Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

ak09970ctrl.cpp@40:42e48427e4b7, 2017-07-19 (annotated)

Committer:
masahikofukasawa
Date:
Wed Jul 19 23:30:22 2017 +0000
Revision:
40:42e48427e4b7
Parent:
39:3821886c902e
Child:
43:45225713cd58
Changed I2C speed:100kHz --> 400kHz, Serial baud-rate: 115200bps --> 460800bps for faster sampling.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
masahikofukasawa 10:5c69b067d88a 1 #include "ak09970ctrl.h"
masahikofukasawa 10:5c69b067d88a 2 #include "debug.h"
masahikofukasawa 10:5c69b067d88a 3
masahikofukasawa 29:b488d2c89fba 4 #ifndef PI
masahikofukasawa 29:b488d2c89fba 5 #define PI 3.14159265358979323846
masahikofukasawa 29:b488d2c89fba 6 #endif
masahikofukasawa 29:b488d2c89fba 7
masahikofukasawa 10:5c69b067d88a 8 #define CONV16I(high,low) ((int16_t)(((high) << 8) | (low)))
masahikofukasawa 10:5c69b067d88a 9 /**
masahikofukasawa 10:5c69b067d88a 10 * Constructor.
masahikofukasawa 10:5c69b067d88a 11 *
masahikofukasawa 10:5c69b067d88a 12 */
masahikofukasawa 27:41aa9fb23a2f 13 Ak09970Ctrl::Ak09970Ctrl() : AkmSensor(){
masahikofukasawa 10:5c69b067d88a 14 ak09970 = NULL;
masahikofukasawa 10:5c69b067d88a 15 }
masahikofukasawa 10:5c69b067d88a 16
masahikofukasawa 10:5c69b067d88a 17 /**
masahikofukasawa 10:5c69b067d88a 18 * Destructor.
masahikofukasawa 10:5c69b067d88a 19 *
masahikofukasawa 10:5c69b067d88a 20 */
masahikofukasawa 10:5c69b067d88a 21 Ak09970Ctrl::~Ak09970Ctrl(){
masahikofukasawa 10:5c69b067d88a 22 if (ak09970) delete ak09970;
masahikofukasawa 10:5c69b067d88a 23 }
masahikofukasawa 10:5c69b067d88a 24
masahikofukasawa 10:5c69b067d88a 25 AkmSensor::Status Ak09970Ctrl::init(const uint8_t id, const uint8_t subid){
masahikofukasawa 10:5c69b067d88a 26 primaryId = id;
masahikofukasawa 10:5c69b067d88a 27 subId = subid;
masahikofukasawa 10:5c69b067d88a 28
masahikofukasawa 10:5c69b067d88a 29 // initialize readConfig
masahikofukasawa 10:5c69b067d88a 30 readConfig.enabledReadX = false;
masahikofukasawa 10:5c69b067d88a 31 readConfig.enabledReadY = false;
masahikofukasawa 10:5c69b067d88a 32 readConfig.enabledReadZ = false;
masahikofukasawa 10:5c69b067d88a 33 readConfig.enabledUpperOnly = false;
masahikofukasawa 10:5c69b067d88a 34
masahikofukasawa 10:5c69b067d88a 35 if(primaryId == AKM_PRIMARY_ID_AKD_I2C){
masahikofukasawa 10:5c69b067d88a 36
masahikofukasawa 10:5c69b067d88a 37 I2C* i2c = new I2C(I2C_SDA,I2C_SCL);
masahikofukasawa 40:42e48427e4b7 38 i2c->frequency(I2C_SPEED);
masahikofukasawa 10:5c69b067d88a 39
masahikofukasawa 10:5c69b067d88a 40 switch(subid){
masahikofukasawa 10:5c69b067d88a 41 case Ak09970Ctrl::SUB_ID_AK09970:
masahikofukasawa 10:5c69b067d88a 42 ak09970 = new AK09970();
masahikofukasawa 10:5c69b067d88a 43 Ak09970Ctrl::sensorName = "AK09970";
masahikofukasawa 10:5c69b067d88a 44 break;
masahikofukasawa 10:5c69b067d88a 45 default:
masahikofukasawa 10:5c69b067d88a 46 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 47 }
masahikofukasawa 10:5c69b067d88a 48
masahikofukasawa 10:5c69b067d88a 49 bool foundSensor = false;
masahikofukasawa 10:5c69b067d88a 50
masahikofukasawa 10:5c69b067d88a 51 AK09970::SlaveAddress slaveAddr[]
