Modified for compatibility with Rev.E. hardware
Fork of AkmSensor by
akmakd.cpp@19:8dcc4f323bdc, 2017-02-22 (annotated)
- Committer:
- masahikofukasawa
- Date:
- Wed Feb 22 18:47:01 2017 +0000
- Revision:
- 19:8dcc4f323bdc
- Parent:
- 18:b7182d5ad8d5
- Child:
- 20:2fca76521680
Modified compass. cont...
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 | 19:8dcc4f323bdc | 27 | AkmSensor::Status AkmAkd::checkSensor( const uint8_t id, const uint8_t subid, AkmECompass::SensorType* type){ |
masahikofukasawa | 19:8dcc4f323bdc | 28 | AK099XX* ak099xx; |
masahikofukasawa | 19:8dcc4f323bdc | 29 | AK8963* ak8963; |
masahikofukasawa | 19:8dcc4f323bdc | 30 | |
masahikofukasawa | 19:8dcc4f323bdc | 31 | switch(subid){ |
masahikofukasawa | 19:8dcc4f323bdc | 32 | case AkmAkd::SUB_ID_AK8963N: |
masahikofukasawa | 19:8dcc4f323bdc | 33 | case AkmAkd::SUB_ID_AK8963C: |
masahikofukasawa | 19:8dcc4f323bdc | 34 | *type = AkmECompass::AK8963; |
masahikofukasawa | 19:8dcc4f323bdc | 35 | AkmAkd::sensorName = "AK8963"; |
masahikofukasawa | 19:8dcc4f323bdc | 36 | ak8963 = new AK8963(); |
masahikofukasawa | 19:8dcc4f323bdc | 37 | compass = ak8963; |
masahikofukasawa | 19:8dcc4f323bdc | 38 | break; |
masahikofukasawa | 19:8dcc4f323bdc | 39 | case AkmAkd::SUB_ID_AK09911C: |
masahikofukasawa | 19:8dcc4f323bdc | 40 | *type = AkmECompass::AK09911; |
masahikofukasawa | 19:8dcc4f323bdc | 41 | AkmAkd::sensorName = "AK09911C"; |
masahikofukasawa | 19:8dcc4f323bdc | 42 | if(primaryId == AKM_PRIMARY_ID_AKD_SPI) |
masahikofukasawa | 19:8dcc4f323bdc | 43 | return AkmSensor::ERROR; // No SPI support |
masahikofukasawa | 19:8dcc4f323bdc | 44 | ak099xx = new AK099XX(); |
masahikofukasawa | 19:8dcc4f323bdc | 45 | compass = ak099xx; |
masahikofukasawa | 19:8dcc4f323bdc | 46 | break; |
masahikofukasawa | 19:8dcc4f323bdc | 47 | case AkmAkd::SUB_ID_AK09912C: |
masahikofukasawa | 19:8dcc4f323bdc | 48 | *type = AkmECompass::AK09912; |
masahikofukasawa | 19:8dcc4f323bdc | 49 | AkmAkd::sensorName = "AK09912C"; |
masahikofukasawa | 19:8dcc4f323bdc | 50 | ak099xx = new AK099XX(); |
masahikofukasawa | 19:8dcc4f323bdc | 51 | compass = ak099xx; |
masahikofukasawa | 19:8dcc4f323bdc | 52 | break; |
masahikofukasawa | 19:8dcc4f323bdc | 53 | case AkmAkd::SUB_ID_AK09915C: |
masahikofukasawa | 19:8dcc4f323bdc | 54 | *type = AkmECompass::AK09915; |
masahikofukasawa | 19:8dcc4f323bdc | 55 | AkmAkd::sensorName = "AK09915C"; |
masahikofukasawa | 19:8dcc4f323bdc | 56 | ak099xx = new AK099XX(); |
masahikofukasawa | 19:8dcc4f323bdc | 57 | compass = ak099xx; |
masahikofukasawa | 19:8dcc4f323bdc | 58 | break; |
masahikofukasawa | 19:8dcc4f323bdc | 59 | case AkmAkd::SUB_ID_AK09915D: |
masahikofukasawa | 19:8dcc4f323bdc | 60 | *type = AkmECompass::AK09915; |
masahikofukasawa | 19:8dcc4f323bdc | 61 | AkmAkd::sensorName = "AK09915D"; |
masahikofukasawa | 19:8dcc4f323bdc | 62 | ak099xx = new AK099XX(); |
masahikofukasawa | 19:8dcc4f323bdc | 63 | compass = ak099xx; |
masahikofukasawa | 19:8dcc4f323bdc | 64 | break; |
masahikofukasawa | 19:8dcc4f323bdc | 65 | case AkmAkd::SUB_ID_AK09916C: |
masahikofukasawa | 19:8dcc4f323bdc | 66 | *type = AkmECompass::AK09916C; |
