkmSensor::ERROR;
masahikofukasawa 0:7a00359e701e 277 }
masahikofukasawa 0:7a00359e701e 278 msg->setCommand(Message::CMD_START_MEASUREMENT);
masahikofukasawa 0:7a00359e701e 279 msg->setArgument( 0, (mag.isOverflow ? 1 : 0) );
masahikofukasawa 20:2fca76521680 280 msg->setArgument( 1,(char)((int32_t)(mag.mx/AKDP_MAG_SENSITIVITY) >> 8));
masahikofukasawa 20:2fca76521680 281 msg->setArgument( 2, (char)((int32_t)(mag.mx/AKDP_MAG_SENSITIVITY) & 0x00FF) );
masahikofukasawa 20:2fca76521680 282 msg->setArgument( 3, (char)((int32_t)(mag.my/AKDP_MAG_SENSITIVITY) >> 8) );
masahikofukasawa 20:2fca76521680 283 msg->setArgument( 4, (char)((int32_t)(mag.my/AKDP_MAG_SENSITIVITY) & 0x00FF) );
masahikofukasawa 20:2fca76521680 284 msg->setArgument( 5, (char)((int32_t)(mag.mz/AKDP_MAG_SENSITIVITY) >> 8) );
masahikofukasawa 20:2fca76521680 285 msg->setArgument( 6, (char)((int32_t)(mag.mz/AKDP_MAG_SENSITIVITY) & 0x00FF) );
masahikofukasawa 0:7a00359e701e 286 return AkmSensor::SUCCESS;
masahikofukasawa 0:7a00359e701e 287 }
masahikofukasawa 0:7a00359e701e 288
masahikofukasawa 0:7a00359e701e 289 AkmSensor::Status AkmAkd::requestCommand(Message* in, Message* out){
masahikofukasawa 9:6fa3e7b17c27 290 AkmSensor::Status status = AkmSensor::SUCCESS;
masahikofukasawa 9:6fa3e7b17c27 291 Message::Command cmd = in->getCommand();
masahikofukasawa 9:6fa3e7b17c27 292 out->setCommand(cmd);
masahikofukasawa 9:6fa3e7b17c27 293
masahikofukasawa 9:6fa3e7b17c27 294 switch(cmd){
masahikofukasawa 9:6fa3e7b17c27 295 case Message::CMD_COMPASS_GET_OPERATION_MODE:
masahikofukasawa 9:6fa3e7b17c27 296 {
masahikofukasawa 18:b7182d5ad8d5 297 if(subId == AkmAkd::SUB_ID_AK09915C || subId == AkmAkd::SUB_ID_AK09915D){
masahikofukasawa 18:b7182d5ad8d5 298 if(compass->getOperationMode(&mode, &nsf, &sdr) != AkmECompass::SUCCESS) {
masahikofukasawa 18:b7182d5ad8d5 299 status = AkmSensor::ERROR;
masahikofukasawa 18:b7182d5ad8d5 300 MSG("#Error set operation mode.\r\n");
masahikofukasawa 18:b7182d5ad8d5 301 }else{
masahikofukasawa 18:b7182d5ad8d5 302 out->setArgument(0,mode);
masahikofukasawa 18:b7182d5ad8d5 303 out->setArgument(1,nsf);
masahikofukasawa 18:b7182d5ad8d5 304 out->setArgument(2,sdr);
masahikofukasawa 18:b7182d5ad8d5 305 }
masahikofukasawa 18:b7182d5ad8d5 306
masahikofukasawa 18:b7182d5ad8d5 307 }else if(subId == AkmAkd::SUB_ID_AK09912C){
masahikofukasawa 18:b7182d5ad8d5 308 if(compass->getOperationMode(&mode, &nsf) != AkmECompass::SUCCESS) {
masahikofukasawa 18:b7182d5ad8d5 309 status = AkmSensor::ERROR;
masahikofukasawa 18:b7182d5ad8d5 310 MSG("#Error set operation mode.\r\n");
masahikofukasawa 18:b7182d5ad8d5 311 }else{
masahikofukasawa 18:b7182d5ad8d5 312 out->setArgument(0,mode);
masahikofukasawa 18:b7182d5ad8d5 313 out->setArgument(1,nsf);