masahikofukasawa 10:5c69b067d88a 52 = { AK09970::SLAVE_ADDR_1,
masahikofukasawa 10:5c69b067d88a 53 AK09970::SLAVE_ADDR_2};
masahikofukasawa 10:5c69b067d88a 54
masahikofukasawa 10:5c69b067d88a 55 for(int i=0; i<sizeof(slaveAddr); i++)
masahikofukasawa 10:5c69b067d88a 56 {
masahikofukasawa 10:5c69b067d88a 57 ak09970->init(i2c, slaveAddr[i]);
masahikofukasawa 10:5c69b067d88a 58 // Checks connectivity
masahikofukasawa 10:5c69b067d88a 59 if(ak09970->checkConnection() == AK09970::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 60 // found
masahikofukasawa 10:5c69b067d88a 61 foundSensor = true;
masahikofukasawa 10:5c69b067d88a 62 break;
masahikofukasawa 10:5c69b067d88a 63 }
masahikofukasawa 10:5c69b067d88a 64 }
masahikofukasawa 10:5c69b067d88a 65 if(foundSensor != true){
masahikofukasawa 10:5c69b067d88a 66 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 67 }
masahikofukasawa 10:5c69b067d88a 68
masahikofukasawa 10:5c69b067d88a 69 // software reset
masahikofukasawa 10:5c69b067d88a 70 ak09970->reset();
masahikofukasawa 10:5c69b067d88a 71
masahikofukasawa 10:5c69b067d88a 72 }else if(primaryId == AKM_PRIMARY_ID_AKD_SPI){
masahikofukasawa 10:5c69b067d88a 73
masahikofukasawa 10:5c69b067d88a 74 SPI* spi = new SPI(SPI_MOSI, SPI_MISO, SPI_SCK);
masahikofukasawa 10:5c69b067d88a 75 spi->format(8,3); // 8bit, Mode=3
masahikofukasawa 10:5c69b067d88a 76 spi->frequency(1000000);
masahikofukasawa 10:5c69b067d88a 77
masahikofukasawa 10:5c69b067d88a 78 DigitalOut* cs = new DigitalOut(SPI_CS);
masahikofukasawa 10:5c69b067d88a 79
masahikofukasawa 10:5c69b067d88a 80 switch(subid){
masahikofukasawa 10:5c69b067d88a 81 case Ak09970Ctrl::SUB_ID_AK09970:
masahikofukasawa 10:5c69b067d88a 82 ak09970 = new AK09970();
masahikofukasawa 10:5c69b067d88a 83 Ak09970Ctrl::sensorName = "AK09970";
masahikofukasawa 10:5c69b067d88a 84 break;
masahikofukasawa 10:5c69b067d88a 85 default:
masahikofukasawa 10:5c69b067d88a 86 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 87 }
masahikofukasawa 10:5c69b067d88a 88
masahikofukasawa 10:5c69b067d88a 89 bool foundSensor = false;
masahikofukasawa 10:5c69b067d88a 90 ak09970->init(spi, cs);
masahikofukasawa 10:5c69b067d88a 91 if(ak09970->checkConnection() == AK09970::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 92 foundSensor = true;
masahikofukasawa 10:5c69b067d88a 93 }
masahikofukasawa 10:5c69b067d88a 94 if(foundSensor != true){
masahikofukasawa 39:3821886c902e 95 MSG("#Error: Failed checkConnetion(SPI). %s\r\n",Ak09970Ctrl::sensorName);
masahikofukasawa 10:5c69b067d88a 96 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 97 }
masahikofukasawa 10:5c69b067d88a 98
masahikofukasawa 10:5c69b067d88a 99 // software reset
masahikofukasawa 10:5c69b067d88a 100 ak09970->reset();
masahikofukasawa 10:5c69b067d88a 101 }
masahikofukasawa 10:5c69b067d88a 102 else{
masahikofukasawa 10:5c69b067d88a 103 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 104 }
masahikofukasawa 10:5c69b067d88a 105
masahikofukasawa 11:cef8dc1cf010 106 MSG("#%s detected.\r\n", Ak09970Ctrl::sensorName);
masahikofukasawa 10:5c69b067d88a 107 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 108 }
