Modified for compatibility with Rev.E. hardware
Fork of AkmSensor by
akmakd.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:
- 41:a3ea80c594ec
Changed I2C speed:100kHz --> 400kHz, Serial baud-rate: 115200bps --> 460800bps for faster sampling.
Who changed what in which revision?
User | Revision | Line number | New 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 | } |
masahikofukasawa | 0:7a00359e701e | 13 | |
masahikofukasawa | 0:7a00359e701e | 14 | /** |
masahikofukasawa | 0:7a00359e701e | 15 | * Destructor. |
masahikofukasawa | 0:7a00359e701e | 16 | * |
masahikofukasawa | 0:7a00359e701e | 17 | */ |
masahikofukasawa | 0:7a00359e701e | 18 | AkmAkd::~AkmAkd(){ |
masahikofukasawa | 0:7a00359e701e | 19 | if (compass) delete compass; |
masahikofukasawa | 0:7a00359e701e | 20 | } |
masahikofukasawa | 0:7a00359e701e | 21 | |
masahikofukasawa | 20:2fca76521680 | 22 | AkmSensor::Status AkmAkd::checkSensor( const uint8_t primaryid, const uint8_t subid, AkmECompass::DeviceId* devid){ |
masahikofukasawa | 19:8dcc4f323bdc | 23 | AK099XX* ak099xx; |
masahikofukasawa | 19:8dcc4f323bdc | 24 | AK8963* ak8963; |
masahikofukasawa | 19:8dcc4f323bdc | 25 | |
masahikofukasawa | 19:8dcc4f323bdc | 26 | switch(subid){ |
masahikofukasawa | 19:8dcc4f323bdc | 27 | case AkmAkd::SUB_ID_AK8963N: |
masahikofukasawa | 19:8dcc4f323bdc | 28 | case AkmAkd::SUB_ID_AK8963C: |
masahikofukasawa | 20:2fca76521680 | 29 | *devid = AkmECompass::AK8963; |
masahikofukasawa | 19:8dcc4f323bdc | 30 | AkmAkd::sensorName = "AK8963"; |
masahikofukasawa | 19:8dcc4f323bdc | 31 | ak8963 = new AK8963(); |
masahikofukasawa | 19:8dcc4f323bdc | 32 | compass = ak8963; |
masahikofukasawa | 19:8dcc4f323bdc | 33 | break; |
masahikofukasawa | 19:8dcc4f323bdc | 34 | case AkmAkd::SUB_ID_AK09911C: |
masahikofukasawa | 20:2fca76521680 | 35 | *devid = AkmECompass::AK09911; |
masahikofukasawa | 19:8dcc4f323bdc | 36 | AkmAkd::sensorName = "AK09911C"; |
masahikofukasawa | 19:8dcc4f323bdc | 37 | if(primaryId == AKM_PRIMARY_ID_AKD_SPI) |
masahikofukasawa | 19:8dcc4f323bdc | 38 | return AkmSensor::ERROR; // No SPI support |
masahikofukasawa | 19:8dcc4f323bdc | 39 | ak099xx = new AK099XX(); |
masahikofukasawa | 19:8dcc4f323bdc | 40 | compass = ak099xx; |
masahikofukasawa | 19:8dcc4f323bdc | 41 | break; |
masahikofukasawa | 19:8dcc4f323bdc | 42 | case AkmAkd::SUB_ID_AK09912C: |
masahikofukasawa | 20:2fca76521680 | 43 | *devid = AkmECompass::AK09912; |
masahikofukasawa | 19:8dcc4f323bdc | 44 | AkmAkd::sensorName = "AK09912C"; |
masahikofukasawa | 19:8dcc4f323bdc | 45 | ak099xx = new AK099XX(); |
masahikofukasawa | 19:8dcc4f323bdc | 46 | compass = ak099xx; |
masahikofukasawa | 19:8dcc4f323bdc | 47 | break; |
masahikofukasawa | 19:8dcc4f323bdc | 48 | case AkmAkd::SUB_ID_AK09915C: |
masahikofukasawa | 20:2fca76521680 | 49 | *devid = AkmECompass::AK09915; |
masahikofukasawa | 19:8dcc4f323bdc | 50 | AkmAkd::sensorName = "AK09915C"; |
masahikofukasawa | 19:8dcc4f323bdc | 51 | ak099xx = new AK099XX(); |
masahikofukasawa | 19:8dcc4f323bdc | 52 | compass = ak099xx; |
masahikofukasawa | 19:8dcc4f323bdc | 53 | break; |
masahikofukasawa | 19:8dcc4f323bdc | 54 | case AkmAkd::SUB_ID_AK09915D: |
masahikofukasawa | 20:2fca76521680 | 55 | *devid = AkmECompass::AK09915; |
masahikofukasawa | 19:8dcc4f323bdc | 56 | AkmAkd::sensorName = "AK09915D"; |
masahikofukasawa | 19:8dcc4f323bdc | 57 | ak099xx = new AK099XX(); |
