Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

ak9750ctrl.cpp@10:5c69b067d88a, 2016-07-08 (annotated)

Committer:
masahikofukasawa
Date:
Fri Jul 08 22:26:26 2016 +0000
Revision:
10:5c69b067d88a
Child:
11:cef8dc1cf010
RevD with AK09970 Release to Japan.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
masahikofukasawa 10:5c69b067d88a 1 #include "ak9750ctrl.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 10:5c69b067d88a 10 Ak9750Ctrl::Ak9750Ctrl(){
masahikofukasawa 10:5c69b067d88a 11 ak9750 = NULL;
masahikofukasawa 10:5c69b067d88a 12 event = false;
masahikofukasawa 10:5c69b067d88a 13 interrupt = NULL;
masahikofukasawa 10:5c69b067d88a 14 }
masahikofukasawa 10:5c69b067d88a 15
masahikofukasawa 10:5c69b067d88a 16 /**
masahikofukasawa 10:5c69b067d88a 17 * Destructor.
masahikofukasawa 10:5c69b067d88a 18 *
masahikofukasawa 10:5c69b067d88a 19 */
masahikofukasawa 10:5c69b067d88a 20 Ak9750Ctrl::~Ak9750Ctrl(){
masahikofukasawa 10:5c69b067d88a 21 if (ak9750) delete ak9750;
masahikofukasawa 10:5c69b067d88a 22 if (interrupt) delete interrupt;
masahikofukasawa 10:5c69b067d88a 23 }
masahikofukasawa 10:5c69b067d88a 24
masahikofukasawa 10:5c69b067d88a 25 AkmSensor::Status Ak9750Ctrl::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 interrupt = new InterruptIn(I2C_DRDY);
masahikofukasawa 10:5c69b067d88a 30 I2C* i2c = new I2C(I2C_SDA,I2C_SCL);
masahikofukasawa 10:5c69b067d88a 31 i2c->frequency(I2C_SPEED_100KHZ);
masahikofukasawa 10:5c69b067d88a 32
masahikofukasawa 10:5c69b067d88a 33 if(subId == SUB_ID_AK9750){
masahikofukasawa 10:5c69b067d88a 34 ak9750 = new AK9750();
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 AK9750::SlaveAddress slaveAddr[]
masahikofukasawa 10:5c69b067d88a 43 = { AK9750::SLAVE_ADDR_1,
masahikofukasawa 10:5c69b067d88a 44 AK9750::SLAVE_ADDR_2,
masahikofukasawa 10:5c69b067d88a 45 AK9750::SLAVE_ADDR_3};
masahikofukasawa 10:5c69b067d88a 46
masahikofukasawa 10:5c69b067d88a 47 for(int i=0; i<sizeof(slaveAddr); i++)
masahikofukasawa 10:5c69b067d88a 48 {
masahikofukasawa 10:5c69b067d88a 49 ak9750->init(i2c, slaveAddr[i]);
masahikofukasawa 10:5c69b067d88a 50 // Checks connectivity
masahikofukasawa 10:5c69b067d88a 51 if(ak9750->checkConnection() == Ak9750Ctrl::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 52 // found
masahikofukasawa 10:5c69b067d88a 53 foundSensor = true;
masahikofukasawa 10:5c69b067d88a 54 break;
masahikofukasawa 10:5c69b067d88a 55 }
masahikofukasawa 10:5c69b067d88a 56 }
masahikofukasawa 10:5c69b067d88a 57 if(foundSensor != true){
masahikofukasawa 10:5c69b067d88a 58 MSG("#Failed to checkConnection AK9750.\n");
masahikofukasawa 10:5c69b067d88a 59 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 60 }
masahikofukasawa 10:5c69b067d88a 61
masahikofukasawa 10:5c69b067d88a 62 // reset
masahikofukasawa 10:5c69b067d88a 63 if (ak9750->reset() != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 64 MSG("#Failed to reset AK9750.\n");
masahikofukasawa 10:5c69b067d88a 65 }
masahikofukasawa 10:5c69b067d88a 66
masahikofukasawa 10:5c69b067d88a 67 // Set to EEPROM mode to EEPROM access
masahikofukasawa 10:5c69b067d88a 68 if(ak9750->setOperationMode(AK9750::MODE_EEPROM_ACCESS, AK9750::DF_0P3HZ) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 69 MSG("#Error setOperationMode to EEPROM mode. AK9750.\n");
masahikofukasawa 10:5c69b067d88a 70 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 71 }
masahikofukasawa 10:5c69b067d88a 72 // Gets threshold from EEPROM
masahikofukasawa 10:5c69b067d88a 73 AK9750::Threshold th;
masahikofukasawa 10:5c69b067d88a 74 if (ak9750->getThresholdFromEEPROM(&th) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 75 MSG("#Failed to get threshold from EEPROM AK9750.\n");