masahikofukasawa | 19:8dcc4f323bdc | 67 | AkmAkd::sensorName = "AK09916C"; |
masahikofukasawa | 19:8dcc4f323bdc | 68 | if(primaryId == AKM_PRIMARY_ID_AKD_SPI) |
masahikofukasawa | 19:8dcc4f323bdc | 69 | return AkmSensor::ERROR; // No SPI support |
masahikofukasawa | 19:8dcc4f323bdc | 70 | ak099xx = new AK099XX(); |
masahikofukasawa | 19:8dcc4f323bdc | 71 | compass = ak099xx; |
masahikofukasawa | 19:8dcc4f323bdc | 72 | break; |
masahikofukasawa | 19:8dcc4f323bdc | 73 | case AkmAkd::SUB_ID_AK09916D: |
masahikofukasawa | 19:8dcc4f323bdc | 74 | *type = AkmECompass::AK09916D; |
masahikofukasawa | 19:8dcc4f323bdc | 75 | AkmAkd::sensorName = "AK09916D"; |
masahikofukasawa | 19:8dcc4f323bdc | 76 | if(primaryId == AKM_PRIMARY_ID_AKD_SPI) |
masahikofukasawa | 19:8dcc4f323bdc | 77 | return AkmSensor::ERROR; // No SPI support |
masahikofukasawa | 19:8dcc4f323bdc | 78 | ak099xx = new AK099XX(); |
masahikofukasawa | 19:8dcc4f323bdc | 79 | compass = ak099xx; |
masahikofukasawa | 19:8dcc4f323bdc | 80 | break; |
masahikofukasawa | 19:8dcc4f323bdc | 81 | case AkmAkd::SUB_ID_AK09918: |
masahikofukasawa | 19:8dcc4f323bdc | 82 | *type = AkmECompass::AK09918; |
masahikofukasawa | 19:8dcc4f323bdc | 83 | AkmAkd::sensorName = "AK09918"; |
masahikofukasawa | 19:8dcc4f323bdc | 84 | if(primaryId == AKM_PRIMARY_ID_AKD_SPI) |
masahikofukasawa | 19:8dcc4f323bdc | 85 | return AkmSensor::ERROR; // No SPI support |
masahikofukasawa | 19:8dcc4f323bdc | 86 | ak099xx = new AK099XX(); |
masahikofukasawa | 19:8dcc4f323bdc | 87 | compass = ak099xx; |
masahikofukasawa | 19:8dcc4f323bdc | 88 | break; |
masahikofukasawa | 19:8dcc4f323bdc | 89 | default: |
masahikofukasawa | 19:8dcc4f323bdc | 90 | return AkmSensor::ERROR; |
masahikofukasawa | 19:8dcc4f323bdc | 91 | } |
masahikofukasawa | 19:8dcc4f323bdc | 92 | return AkmSensor::SUCCESS; |
masahikofukasawa | 19:8dcc4f323bdc | 93 | } |
masahikofukasawa | 19:8dcc4f323bdc | 94 | |
masahikofukasawa | 0:7a00359e701e | 95 | AkmSensor::Status AkmAkd::init(const uint8_t id, const uint8_t subid){ |
masahikofukasawa | 0:7a00359e701e | 96 | primaryId = id; |
masahikofukasawa | 0:7a00359e701e | 97 | subId = subid; |
masahikofukasawa | 0:7a00359e701e | 98 | |
masahikofukasawa | 0:7a00359e701e | 99 | AkmECompass::SensorType type; |
masahikofukasawa | 19:8dcc4f323bdc | 100 | |
masahikofukasawa | 9:6fa3e7b17c27 | 101 | mode = AkmECompass::MODE_POWER_DOWN; |
masahikofukasawa | 9:6fa3e7b17c27 | 102 | nsf = AkmECompass::NSF_DISABLE; |
masahikofukasawa | 9:6fa3e7b17c27 | 103 | sdr = AkmECompass::SDR_LOW_POWER_DRIVE; |
masahikofukasawa | 9:6fa3e7b17c27 | 104 | |
masahikofukasawa | 0:7a00359e701e | 105 | if(primaryId == AKM_PRIMARY_ID_AKD_I2C){ |
masahikofukasawa | 0:7a00359e701e | 106 | |
masahikofukasawa | 7:e269411568c9 | 107 | drdy = new InterruptIn(I2C_DRDY); |
masahikofukasawa | 7:e269411568c9 | 108 | drdy->rise(0); |
masahikofukasawa | 7:e269411568c9 | 109 | |
masahikofukasawa | 0:7a00359e701e | 110 | I2C* i2c = new I2C(I2C_SDA,I2C_SCL); |
masahikofukasawa | 0:7a00359e701e | 111 | i2c->frequency(I2C_SPEED_100KHZ); |
masahikofukasawa | 0:7a00359e701e | 112 | |