masahikofukasawa | 19:8dcc4f323bdc | 58 | compass = ak099xx; |
masahikofukasawa | 19:8dcc4f323bdc | 59 | break; |
masahikofukasawa | 19:8dcc4f323bdc | 60 | case AkmAkd::SUB_ID_AK09916C: |
masahikofukasawa | 20:2fca76521680 | 61 | *devid = AkmECompass::AK09916C; |
masahikofukasawa | 19:8dcc4f323bdc | 62 | AkmAkd::sensorName = "AK09916C"; |
masahikofukasawa | 19:8dcc4f323bdc | 63 | if(primaryId == AKM_PRIMARY_ID_AKD_SPI) |
masahikofukasawa | 19:8dcc4f323bdc | 64 | return AkmSensor::ERROR; // No SPI support |
masahikofukasawa | 19:8dcc4f323bdc | 65 | ak099xx = new AK099XX(); |
masahikofukasawa | 19:8dcc4f323bdc | 66 | compass = ak099xx; |
masahikofukasawa | 19:8dcc4f323bdc | 67 | break; |
masahikofukasawa | 19:8dcc4f323bdc | 68 | case AkmAkd::SUB_ID_AK09916D: |
masahikofukasawa | 20:2fca76521680 | 69 | *devid = AkmECompass::AK09916D; |
masahikofukasawa | 19:8dcc4f323bdc | 70 | AkmAkd::sensorName = "AK09916D"; |
masahikofukasawa | 19:8dcc4f323bdc | 71 | if(primaryId == AKM_PRIMARY_ID_AKD_SPI) |
masahikofukasawa | 19:8dcc4f323bdc | 72 | return AkmSensor::ERROR; // No SPI support |
masahikofukasawa | 19:8dcc4f323bdc | 73 | ak099xx = new AK099XX(); |
masahikofukasawa | 19:8dcc4f323bdc | 74 | compass = ak099xx; |
masahikofukasawa | 19:8dcc4f323bdc | 75 | break; |
masahikofukasawa | 19:8dcc4f323bdc | 76 | case AkmAkd::SUB_ID_AK09918: |
masahikofukasawa | 20:2fca76521680 | 77 | *devid = AkmECompass::AK09918; |
masahikofukasawa | 19:8dcc4f323bdc | 78 | AkmAkd::sensorName = "AK09918"; |
masahikofukasawa | 19:8dcc4f323bdc | 79 | if(primaryId == AKM_PRIMARY_ID_AKD_SPI) |
masahikofukasawa | 19:8dcc4f323bdc | 80 | return AkmSensor::ERROR; // No SPI support |
masahikofukasawa | 19:8dcc4f323bdc | 81 | ak099xx = new AK099XX(); |
masahikofukasawa | 19:8dcc4f323bdc | 82 | compass = ak099xx; |
masahikofukasawa | 19:8dcc4f323bdc | 83 | break; |
masahikofukasawa | 38:e865dadfe54d | 84 | case AkmAkd::SUB_ID_AK09917: |
masahikofukasawa | 38:e865dadfe54d | 85 | *devid = AkmECompass::AK09917; |
masahikofukasawa | 38:e865dadfe54d | 86 | AkmAkd::sensorName = "AK09917"; |
masahikofukasawa | 38:e865dadfe54d | 87 | if(primaryId == AKM_PRIMARY_ID_AKD_SPI) |
masahikofukasawa | 38:e865dadfe54d | 88 | return AkmSensor::ERROR; // No SPI support |
masahikofukasawa | 38:e865dadfe54d | 89 | ak099xx = new AK099XX(); |
masahikofukasawa | 38:e865dadfe54d | 90 | compass = ak099xx; |
masahikofukasawa | 38:e865dadfe54d | 91 | break; |
masahikofukasawa | 19:8dcc4f323bdc | 92 | default: |
masahikofukasawa | 19:8dcc4f323bdc | 93 | return AkmSensor::ERROR; |
masahikofukasawa | 19:8dcc4f323bdc | 94 | } |
masahikofukasawa | 19:8dcc4f323bdc | 95 | return AkmSensor::SUCCESS; |
masahikofukasawa | 19:8dcc4f323bdc | 96 | } |
masahikofukasawa | 19:8dcc4f323bdc | 97 | |
masahikofukasawa | 20:2fca76521680 | 98 | AkmSensor::Status AkmAkd::init(const uint8_t primaryid, const uint8_t subid){ |
masahikofukasawa | 20:2fca76521680 | 99 | primaryId = primaryid; |
masahikofukasawa | 0:7a00359e701e | 100 | subId = subid; |
masahikofukasawa | 0:7a00359e701e | 101 | |
masahikofukasawa | 20:2fca76521680 | 102 | AkmECompass::DeviceId devid; |
masahikofukasawa | 19:8dcc4f323bdc | 103 | |
masahikofukasawa | 9:6fa3e7b17c27 | 104 | mode = AkmECompass::MODE_POWER_DOWN; |
masahikofukasawa | 9:6fa3e7b17c27 | 105 | nsf = AkmECompass::NSF_DISABLE; |