masahikofukasawa 10:5c69b067d88a 76 }
masahikofukasawa 10:5c69b067d88a 77 // Gets hysteresis from EEPROM
masahikofukasawa 10:5c69b067d88a 78 AK9750::Hysteresis hys;
masahikofukasawa 10:5c69b067d88a 79 if (ak9750->getHysteresisFromEEPROM(&hys) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 80 MSG("#Failed to get hysteresis from EEPROM AK9750.\n");
masahikofukasawa 10:5c69b067d88a 81 }
masahikofukasawa 10:5c69b067d88a 82 // Gets interrupt status from EEPROM
masahikofukasawa 10:5c69b067d88a 83 AK9750::InterruptStatus intStatus;
masahikofukasawa 10:5c69b067d88a 84 if ((ak9750->getInterruptEnableFromEEPROM(&intStatus)) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 85 MSG("#Failed to get interrupts of AK9750 from EEPROM.\n");
masahikofukasawa 10:5c69b067d88a 86 }
masahikofukasawa 10:5c69b067d88a 87
masahikofukasawa 10:5c69b067d88a 88 // Gets operation mode from EEPROM
masahikofukasawa 10:5c69b067d88a 89 if ((ak9750->getOperationModeFromEEPROM(&mode,&filter)) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 90 MSG("#Failed to get operation mode of AK9750 from EEPROM.\n");
masahikofukasawa 10:5c69b067d88a 91 }
masahikofukasawa 10:5c69b067d88a 92 MSG("#Operation Mode:(0x%02X,0x%02X)\n",mode, filter);
masahikofukasawa 10:5c69b067d88a 93
masahikofukasawa 10:5c69b067d88a 94 // Back to Stand-by Mode for register access
masahikofukasawa 10:5c69b067d88a 95 if(ak9750->setOperationMode(AK9750::MODE_STANDBY, filter) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 96 MSG("#Error setOperationMode to stand-by mode of AK9750.\n");
masahikofukasawa 10:5c69b067d88a 97 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 98 }
masahikofukasawa 10:5c69b067d88a 99
masahikofukasawa 10:5c69b067d88a 100 // Sets threshold from the red EEPROM values
masahikofukasawa 10:5c69b067d88a 101 if (ak9750->setThreshold(&th) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 102 MSG("#Failed to set threshold to AK9750.\n");
masahikofukasawa 10:5c69b067d88a 103 }
masahikofukasawa 10:5c69b067d88a 104 MSG("#Threshold:(0x%02X,0x%02X,0x%02X,0x%02X)\n",th.eth13h,th.eth13l,th.eth24h,th.eth24l);
masahikofukasawa 10:5c69b067d88a 105
masahikofukasawa 10:5c69b067d88a 106 // Sets hysteresis from the red EEPROM values
masahikofukasawa 10:5c69b067d88a 107 if (ak9750->setHysteresis(&hys) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 108 MSG("#Failed to set hysteresis to AK9750.\n");
masahikofukasawa 10:5c69b067d88a 109 }
masahikofukasawa 10:5c69b067d88a 110 MSG("#Hysteresis:(0x%02X,0x%02X)\n",hys.ehys13,hys.ehys24);
masahikofukasawa 10:5c69b067d88a 111
masahikofukasawa 10:5c69b067d88a 112 // Sets interruput status from the red EEPROM values
masahikofukasawa 10:5c69b067d88a 113 AK9750::Status status = ak9750->setInterruptEnable(&intStatus);
masahikofukasawa 10:5c69b067d88a 114 if (status != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 115 MSG("#Failed to set interrupts of AK9750. Status = 0x%02X\n", status);
masahikofukasawa 10:5c69b067d88a 116 }
masahikofukasawa 10:5c69b067d88a 117 MSG("#Interrupt:(0x%02X,0x%02X,0x%02X,0x%02X,0x%02X)\n",intStatus.ir13h,intStatus.ir13l,intStatus.ir24h,intStatus.ir24l,intStatus.drdy);
masahikofukasawa 10:5c69b067d88a 118
masahikofukasawa 10:5c69b067d88a 119 MSG("#Init success AK9750.\n");
masahikofukasawa 10:5c69b067d88a 120 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 121 }
masahikofukasawa 10:5c69b067d88a 122
masahikofukasawa 10:5c69b067d88a 123 void Ak9750Ctrl::detectINT(){
masahikofukasawa 10:5c69b067d88a 124 event = true;