masahikofukasawa 10:5c69b067d88a 109
masahikofukasawa 29:b488d2c89fba 110 void Ak09970Ctrl::setEvent(){
masahikofukasawa 29:b488d2c89fba 111 // MSG("#setEvent() in %s.\r\n",sensorName);
masahikofukasawa 29:b488d2c89fba 112 AK09970::Status status = ak09970->isDataReady();
masahikofukasawa 29:b488d2c89fba 113 if( status == AK09970::DATA_READY ) base::setEvent();
masahikofukasawa 10:5c69b067d88a 114 }
masahikofukasawa 10:5c69b067d88a 115
masahikofukasawa 10:5c69b067d88a 116 AkmSensor::Status Ak09970Ctrl::startSensor(){
masahikofukasawa 11:cef8dc1cf010 117 // read one data to clear switch
masahikofukasawa 11:cef8dc1cf010 118 AK09970::SwitchStatus sw_status;
masahikofukasawa 11:cef8dc1cf010 119 ak09970->getSwitchStatus(&sw_status, readConfig);
masahikofukasawa 11:cef8dc1cf010 120
masahikofukasawa 11:cef8dc1cf010 121 // set operation mode
masahikofukasawa 10:5c69b067d88a 122 if(ak09970->setOperationMode(mode,sensorDriveMode,sensorMeasurementRange) != AK09970::SUCCESS) {
masahikofukasawa 39:3821886c902e 123 MSG("#Error: Start sensor %s.\r\n", sensorName);
masahikofukasawa 10:5c69b067d88a 124 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 125 }
masahikofukasawa 10:5c69b067d88a 126
masahikofukasawa 10:5c69b067d88a 127 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 128 }
masahikofukasawa 10:5c69b067d88a 129
masahikofukasawa 10:5c69b067d88a 130 AkmSensor::Status Ak09970Ctrl::startSensor(const float sec){
masahikofukasawa 39:3821886c902e 131 MSG("#Error: Start sensor %s.\r\n", sensorName);
masahikofukasawa 11:cef8dc1cf010 132 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 133 }
masahikofukasawa 10:5c69b067d88a 134
masahikofukasawa 10:5c69b067d88a 135 AkmSensor::Status Ak09970Ctrl::stopSensor(){
masahikofukasawa 29:b488d2c89fba 136 AkmSensor::clearEvent();
masahikofukasawa 11:cef8dc1cf010 137
masahikofukasawa 10:5c69b067d88a 138 if(ak09970->setOperationMode(AK09970::MODE_POWER_DOWN, sensorDriveMode, sensorMeasurementRange) != AK09970::SUCCESS) {
masahikofukasawa 39:3821886c902e 139 MSG("#Error: Stop sensor %s.\r\n", sensorName);
masahikofukasawa 10:5c69b067d88a 140 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 141 }
masahikofukasawa 11:cef8dc1cf010 142
masahikofukasawa 11:cef8dc1cf010 143 // read one data to clear switch
masahikofukasawa 11:cef8dc1cf010 144 AK09970::SwitchStatus sw_status;
masahikofukasawa 11:cef8dc1cf010 145 ak09970->getSwitchStatus(&sw_status, readConfig);
masahikofukasawa 11:cef8dc1cf010 146
masahikofukasawa 10:5c69b067d88a 147 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 148 }
masahikofukasawa 10:5c69b067d88a 149
masahikofukasawa 10:5c69b067d88a 150 AkmSensor::Status Ak09970Ctrl::readSensorData(Message* msg){
masahikofukasawa 29:b488d2c89fba 151 AkmSensor::clearEvent();
masahikofukasawa 10:5c69b067d88a 152
masahikofukasawa 10:5c69b067d88a 153 AK09970::SwitchStatus sw_status;
masahikofukasawa 10:5c69b067d88a 154 if( ak09970->getSwitchStatus(&sw_status, readConfig) != AkmSensor::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 155 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 156 }
masahikofukasawa 10:5c69b067d88a 157