masahikofukasawa 18:b7182d5ad8d5 314 }
masahikofukasawa 15:1238993fd75f 315 }else{
masahikofukasawa 18:b7182d5ad8d5 316 if(compass->getOperationMode(&mode) != AkmECompass::SUCCESS) {
masahikofukasawa 18:b7182d5ad8d5 317 status = AkmSensor::ERROR;
masahikofukasawa 18:b7182d5ad8d5 318 MSG("#Error set operation mode.\r\n");
masahikofukasawa 18:b7182d5ad8d5 319 }else{
masahikofukasawa 18:b7182d5ad8d5 320 out->setArgument(0,mode);
masahikofukasawa 18:b7182d5ad8d5 321 }
masahikofukasawa 9:6fa3e7b17c27 322 }
masahikofukasawa 9:6fa3e7b17c27 323 break;
masahikofukasawa 9:6fa3e7b17c27 324 }
masahikofukasawa 9:6fa3e7b17c27 325 case Message::CMD_COMPASS_SET_OPERATION_MODE:
masahikofukasawa 9:6fa3e7b17c27 326 {
masahikofukasawa 9:6fa3e7b17c27 327 mode = (AkmECompass::OperationMode)in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 328 if(subId == AkmAkd::SUB_ID_AK09915C || subId == AkmAkd::SUB_ID_AK09915D){
masahikofukasawa 9:6fa3e7b17c27 329 nsf = (AkmECompass::Nsf)in->getArgument(1);
masahikofukasawa 9:6fa3e7b17c27 330 sdr = (AkmECompass::Sdr)in->getArgument(2);
masahikofukasawa 9:6fa3e7b17c27 331 if(compass->setOperationMode(mode,nsf,sdr) != AkmECompass::SUCCESS) {
masahikofukasawa 9:6fa3e7b17c27 332 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 333 MSG("#Error set operation mode.\r\n");
masahikofukasawa 9:6fa3e7b17c27 334 }
masahikofukasawa 9:6fa3e7b17c27 335 }
masahikofukasawa 10:5c69b067d88a 336 else if(subId == AkmAkd::SUB_ID_AK09912C){
masahikofukasawa 9:6fa3e7b17c27 337 nsf = (AkmECompass::Nsf)in->getArgument(1);
masahikofukasawa 9:6fa3e7b17c27 338 if(compass->setOperationMode(mode,(AkmECompass::Nsf)nsf) != AkmECompass::SUCCESS) {
masahikofukasawa 9:6fa3e7b17c27 339 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 340 MSG("#Error set operation mode.\r\n");
masahikofukasawa 9:6fa3e7b17c27 341 }
masahikofukasawa 9:6fa3e7b17c27 342 }
masahikofukasawa 9:6fa3e7b17c27 343 else{
masahikofukasawa 9:6fa3e7b17c27 344 if(compass->setOperationMode(mode) != AkmECompass::SUCCESS) {
masahikofukasawa 9:6fa3e7b17c27 345 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 346 MSG("#Error set operation mode.\r\n");
masahikofukasawa 9:6fa3e7b17c27 347 }
masahikofukasawa 9:6fa3e7b17c27 348 }
masahikofukasawa 9:6fa3e7b17c27 349 out->setArgument(0,(char)status);
masahikofukasawa 9:6fa3e7b17c27 350 break;
masahikofukasawa 15:1238993fd75f 351 }
masahikofukasawa 15:1238993fd75f 352 case Message::CMD_REG_WRITE:
masahikofukasawa 9:6fa3e7b17c27 353 case Message::CMD_REG_WRITEN:
masahikofukasawa 9:6fa3e7b17c27 354 {
masahikofukasawa 9:6fa3e7b17c27 355 char address = in->getArgument(0);
masahikofukasawa 9:6fa3e7b17c27 356 int len = (int)in->getArgument(1);