masahikofukasawa 10:5c69b067d88a 125 }
masahikofukasawa 10:5c69b067d88a 126
masahikofukasawa 10:5c69b067d88a 127 bool Ak9750Ctrl::isEvent(){
masahikofukasawa 10:5c69b067d88a 128 return event;
masahikofukasawa 10:5c69b067d88a 129 }
masahikofukasawa 10:5c69b067d88a 130
masahikofukasawa 10:5c69b067d88a 131 AkmSensor::Status Ak9750Ctrl::startSensor(){
masahikofukasawa 10:5c69b067d88a 132 if(ak9750->setOperationMode(mode,filter) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 133 MSG("#Error setOperationMode. AK9750.\n");
masahikofukasawa 10:5c69b067d88a 134 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 135 }
masahikofukasawa 10:5c69b067d88a 136
masahikofukasawa 10:5c69b067d88a 137 interrupt->fall(this, &Ak9750Ctrl::detectINT);
masahikofukasawa 10:5c69b067d88a 138 MSG("#Start Sensor success AK9750.\n");
masahikofukasawa 10:5c69b067d88a 139 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 140 }
masahikofukasawa 10:5c69b067d88a 141
masahikofukasawa 10:5c69b067d88a 142 AkmSensor::Status Ak9750Ctrl::startSensor(const float sec){
masahikofukasawa 10:5c69b067d88a 143 interrupt->fall(this, &Ak9750Ctrl::detectINT);
masahikofukasawa 10:5c69b067d88a 144 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 145 }
masahikofukasawa 10:5c69b067d88a 146
masahikofukasawa 10:5c69b067d88a 147 AkmSensor::Status Ak9750Ctrl::stopSensor(){
masahikofukasawa 10:5c69b067d88a 148 event = false;
masahikofukasawa 10:5c69b067d88a 149 interrupt->fall(0);
masahikofukasawa 10:5c69b067d88a 150 if(ak9750->setOperationMode(AK9750::MODE_STANDBY, filter) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 151 MSG("#Error setOperationMode. AK9750.\n");
masahikofukasawa 10:5c69b067d88a 152 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 153 }
masahikofukasawa 10:5c69b067d88a 154
masahikofukasawa 10:5c69b067d88a 155 // read one data to clear INT pin
masahikofukasawa 10:5c69b067d88a 156 Message msg;
masahikofukasawa 10:5c69b067d88a 157 Ak9750Ctrl::readSensorData(&msg);
masahikofukasawa 10:5c69b067d88a 158
masahikofukasawa 10:5c69b067d88a 159 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 160 }
masahikofukasawa 10:5c69b067d88a 161
masahikofukasawa 10:5c69b067d88a 162 AkmSensor::Status Ak9750Ctrl::readSensorData(Message* msg){
masahikofukasawa 10:5c69b067d88a 163 event = false;
masahikofukasawa 10:5c69b067d88a 164
masahikofukasawa 10:5c69b067d88a 165 AK9750::SensorData data;
masahikofukasawa 10:5c69b067d88a 166 AK9750::Status status = ak9750->getSensorData(&data);
masahikofukasawa 10:5c69b067d88a 167 if( status != AK9750::SUCCESS){
masahikofukasawa 10:5c69b067d88a 168 MSG("#Error getSensorData. AK9750.\n");
masahikofukasawa 10:5c69b067d88a 169 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 170 }
masahikofukasawa 10:5c69b067d88a 171 msg->setCommand(Message::CMD_START_MEASUREMENT);
masahikofukasawa 10:5c69b067d88a 172 msg->setArgument( 0, data.intStatus.ir13h);
masahikofukasawa 10:5c69b067d88a 173 msg->setArgument( 1, data.intStatus.ir13l);
masahikofukasawa 10:5c69b067d88a 174 msg->setArgument( 2, data.intStatus.ir24h);
masahikofukasawa 10:5c69b067d88a 175 msg->setArgument( 3, data.intStatus.ir24l);
masahikofukasawa 10:5c69b067d88a 176 msg->setArgument( 4, data.intStatus.drdy);
masahikofukasawa 10:5c69b067d88a 177 msg->setArgument( 5,(char)((int32_t)(data.ir1) >> 8));
masahikofukasawa 10:5c69b067d88a 178 msg->setArgument( 6, (char)((int32_t)(data.ir1) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 179 msg->setArgument( 7,(char)((int32_t)(data.ir2) >> 8));
masahikofukasawa 10:5c69b067d88a 180 msg->setArgument( 8, (char)((int32_t)(data.ir2) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 181 msg->setArgument( 9,(char)((int32_t)(data.ir3) >> 8));