masahikofukasawa 10:5c69b067d88a 158 msg->setCommand(Message::CMD_START_MEASUREMENT);
masahikofukasawa 10:5c69b067d88a 159 msg->setArgument(0, sensorMeasurementRange);
masahikofukasawa 10:5c69b067d88a 160 msg->setArgument(1, sw_status.st_hi);
masahikofukasawa 10:5c69b067d88a 161 msg->setArgument(2, sw_status.st_lo);
masahikofukasawa 10:5c69b067d88a 162 msg->setArgument(3, (char)(sw_status.mag.mx>>8));
masahikofukasawa 10:5c69b067d88a 163 msg->setArgument(4, (char)(sw_status.mag.mx & 0x00FF));
masahikofukasawa 10:5c69b067d88a 164 msg->setArgument(5, (char)(sw_status.mag.my>>8));
masahikofukasawa 10:5c69b067d88a 165 msg->setArgument(6, (char)(sw_status.mag.my & 0x00FF));
masahikofukasawa 10:5c69b067d88a 166 msg->setArgument(7, (char)(sw_status.mag.mz>>8));
masahikofukasawa 10:5c69b067d88a 167 msg->setArgument(8, (char)(sw_status.mag.mz & 0x00FF));
masahikofukasawa 10:5c69b067d88a 168
masahikofukasawa 10:5c69b067d88a 169 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 170 }
masahikofukasawa 10:5c69b067d88a 171
masahikofukasawa 10:5c69b067d88a 172 AkmSensor::Status Ak09970Ctrl::requestCommand(Message* in, Message* out){
masahikofukasawa 10:5c69b067d88a 173 AkmSensor::Status status = AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 174 Message::Command cmd = in->getCommand();
masahikofukasawa 10:5c69b067d88a 175 out->setCommand(cmd);
masahikofukasawa 10:5c69b067d88a 176
masahikofukasawa 10:5c69b067d88a 177 switch(cmd){
masahikofukasawa 10:5c69b067d88a 178 case Message::CMD_PROGSW_GET_THRESHOLD:
masahikofukasawa 10:5c69b067d88a 179 {
masahikofukasawa 10:5c69b067d88a 180 if(in->getArgNum() != 1){
masahikofukasawa 39:3821886c902e 181 MSG("#Error: Argument num. AK09970. Args=%d\r\n",in->getArgNum());
masahikofukasawa 10:5c69b067d88a 182 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 183 }
masahikofukasawa 10:5c69b067d88a 184
masahikofukasawa 10:5c69b067d88a 185 AK09970::SensorAxis axis = (AK09970::SensorAxis)in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 186 AK09970::Threshold th;
masahikofukasawa 10:5c69b067d88a 187 if( ak09970->getThreshold(axis, &th) != AkmSensor::SUCCESS ){
masahikofukasawa 10:5c69b067d88a 188 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 189 }
masahikofukasawa 10:5c69b067d88a 190 out->setArgument(0, axis);
masahikofukasawa 10:5c69b067d88a 191 out->setArgument(1,(char)((int32_t)(th.BOP1) >> 8));
masahikofukasawa 10:5c69b067d88a 192 out->setArgument(2,(char)((int32_t)(th.BOP1) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 193 out->setArgument(3,(char)((int32_t)(th.BRP1) >> 8));
masahikofukasawa 10:5c69b067d88a 194 out->setArgument(4,(char)((int32_t)(th.BRP1) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 195 out->setArgument(5,(char)((int32_t)(th.BOP2) >> 8));
masahikofukasawa 10:5c69b067d88a 196 out->setArgument(6,(char)((int32_t)(th.BOP2) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 197 out->setArgument(7,(char)((int32_t)(th.BRP2) >> 8));
masahikofukasawa 10:5c69b067d88a 198 out->setArgument(8,(char)((int32_t)(th.BRP2) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 199 break;
masahikofukasawa 10:5c69b067d88a 200 }