masahikofukasawa | 19:8dcc4f323bdc | 113 | if( checkSensor(id,subid,&type) != 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 | 0:7a00359e701e | 125 | compass->init(i2c, slaveAddr[i], type); |
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 | drdy = new InterruptIn(SPI_DRDY); |
masahikofukasawa | 7:e269411568c9 | 135 | drdy->rise(0); |
masahikofukasawa | 0:7a00359e701e | 136 | |
masahikofukasawa | 7:e269411568c9 | 137 | SPI* spi = new SPI(SPI_MOSI, SPI_MISO, SPI_SCK); |
masahikofukasawa | 7:e269411568c9 | 138 | spi->format(8,3); // 8bit, Mode=3 |
masahikofukasawa | 7:e269411568c9 | 139 | spi->frequency(1000000); |
masahikofukasawa | 7:e269411568c9 | 140 | |
masahikofukasawa | 7:e269411568c9 | 141 | DigitalOut* cs = new DigitalOut(SPI_CS); |
masahikofukasawa | 19:8dcc4f323bdc | 142 | |
masahikofukasawa | 19:8dcc4f323bdc | 143 | if( checkSensor(id,subid,&type) != AkmSensor::SUCCESS ){ |
masahikofukasawa | 19:8dcc4f323bdc | 144 | return AkmSensor::ERROR; |
masahikofukasawa | 7:e269411568c9 | 145 | } |
masahikofukasawa | 7:e269411568c9 | 146 | |
masahikofukasawa | 7:e269411568c9 | 147 | compass->init(spi, cs, type); |
masahikofukasawa | 7:e269411568c9 | 148 | if(compass->checkConnection() == AkmECompass::SUCCESS) { |
masahikofukasawa | 19:8dcc4f323bdc | 149 | MSG("#%s detected.\r\n", AkmAkd::sensorName); |
masahikofukasawa | 19:8dcc4f323bdc | 150 | return AkmSensor::SUCCESS; |
masahikofukasawa | 7:e269411568c9 | 151 | } |
masahikofukasawa | 0:7a00359e701e | 152 | } |
masahikofukasawa | 19:8dcc4f323bdc | 153 | return AkmSensor::ERROR; |
masahikofukasawa | 0:7a00359e701e | 154 | } |
masahikofukasawa | 0:7a00359e701e | 155 | |
masahikofukasawa | 0:7a00359e701e | 156 | |
masahikofukasawa | 0:7a00359e701e | 157 | void AkmAkd::checkDRDY(){ |
masahikofukasawa | 0:7a00359e701e | 158 | AkmECompass::Status status = compass->isDataReady(); |
masahikofukasawa | 0:7a00359e701e | 159 | if( status == AkmECompass::DATA_READY || |
masahikofukasawa | 0:7a00359e701e | 160 | status == AkmECompass::DATA_OVER_RUN ) event = true; |
masahikofukasawa | 0:7a00359e701e | 161 | } |
masahikofukasawa | 0:7a00359e701e | 162 | |
masahikofukasawa | 0:7a00359e701e | 163 | void AkmAkd::detectDRDY(){ |
masahikofukasawa | 0:7a00359e701e | 164 | event = true; |
masahikofukasawa | 0:7a00359e701e | 165 | } |
masahikofukasawa | 0:7a00359e701e | 166 | |
masahikofukasawa | 0:7a00359e701e | 167 | bool AkmAkd::isEvent(){ |
masahikofukasawa | 0:7a00359e701e | 168 | return event; |
masahikofukasawa | 0:7a00359e701e | 169 | } |
masahikofukasawa | 0:7a00359e701e | 170 | |
masahikofukasawa | 19:8dcc4f323bdc | 171 | AkmAkd::InterruptMode AkmAkd::getInterrupt(uint8_t primaryId, uint8_t subId){ |
masahikofukasawa | 19:8dcc4f323bdc | 172 | AkmAkd::InterruptMode ret = AkmAkd::INTERRUPT_DISABLED; |
masahikofukasawa | 19:8dcc4f323bdc | 173 | |
masahikofukasawa | 19:8dcc4f323bdc | 174 | if( primaryId == AKM_PRIMARY_ID_AKD_I2C && |
masahikofukasawa | 19:8dcc4f323bdc | 175 | (subId == AkmAkd::SUB_ID_AK8963N || |
masahikofukasawa | 19:8dcc4f323bdc | 176 | subId == AkmAkd::SUB_ID_AK8963C || |
masahikofukasawa | 19:8dcc4f323bdc | 177 | subId == AkmAkd::SUB_ID_AK09912C || |