masahikofukasawa 10:5c69b067d88a 182 msg->setArgument( 10, (char)((int32_t)(data.ir3) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 183 msg->setArgument( 11,(char)((int32_t)(data.ir4) >> 8));
masahikofukasawa 10:5c69b067d88a 184 msg->setArgument( 12, (char)((int32_t)(data.ir4) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 185 msg->setArgument( 13,(char)((int32_t)(data.temperature) >> 8));
masahikofukasawa 10:5c69b067d88a 186 msg->setArgument( 14, (char)((int32_t)(data.temperature) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 187 msg->setArgument( 15, data.dor);
masahikofukasawa 10:5c69b067d88a 188
masahikofukasawa 10:5c69b067d88a 189 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 190 }
masahikofukasawa 10:5c69b067d88a 191
masahikofukasawa 10:5c69b067d88a 192 AkmSensor::Status Ak9750Ctrl::requestCommand(Message* in, Message* out){
masahikofukasawa 10:5c69b067d88a 193 AkmSensor::Status status = AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 194 Message::Command cmd = in->getCommand();
masahikofukasawa 10:5c69b067d88a 195 AK9750::Threshold th;
masahikofukasawa 10:5c69b067d88a 196 AK9750::Hysteresis hys;
masahikofukasawa 10:5c69b067d88a 197 AK9750::InterruptStatus interrupt;
masahikofukasawa 10:5c69b067d88a 198
masahikofukasawa 10:5c69b067d88a 199 out->setCommand(cmd);
masahikofukasawa 10:5c69b067d88a 200
masahikofukasawa 10:5c69b067d88a 201 switch(cmd){
masahikofukasawa 10:5c69b067d88a 202 case Message::CMD_IR_GET_THRESHOLD:
masahikofukasawa 10:5c69b067d88a 203 {
masahikofukasawa 10:5c69b067d88a 204 if (ak9750->getThreshold(&th) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 205 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 206 MSG("#Failed to set threshold to AK9750.\n");
masahikofukasawa 10:5c69b067d88a 207 }
masahikofukasawa 10:5c69b067d88a 208 out->setArgument(0,(char)((int32_t)(th.eth13h) >> 8));
masahikofukasawa 10:5c69b067d88a 209 out->setArgument(1,(char)((int32_t)(th.eth13h) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 210 out->setArgument(2,(char)((int32_t)(th.eth13l) >> 8));
masahikofukasawa 10:5c69b067d88a 211 out->setArgument(3,(char)((int32_t)(th.eth13l) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 212 out->setArgument(4,(char)((int32_t)(th.eth24h) >> 8));
masahikofukasawa 10:5c69b067d88a 213 out->setArgument(5,(char)((int32_t)(th.eth24h) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 214 out->setArgument(6,(char)((int32_t)(th.eth24l) >> 8));
masahikofukasawa 10:5c69b067d88a 215 out->setArgument(7,(char)((int32_t)(th.eth24l) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 216 break;
masahikofukasawa 10:5c69b067d88a 217 }
masahikofukasawa 10:5c69b067d88a 218 case Message::CMD_IR_SET_THRESHOLD:
masahikofukasawa 10:5c69b067d88a 219 {
masahikofukasawa 10:5c69b067d88a 220 th.eth13h = CONV16I(in->getArgument(0), in->getArgument(1));
masahikofukasawa 10:5c69b067d88a 221 th.eth13l = CONV16I(in->getArgument(2), in->getArgument(3));
masahikofukasawa 10:5c69b067d88a 222 th.eth24h = CONV16I(in->getArgument(4), in->getArgument(5));
masahikofukasawa 10:5c69b067d88a 223 th.eth24l = CONV16I(in->getArgument(6), in->getArgument(7));
masahikofukasawa 10:5c69b067d88a 224 if (ak9750->setThreshold(&th) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 225 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 226 MSG("#Failed to set threshold to AK9750.\n");
masahikofukasawa 10:5c69b067d88a 227 }
masahikofukasawa 10:5c69b067d88a 228 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 229 break;