masahikofukasawa 10:5c69b067d88a 201 case Message::CMD_PROGSW_SET_THRESHOLD:
masahikofukasawa 10:5c69b067d88a 202 {
masahikofukasawa 10:5c69b067d88a 203 if(in->getArgNum() != 9){
masahikofukasawa 39:3821886c902e 204 MSG("#Error: Argument num. AK09970. Args=%d\r\n",in->getArgNum());
masahikofukasawa 10:5c69b067d88a 205 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 206 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 207 return status;
masahikofukasawa 10:5c69b067d88a 208 }
masahikofukasawa 10:5c69b067d88a 209
masahikofukasawa 10:5c69b067d88a 210 AK09970::SensorAxis axis = (AK09970::SensorAxis)in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 211 AK09970::Threshold th;
masahikofukasawa 10:5c69b067d88a 212
masahikofukasawa 10:5c69b067d88a 213 th.BOP1 = CONV16I(in->getArgument(1),in->getArgument(2));
masahikofukasawa 10:5c69b067d88a 214 th.BRP1 = CONV16I(in->getArgument(3),in->getArgument(4));
masahikofukasawa 10:5c69b067d88a 215 th.BOP2 = CONV16I(in->getArgument(5),in->getArgument(6));
masahikofukasawa 10:5c69b067d88a 216 th.BRP2 = CONV16I(in->getArgument(7),in->getArgument(8));
masahikofukasawa 10:5c69b067d88a 217 if( ak09970->setThreshold(axis, th) != AkmSensor::SUCCESS ){
masahikofukasawa 10:5c69b067d88a 218 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 219 }
masahikofukasawa 10:5c69b067d88a 220 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 221 break;
masahikofukasawa 10:5c69b067d88a 222 }
masahikofukasawa 10:5c69b067d88a 223 case Message::CMD_PROGSW_GET_READ_COFIGURATION:
masahikofukasawa 10:5c69b067d88a 224 {
masahikofukasawa 10:5c69b067d88a 225 if(in->getArgNum() != 0){
masahikofukasawa 39:3821886c902e 226 MSG("#Error: Argument num. AK09970. Args=%d\r\n",in->getArgNum());
masahikofukasawa 10:5c69b067d88a 227 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 228 }
masahikofukasawa 10:5c69b067d88a 229
masahikofukasawa 10:5c69b067d88a 230 out->setArgument(0, readConfig.enabledReadX);
masahikofukasawa 10:5c69b067d88a 231 out->setArgument(1, readConfig.enabledReadY);
masahikofukasawa 10:5c69b067d88a 232 out->setArgument(2, readConfig.enabledReadZ);
masahikofukasawa 10:5c69b067d88a 233 out->setArgument(3, readConfig.enabledUpperOnly);
masahikofukasawa 10:5c69b067d88a 234 break;
masahikofukasawa 10:5c69b067d88a 235 }
masahikofukasawa 10:5c69b067d88a 236 case Message::CMD_PROGSW_SET_READ_COFIGURATION:
masahikofukasawa 10:5c69b067d88a 237 {
masahikofukasawa 10:5c69b067d88a 238 if(in->getArgNum() != 4){
masahikofukasawa 39:3821886c902e 239 MSG("#Error: Argument num. AK09970. Args=%d\r\n",in->getArgNum());
masahikofukasawa 10:5c69b067d88a 240 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 241 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 242 return status;
masahikofukasawa 10:5c69b067d88a 243 }
masahikofukasawa 10:5c69b067d88a 244
masahikofukasawa 10:5c69b067d88a 245 readConfig.enabledReadX = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 246 readConfig.enabledReadY = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 247 readConfig.enabledReadZ = in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 248 readConfig.enabledUpperOnly = in->getArgument(3);