masahikofukasawa | 19:8dcc4f323bdc | 178 | subId == AkmAkd::SUB_ID_AK09915C ) ){ |
masahikofukasawa | 19:8dcc4f323bdc | 179 | ret = AkmAkd::INTERRUPT_ENABLED_PP; |
masahikofukasawa | 19:8dcc4f323bdc | 180 | } |
masahikofukasawa | 19:8dcc4f323bdc | 181 | else if( primaryId == AKM_PRIMARY_ID_AKD_I2C && |
masahikofukasawa | 19:8dcc4f323bdc | 182 | (subId == AkmAkd::SUB_ID_AK09915D || |
masahikofukasawa | 19:8dcc4f323bdc | 183 | subId == AkmAkd::SUB_ID_AK09916D ) ){ |
masahikofukasawa | 19:8dcc4f323bdc | 184 | ret = AkmAkd::INTERRUPT_ENABLED_OD; |
masahikofukasawa | 19:8dcc4f323bdc | 185 | } |
masahikofukasawa | 19:8dcc4f323bdc | 186 | else{ |
masahikofukasawa | 19:8dcc4f323bdc | 187 | // No DRDY |
masahikofukasawa | 19:8dcc4f323bdc | 188 | // No DRDY use for SPI interface |
masahikofukasawa | 19:8dcc4f323bdc | 189 | } |
masahikofukasawa | 19:8dcc4f323bdc | 190 | return ret; |
masahikofukasawa | 19:8dcc4f323bdc | 191 | } |
masahikofukasawa | 19:8dcc4f323bdc | 192 | |
masahikofukasawa | 19:8dcc4f323bdc | 193 | |
masahikofukasawa | 0:7a00359e701e | 194 | AkmSensor::Status AkmAkd::startSensor(){ |
masahikofukasawa | 11:cef8dc1cf010 | 195 | // read one data to clear DRDY |
masahikofukasawa | 9:6fa3e7b17c27 | 196 | AkmECompass::MagneticVector mag; |
masahikofukasawa | 11:cef8dc1cf010 | 197 | compass->getMagneticVector(&mag); |
masahikofukasawa | 9:6fa3e7b17c27 | 198 | |
masahikofukasawa | 19:8dcc4f323bdc | 199 | AkmAkd::InterruptMode int_mode = getInterrupt(primaryId,subId); |
masahikofukasawa | 11:cef8dc1cf010 | 200 | // enable interrupt |
masahikofukasawa | 19:8dcc4f323bdc | 201 | if( int_mode == AkmAkd::INTERRUPT_ENABLED_PP ){ |
masahikofukasawa | 10:5c69b067d88a | 202 | // Push-Pull DRDY |
masahikofukasawa | 16:d85be9bafb80 | 203 | drdy->rise(callback(this, &AkmAkd::detectDRDY)); |
masahikofukasawa | 0:7a00359e701e | 204 | } |
masahikofukasawa | 19:8dcc4f323bdc | 205 | else if( int_mode == AkmAkd::INTERRUPT_ENABLED_OD ){ |
masahikofukasawa | 10:5c69b067d88a | 206 | // Open Drain DRDY |
masahikofukasawa | 16:d85be9bafb80 | 207 | drdy->fall(callback(this, &AkmAkd::detectDRDY)); |
masahikofukasawa | 10:5c69b067d88a | 208 | } |
masahikofukasawa | 0:7a00359e701e | 209 | else{ |
masahikofukasawa | 10:5c69b067d88a | 210 | // No DRDY |
masahikofukasawa | 16:d85be9bafb80 | 211 | ticker.attach(callback(this, &AkmAkd::checkDRDY), 0.005); // 200Hz |
masahikofukasawa | 0:7a00359e701e | 212 | } |
masahikofukasawa | 11:cef8dc1cf010 | 213 | |
masahikofukasawa | 11:cef8dc1cf010 | 214 | // set operation mode |
masahikofukasawa | 11:cef8dc1cf010 | 215 | if( subId == AkmAkd::SUB_ID_AK09915C || subId == AkmAkd::SUB_ID_AK09915D ){ |
masahikofukasawa | 11:cef8dc1cf010 | 216 | if(compass->setOperationMode(mode,nsf,sdr) != AkmECompass::SUCCESS) { |
masahikofukasawa | 11:cef8dc1cf010 | 217 | MSG("#Start sensor failed.\r\n"); |
masahikofukasawa | 11:cef8dc1cf010 | 218 | return AkmSensor::ERROR; |
masahikofukasawa | 11:cef8dc1cf010 | 219 | } |
masahikofukasawa | 11:cef8dc1cf010 | 220 | } |
masahikofukasawa | 11:cef8dc1cf010 | 221 | else if( subId == AkmAkd::SUB_ID_AK09912C ){ |
masahikofukasawa | 11:cef8dc1cf010 | 222 | if(compass->setOperationMode(mode,nsf) != AkmECompass::SUCCESS) { |