masahikofukasawa | 9:6fa3e7b17c27 | 106 | sdr = AkmECompass::SDR_LOW_POWER_DRIVE; |
masahikofukasawa | 9:6fa3e7b17c27 | 107 | |
masahikofukasawa | 0:7a00359e701e | 108 | if(primaryId == AKM_PRIMARY_ID_AKD_I2C){ |
masahikofukasawa | 0:7a00359e701e | 109 | |
masahikofukasawa | 0:7a00359e701e | 110 | I2C* i2c = new I2C(I2C_SDA,I2C_SCL); |
masahikofukasawa | 40:42e48427e4b7 | 111 | i2c->frequency(I2C_SPEED); |
masahikofukasawa | 0:7a00359e701e | 112 | |
masahikofukasawa | 20:2fca76521680 | 113 | if( checkSensor(primaryId,subId,&devid) != AkmSensor::SUCCESS ){ |
masahikofukasawa | 19:8dcc4f323bdc | 114 | return AkmSensor::ERROR; |
masahikofukasawa | 0:7a00359e701e | 115 | } |
masahikofukasawa | 0:7a00359e701e | 116 | |
masahikofukasawa | 0:7a00359e701e | 117 | AkmECompass::SlaveAddress slaveAddr[] |
masahikofukasawa | 0:7a00359e701e | 118 | = { AkmECompass::SLAVE_ADDR_1, |
masahikofukasawa | 0:7a00359e701e | 119 | AkmECompass::SLAVE_ADDR_2, |
masahikofukasawa | 0:7a00359e701e | 120 | AkmECompass::SLAVE_ADDR_3, |
masahikofukasawa | 0:7a00359e701e | 121 | AkmECompass::SLAVE_ADDR_4}; |
masahikofukasawa | 0:7a00359e701e | 122 | |
masahikofukasawa | 0:7a00359e701e | 123 | for(int i=0; i<sizeof(slaveAddr); i++) |
masahikofukasawa | 0:7a00359e701e | 124 | { |
masahikofukasawa | 20:2fca76521680 | 125 | compass->init(i2c, slaveAddr[i], devid); |
masahikofukasawa | 0:7a00359e701e | 126 | // Checks connectivity |
masahikofukasawa | 0:7a00359e701e | 127 | if(compass->checkConnection() == AkmECompass::SUCCESS) { |
masahikofukasawa | 19:8dcc4f323bdc | 128 | MSG("#%s detected.\r\n", AkmAkd::sensorName); |
masahikofukasawa | 19:8dcc4f323bdc | 129 | return AkmSensor::SUCCESS; |
masahikofukasawa | 0:7a00359e701e | 130 | } |
masahikofukasawa | 0:7a00359e701e | 131 | } |
masahikofukasawa | 0:7a00359e701e | 132 | }else if(primaryId == AKM_PRIMARY_ID_AKD_SPI){ |
masahikofukasawa | 7:e269411568c9 | 133 | |
masahikofukasawa | 7:e269411568c9 | 134 | SPI* spi = new SPI(SPI_MOSI, SPI_MISO, SPI_SCK); |
masahikofukasawa | 7:e269411568c9 | 135 | spi->format(8,3); // 8bit, Mode=3 |
masahikofukasawa | 7:e269411568c9 | 136 | spi->frequency(1000000); |
masahikofukasawa | 7:e269411568c9 | 137 | |
masahikofukasawa | 7:e269411568c9 | 138 | DigitalOut* cs = new DigitalOut(SPI_CS); |
masahikofukasawa | 19:8dcc4f323bdc | 139 | |
masahikofukasawa | 20:2fca76521680 | 140 | if( checkSensor(primaryId,subId,&devid) != AkmSensor::SUCCESS ){ |
masahikofukasawa | 19:8dcc4f323bdc | 141 | return AkmSensor::ERROR; |
masahikofukasawa | 7:e269411568c9 | 142 | } |
masahikofukasawa | 7:e269411568c9 | 143 | |
masahikofukasawa | 20:2fca76521680 | 144 | compass->init(spi, cs, devid); |
masahikofukasawa | 7:e269411568c9 | 145 | if(compass->checkConnection() == AkmECompass::SUCCESS) { |
masahikofukasawa | 19:8dcc4f323bdc | 146 | MSG("#%s detected.\r\n", AkmAkd::sensorName); |
masahikofukasawa | 19:8dcc4f323bdc | 147 | return AkmSensor::SUCCESS; |
masahikofukasawa | 7:e269411568c9 | 148 | } |
masahikofukasawa | 0:7a00359e701e | 149 | } |
masahikofukasawa | 19:8dcc4f323bdc | 150 | return AkmSensor::ERROR; |
masahikofukasawa | 0:7a00359e701e | 151 | } |
masahikofukasawa | 0:7a00359e701e | 152 | |
masahikofukasawa | 29:b488d2c89fba | 153 | void AkmAkd::setEvent(){ |
masahikofukasawa | 0:7a00359e701e | 154 | AkmECompass::Status status = compass->isDataReady(); |
