Modified for compatibility with Rev.E. hardware
Fork of AkmSensor by
akmakd.cpp@0:7a00359e701e, 2016-04-28 (annotated)
- Committer:
- masahikofukasawa
- Date:
- Thu Apr 28 21:12:04 2016 +0000
- Revision:
- 0:7a00359e701e
- Child:
- 7:e269411568c9
First commit;
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 | 0:7a00359e701e | 10 | AkmAkd::AkmAkd(){ |
masahikofukasawa | 0:7a00359e701e | 11 | event = false; |
masahikofukasawa | 0:7a00359e701e | 12 | compass = NULL; |
masahikofukasawa | 0:7a00359e701e | 13 | drdy = NULL; |
masahikofukasawa | 0:7a00359e701e | 14 | sensorName = ""; |
masahikofukasawa | 0:7a00359e701e | 15 | } |
masahikofukasawa | 0:7a00359e701e | 16 | |
masahikofukasawa | 0:7a00359e701e | 17 | /** |
masahikofukasawa | 0:7a00359e701e | 18 | * Destructor. |
masahikofukasawa | 0:7a00359e701e | 19 | * |
masahikofukasawa | 0:7a00359e701e | 20 | */ |
masahikofukasawa | 0:7a00359e701e | 21 | AkmAkd::~AkmAkd(){ |
masahikofukasawa | 0:7a00359e701e | 22 | drdy->rise(0); |
masahikofukasawa | 0:7a00359e701e | 23 | if (compass) delete compass; |
masahikofukasawa | 0:7a00359e701e | 24 | if (drdy) delete drdy; |
masahikofukasawa | 0:7a00359e701e | 25 | } |
masahikofukasawa | 0:7a00359e701e | 26 | |
masahikofukasawa | 0:7a00359e701e | 27 | AkmSensor::Status AkmAkd::init(const uint8_t id, const uint8_t subid){ |
masahikofukasawa | 0:7a00359e701e | 28 | primaryId = id; |
masahikofukasawa | 0:7a00359e701e | 29 | subId = subid; |
masahikofukasawa | 0:7a00359e701e | 30 | |
masahikofukasawa | 0:7a00359e701e | 31 | AkmECompass::SensorType type; |
masahikofukasawa | 0:7a00359e701e | 32 | |
masahikofukasawa | 0:7a00359e701e | 33 | drdy = new InterruptIn(DRDY); |
masahikofukasawa | 0:7a00359e701e | 34 | drdy->rise(0); |
masahikofukasawa | 0:7a00359e701e | 35 | |
masahikofukasawa | 0:7a00359e701e | 36 | if(primaryId == AKM_PRIMARY_ID_AKD_I2C){ |
masahikofukasawa | 0:7a00359e701e | 37 | |
masahikofukasawa | 0:7a00359e701e | 38 | I2C* i2c = new I2C(I2C_SDA,I2C_SCL); |
masahikofukasawa | 0:7a00359e701e | 39 | i2c->frequency(I2C_SPEED_100KHZ); |
masahikofukasawa | 0:7a00359e701e | 40 | |
masahikofukasawa | 0:7a00359e701e | 41 | AK099XX* ak099xx; |
masahikofukasawa | 0:7a00359e701e | 42 | AK8963* ak8963; |
masahikofukasawa | 0:7a00359e701e | 43 | |
masahikofukasawa | 0:7a00359e701e | 44 | switch(subid){ |
masahikofukasawa | 0:7a00359e701e | 45 | case AkmAkd::SUB_ID_AK8963N: |
masahikofukasawa | 0:7a00359e701e | 46 | case AkmAkd::SUB_ID_AK8963C: |
masahikofukasawa | 0:7a00359e701e | 47 | type = AkmECompass::AK8963; |
masahikofukasawa | 0:7a00359e701e | 48 | ak8963 = new AK8963(); |
masahikofukasawa | 0:7a00359e701e | 49 | compass = ak8963; |
masahikofukasawa | 0:7a00359e701e | 50 | AkmAkd::sensorName = "AK8963"; |
masahikofukasawa | 0:7a00359e701e | 51 | break; |
masahikofukasawa | 0:7a00359e701e | 52 | case AkmAkd::SUB_ID_AK09911: |
masahikofukasawa | 0:7a00359e701e | 53 | type = AkmECompass::AK09911; |
masahikofukasawa | 0:7a00359e701e | 54 | ak099xx = new AK099XX(); |
masahikofukasawa | 0:7a00359e701e | 55 | compass = ak099xx; |