masahikofukasawa 10:5c69b067d88a 249 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 250 break;
masahikofukasawa 10:5c69b067d88a 251 }
masahikofukasawa 10:5c69b067d88a 252 case Message::CMD_PROGSW_GET_SWITCH_COFIGURATION:
masahikofukasawa 10:5c69b067d88a 253 {
masahikofukasawa 10:5c69b067d88a 254 if(in->getArgNum() != 0){
masahikofukasawa 39:3821886c902e 255 MSG("#Error: Argument num. AK09970. Args=%d\r\n",in->getArgNum());
masahikofukasawa 10:5c69b067d88a 256 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 257 }
masahikofukasawa 10:5c69b067d88a 258
masahikofukasawa 10:5c69b067d88a 259 if(ak09970->getSwitchConfig(&switchConfig) != AK09970::SUCCESS) {
masahikofukasawa 39:3821886c902e 260 MSG("#Error: getSwitchConfig. AK09970.\r\n");
masahikofukasawa 15:1238993fd75f 261 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 262 }
masahikofukasawa 10:5c69b067d88a 263 out->setArgument(0,switchConfig.enabledODINTEN);
masahikofukasawa 10:5c69b067d88a 264 out->setArgument(1,switchConfig.enabledINTEN);
masahikofukasawa 10:5c69b067d88a 265 out->setArgument(2,switchConfig.enabledERRADCEN);
masahikofukasawa 10:5c69b067d88a 266 out->setArgument(3,switchConfig.enabledERRXYEN);
masahikofukasawa 10:5c69b067d88a 267 out->setArgument(4,switchConfig.enabledSWZ2EN);
masahikofukasawa 10:5c69b067d88a 268 out->setArgument(5,switchConfig.enabledSWZ1EN);
masahikofukasawa 10:5c69b067d88a 269 out->setArgument(6,switchConfig.enabledSWY2EN);
masahikofukasawa 10:5c69b067d88a 270 out->setArgument(7,switchConfig.enabledSWY1EN);
masahikofukasawa 10:5c69b067d88a 271 out->setArgument(8,switchConfig.enabledSWX2EN);
masahikofukasawa 10:5c69b067d88a 272 out->setArgument(9,switchConfig.enabledSWX1EN);
masahikofukasawa 10:5c69b067d88a 273 out->setArgument(10,switchConfig.enabledDRDYEN);
masahikofukasawa 10:5c69b067d88a 274 break;
masahikofukasawa 10:5c69b067d88a 275 }
masahikofukasawa 10:5c69b067d88a 276 case Message::CMD_PROGSW_SET_SWITCH_COFIGURATION:
masahikofukasawa 10:5c69b067d88a 277 {
masahikofukasawa 10:5c69b067d88a 278 if(in->getArgNum() != 11){
masahikofukasawa 39:3821886c902e 279 MSG("#Error: Argument num. AK09970. Args=%d\r\n",in->getArgNum());
masahikofukasawa 10:5c69b067d88a 280 for(int i=0; i<in->getArgNum(); i++){
masahikofukasawa 11:cef8dc1cf010 281 MSG("#%d = %02X\r\n",i,in->getArgument(i));
masahikofukasawa 10:5c69b067d88a 282 }
masahikofukasawa 10:5c69b067d88a 283 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 284 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 285 return status;
masahikofukasawa 10:5c69b067d88a 286 }
masahikofukasawa 10:5c69b067d88a 287
masahikofukasawa 10:5c69b067d88a 288 switchConfig.enabledODINTEN = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 289 switchConfig.enabledINTEN = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 290 switchConfig.enabledERRADCEN = in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 291 switchConfig.enabledERRXYEN = in->getArgument(3);
masahikofukasawa 10:5c69b067d88a 292 switchConfig.enabledSWZ2EN = in->getArgument(4);
masahikofukasawa 10:5c69b067d88a 293 switchConfig.enabledSWZ1EN = in->getArgument(5);