masahikofukasawa | 29:b488d2c89fba | 155 | if( status == AkmECompass::DATA_READY || status == AkmECompass::DATA_OVER_RUN ){ |
masahikofukasawa | 29:b488d2c89fba | 156 | base::setEvent(); |
masahikofukasawa | 29:b488d2c89fba | 157 | } |
masahikofukasawa | 0:7a00359e701e | 158 | } |
masahikofukasawa | 0:7a00359e701e | 159 | |
masahikofukasawa | 19:8dcc4f323bdc | 160 | AkmAkd::InterruptMode AkmAkd::getInterrupt(uint8_t primaryId, uint8_t subId){ |
masahikofukasawa | 19:8dcc4f323bdc | 161 | AkmAkd::InterruptMode ret = AkmAkd::INTERRUPT_DISABLED; |
masahikofukasawa | 19:8dcc4f323bdc | 162 | |
masahikofukasawa | 19:8dcc4f323bdc | 163 | if( primaryId == AKM_PRIMARY_ID_AKD_I2C && |
masahikofukasawa | 19:8dcc4f323bdc | 164 | (subId == AkmAkd::SUB_ID_AK8963N || |
masahikofukasawa | 19:8dcc4f323bdc | 165 | subId == AkmAkd::SUB_ID_AK8963C || |
masahikofukasawa | 19:8dcc4f323bdc | 166 | subId == AkmAkd::SUB_ID_AK09912C || |
masahikofukasawa | 19:8dcc4f323bdc | 167 | subId == AkmAkd::SUB_ID_AK09915C ) ){ |
masahikofukasawa | 19:8dcc4f323bdc | 168 | ret = AkmAkd::INTERRUPT_ENABLED_PP; |
masahikofukasawa | 19:8dcc4f323bdc | 169 | } |
masahikofukasawa | 19:8dcc4f323bdc | 170 | else if( primaryId == AKM_PRIMARY_ID_AKD_I2C && |
masahikofukasawa | 19:8dcc4f323bdc | 171 | (subId == AkmAkd::SUB_ID_AK09915D || |
masahikofukasawa | 38:e865dadfe54d | 172 | subId == AkmAkd::SUB_ID_AK09916D || |
masahikofukasawa | 38:e865dadfe54d | 173 | subId == AkmAkd::SUB_ID_AK09917 ) ){ |
masahikofukasawa | 19:8dcc4f323bdc | 174 | ret = AkmAkd::INTERRUPT_ENABLED_OD; |
masahikofukasawa | 19:8dcc4f323bdc | 175 | } |
masahikofukasawa | 19:8dcc4f323bdc | 176 | else{ |
masahikofukasawa | 19:8dcc4f323bdc | 177 | // No DRDY |
masahikofukasawa | 19:8dcc4f323bdc | 178 | // No DRDY use for SPI interface |
masahikofukasawa | 19:8dcc4f323bdc | 179 | } |
masahikofukasawa | 19:8dcc4f323bdc | 180 | return ret; |
masahikofukasawa | 19:8dcc4f323bdc | 181 | } |
masahikofukasawa | 19:8dcc4f323bdc | 182 | |
masahikofukasawa | 0:7a00359e701e | 183 | AkmSensor::Status AkmAkd::startSensor(){ |
masahikofukasawa | 11:cef8dc1cf010 | 184 | // read one data to clear DRDY |
masahikofukasawa | 9:6fa3e7b17c27 | 185 | AkmECompass::MagneticVector mag; |
masahikofukasawa | 11:cef8dc1cf010 | 186 | compass->getMagneticVector(&mag); |
masahikofukasawa | 9:6fa3e7b17c27 | 187 | |
masahikofukasawa | 19:8dcc4f323bdc | 188 | AkmAkd::InterruptMode int_mode = getInterrupt(primaryId,subId); |
masahikofukasawa | 39:3821886c902e | 189 | if( int_mode == AkmAkd::INTERRUPT_DISABLED ){ |
masahikofukasawa | 39:3821886c902e | 190 | // No DRDY, attach timer and start |
masahikofukasawa | 29:b488d2c89fba | 191 | ticker.attach(callback(this, &AkmAkd::setEvent), 1.0/AKDP_POLLING_FREQUENCY); |
masahikofukasawa | 0:7a00359e701e | 192 | } |
masahikofukasawa | 11:cef8dc1cf010 | 193 | |
masahikofukasawa | 11:cef8dc1cf010 | 194 | // set operation mode |
masahikofukasawa | 38:e865dadfe54d | 195 | if( subId == AkmAkd::SUB_ID_AK09915C || |
masahikofukasawa | 38:e865dadfe54d | 196 | subId == AkmAkd::SUB_ID_AK09915D || |
masahikofukasawa | 38:e865dadfe54d | 197 | subId == AkmAkd::SUB_ID_AK09917 ){ |
masahikofukasawa | 11:cef8dc1cf010 | 198 | if(compass->setOperationMode(mode,nsf,sdr) != AkmECompass::SUCCESS) { |
masahikofukasawa | 39:3821886c902e | 199 | MSG("#Error: Start sensor failed %s\r\n", sensorName); |