masahikofukasawa 15:1238993fd75f 357 if(in->getArgNum() != len+2){
masahikofukasawa 15:1238993fd75f 358 MSG("#Error argument num. Args=%d\r\n",in->getArgNum());
masahikofukasawa 15:1238993fd75f 359 status = AkmSensor::ERROR;
masahikofukasawa 15:1238993fd75f 360 out->setArgument(0,(char)status);
masahikofukasawa 15:1238993fd75f 361 return status;
masahikofukasawa 15:1238993fd75f 362 }
masahikofukasawa 15:1238993fd75f 363
masahikofukasawa 9:6fa3e7b17c27 364 char data[len];
masahikofukasawa 9:6fa3e7b17c27 365 for(int i=0; i<len; i++){
masahikofukasawa 15:1238993fd75f 366 data[i] = in->getArgument(i+2);
masahikofukasawa 9:6fa3e7b17c27 367 }
masahikofukasawa 9:6fa3e7b17c27 368 if( compass->write(address, data, len) != AkmECompass::SUCCESS) {
masahikofukasawa 9:6fa3e7b17c27 369 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 370 MSG("#Error register write.\r\n");
masahikofukasawa 9:6fa3e7b17c27 371 }
masahikofukasawa 9:6fa3e7b17c27 372 out->setArgument(0,(char)status);
masahikofukasawa 9:6fa3e7b17c27 373 break;
masahikofukasawa 15:1238993fd75f 374 }
masahikofukasawa 9:6fa3e7b17c27 375 case Message::CMD_REG_READ:
masahikofukasawa 9:6fa3e7b17c27 376 case Message::CMD_REG_READN:
masahikofukasawa 9:6fa3e7b17c27 377 {
masahikofukasawa 15:1238993fd75f 378 if(in->getArgNum() != 2){
masahikofukasawa 15:1238993fd75f 379 MSG("#Error argument num. Args=%d\r\n",in->getArgNum());
masahikofukasawa 15:1238993fd75f 380 status = AkmSensor::ERROR;
masahikofukasawa 15:1238993fd75f 381 return status;
masahikofukasawa 15:1238993fd75f 382 }
masahikofukasawa 15:1238993fd75f 383
masahikofukasawa 9:6fa3e7b17c27 384 char address = in->getArgument(0);
masahikofukasawa 9:6fa3e7b17c27 385 int len = (int)in->getArgument(1);
masahikofukasawa 9:6fa3e7b17c27 386 char data[len];
masahikofukasawa 9:6fa3e7b17c27 387 if( compass->read(address, data, len) != AkmECompass::SUCCESS) {
masahikofukasawa 9:6fa3e7b17c27 388 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 389 MSG("#Error register read.\r\n");
masahikofukasawa 9:6fa3e7b17c27 390 }
masahikofukasawa 9:6fa3e7b17c27 391 for(int i=0; i<len; i++){
masahikofukasawa 9:6fa3e7b17c27 392 out->setArgument(i, data[i]);
masahikofukasawa 9:6fa3e7b17c27 393 }
masahikofukasawa 9:6fa3e7b17c27 394 break;
masahikofukasawa 9:6fa3e7b17c27 395 }
masahikofukasawa 9:6fa3e7b17c27 396 default:
masahikofukasawa 9:6fa3e7b17c27 397 {
masahikofukasawa 11:cef8dc1cf010 398 MSG("#Error no command.\r\n");
masahikofukasawa 9:6fa3e7b17c27 399 status = AkmSensor::ERROR;
masahikofukasawa 9:6fa3e7b17c27 400 break;
masahikofukasawa 9:6fa3e7b17c27 401 }
masahikofukasawa 9:6fa3e7b17c27 402 }
masahikofukasawa 15:1238993fd75f 403 return status;
masahikofukasawa 0:7a00359e701e 404 }