masahikofukasawa 10:5c69b067d88a 230 }
masahikofukasawa 10:5c69b067d88a 231 case Message::CMD_IR_GET_HYSTERESIS:
masahikofukasawa 10:5c69b067d88a 232 {
masahikofukasawa 10:5c69b067d88a 233 if (ak9750->getHysteresis(&hys) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 234 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 235 MSG("#Failed to set hysteresis to AK9750.\n");
masahikofukasawa 10:5c69b067d88a 236 }
masahikofukasawa 10:5c69b067d88a 237 out->setArgument(0,hys.ehys13);
masahikofukasawa 10:5c69b067d88a 238 out->setArgument(1,hys.ehys24);
masahikofukasawa 10:5c69b067d88a 239 break;
masahikofukasawa 10:5c69b067d88a 240 }
masahikofukasawa 10:5c69b067d88a 241 case Message::CMD_IR_SET_HYSTERESIS:
masahikofukasawa 10:5c69b067d88a 242 {
masahikofukasawa 10:5c69b067d88a 243 hys.ehys13 = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 244 hys.ehys24 = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 245 if (ak9750->setHysteresis(&hys) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 246 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 247 MSG("#Failed to set hysteresis to AK9750.\n");
masahikofukasawa 10:5c69b067d88a 248 }
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_IR_GET_INTERRUPT:
masahikofukasawa 10:5c69b067d88a 253 {
masahikofukasawa 10:5c69b067d88a 254 if (ak9750->getInterruptEnable(&interrupt) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 255 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 256 MSG("#Failed to set hysteresis to AK9750.\n");
masahikofukasawa 10:5c69b067d88a 257 }
masahikofukasawa 10:5c69b067d88a 258 out->setArgument(0, interrupt.ir13h);
masahikofukasawa 10:5c69b067d88a 259 out->setArgument(1, interrupt.ir13l);
masahikofukasawa 10:5c69b067d88a 260 out->setArgument(2, interrupt.ir24h);
masahikofukasawa 10:5c69b067d88a 261 out->setArgument(3, interrupt.ir24l);
masahikofukasawa 10:5c69b067d88a 262 out->setArgument(4, interrupt.drdy);
masahikofukasawa 10:5c69b067d88a 263 break;
masahikofukasawa 10:5c69b067d88a 264 }
masahikofukasawa 10:5c69b067d88a 265 case Message::CMD_IR_SET_INTERRUPT:
masahikofukasawa 10:5c69b067d88a 266 {
masahikofukasawa 10:5c69b067d88a 267 interrupt.ir13h = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 268 interrupt.ir13l = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 269 interrupt.ir24h = in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 270 interrupt.ir24l = in->getArgument(3);
masahikofukasawa 10:5c69b067d88a 271 interrupt.drdy = in->getArgument(4);
masahikofukasawa 10:5c69b067d88a 272 if (ak9750->setInterruptEnable(&interrupt) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 273 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 274 MSG("#Failed to set hysteresis to AK9750.\n");
masahikofukasawa 10:5c69b067d88a 275 }
masahikofukasawa 10:5c69b067d88a 276 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 277 break;
masahikofukasawa 10:5c69b067d88a 278 }
masahikofukasawa 10:5c69b067d88a 279 case Message::CMD_IR_GET_OPERATION_MODE:
masahikofukasawa 10:5c69b067d88a 280 {
masahikofukasawa 10:5c69b067d88a 281 if(ak9750->getOperationMode(&mode, &filter) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 282 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 283 MSG("#Error setOperationMode. AK9750.\n");
masahikofukasawa 10:5c69b067d88a 284 }
masahikofukasawa 10:5c69b067d88a 285 out->setArgument(0,(char)mode);
masahikofukasawa 10:5c69b067d88a 286 out->setArgument(1,(char)filter);
masahikofukasawa 10:5c69b067d88a 287 break;
masahikofukasawa 10:5c69b067d88a 288 }
masahikofukasawa 10:5c69b067d88a 289 case Message::CMD_IR_SET_OPERATION_MODE:
masahikofukasawa 10:5c69b067d88a 290 {
masahikofukasawa 10:5c69b067d88a 291 mode = (AK9750::OperationMode)in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 292 filter = (AK9750::DigitalFilter)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 293 if(ak9750->setOperationMode(mode, filter) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 294 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 295 MSG("#Error setOperationMode. AK9750.\n");
masahikofukasawa 10:5c69b067d88a 296 }
masahikofukasawa 10:5c69b067d88a 297 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 298 break;
masahikofukasawa 10:5c69b067d88a 299 }
masahikofukasawa 10:5c69b067d88a 300 case Message::CMD_IR_GET_THRESHOLD_EEPROM:
masahikofukasawa 10:5c69b067d88a 301 {
masahikofukasawa 10:5c69b067d88a 302 if (ak9750->getThresholdFromEEPROM(&th) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 303 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 304 MSG("#Failed to set threshold to AK9750(EEPROM).\n");
masahikofukasawa 10:5c69b067d88a 305 }
masahikofukasawa 10:5c69b067d88a 306 out->setArgument(0,(char)((int32_t)(th.eth13h) >> 8));
masahikofukasawa 10:5c69b067d88a 307 out->setArgument(1,(char)((int32_t)(th.eth13h) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 308 out->setArgument(2,(char)((int32_t)(th.eth13l) >> 8));
masahikofukasawa 10:5c69b067d88a 309 out->setArgument(3,(char)((int32_t)(th.eth13l) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 310 out->setArgument(4,(char)((int32_t)(th.eth24h) >> 8));
masahikofukasawa 10:5c69b067d88a 311 out->setArgument(5,(char)((int32_t)(th.eth24h) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 312 out->setArgument(6,(char)((int32_t)(th.eth24l) >> 8));
masahikofukasawa 10:5c69b067d88a 313 out->setArgument(7,(char)((int32_t)(th.eth24l) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 314 break;
masahikofukasawa 10:5c69b067d88a 315 }
masahikofukasawa 10:5c69b067d88a 316 case Message::CMD_IR_SET_THRESHOLD_EEPROM:
masahikofukasawa 10:5c69b067d88a 317 {
masahikofukasawa 10:5c69b067d88a 318 th.eth13h = CONV16I(in->getArgument(0), in->getArgument(1));
masahikofukasawa 10:5c69b067d88a 319 th.eth13l = CONV16I(in->getArgument(2), in->getArgument(3));
masahikofukasawa 10:5c69b067d88a 320 th.eth24h = CONV16I(in->getArgument(4), in->getArgument(5));
masahikofukasawa 10:5c69b067d88a 321 th.eth24l = CONV16I(in->getArgument(6), in->getArgument(7));
masahikofukasawa 10:5c69b067d88a 322 if (ak9750->setThresholdToEEPROM(&th) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 323 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 324 MSG("#Failed to set threshold to AK9750(EEPROM).\n");
masahikofukasawa 10:5c69b067d88a 325 }
masahikofukasawa 10:5c69b067d88a 326 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 327 break;
masahikofukasawa 10:5c69b067d88a 328 }
masahikofukasawa 10:5c69b067d88a 329 case Message::CMD_IR_GET_HYSTERESIS_EEPROM:
masahikofukasawa 10:5c69b067d88a 330 {
masahikofukasawa 10:5c69b067d88a 331 if (ak9750->getHysteresisFromEEPROM(&hys) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 332 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 333 MSG("#Failed to set hysteresis to AK9750(EEPROM).\n");
masahikofukasawa 10:5c69b067d88a 334 }
masahikofukasawa 10:5c69b067d88a 335 out->setArgument(0,hys.ehys13);
masahikofukasawa 10:5c69b067d88a 336 out->setArgument(1,hys.ehys24);
masahikofukasawa 10:5c69b067d88a 337 break;
masahikofukasawa 10:5c69b067d88a 338 }
masahikofukasawa 10:5c69b067d88a 339 case Message::CMD_IR_SET_HYSTERESIS_EEPROM:
masahikofukasawa 10:5c69b067d88a 340 {