masahikofukasawa | 11:cef8dc1cf010 | 200 | return AkmSensor::ERROR; |
masahikofukasawa | 11:cef8dc1cf010 | 201 | } |
masahikofukasawa | 11:cef8dc1cf010 | 202 | } |
masahikofukasawa | 11:cef8dc1cf010 | 203 | else if( subId == AkmAkd::SUB_ID_AK09912C ){ |
masahikofukasawa | 11:cef8dc1cf010 | 204 | if(compass->setOperationMode(mode,nsf) != AkmECompass::SUCCESS) { |
masahikofukasawa | 39:3821886c902e | 205 | MSG("#Error: Start sensor failed %s\r\n", sensorName); |
masahikofukasawa | 11:cef8dc1cf010 | 206 | return AkmSensor::ERROR; |
masahikofukasawa | 11:cef8dc1cf010 | 207 | } |
masahikofukasawa | 11:cef8dc1cf010 | 208 | } |
masahikofukasawa | 11:cef8dc1cf010 | 209 | else{ |
masahikofukasawa | 11:cef8dc1cf010 | 210 | if(compass->setOperationMode(mode) != AkmECompass::SUCCESS) { |
masahikofukasawa | 39:3821886c902e | 211 | MSG("#Error: Start sensor failed %s\r\n", sensorName); |
masahikofukasawa | 11:cef8dc1cf010 | 212 | return AkmSensor::ERROR; |
masahikofukasawa | 11:cef8dc1cf010 | 213 | } |
masahikofukasawa | 11:cef8dc1cf010 | 214 | } |
masahikofukasawa | 11:cef8dc1cf010 | 215 | |
masahikofukasawa | 29:b488d2c89fba | 216 | MSG("#Start sensor %s.\r\n",sensorName); |
masahikofukasawa | 0:7a00359e701e | 217 | return AkmSensor::SUCCESS; |
masahikofukasawa | 0:7a00359e701e | 218 | } |
masahikofukasawa | 0:7a00359e701e | 219 | |
masahikofukasawa | 0:7a00359e701e | 220 | AkmSensor::Status AkmAkd::startSensor(const float sec){ |
masahikofukasawa | 11:cef8dc1cf010 | 221 | return AkmSensor::ERROR; |
masahikofukasawa | 0:7a00359e701e | 222 | } |
masahikofukasawa | 0:7a00359e701e | 223 | |
masahikofukasawa | 0:7a00359e701e | 224 | AkmSensor::Status AkmAkd::stopSensor(){ |
masahikofukasawa | 0:7a00359e701e | 225 | ticker.detach(); |
masahikofukasawa | 29:b488d2c89fba | 226 | AkmSensor::clearEvent(); |
masahikofukasawa | 11:cef8dc1cf010 | 227 | |
masahikofukasawa | 0:7a00359e701e | 228 | // Puts the device into power down mode. |
masahikofukasawa | 38:e865dadfe54d | 229 | if( subId == AkmAkd::SUB_ID_AK09915C || |
masahikofukasawa | 38:e865dadfe54d | 230 | subId == AkmAkd::SUB_ID_AK09915D || |
masahikofukasawa | 38:e865dadfe54d | 231 | subId == AkmAkd::SUB_ID_AK09917 ){ |
masahikofukasawa | 20:2fca76521680 | 232 | if(compass->setOperationMode(AkmECompass::MODE_POWER_DOWN,nsf,sdr) != AkmECompass::SUCCESS) { |
masahikofukasawa | 20:2fca76521680 | 233 | return AkmSensor::ERROR; |
masahikofukasawa | 20:2fca76521680 | 234 | } |
masahikofukasawa | 20:2fca76521680 | 235 | }else{ |
masahikofukasawa | 20:2fca76521680 | 236 | if(compass->setOperationMode(AkmECompass::MODE_POWER_DOWN) != AkmECompass::SUCCESS) { |
masahikofukasawa | 20:2fca76521680 | 237 | return AkmSensor::ERROR; |
masahikofukasawa | 20:2fca76521680 | 238 | } |
masahikofukasawa | 0:7a00359e701e | 239 | } |
masahikofukasawa | 20:2fca76521680 | 240 | |
masahikofukasawa | 11:cef8dc1cf010 | 241 | // read one data to clear DRDY |
masahikofukasawa | 11:cef8dc1cf010 | 242 | AkmECompass::MagneticVector mag; |
masahikofukasawa | 11:cef8dc1cf010 | 243 | compass->getMagneticVector(&mag); |
masahikofukasawa | 11:cef8dc1cf010 | 244 | |
masahikofukasawa | 0:7a00359e701e | 245 | return AkmSensor::SUCCESS; |
masahikofukasawa | 0:7a00359e701e | 246 | } |
masahikofukasawa | 0:7a00359e701e | 247 | |
masahikofukasawa | 0:7a00359e701e | 248 | AkmSensor::Status AkmAkd::readSensorData(Message* msg){ |