masahikofukasawa | 0:7a00359e701e | 56 | AkmAkd::sensorName = "AK09911"; |
masahikofukasawa | 0:7a00359e701e | 57 | break; |
masahikofukasawa | 0:7a00359e701e | 58 | case AkmAkd::SUB_ID_AK09912: |
masahikofukasawa | 0:7a00359e701e | 59 | type = AkmECompass::AK09912; |
masahikofukasawa | 0:7a00359e701e | 60 | ak099xx = new AK099XX(); |
masahikofukasawa | 0:7a00359e701e | 61 | compass = ak099xx; |
masahikofukasawa | 0:7a00359e701e | 62 | AkmAkd::sensorName = "AK09912"; |
masahikofukasawa | 0:7a00359e701e | 63 | break; |
masahikofukasawa | 0:7a00359e701e | 64 | case AkmAkd::SUB_ID_AK09915: |
masahikofukasawa | 0:7a00359e701e | 65 | type = AkmECompass::AK09915; |
masahikofukasawa | 0:7a00359e701e | 66 | ak099xx = new AK099XX(); |
masahikofukasawa | 0:7a00359e701e | 67 | compass = ak099xx; |
masahikofukasawa | 0:7a00359e701e | 68 | AkmAkd::sensorName = "AK09915"; |
masahikofukasawa | 0:7a00359e701e | 69 | break; |
masahikofukasawa | 0:7a00359e701e | 70 | case AkmAkd::SUB_ID_AK09916C: |
masahikofukasawa | 0:7a00359e701e | 71 | type = AkmECompass::AK09916C; |
masahikofukasawa | 0:7a00359e701e | 72 | ak099xx = new AK099XX(); |
masahikofukasawa | 0:7a00359e701e | 73 | compass = ak099xx; |
masahikofukasawa | 0:7a00359e701e | 74 | AkmAkd::sensorName = "AK09916C"; |
masahikofukasawa | 0:7a00359e701e | 75 | break; |
masahikofukasawa | 0:7a00359e701e | 76 | default: |
masahikofukasawa | 0:7a00359e701e | 77 | return AkmSensor::ERROR; |
masahikofukasawa | 0:7a00359e701e | 78 | // break; |
masahikofukasawa | 0:7a00359e701e | 79 | } |
masahikofukasawa | 0:7a00359e701e | 80 | |
masahikofukasawa | 0:7a00359e701e | 81 | bool foundSensor = false; |
masahikofukasawa | 0:7a00359e701e | 82 | |
masahikofukasawa | 0:7a00359e701e | 83 | AkmECompass::SlaveAddress slaveAddr[] |
masahikofukasawa | 0:7a00359e701e | 84 | = { AkmECompass::SLAVE_ADDR_1, |
masahikofukasawa | 0:7a00359e701e | 85 | AkmECompass::SLAVE_ADDR_2, |
masahikofukasawa | 0:7a00359e701e | 86 | AkmECompass::SLAVE_ADDR_3, |
masahikofukasawa | 0:7a00359e701e | 87 | AkmECompass::SLAVE_ADDR_4}; |
masahikofukasawa | 0:7a00359e701e | 88 | |
masahikofukasawa | 0:7a00359e701e | 89 | for(int i=0; i<sizeof(slaveAddr); i++) |
masahikofukasawa | 0:7a00359e701e | 90 | { |
masahikofukasawa | 0:7a00359e701e | 91 | compass->init(i2c, slaveAddr[i], type); |
masahikofukasawa | 0:7a00359e701e | 92 | // Checks connectivity |
masahikofukasawa | 0:7a00359e701e | 93 | if(compass->checkConnection() == AkmECompass::SUCCESS) { |
masahikofukasawa | 0:7a00359e701e | 94 | // found |
masahikofukasawa | 0:7a00359e701e | 95 | foundSensor = true; |
masahikofukasawa | 0:7a00359e701e | 96 | break; |
masahikofukasawa | 0:7a00359e701e | 97 | } |
masahikofukasawa | 0:7a00359e701e | 98 | } |
masahikofukasawa | 0:7a00359e701e | 99 | if(foundSensor != true) return AkmSensor::ERROR; |
masahikofukasawa | 0:7a00359e701e | 100 | |
masahikofukasawa | 0:7a00359e701e | 101 | // read a data to reset DRDY |
masahikofukasawa | 0:7a00359e701e | 102 | AkmECompass::MagneticVector mag; |
masahikofukasawa | 0:7a00359e701e | 103 | compass->getMagneticVector(&mag); |