masahikofukasawa 10:5c69b067d88a 341 hys.ehys13 = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 342 hys.ehys24 = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 343 if (ak9750->setHysteresisToEEPROM(&hys) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 344 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 345 MSG("#Failed to set hysteresis to AK9750(EEPROM).\n");
masahikofukasawa 10:5c69b067d88a 346 }
masahikofukasawa 10:5c69b067d88a 347 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 348 break;
masahikofukasawa 10:5c69b067d88a 349 }
masahikofukasawa 10:5c69b067d88a 350 case Message::CMD_IR_GET_INTERRUPT_EEPROM:
masahikofukasawa 10:5c69b067d88a 351 {
masahikofukasawa 10:5c69b067d88a 352 if (ak9750->getInterruptEnableFromEEPROM(&interrupt) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 353 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 354 MSG("#Failed to set interrupt to AK9750(EEPROM).\n");
masahikofukasawa 10:5c69b067d88a 355 }
masahikofukasawa 10:5c69b067d88a 356 out->setArgument(0, interrupt.ir13h);
masahikofukasawa 10:5c69b067d88a 357 out->setArgument(1, interrupt.ir13l);
masahikofukasawa 10:5c69b067d88a 358 out->setArgument(2, interrupt.ir24h);
masahikofukasawa 10:5c69b067d88a 359 out->setArgument(3, interrupt.ir24l);
masahikofukasawa 10:5c69b067d88a 360 out->setArgument(4, interrupt.drdy);
masahikofukasawa 10:5c69b067d88a 361 break;
masahikofukasawa 10:5c69b067d88a 362 }
masahikofukasawa 10:5c69b067d88a 363 case Message::CMD_IR_SET_INTERRUPT_EEPROM:
masahikofukasawa 10:5c69b067d88a 364 {
masahikofukasawa 10:5c69b067d88a 365 interrupt.ir13h = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 366 interrupt.ir13l = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 367 interrupt.ir24h = in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 368 interrupt.ir24l = in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 369 interrupt.drdy = in->getArgument(4);
masahikofukasawa 10:5c69b067d88a 370 if (ak9750->setInterruptEnableToEEPROM(&interrupt) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 371 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 372 MSG("#Failed to set interrupt to AK9750(EEPROM).\n");
masahikofukasawa 10:5c69b067d88a 373 }
masahikofukasawa 10:5c69b067d88a 374 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 375 break;
masahikofukasawa 10:5c69b067d88a 376 }
masahikofukasawa 10:5c69b067d88a 377 case Message::CMD_IR_GET_OPERATION_MODE_EEPROM:
masahikofukasawa 10:5c69b067d88a 378 {
masahikofukasawa 10:5c69b067d88a 379 if(ak9750->getOperationModeFromEEPROM(&mode, &filter) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 380 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 381 MSG("#Error getOperationMode. AK9750(EEPROM).\n");
masahikofukasawa 10:5c69b067d88a 382 }
masahikofukasawa 10:5c69b067d88a 383 out->setArgument(0,(char)mode);
masahikofukasawa 10:5c69b067d88a 384 out->setArgument(1,(char)filter);
masahikofukasawa 10:5c69b067d88a 385 break;
masahikofukasawa 10:5c69b067d88a 386 }
masahikofukasawa 10:5c69b067d88a 387 case Message::CMD_IR_SET_OPERATION_MODE_EEPROM:
masahikofukasawa 10:5c69b067d88a 388 {
masahikofukasawa 10:5c69b067d88a 389 mode = (AK9750::OperationMode)in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 390 filter = (AK9750::DigitalFilter)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 391 if(ak9750->setOperationModeToEEPROM(mode, filter) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 392 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 393 MSG("#Error setOperationMode. AK9750(EEPROM).\n");
masahikofukasawa 10:5c69b067d88a 394 }