masahikofukasawa | 29:b488d2c89fba | 249 | AkmSensor::clearEvent(); |
masahikofukasawa | 0:7a00359e701e | 250 | |
masahikofukasawa | 0:7a00359e701e | 251 | AkmECompass::MagneticVector mag; |
masahikofukasawa | 0:7a00359e701e | 252 | AkmECompass::Status status = compass->getMagneticVector(&mag); |
masahikofukasawa | 0:7a00359e701e | 253 | if( status != AkmECompass::SUCCESS){ |
masahikofukasawa | 0:7a00359e701e | 254 | return AkmSensor::ERROR; |
masahikofukasawa | 0:7a00359e701e | 255 | } |
masahikofukasawa | 0:7a00359e701e | 256 | msg->setCommand(Message::CMD_START_MEASUREMENT); |
masahikofukasawa | 0:7a00359e701e | 257 | msg->setArgument( 0, (mag.isOverflow ? 1 : 0) ); |
masahikofukasawa | 20:2fca76521680 | 258 | msg->setArgument( 1,(char)((int32_t)(mag.mx/AKDP_MAG_SENSITIVITY) >> 8)); |
masahikofukasawa | 20:2fca76521680 | 259 | msg->setArgument( 2, (char)((int32_t)(mag.mx/AKDP_MAG_SENSITIVITY) & 0x00FF) ); |
masahikofukasawa | 20:2fca76521680 | 260 | msg->setArgument( 3, (char)((int32_t)(mag.my/AKDP_MAG_SENSITIVITY) >> 8) ); |
masahikofukasawa | 20:2fca76521680 | 261 | msg->setArgument( 4, (char)((int32_t)(mag.my/AKDP_MAG_SENSITIVITY) & 0x00FF) ); |
masahikofukasawa | 20:2fca76521680 | 262 | msg->setArgument( 5, (char)((int32_t)(mag.mz/AKDP_MAG_SENSITIVITY) >> 8) ); |
masahikofukasawa | 20:2fca76521680 | 263 | msg->setArgument( 6, (char)((int32_t)(mag.mz/AKDP_MAG_SENSITIVITY) & 0x00FF) ); |
masahikofukasawa | 0:7a00359e701e | 264 | return AkmSensor::SUCCESS; |
masahikofukasawa | 0:7a00359e701e | 265 | } |
masahikofukasawa | 0:7a00359e701e | 266 | |
masahikofukasawa | 0:7a00359e701e | 267 | AkmSensor::Status AkmAkd::requestCommand(Message* in, Message* out){ |
masahikofukasawa | 9:6fa3e7b17c27 | 268 | AkmSensor::Status status = AkmSensor::SUCCESS; |
masahikofukasawa | 9:6fa3e7b17c27 | 269 | Message::Command cmd = in->getCommand(); |
masahikofukasawa | 9:6fa3e7b17c27 | 270 | out->setCommand(cmd); |
masahikofukasawa | 9:6fa3e7b17c27 | 271 | |
masahikofukasawa | 9:6fa3e7b17c27 | 272 | switch(cmd){ |
masahikofukasawa | 9:6fa3e7b17c27 | 273 | case Message::CMD_COMPASS_GET_OPERATION_MODE: |
masahikofukasawa | 9:6fa3e7b17c27 | 274 | { |
masahikofukasawa | 38:e865dadfe54d | 275 | if( subId == AkmAkd::SUB_ID_AK09915C || |
masahikofukasawa | 38:e865dadfe54d | 276 | subId == AkmAkd::SUB_ID_AK09915D || |
masahikofukasawa | 38:e865dadfe54d | 277 | subId == AkmAkd::SUB_ID_AK09917 ){ |
masahikofukasawa | 18:b7182d5ad8d5 | 278 | if(compass->getOperationMode(&mode, &nsf, &sdr) != AkmECompass::SUCCESS) { |
masahikofukasawa | 18:b7182d5ad8d5 | 279 | status = AkmSensor::ERROR; |
masahikofukasawa | 39:3821886c902e | 280 | MSG("#Error: set operation mode.\r\n"); |
masahikofukasawa | 18:b7182d5ad8d5 | 281 | }else{ |
masahikofukasawa | 18:b7182d5ad8d5 | 282 | out->setArgument(0,mode); |
masahikofukasawa | 18:b7182d5ad8d5 | 283 | out->setArgument(1,nsf); |
masahikofukasawa | 18:b7182d5ad8d5 | 284 | out->setArgument(2,sdr); |
masahikofukasawa | 18:b7182d5ad8d5 | 285 | } |
masahikofukasawa | 18:b7182d5ad8d5 | 286 | |
masahikofukasawa | 18:b7182d5ad8d5 | 287 | }else if(subId == AkmAkd::SUB_ID_AK09912C){ |
masahikofukasawa | 18:b7182d5ad8d5 | 288 | if(compass->getOperationMode(&mode, &nsf) != AkmECompass::SUCCESS) { |
masahikofukasawa | 18:b7182d5ad8d5 | 289 | status = AkmSensor::ERROR; |
masahikofukasawa | 39:3821886c902e | 290 | MSG("#Error: set operation mode.\r\n"); |