masahikofukasawa | 0:7a00359e701e | 104 | |
masahikofukasawa | 0:7a00359e701e | 105 | }else if(primaryId == AKM_PRIMARY_ID_AKD_SPI){ |
masahikofukasawa | 0:7a00359e701e | 106 | MSG("#Error: SPI doesn't support.\n"); |
masahikofukasawa | 0:7a00359e701e | 107 | |
masahikofukasawa | 0:7a00359e701e | 108 | return AkmSensor::ERROR_DOESNT_SUPPORT; |
masahikofukasawa | 0:7a00359e701e | 109 | // spi = new SPI(SPI_MOSI, SPI_MISO, SPI_SCK); |
masahikofukasawa | 0:7a00359e701e | 110 | // spi->format(8,3); // 8bit, Mode=3 |
masahikofukasawa | 0:7a00359e701e | 111 | // spi->frequency(100000); |
masahikofukasawa | 0:7a00359e701e | 112 | } |
masahikofukasawa | 0:7a00359e701e | 113 | |
masahikofukasawa | 0:7a00359e701e | 114 | MSG("#%s detected.\n", AkmAkd::sensorName); |
masahikofukasawa | 0:7a00359e701e | 115 | return AkmSensor::SUCCESS; |
masahikofukasawa | 0:7a00359e701e | 116 | } |
masahikofukasawa | 0:7a00359e701e | 117 | |
masahikofukasawa | 0:7a00359e701e | 118 | |
masahikofukasawa | 0:7a00359e701e | 119 | void AkmAkd::checkDRDY(){ |
masahikofukasawa | 0:7a00359e701e | 120 | AkmECompass::Status status = compass->isDataReady(); |
masahikofukasawa | 0:7a00359e701e | 121 | if( status == AkmECompass::DATA_READY || |
masahikofukasawa | 0:7a00359e701e | 122 | status == AkmECompass::DATA_OVER_RUN ) event = true; |
masahikofukasawa | 0:7a00359e701e | 123 | } |
masahikofukasawa | 0:7a00359e701e | 124 | |
masahikofukasawa | 0:7a00359e701e | 125 | void AkmAkd::detectDRDY(){ |
masahikofukasawa | 0:7a00359e701e | 126 | event = true; |
masahikofukasawa | 0:7a00359e701e | 127 | } |
masahikofukasawa | 0:7a00359e701e | 128 | |
masahikofukasawa | 0:7a00359e701e | 129 | bool AkmAkd::isEvent(){ |
masahikofukasawa | 0:7a00359e701e | 130 | return event; |
masahikofukasawa | 0:7a00359e701e | 131 | } |
masahikofukasawa | 0:7a00359e701e | 132 | |
masahikofukasawa | 0:7a00359e701e | 133 | AkmSensor::Status AkmAkd::startSensor(){ |
masahikofukasawa | 0:7a00359e701e | 134 | // Puts the device into continuous measurement mode. |
masahikofukasawa | 0:7a00359e701e | 135 | if(compass->setOperationMode((AkmECompass::OperationMode)0x02) != AkmECompass::SUCCESS) { |
masahikofukasawa | 0:7a00359e701e | 136 | return AkmSensor::ERROR; |
masahikofukasawa | 0:7a00359e701e | 137 | } |
masahikofukasawa | 0:7a00359e701e | 138 | |
masahikofukasawa | 0:7a00359e701e | 139 | // DRDY interrupt enable for AK8963/AK09912/AK09915 |
masahikofukasawa | 0:7a00359e701e | 140 | if(compass->getSensorType() == AkmECompass::AK8963 || |
masahikofukasawa | 0:7a00359e701e | 141 | compass->getSensorType() == AkmECompass::AK09912 || |
masahikofukasawa | 0:7a00359e701e | 142 | compass->getSensorType() == AkmECompass::AK09915 ){ |
masahikofukasawa | 0:7a00359e701e | 143 | drdy->rise(this, &AkmAkd::detectDRDY); |
masahikofukasawa | 0:7a00359e701e | 144 | } |
masahikofukasawa | 0:7a00359e701e | 145 | else{ |
masahikofukasawa | 0:7a00359e701e | 146 | ticker.attach(this, &AkmAkd::checkDRDY, 0.01); // 100Hz |
masahikofukasawa | 0:7a00359e701e | 147 | } |
masahikofukasawa | 0:7a00359e701e | 148 | return AkmSensor::SUCCESS; |