masahikofukasawa | 11:cef8dc1cf010 | 223 | MSG("#Start sensor failed.\r\n"); |
masahikofukasawa | 11:cef8dc1cf010 | 224 | return AkmSensor::ERROR; |
masahikofukasawa | 11:cef8dc1cf010 | 225 | } |
masahikofukasawa | 11:cef8dc1cf010 | 226 | } |
masahikofukasawa | 11:cef8dc1cf010 | 227 | else{ |
masahikofukasawa | 11:cef8dc1cf010 | 228 | if(compass->setOperationMode(mode) != AkmECompass::SUCCESS) { |
masahikofukasawa | 11:cef8dc1cf010 | 229 | MSG("#Start sensor failed.\r\n"); |
masahikofukasawa | 11:cef8dc1cf010 | 230 | return AkmSensor::ERROR; |
masahikofukasawa | 11:cef8dc1cf010 | 231 | } |
masahikofukasawa | 11:cef8dc1cf010 | 232 | } |
masahikofukasawa | 11:cef8dc1cf010 | 233 | |
masahikofukasawa | 11:cef8dc1cf010 | 234 | MSG("#Start sensor succceeded.\r\n"); |
masahikofukasawa | 0:7a00359e701e | 235 | return AkmSensor::SUCCESS; |
masahikofukasawa | 0:7a00359e701e | 236 | } |
masahikofukasawa | 0:7a00359e701e | 237 | |
masahikofukasawa | 0:7a00359e701e | 238 | AkmSensor::Status AkmAkd::startSensor(const float sec){ |
masahikofukasawa | 11:cef8dc1cf010 | 239 | return AkmSensor::ERROR; |
masahikofukasawa | 0:7a00359e701e | 240 | } |
masahikofukasawa | 0:7a00359e701e | 241 | |
masahikofukasawa | 0:7a00359e701e | 242 | AkmSensor::Status AkmAkd::stopSensor(){ |
masahikofukasawa | 0:7a00359e701e | 243 | ticker.detach(); |
masahikofukasawa | 11:cef8dc1cf010 | 244 | event = false; |
masahikofukasawa | 11:cef8dc1cf010 | 245 | |
masahikofukasawa | 19:8dcc4f323bdc | 246 | AkmAkd::InterruptMode int_mode = getInterrupt(primaryId,subId); |
masahikofukasawa | 19:8dcc4f323bdc | 247 | if( int_mode == AkmAkd::INTERRUPT_ENABLED_PP ){ |
masahikofukasawa | 19:8dcc4f323bdc | 248 | // Push-Pull DRDY |
masahikofukasawa | 11:cef8dc1cf010 | 249 | drdy->rise(NULL); |
masahikofukasawa | 11:cef8dc1cf010 | 250 | } |
masahikofukasawa | 19:8dcc4f323bdc | 251 | else if( int_mode == AkmAkd::INTERRUPT_ENABLED_OD ){ |
masahikofukasawa | 11:cef8dc1cf010 | 252 | // Open Drain DRDY |
masahikofukasawa | 11:cef8dc1cf010 | 253 | drdy->fall(NULL); |
masahikofukasawa | 11:cef8dc1cf010 | 254 | } |
masahikofukasawa | 19:8dcc4f323bdc | 255 | else{ |
masahikofukasawa | 19:8dcc4f323bdc | 256 | // No DRDY |
masahikofukasawa | 19:8dcc4f323bdc | 257 | } |
masahikofukasawa | 11:cef8dc1cf010 | 258 | |
masahikofukasawa | 0:7a00359e701e | 259 | // Puts the device into power down mode. |
masahikofukasawa | 0:7a00359e701e | 260 | if(compass->setOperationMode(AkmECompass::MODE_POWER_DOWN) != AkmECompass::SUCCESS) { |
masahikofukasawa | 0:7a00359e701e | 261 | return AkmSensor::ERROR; |
masahikofukasawa | 0:7a00359e701e | 262 | } |
masahikofukasawa | 11:cef8dc1cf010 | 263 | // read one data to clear DRDY |
masahikofukasawa | 11:cef8dc1cf010 | 264 | AkmECompass::MagneticVector mag; |
masahikofukasawa | 11:cef8dc1cf010 | 265 | compass->getMagneticVector(&mag); |
masahikofukasawa | 11:cef8dc1cf010 | 266 | |
masahikofukasawa | 0:7a00359e701e | 267 | return AkmSensor::SUCCESS; |
masahikofukasawa | 0:7a00359e701e | 268 | } |
masahikofukasawa | 0:7a00359e701e | 269 | |
masahikofukasawa | 0:7a00359e701e | 270 | AkmSensor::Status AkmAkd::readSensorData(Message* msg){ |