masahikofukasawa 10:5c69b067d88a 395 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 396 break;
masahikofukasawa 10:5c69b067d88a 397 }
masahikofukasawa 10:5c69b067d88a 398 case Message::CMD_REG_WRITE:
masahikofukasawa 10:5c69b067d88a 399 {
masahikofukasawa 10:5c69b067d88a 400 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 401 int len = (int)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 402 const char data = in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 403 if( ak9750->write(address, &data, len) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 404 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 405 MSG("#Error register write.\n");
masahikofukasawa 10:5c69b067d88a 406 }
masahikofukasawa 10:5c69b067d88a 407 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 408 break;
masahikofukasawa 10:5c69b067d88a 409 }
masahikofukasawa 10:5c69b067d88a 410 case Message::CMD_REG_WRITEN:
masahikofukasawa 10:5c69b067d88a 411 {
masahikofukasawa 10:5c69b067d88a 412 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 413 int len = (int)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 414 char data[len];
masahikofukasawa 10:5c69b067d88a 415 for(int i=0; i<len; i++){
masahikofukasawa 10:5c69b067d88a 416 data[i] = in->getArgument(i);
masahikofukasawa 10:5c69b067d88a 417 }
masahikofukasawa 10:5c69b067d88a 418 if( ak9750->write(address, data, len) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 419 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 420 MSG("#Error register write.\n");
masahikofukasawa 10:5c69b067d88a 421 }
masahikofukasawa 10:5c69b067d88a 422 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 423 break;
masahikofukasawa 10:5c69b067d88a 424 }
masahikofukasawa 10:5c69b067d88a 425 case Message::CMD_REG_READ:
masahikofukasawa 10:5c69b067d88a 426 {
masahikofukasawa 10:5c69b067d88a 427 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 428 int len = (int)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 429 char data;
masahikofukasawa 10:5c69b067d88a 430 if( ak9750->read(address, &data, len) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 431 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 432 MSG("#Error register read.\n");
masahikofukasawa 10:5c69b067d88a 433 }
masahikofukasawa 10:5c69b067d88a 434 out->setArgument(0,data);
masahikofukasawa 10:5c69b067d88a 435 break;
masahikofukasawa 10:5c69b067d88a 436 }
masahikofukasawa 10:5c69b067d88a 437 case Message::CMD_REG_READN:
masahikofukasawa 10:5c69b067d88a 438 {
masahikofukasawa 10:5c69b067d88a 439 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 440 int len = (int)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 441 char data[len];
masahikofukasawa 10:5c69b067d88a 442 if( ak9750->read(address, data, len) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 443 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 444 MSG("#Error register read.\n");
masahikofukasawa 10:5c69b067d88a 445 }
masahikofukasawa 10:5c69b067d88a 446 for(int i=0; i<len; i++){
masahikofukasawa 10:5c69b067d88a 447 out->setArgument(i, data[i]);
masahikofukasawa 10:5c69b067d88a 448 }
masahikofukasawa 10:5c69b067d88a 449 break;
masahikofukasawa 10:5c69b067d88a 450 }
masahikofukasawa 10:5c69b067d88a 451 default:
masahikofukasawa 10:5c69b067d88a 452 {
masahikofukasawa 10:5c69b067d88a 453 MSG("#Error no command.\n");
masahikofukasawa 10:5c69b067d88a 454 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 455 break;
masahikofukasawa 10:5c69b067d88a 456 }
masahikofukasawa 10:5c69b067d88a 457 }
masahikofukasawa 10:5c69b067d88a 458 return status;
masahikofukasawa 10:5c69b067d88a 459 }