Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

ak9752ctrl.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 "ak9752ctrl.h"
masahikofukasawa 10:5c69b067d88a 2 #include "debug.h"
masahikofukasawa 10:5c69b067d88a 3
masahikofukasawa 10:5c69b067d88a 4 #define CONV16I(high,low) ((int16_t)(((high) << 8) | (low)))
masahikofukasawa 10:5c69b067d88a 5
masahikofukasawa 10:5c69b067d88a 6 /**
masahikofukasawa 10:5c69b067d88a 7 * Constructor.
masahikofukasawa 10:5c69b067d88a 8 *
masahikofukasawa 10:5c69b067d88a 9 */
masahikofukasawa 10:5c69b067d88a 10 Ak9752Ctrl::Ak9752Ctrl(){
masahikofukasawa 10:5c69b067d88a 11 ak9752 = 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 Ak9752Ctrl::~Ak9752Ctrl(){
masahikofukasawa 10:5c69b067d88a 21 if (ak9752) delete ak9752;
masahikofukasawa 10:5c69b067d88a 22 if (interrupt) delete interrupt;
masahikofukasawa 10:5c69b067d88a 23 }
masahikofukasawa 10:5c69b067d88a 24
masahikofukasawa 10:5c69b067d88a 25 AkmSensor::Status Ak9752Ctrl::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_AK9752){
masahikofukasawa 10:5c69b067d88a 34 ak9752 = new AK9752();
masahikofukasawa 10:5c69b067d88a 35 }
masahikofukasawa 10:5c69b067d88a 36 else{
masahikofukasawa 10:5c69b067d88a 37 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 38 }
masahikofukasawa 10:5c69b067d88a 39
masahikofukasawa 10:5c69b067d88a 40 bool foundSensor = false;
masahikofukasawa 10:5c69b067d88a 41
masahikofukasawa 10:5c69b067d88a 42 AK9752::SlaveAddress slaveAddr[]
masahikofukasawa 10:5c69b067d88a 43 = { AK9752::SLAVE_ADDR_1 };
masahikofukasawa 10:5c69b067d88a 44
masahikofukasawa 10:5c69b067d88a 45 for(int i=0; i<sizeof(slaveAddr); i++)
masahikofukasawa 10:5c69b067d88a 46 {
masahikofukasawa 10:5c69b067d88a 47 ak9752->init(i2c, slaveAddr[i]);
masahikofukasawa 10:5c69b067d88a 48 // Checks connectivity
masahikofukasawa 10:5c69b067d88a 49 if(ak9752->checkConnection() == Ak9752Ctrl::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 50 // found
masahikofukasawa 10:5c69b067d88a 51 foundSensor = true;
masahikofukasawa 10:5c69b067d88a 52 break;
masahikofukasawa 10:5c69b067d88a 53 }
masahikofukasawa 10:5c69b067d88a 54 }
masahikofukasawa 10:5c69b067d88a 55 if(foundSensor != true) return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 56
masahikofukasawa 10:5c69b067d88a 57 // reset
masahikofukasawa 10:5c69b067d88a 58 if (ak9752->reset() != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 59 MSG("#Failed to reset AK9752.\n");
masahikofukasawa 10:5c69b067d88a 60 }
masahikofukasawa 10:5c69b067d88a 61
masahikofukasawa 10:5c69b067d88a 62 MSG("#Init success AK9752.\n");
masahikofukasawa 10:5c69b067d88a 63 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 64 }
masahikofukasawa 10:5c69b067d88a 65
masahikofukasawa 10:5c69b067d88a 66 void Ak9752Ctrl::detectINT(){
masahikofukasawa 10:5c69b067d88a 67 event = true;
masahikofukasawa 10:5c69b067d88a 68 }
masahikofukasawa 10:5c69b067d88a 69
masahikofukasawa 10:5c69b067d88a 70 bool Ak9752Ctrl::isEvent(){
masahikofukasawa 10:5c69b067d88a 71 return event;
masahikofukasawa 10:5c69b067d88a 72 }
masahikofukasawa 10:5c69b067d88a 73
masahikofukasawa 10:5c69b067d88a 74 AkmSensor::Status Ak9752Ctrl::startSensor(){
masahikofukasawa 10:5c69b067d88a 75 if(ak9752->setOperationMode(mode,fc_tmp, fc_ir) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 76 MSG("#Error setOperationMode. AK9752.\n");
masahikofukasawa 10:5c69b067d88a 77 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 78 }
masahikofukasawa 10:5c69b067d88a 79
masahikofukasawa 10:5c69b067d88a 80 interrupt->fall(this, &Ak9752Ctrl::detectINT);
masahikofukasawa 10:5c69b067d88a 81 MSG("#Start Sensor success AK9752.\n");
masahikofukasawa 10:5c69b067d88a 82 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 83 }
masahikofukasawa 10:5c69b067d88a 84
masahikofukasawa 10:5c69b067d88a 85 AkmSensor::Status Ak9752Ctrl::startSensor(const float sec){
masahikofukasawa 10:5c69b067d88a 86 interrupt->fall(this, &Ak9752Ctrl::detectINT);
masahikofukasawa 10:5c69b067d88a 87 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 88 }