masahikofukasawa | 0:7a00359e701e | 271 | event = false; |
masahikofukasawa | 0:7a00359e701e | 272 | |
masahikofukasawa | 0:7a00359e701e | 273 | AkmECompass::MagneticVector mag; |
masahikofukasawa | 0:7a00359e701e | 274 | AkmECompass::Status status = compass->getMagneticVector(&mag); |
masahikofukasawa | 0:7a00359e701e | 275 | if( status != AkmECompass::SUCCESS){ |
masahikofukasawa | 0:7a00359e701e | 276 | return AkmSensor::ERROR; |
masahikofukasawa | 0:7a00359e701e | 277 | } |
masahikofukasawa | 0:7a00359e701e | 278 | msg->setCommand(Message::CMD_START_MEASUREMENT); |
masahikofukasawa | 0:7a00359e701e | 279 | msg->setArgument( 0, (mag.isOverflow ? 1 : 0) ); |
masahikofukasawa | 0:7a00359e701e | 280 | msg->setArgument( 1,(char)((int32_t)(mag.mx/0.15) >> 8)); |
masahikofukasawa | 0:7a00359e701e | 281 | msg->setArgument( 2, (char)((int32_t)(mag.mx/0.15) & 0x00FF) ); |
masahikofukasawa | 0:7a00359e701e | 282 | msg->setArgument( 3, (char)((int32_t)(mag.my/0.15) >> 8) ); |
masahikofukasawa | 0:7a00359e701e | 283 | msg->setArgument( 4, (char)((int32_t)(mag.my/0.15) & 0x00FF) ); |
masahikofukasawa | 0:7a00359e701e | 284 | msg->setArgument( 5, (char)((int32_t)(mag.mz/0.15) >> 8) ); |
masahikofukasawa | 0:7a00359e701e | 285 | msg->setArgument( 6, (char)((int32_t)(mag.mz/0.15) & 0x00FF) ); |
masahikofukasawa | 0:7a00359e701e | 286 | return AkmSensor::SUCCESS; |
masahikofukasawa | 0:7a00359e701e | 287 | } |
masahikofukasawa | 0:7a00359e701e | 288 | |
masahikofukasawa | 0:7a00359e701e | 289 | AkmSensor::Status AkmAkd::requestCommand(Message* in, Message* out){ |
masahikofukasawa | 9:6fa3e7b17c27 | 290 | AkmSensor::Status status = AkmSensor::SUCCESS; |
masahikofukasawa | 9:6fa3e7b17c27 | 291 | Message::Command cmd = in->getCommand(); |
masahikofukasawa | 9:6fa3e7b17c27 | 292 | out->setCommand(cmd); |
masahikofukasawa | 9:6fa3e7b17c27 | 293 | |
masahikofukasawa | 9:6fa3e7b17c27 | 294 | switch(cmd){ |
masahikofukasawa | 9:6fa3e7b17c27 | 295 | case Message::CMD_COMPASS_GET_OPERATION_MODE: |
masahikofukasawa | 9:6fa3e7b17c27 | 296 | { |
masahikofukasawa | 18:b7182d5ad8d5 | 297 | if(subId == AkmAkd::SUB_ID_AK09915C || subId == AkmAkd::SUB_ID_AK09915D){ |
masahikofukasawa | 18:b7182d5ad8d5 | 298 | if(compass->getOperationMode(&mode, &nsf, &sdr) != AkmECompass::SUCCESS) { |
masahikofukasawa | 18:b7182d5ad8d5 | 299 | status = AkmSensor::ERROR; |
masahikofukasawa | 18:b7182d5ad8d5 | 300 | MSG("#Error set operation mode.\r\n"); |
masahikofukasawa | 18:b7182d5ad8d5 | 301 | }else{ |
masahikofukasawa | 18:b7182d5ad8d5 | 302 | out->setArgument(0,mode); |
masahikofukasawa | 18:b7182d5ad8d5 | 303 | out->setArgument(1,nsf); |
masahikofukasawa | 18:b7182d5ad8d5 | 304 | out->setArgument(2,sdr); |
masahikofukasawa | 18:b7182d5ad8d5 | 305 | } |
masahikofukasawa | 18:b7182d5ad8d5 | 306 | |
masahikofukasawa | 18:b7182d5ad8d5 | 307 | }else if(subId == AkmAkd::SUB_ID_AK09912C){ |
masahikofukasawa | 18:b7182d5ad8d5 | 308 | if(compass->getOperationMode(&mode, &nsf) != AkmECompass::SUCCESS) { |
masahikofukasawa | 18:b7182d5ad8d5 | 309 | status = AkmSensor::ERROR; |