masahikofukasawa 10:5c69b067d88a 294 switchConfig.enabledSWY2EN = in->getArgument(6);
masahikofukasawa 10:5c69b067d88a 295 switchConfig.enabledSWY1EN = in->getArgument(7);
masahikofukasawa 10:5c69b067d88a 296 switchConfig.enabledSWX2EN = in->getArgument(8);
masahikofukasawa 10:5c69b067d88a 297 switchConfig.enabledSWX1EN = in->getArgument(9);
masahikofukasawa 10:5c69b067d88a 298 switchConfig.enabledDRDYEN = in->getArgument(10);
masahikofukasawa 10:5c69b067d88a 299
masahikofukasawa 10:5c69b067d88a 300 if(ak09970->setSwitchConfig(switchConfig) != AK09970::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 301 status = AkmSensor::ERROR;
masahikofukasawa 39:3821886c902e 302 MSG("#Error: setSwitchConfig. AK09970.\r\n");
masahikofukasawa 10:5c69b067d88a 303 }
masahikofukasawa 10:5c69b067d88a 304 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 305 break;
masahikofukasawa 10:5c69b067d88a 306 }
masahikofukasawa 10:5c69b067d88a 307 case Message::CMD_PROGSW_GET_OPERATION_MODE:
masahikofukasawa 10:5c69b067d88a 308 {
masahikofukasawa 10:5c69b067d88a 309 if(in->getArgNum() != 0){
masahikofukasawa 39:3821886c902e 310 MSG("#Error: Argument num. AK09970. Args=%d\r\n",in->getArgNum());
masahikofukasawa 10:5c69b067d88a 311 return AkmSensor::ERROR;
masahikofukasawa 15:1238993fd75f 312 }
masahikofukasawa 10:5c69b067d88a 313
masahikofukasawa 10:5c69b067d88a 314 if(ak09970->getOperationMode(&mode, &sensorDriveMode, &sensorMeasurementRange) != AK09970::SUCCESS) {
masahikofukasawa 39:3821886c902e 315 MSG("#Error: getOperationMode. AK09970.\r\n");
masahikofukasawa 15:1238993fd75f 316 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 317 }
masahikofukasawa 10:5c69b067d88a 318 out->setArgument(0,(char)sensorMeasurementRange);
masahikofukasawa 10:5c69b067d88a 319 out->setArgument(1,(char)sensorDriveMode);
masahikofukasawa 10:5c69b067d88a 320 out->setArgument(2,(char)mode);
masahikofukasawa 10:5c69b067d88a 321 break;
masahikofukasawa 10:5c69b067d88a 322 }
masahikofukasawa 10:5c69b067d88a 323 case Message::CMD_PROGSW_SET_OPERATION_MODE:
masahikofukasawa 10:5c69b067d88a 324 {
masahikofukasawa 10:5c69b067d88a 325 if(in->getArgNum() != 3){
masahikofukasawa 39:3821886c902e 326 MSG("#Error: Argument num. AK09970. Args=%d\r\n",in->getArgNum());
masahikofukasawa 10:5c69b067d88a 327 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 328 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 329 return status;
masahikofukasawa 10:5c69b067d88a 330 }
masahikofukasawa 10:5c69b067d88a 331
masahikofukasawa 10:5c69b067d88a 332 sensorMeasurementRange = (AK09970::SensorMeasurementRange)(in->getArgument(0));
masahikofukasawa 10:5c69b067d88a 333 sensorDriveMode = (AK09970::SensorDriveMode)(in->getArgument(1));
masahikofukasawa 10:5c69b067d88a 334 mode = (AK09970::OperationMode)(in->getArgument(2));
masahikofukasawa 10:5c69b067d88a 335 if(ak09970->setOperationMode(mode, sensorDriveMode, sensorMeasurementRange) != AK09970::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 336 status = AkmSensor::ERROR;
masahikofukasawa 39:3821886c902e 337 MSG("#Error: setOperationMode. AK09970. %d,%d,%d\r\n",mode,sensorDriveMode,sensorMeasurementRange);