masahikofukasawa 10:5c69b067d88a 89
masahikofukasawa 10:5c69b067d88a 90 AkmSensor::Status Ak9752Ctrl::stopSensor(){
masahikofukasawa 10:5c69b067d88a 91 event = false;
masahikofukasawa 10:5c69b067d88a 92 interrupt->fall(0);
masahikofukasawa 10:5c69b067d88a 93 if(ak9752->setOperationMode(AK9752::MODE_STANDBY, fc_tmp, fc_ir) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 94 MSG("#Error setOperationMode. AK9752.\n");
masahikofukasawa 10:5c69b067d88a 95 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 96 }
masahikofukasawa 10:5c69b067d88a 97
masahikofukasawa 10:5c69b067d88a 98 // read one data to clear INT pin
masahikofukasawa 10:5c69b067d88a 99 Message msg;
masahikofukasawa 10:5c69b067d88a 100 Ak9752Ctrl::readSensorData(&msg);
masahikofukasawa 10:5c69b067d88a 101
masahikofukasawa 10:5c69b067d88a 102 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 103 }
masahikofukasawa 10:5c69b067d88a 104
masahikofukasawa 10:5c69b067d88a 105 AkmSensor::Status Ak9752Ctrl::readSensorData(Message* msg){
masahikofukasawa 10:5c69b067d88a 106 event = false;
masahikofukasawa 10:5c69b067d88a 107
masahikofukasawa 10:5c69b067d88a 108 AK9752::SensorData data;
masahikofukasawa 10:5c69b067d88a 109 AK9752::Status status = ak9752->getSensorData(&data);
masahikofukasawa 10:5c69b067d88a 110 if( status != AK9752::SUCCESS){
masahikofukasawa 10:5c69b067d88a 111 MSG("#Error getSensorData. AK9752.\n");
masahikofukasawa 10:5c69b067d88a 112 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 113 }
masahikofukasawa 10:5c69b067d88a 114 msg->setCommand(Message::CMD_START_MEASUREMENT);
masahikofukasawa 10:5c69b067d88a 115 msg->setArgument( 0, data.intStatus.irh);
masahikofukasawa 10:5c69b067d88a 116 msg->setArgument( 1, data.intStatus.irl);
masahikofukasawa 10:5c69b067d88a 117 msg->setArgument( 2, data.intStatus.tmph);
masahikofukasawa 10:5c69b067d88a 118 msg->setArgument( 3, data.intStatus.tmpl);
masahikofukasawa 10:5c69b067d88a 119 msg->setArgument( 4, data.intStatus.dr);
masahikofukasawa 10:5c69b067d88a 120 msg->setArgument( 5,(char)((int32_t)(data.ir) >> 8));
masahikofukasawa 10:5c69b067d88a 121 msg->setArgument( 6, (char)((int32_t)(data.ir) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 122 msg->setArgument( 7,(char)((int32_t)(data.temperature) >> 8));
masahikofukasawa 10:5c69b067d88a 123 msg->setArgument( 8, (char)((int32_t)(data.temperature) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 124 msg->setArgument( 9, data.dor);
masahikofukasawa 10:5c69b067d88a 125
masahikofukasawa 10:5c69b067d88a 126 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 127 }
masahikofukasawa 10:5c69b067d88a 128
masahikofukasawa 10:5c69b067d88a 129 AkmSensor::Status Ak9752Ctrl::requestCommand(Message* in, Message* out){
masahikofukasawa 10:5c69b067d88a 130 AkmSensor::Status status = AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 131 Message::Command cmd = in->getCommand();
masahikofukasawa 10:5c69b067d88a 132 AK9752::Threshold th;
masahikofukasawa 10:5c69b067d88a 133 AK9752::InterruptStatus interrupt;
masahikofukasawa 10:5c69b067d88a 134
masahikofukasawa 10:5c69b067d88a 135 out->setCommand(cmd);
masahikofukasawa 10:5c69b067d88a 136
masahikofukasawa 10:5c69b067d88a 137 switch(cmd){
masahikofukasawa 10:5c69b067d88a 138 case Message::CMD_IR_GET_THRESHOLD:
masahikofukasawa 10:5c69b067d88a 139 {
masahikofukasawa 10:5c69b067d88a 140 if (ak9752->getThreshold(&th) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 141 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 142 MSG("#Failed to set threshold to AK9752.\n");
masahikofukasawa 10:5c69b067d88a 143 }
masahikofukasawa 10:5c69b067d88a 144 out->setArgument(0,(char)((int32_t)(th.thirh) >> 8));
masahikofukasawa 10:5c69b067d88a 145 out->setArgument(1,(char)((int32_t)(th.thirh) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 146 out->setArgument(2,(char)((int32_t)(th.thirl) >> 8));
masahikofukasawa 10:5c69b067d88a 147 out->setArgument(3,(char)((int32_t)(th.thirl) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 148 out->setArgument(4,(char)((int32_t)(th.thtmph) >> 8));