masahikofukasawa | 18:b7182d5ad8d5 | 310 | MSG("#Error set operation mode.\r\n"); |
masahikofukasawa | 18:b7182d5ad8d5 | 311 | }else{ |
masahikofukasawa | 18:b7182d5ad8d5 | 312 | out->setArgument(0,mode); |
masahikofukasawa | 18:b7182d5ad8d5 | 313 | out->setArgument(1,nsf); |
masahikofukasawa | 18:b7182d5ad8d5 | 314 | } |
masahikofukasawa | 15:1238993fd75f | 315 | }else{ |
masahikofukasawa | 18:b7182d5ad8d5 | 316 | if(compass->getOperationMode(&mode) != AkmECompass::SUCCESS) { |
masahikofukasawa | 18:b7182d5ad8d5 | 317 | status = AkmSensor::ERROR; |
masahikofukasawa | 18:b7182d5ad8d5 | 318 | MSG("#Error set operation mode.\r\n"); |
masahikofukasawa | 18:b7182d5ad8d5 | 319 | }else{ |
masahikofukasawa | 18:b7182d5ad8d5 | 320 | out->setArgument(0,mode); |
masahikofukasawa | 18:b7182d5ad8d5 | 321 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 322 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 323 | break; |
masahikofukasawa | 9:6fa3e7b17c27 | 324 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 325 | case Message::CMD_COMPASS_SET_OPERATION_MODE: |
masahikofukasawa | 9:6fa3e7b17c27 | 326 | { |
masahikofukasawa | 9:6fa3e7b17c27 | 327 | mode = (AkmECompass::OperationMode)in->getArgument(0); |
masahikofukasawa | 10:5c69b067d88a | 328 | if(subId == AkmAkd::SUB_ID_AK09915C || subId == AkmAkd::SUB_ID_AK09915D){ |
masahikofukasawa | 9:6fa3e7b17c27 | 329 | nsf = (AkmECompass::Nsf)in->getArgument(1); |
masahikofukasawa | 9:6fa3e7b17c27 | 330 | sdr = (AkmECompass::Sdr)in->getArgument(2); |
masahikofukasawa | 9:6fa3e7b17c27 | 331 | if(compass->setOperationMode(mode,nsf,sdr) != AkmECompass::SUCCESS) { |
masahikofukasawa | 9:6fa3e7b17c27 | 332 | status = AkmSensor::ERROR; |
masahikofukasawa | 11:cef8dc1cf010 | 333 | MSG("#Error set operation mode.\r\n"); |
masahikofukasawa | 9:6fa3e7b17c27 | 334 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 335 | } |
masahikofukasawa | 10:5c69b067d88a | 336 | else if(subId == AkmAkd::SUB_ID_AK09912C){ |
masahikofukasawa | 9:6fa3e7b17c27 | 337 | nsf = (AkmECompass::Nsf)in->getArgument(1); |
masahikofukasawa | 9:6fa3e7b17c27 | 338 | if(compass->setOperationMode(mode,(AkmECompass::Nsf)nsf) != AkmECompass::SUCCESS) { |
masahikofukasawa | 9:6fa3e7b17c27 | 339 | status = AkmSensor::ERROR; |
masahikofukasawa | 11:cef8dc1cf010 | 340 | MSG("#Error set operation mode.\r\n"); |
masahikofukasawa | 9:6fa3e7b17c27 | 341 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 342 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 343 | else{ |
masahikofukasawa | 9:6fa3e7b17c27 | 344 | if(compass->setOperationMode(mode) != AkmECompass::SUCCESS) { |
masahikofukasawa | 9:6fa3e7b17c27 | 345 | status = AkmSensor::ERROR; |
masahikofukasawa | 11:cef8dc1cf010 | 346 | MSG("#Error set operation mode.\r\n"); |
masahikofukasawa | 9:6fa3e7b17c27 | 347 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 348 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 349 | out->setArgument(0,(char)status); |
masahikofukasawa | 9:6fa3e7b17c27 | 350 | break; |
masahikofukasawa | 15:1238993fd75f | 351 | } |
masahikofukasawa | 15:1238993fd75f | 352 | case Message::CMD_REG_WRITE: |
masahikofukasawa | 9:6fa3e7b17c27 | 353 | case Message::CMD_REG_WRITEN: |