masahikofukasawa | 18:b7182d5ad8d5 | 291 | }else{ |
masahikofukasawa | 18:b7182d5ad8d5 | 292 | out->setArgument(0,mode); |
masahikofukasawa | 18:b7182d5ad8d5 | 293 | out->setArgument(1,nsf); |
masahikofukasawa | 18:b7182d5ad8d5 | 294 | } |
masahikofukasawa | 15:1238993fd75f | 295 | }else{ |
masahikofukasawa | 18:b7182d5ad8d5 | 296 | if(compass->getOperationMode(&mode) != AkmECompass::SUCCESS) { |
masahikofukasawa | 18:b7182d5ad8d5 | 297 | status = AkmSensor::ERROR; |
masahikofukasawa | 39:3821886c902e | 298 | MSG("#Error: set operation mode.\r\n"); |
masahikofukasawa | 18:b7182d5ad8d5 | 299 | }else{ |
masahikofukasawa | 18:b7182d5ad8d5 | 300 | out->setArgument(0,mode); |
masahikofukasawa | 18:b7182d5ad8d5 | 301 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 302 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 303 | break; |
masahikofukasawa | 9:6fa3e7b17c27 | 304 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 305 | case Message::CMD_COMPASS_SET_OPERATION_MODE: |
masahikofukasawa | 9:6fa3e7b17c27 | 306 | { |
masahikofukasawa | 9:6fa3e7b17c27 | 307 | mode = (AkmECompass::OperationMode)in->getArgument(0); |
masahikofukasawa | 38:e865dadfe54d | 308 | if( subId == AkmAkd::SUB_ID_AK09915C || |
masahikofukasawa | 38:e865dadfe54d | 309 | subId == AkmAkd::SUB_ID_AK09915D || |
masahikofukasawa | 38:e865dadfe54d | 310 | subId == AkmAkd::SUB_ID_AK09917 ){ |
masahikofukasawa | 38:e865dadfe54d | 311 | |
masahikofukasawa | 9:6fa3e7b17c27 | 312 | nsf = (AkmECompass::Nsf)in->getArgument(1); |
masahikofukasawa | 9:6fa3e7b17c27 | 313 | sdr = (AkmECompass::Sdr)in->getArgument(2); |
masahikofukasawa | 9:6fa3e7b17c27 | 314 | if(compass->setOperationMode(mode,nsf,sdr) != AkmECompass::SUCCESS) { |
masahikofukasawa | 9:6fa3e7b17c27 | 315 | status = AkmSensor::ERROR; |
masahikofukasawa | 39:3821886c902e | 316 | MSG("#Error: set operation mode.\r\n"); |
masahikofukasawa | 9:6fa3e7b17c27 | 317 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 318 | } |
masahikofukasawa | 10:5c69b067d88a | 319 | else if(subId == AkmAkd::SUB_ID_AK09912C){ |
masahikofukasawa | 9:6fa3e7b17c27 | 320 | nsf = (AkmECompass::Nsf)in->getArgument(1); |
masahikofukasawa | 9:6fa3e7b17c27 | 321 | if(compass->setOperationMode(mode,(AkmECompass::Nsf)nsf) != AkmECompass::SUCCESS) { |
masahikofukasawa | 9:6fa3e7b17c27 | 322 | status = AkmSensor::ERROR; |
masahikofukasawa | 39:3821886c902e | 323 | MSG("#Error: set operation mode.\r\n"); |
masahikofukasawa | 9:6fa3e7b17c27 | 324 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 325 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 326 | else{ |
masahikofukasawa | 9:6fa3e7b17c27 | 327 | if(compass->setOperationMode(mode) != AkmECompass::SUCCESS) { |
masahikofukasawa | 9:6fa3e7b17c27 | 328 | status = AkmSensor::ERROR; |
masahikofukasawa | 39:3821886c902e | 329 | MSG("#Error: set operation mode.\r\n"); |
masahikofukasawa | 9:6fa3e7b17c27 | 330 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 331 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 332 | out->setArgument(0,(char)status); |
masahikofukasawa | 9:6fa3e7b17c27 | 333 | break; |
masahikofukasawa | 15:1238993fd75f | 334 | } |
masahikofukasawa | 15:1238993fd75f | 335 | case Message::CMD_REG_WRITE: |
masahikofukasawa | 9:6fa3e7b17c27 | 336 | case Message::CMD_REG_WRITEN: |
masahikofukasawa | 9:6fa3e7b17c27 | 337 | { |