masahikofukasawa 10:5c69b067d88a 149 out->setArgument(5,(char)((int32_t)(th.thtmph) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 150 out->setArgument(6,(char)((int32_t)(th.thtmpl) >> 8));
masahikofukasawa 10:5c69b067d88a 151 out->setArgument(7,(char)((int32_t)(th.thtmpl) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 152 break;
masahikofukasawa 10:5c69b067d88a 153 }
masahikofukasawa 10:5c69b067d88a 154 case Message::CMD_IR_SET_THRESHOLD:
masahikofukasawa 10:5c69b067d88a 155 {
masahikofukasawa 10:5c69b067d88a 156 th.thirh = CONV16I(in->getArgument(0), in->getArgument(1));
masahikofukasawa 10:5c69b067d88a 157 th.thirl = CONV16I(in->getArgument(2), in->getArgument(3));
masahikofukasawa 10:5c69b067d88a 158 th.thtmph = CONV16I(in->getArgument(4), in->getArgument(5));
masahikofukasawa 10:5c69b067d88a 159 th.thtmpl = CONV16I(in->getArgument(6), in->getArgument(7));
masahikofukasawa 10:5c69b067d88a 160 if (ak9752->setThreshold(&th) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 161 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 162 MSG("#Failed to set threshold to AK9752.\n");
masahikofukasawa 10:5c69b067d88a 163 }
masahikofukasawa 10:5c69b067d88a 164 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 165 break;
masahikofukasawa 10:5c69b067d88a 166 }
masahikofukasawa 10:5c69b067d88a 167 case Message::CMD_IR_GET_INTERRUPT:
masahikofukasawa 10:5c69b067d88a 168 {
masahikofukasawa 10:5c69b067d88a 169 if (ak9752->getInterruptEnable(&interrupt) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 170 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 171 MSG("#Failed to set hysteresis to AK9752.\n");
masahikofukasawa 10:5c69b067d88a 172 }
masahikofukasawa 10:5c69b067d88a 173 out->setArgument(0, interrupt.irh);
masahikofukasawa 10:5c69b067d88a 174 out->setArgument(1, interrupt.irl);
masahikofukasawa 10:5c69b067d88a 175 out->setArgument(2, interrupt.tmph);
masahikofukasawa 10:5c69b067d88a 176 out->setArgument(3, interrupt.tmpl);
masahikofukasawa 10:5c69b067d88a 177 out->setArgument(4, interrupt.dr);
masahikofukasawa 10:5c69b067d88a 178 break;
masahikofukasawa 10:5c69b067d88a 179 }
masahikofukasawa 10:5c69b067d88a 180 case Message::CMD_IR_SET_INTERRUPT:
masahikofukasawa 10:5c69b067d88a 181 {
masahikofukasawa 10:5c69b067d88a 182 interrupt.irh = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 183 interrupt.irl = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 184 interrupt.tmph = in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 185 interrupt.tmpl = in->getArgument(3);
masahikofukasawa 10:5c69b067d88a 186 interrupt.dr = in->getArgument(4);
masahikofukasawa 10:5c69b067d88a 187 if (ak9752->setInterruptEnable(&interrupt) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 188 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 189 MSG("#Failed to set hysteresis to AK9752.\n");
masahikofukasawa 10:5c69b067d88a 190 }
masahikofukasawa 10:5c69b067d88a 191 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 192 break;
masahikofukasawa 10:5c69b067d88a 193 }
masahikofukasawa 10:5c69b067d88a 194 case Message::CMD_IR_GET_OPERATION_MODE:
masahikofukasawa 10:5c69b067d88a 195 {
masahikofukasawa 10:5c69b067d88a 196 if(ak9752->getOperationMode(&mode, &fc_tmp, &fc_ir) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 197 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 198 MSG("#Error setOperationMode. AK9752.\n");
masahikofukasawa 10:5c69b067d88a 199 }
masahikofukasawa 10:5c69b067d88a 200 out->setArgument(0,(char)mode);
masahikofukasawa 10:5c69b067d88a 201 out->setArgument(1,(char)fc_tmp);
masahikofukasawa 10:5c69b067d88a 202 out->setArgument(2,(char)fc_ir);
masahikofukasawa 10:5c69b067d88a 203 break;
masahikofukasawa 10:5c69b067d88a 204 }
masahikofukasawa 10:5c69b067d88a 205 case Message::CMD_IR_SET_OPERATION_MODE:
masahikofukasawa 10:5c69b067d88a 206 {