masahikofukasawa 10:5c69b067d88a 338 }
masahikofukasawa 10:5c69b067d88a 339 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 340 break;
masahikofukasawa 10:5c69b067d88a 341 }
masahikofukasawa 10:5c69b067d88a 342 case Message::CMD_REG_WRITE:
masahikofukasawa 10:5c69b067d88a 343 case Message::CMD_REG_WRITEN:
masahikofukasawa 10:5c69b067d88a 344 {
masahikofukasawa 10:5c69b067d88a 345 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 346 int len = (int)in->getArgument(1);
masahikofukasawa 15:1238993fd75f 347 if(in->getArgNum() != len+2){
masahikofukasawa 39:3821886c902e 348 MSG("#Error: Argument num. Args=%d\r\n",in->getArgNum());
masahikofukasawa 15:1238993fd75f 349 status = AkmSensor::ERROR;
masahikofukasawa 15:1238993fd75f 350 out->setArgument(0,(char)status);
masahikofukasawa 15:1238993fd75f 351 return status;
masahikofukasawa 15:1238993fd75f 352 }
masahikofukasawa 15:1238993fd75f 353
masahikofukasawa 10:5c69b067d88a 354 char data[len];
masahikofukasawa 10:5c69b067d88a 355 for(int i=0; i<len; i++){
masahikofukasawa 15:1238993fd75f 356 data[i] = in->getArgument(i+2);
masahikofukasawa 10:5c69b067d88a 357 }
masahikofukasawa 10:5c69b067d88a 358 if( ak09970->write(address, data, len) != AK09970::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 359 status = AkmSensor::ERROR;
masahikofukasawa 39:3821886c902e 360 MSG("#Error: Register write.\r\n");
masahikofukasawa 10:5c69b067d88a 361 }
masahikofukasawa 10:5c69b067d88a 362 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 363 break;
masahikofukasawa 10:5c69b067d88a 364 }
masahikofukasawa 10:5c69b067d88a 365 case Message::CMD_REG_READ:
masahikofukasawa 10:5c69b067d88a 366 case Message::CMD_REG_READN:
masahikofukasawa 10:5c69b067d88a 367 {
masahikofukasawa 10:5c69b067d88a 368 if(in->getArgNum() != 2){
masahikofukasawa 39:3821886c902e 369 MSG("#Error: Argument num. Args=%d\r\n",in->getArgNum());
masahikofukasawa 15:1238993fd75f 370 return AkmSensor::ERROR;
masahikofukasawa 15:1238993fd75f 371 }
masahikofukasawa 10:5c69b067d88a 372
masahikofukasawa 10:5c69b067d88a 373 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 374 int len = (int)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 375 char data[len];
masahikofukasawa 10:5c69b067d88a 376 if( ak09970->read(address, data, len) != AK09970::SUCCESS) {
masahikofukasawa 39:3821886c902e 377 MSG("#Error: Register read.\r\n");
masahikofukasawa 15:1238993fd75f 378 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 379 }
masahikofukasawa 10:5c69b067d88a 380 for(int i=0; i<len; i++){
masahikofukasawa 10:5c69b067d88a 381 out->setArgument(i, data[i]);
masahikofukasawa 10:5c69b067d88a 382 }
masahikofukasawa 10:5c69b067d88a 383 break;
masahikofukasawa 10:5c69b067d88a 384 }
masahikofukasawa 10:5c69b067d88a 385 default:
masahikofukasawa 10:5c69b067d88a 386 {
masahikofukasawa 39:3821886c902e 387 MSG("#Error: No command.\r\n");
masahikofukasawa 10:5c69b067d88a 388 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 389 break;
masahikofukasawa 10:5c69b067d88a 390 }
masahikofukasawa 10:5c69b067d88a 391 }
masahikofukasawa 10:5c69b067d88a 392 return status;
masahikofukasawa 10:5c69b067d88a 393 }