masahikofukasawa | 9:6fa3e7b17c27 | 338 | char address = in->getArgument(0); |
masahikofukasawa | 9:6fa3e7b17c27 | 339 | int len = (int)in->getArgument(1); |
masahikofukasawa | 15:1238993fd75f | 340 | if(in->getArgNum() != len+2){ |
masahikofukasawa | 39:3821886c902e | 341 | MSG("#Error: argument num. Args=%d\r\n",in->getArgNum()); |
masahikofukasawa | 15:1238993fd75f | 342 | status = AkmSensor::ERROR; |
masahikofukasawa | 15:1238993fd75f | 343 | out->setArgument(0,(char)status); |
masahikofukasawa | 15:1238993fd75f | 344 | return status; |
masahikofukasawa | 15:1238993fd75f | 345 | } |
masahikofukasawa | 15:1238993fd75f | 346 | |
masahikofukasawa | 9:6fa3e7b17c27 | 347 | char data[len]; |
masahikofukasawa | 9:6fa3e7b17c27 | 348 | for(int i=0; i<len; i++){ |
masahikofukasawa | 15:1238993fd75f | 349 | data[i] = in->getArgument(i+2); |
masahikofukasawa | 9:6fa3e7b17c27 | 350 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 351 | if( compass->write(address, data, len) != AkmECompass::SUCCESS) { |
masahikofukasawa | 9:6fa3e7b17c27 | 352 | status = AkmSensor::ERROR; |
masahikofukasawa | 39:3821886c902e | 353 | MSG("#Error: register write.\r\n"); |
masahikofukasawa | 9:6fa3e7b17c27 | 354 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 355 | out->setArgument(0,(char)status); |
masahikofukasawa | 9:6fa3e7b17c27 | 356 | break; |
masahikofukasawa | 15:1238993fd75f | 357 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 358 | case Message::CMD_REG_READ: |
masahikofukasawa | 9:6fa3e7b17c27 | 359 | case Message::CMD_REG_READN: |
masahikofukasawa | 9:6fa3e7b17c27 | 360 | { |
masahikofukasawa | 15:1238993fd75f | 361 | if(in->getArgNum() != 2){ |
masahikofukasawa | 39:3821886c902e | 362 | MSG("#Error: argument num. Args=%d\r\n",in->getArgNum()); |
masahikofukasawa | 15:1238993fd75f | 363 | status = AkmSensor::ERROR; |
masahikofukasawa | 15:1238993fd75f | 364 | return status; |
masahikofukasawa | 15:1238993fd75f | 365 | } |
masahikofukasawa | 15:1238993fd75f | 366 | |
masahikofukasawa | 9:6fa3e7b17c27 | 367 | char address = in->getArgument(0); |
masahikofukasawa | 9:6fa3e7b17c27 | 368 | int len = (int)in->getArgument(1); |
masahikofukasawa | 9:6fa3e7b17c27 | 369 | char data[len]; |
masahikofukasawa | 9:6fa3e7b17c27 | 370 | if( compass->read(address, data, len) != AkmECompass::SUCCESS) { |
masahikofukasawa | 9:6fa3e7b17c27 | 371 | status = AkmSensor::ERROR; |
masahikofukasawa | 39:3821886c902e | 372 | MSG("#Error: register read.\r\n"); |
masahikofukasawa | 9:6fa3e7b17c27 | 373 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 374 | for(int i=0; i<len; i++){ |
masahikofukasawa | 9:6fa3e7b17c27 | 375 | out->setArgument(i, data[i]); |
masahikofukasawa | 9:6fa3e7b17c27 | 376 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 377 | break; |
masahikofukasawa | 9:6fa3e7b17c27 | 378 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 379 | default: |
masahikofukasawa | 9:6fa3e7b17c27 | 380 | { |
masahikofukasawa | 39:3821886c902e | 381 | MSG("#Error: no command.\r\n"); |
masahikofukasawa | 9:6fa3e7b17c27 | 382 | status = AkmSensor::ERROR; |
masahikofukasawa | 9:6fa3e7b17c27 | 383 | break; |
masahikofukasawa | 9:6fa3e7b17c27 | 384 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 385 | } |
masahikofukasawa | 15:1238993fd75f | 386 | return status; |
masahikofukasawa | 0:7a00359e701e | 387 | } |