masahikofukasawa 10:5c69b067d88a 207 mode = (AK9752::OperationMode)in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 208 fc_tmp = (AK9752::FcTmp)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 209 fc_ir = (AK9752::FcIr)in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 210 if(ak9752->setOperationMode(mode, fc_tmp, fc_ir) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 211 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 212 MSG("#Error setOperationMode. AK9752.\n");
masahikofukasawa 10:5c69b067d88a 213 }
masahikofukasawa 10:5c69b067d88a 214 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 215 break;
masahikofukasawa 10:5c69b067d88a 216 }
masahikofukasawa 10:5c69b067d88a 217 case Message::CMD_REG_WRITE:
masahikofukasawa 10:5c69b067d88a 218 {
masahikofukasawa 10:5c69b067d88a 219 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 220 int len = (int)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 221 const char data = in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 222 if( ak9752->write(address, &data, len) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 223 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 224 MSG("#Error register write.\n");
masahikofukasawa 10:5c69b067d88a 225 }
masahikofukasawa 10:5c69b067d88a 226 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 227 break;
masahikofukasawa 10:5c69b067d88a 228 }
masahikofukasawa 10:5c69b067d88a 229 case Message::CMD_REG_WRITEN:
masahikofukasawa 10:5c69b067d88a 230 {
masahikofukasawa 10:5c69b067d88a 231 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 232 int len = (int)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 233 char data[len];
masahikofukasawa 10:5c69b067d88a 234 for(int i=0; i<len; i++){
masahikofukasawa 10:5c69b067d88a 235 data[i] = in->getArgument(i);
masahikofukasawa 10:5c69b067d88a 236 }
masahikofukasawa 10:5c69b067d88a 237 if( ak9752->write(address, data, len) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 238 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 239 MSG("#Error register write.\n");
masahikofukasawa 10:5c69b067d88a 240 }
masahikofukasawa 10:5c69b067d88a 241 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 242 break;
masahikofukasawa 10:5c69b067d88a 243 }
masahikofukasawa 10:5c69b067d88a 244 case Message::CMD_REG_READ:
masahikofukasawa 10:5c69b067d88a 245 {
masahikofukasawa 10:5c69b067d88a 246 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 247 int len = (int)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 248 char data;
masahikofukasawa 10:5c69b067d88a 249 if( ak9752->read(address, &data, len) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 250 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 251 MSG("#Error register read.\n");
masahikofukasawa 10:5c69b067d88a 252 }
masahikofukasawa 10:5c69b067d88a 253 out->setArgument(0,data);
masahikofukasawa 10:5c69b067d88a 254 break;
masahikofukasawa 10:5c69b067d88a 255 }
masahikofukasawa 10:5c69b067d88a 256 case Message::CMD_REG_READN:
masahikofukasawa 10:5c69b067d88a 257 {
masahikofukasawa 10:5c69b067d88a 258 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 259 int len = (int)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 260 char data[len];
masahikofukasawa 10:5c69b067d88a 261 if( ak9752->read(address, data, len) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 262 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 263 MSG("#Error register read.\n");
masahikofukasawa 10:5c69b067d88a 264 }
masahikofukasawa 10:5c69b067d88a 265 for(int i=0; i<len; i++){
masahikofukasawa 10:5c69b067d88a 266 out->setArgument(i, data[i]);
masahikofukasawa 10:5c69b067d88a 267 }
masahikofukasawa 10:5c69b067d88a 268 break;
masahikofukasawa 10:5c69b067d88a 269 }
masahikofukasawa 10:5c69b067d88a 270 default:
masahikofukasawa 10:5c69b067d88a 271 {
masahikofukasawa 10:5c69b067d88a 272 MSG("#Error no command.\n");
masahikofukasawa 10:5c69b067d88a 273 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 274 break;
masahikofukasawa 10:5c69b067d88a 275 }
masahikofukasawa 10:5c69b067d88a 276 }
masahikofukasawa 10:5c69b067d88a 277 return status;
masahikofukasawa 10:5c69b067d88a 278 }