masahikofukasawa | 0:7a00359e701e | 149 | } |
masahikofukasawa | 0:7a00359e701e | 150 | |
masahikofukasawa | 0:7a00359e701e | 151 | AkmSensor::Status AkmAkd::startSensor(const float sec){ |
masahikofukasawa | 0:7a00359e701e | 152 | return AkmSensor::ERROR; // doesn't support |
masahikofukasawa | 0:7a00359e701e | 153 | } |
masahikofukasawa | 0:7a00359e701e | 154 | |
masahikofukasawa | 0:7a00359e701e | 155 | AkmSensor::Status AkmAkd::stopSensor(){ |
masahikofukasawa | 0:7a00359e701e | 156 | ticker.detach(); |
masahikofukasawa | 0:7a00359e701e | 157 | |
masahikofukasawa | 0:7a00359e701e | 158 | // Puts the device into power down mode. |
masahikofukasawa | 0:7a00359e701e | 159 | if(compass->setOperationMode(AkmECompass::MODE_POWER_DOWN) != AkmECompass::SUCCESS) { |
masahikofukasawa | 0:7a00359e701e | 160 | return AkmSensor::ERROR; |
masahikofukasawa | 0:7a00359e701e | 161 | } |
masahikofukasawa | 0:7a00359e701e | 162 | return AkmSensor::SUCCESS; |
masahikofukasawa | 0:7a00359e701e | 163 | } |
masahikofukasawa | 0:7a00359e701e | 164 | |
masahikofukasawa | 0:7a00359e701e | 165 | AkmSensor::Status AkmAkd::readSensorData(Message* msg){ |
masahikofukasawa | 0:7a00359e701e | 166 | event = false; |
masahikofukasawa | 0:7a00359e701e | 167 | |
masahikofukasawa | 0:7a00359e701e | 168 | AkmECompass::MagneticVector mag; |
masahikofukasawa | 0:7a00359e701e | 169 | AkmECompass::Status status = compass->getMagneticVector(&mag); |
masahikofukasawa | 0:7a00359e701e | 170 | if( status != AkmECompass::SUCCESS){ |
masahikofukasawa | 0:7a00359e701e | 171 | return AkmSensor::ERROR; |
masahikofukasawa | 0:7a00359e701e | 172 | } |
masahikofukasawa | 0:7a00359e701e | 173 | msg->setCommand(Message::CMD_START_MEASUREMENT); |
masahikofukasawa | 0:7a00359e701e | 174 | msg->setArgument( 0, (mag.isOverflow ? 1 : 0) ); |
masahikofukasawa | 0:7a00359e701e | 175 | msg->setArgument( 1,(char)((int32_t)(mag.mx/0.15) >> 8)); |
masahikofukasawa | 0:7a00359e701e | 176 | msg->setArgument( 2, (char)((int32_t)(mag.mx/0.15) & 0x00FF) ); |
masahikofukasawa | 0:7a00359e701e | 177 | msg->setArgument( 3, (char)((int32_t)(mag.my/0.15) >> 8) ); |
masahikofukasawa | 0:7a00359e701e | 178 | msg->setArgument( 4, (char)((int32_t)(mag.my/0.15) & 0x00FF) ); |
masahikofukasawa | 0:7a00359e701e | 179 | msg->setArgument( 5, (char)((int32_t)(mag.mz/0.15) >> 8) ); |
masahikofukasawa | 0:7a00359e701e | 180 | msg->setArgument( 6, (char)((int32_t)(mag.mz/0.15) & 0x00FF) ); |
masahikofukasawa | 0:7a00359e701e | 181 | return AkmSensor::SUCCESS; |
masahikofukasawa | 0:7a00359e701e | 182 | } |
masahikofukasawa | 0:7a00359e701e | 183 | |
masahikofukasawa | 0:7a00359e701e | 184 | AkmSensor::Status AkmAkd::requestCommand(Message* in, Message* out){ |
masahikofukasawa | 0:7a00359e701e | 185 | return AkmSensor::SUCCESS; |
masahikofukasawa | 0:7a00359e701e | 186 | } |
masahikofukasawa | 0:7a00359e701e | 187 | |
masahikofukasawa | 0:7a00359e701e | 188 | char* AkmAkd::getSensorName(){ |
masahikofukasawa | 0:7a00359e701e | 189 | return sensorName; |
masahikofukasawa | 0:7a00359e701e | 190 | } |