masahikofukasawa | 9:6fa3e7b17c27 | 354 | { |
masahikofukasawa | 9:6fa3e7b17c27 | 355 | char address = in->getArgument(0); |
masahikofukasawa | 9:6fa3e7b17c27 | 356 | int len = (int)in->getArgument(1); |
masahikofukasawa | 15:1238993fd75f | 357 | if(in->getArgNum() != len+2){ |
masahikofukasawa | 15:1238993fd75f | 358 | MSG("#Error argument num. Args=%d\r\n",in->getArgNum()); |
masahikofukasawa | 15:1238993fd75f | 359 | status = AkmSensor::ERROR; |
masahikofukasawa | 15:1238993fd75f | 360 | out->setArgument(0,(char)status); |
masahikofukasawa | 15:1238993fd75f | 361 | return status; |
masahikofukasawa | 15:1238993fd75f | 362 | } |
masahikofukasawa | 15:1238993fd75f | 363 | |
masahikofukasawa | 9:6fa3e7b17c27 | 364 | char data[len]; |
masahikofukasawa | 9:6fa3e7b17c27 | 365 | for(int i=0; i<len; i++){ |
masahikofukasawa | 15:1238993fd75f | 366 | data[i] = in->getArgument(i+2); |
masahikofukasawa | 9:6fa3e7b17c27 | 367 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 368 | if( compass->write(address, data, len) != AkmECompass::SUCCESS) { |
masahikofukasawa | 9:6fa3e7b17c27 | 369 | status = AkmSensor::ERROR; |
masahikofukasawa | 11:cef8dc1cf010 | 370 | MSG("#Error register write.\r\n"); |
masahikofukasawa | 9:6fa3e7b17c27 | 371 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 372 | out->setArgument(0,(char)status); |
masahikofukasawa | 9:6fa3e7b17c27 | 373 | break; |
masahikofukasawa | 15:1238993fd75f | 374 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 375 | case Message::CMD_REG_READ: |
masahikofukasawa | 9:6fa3e7b17c27 | 376 | case Message::CMD_REG_READN: |
masahikofukasawa | 9:6fa3e7b17c27 | 377 | { |
masahikofukasawa | 15:1238993fd75f | 378 | if(in->getArgNum() != 2){ |
masahikofukasawa | 15:1238993fd75f | 379 | MSG("#Error argument num. Args=%d\r\n",in->getArgNum()); |
masahikofukasawa | 15:1238993fd75f | 380 | status = AkmSensor::ERROR; |
masahikofukasawa | 15:1238993fd75f | 381 | return status; |
masahikofukasawa | 15:1238993fd75f | 382 | } |
masahikofukasawa | 15:1238993fd75f | 383 | |
masahikofukasawa | 9:6fa3e7b17c27 | 384 | char address = in->getArgument(0); |
masahikofukasawa | 9:6fa3e7b17c27 | 385 | int len = (int)in->getArgument(1); |
masahikofukasawa | 9:6fa3e7b17c27 | 386 | char data[len]; |
masahikofukasawa | 9:6fa3e7b17c27 | 387 | if( compass->read(address, data, len) != AkmECompass::SUCCESS) { |
masahikofukasawa | 9:6fa3e7b17c27 | 388 | status = AkmSensor::ERROR; |
masahikofukasawa | 11:cef8dc1cf010 | 389 | MSG("#Error register read.\r\n"); |
masahikofukasawa | 9:6fa3e7b17c27 | 390 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 391 | for(int i=0; i<len; i++){ |
masahikofukasawa | 9:6fa3e7b17c27 | 392 | out->setArgument(i, data[i]); |
masahikofukasawa | 9:6fa3e7b17c27 | 393 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 394 | break; |
masahikofukasawa | 9:6fa3e7b17c27 | 395 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 396 | default: |
masahikofukasawa | 9:6fa3e7b17c27 | 397 | { |
masahikofukasawa | 11:cef8dc1cf010 | 398 | MSG("#Error no command.\r\n"); |
masahikofukasawa | 9:6fa3e7b17c27 | 399 | status = AkmSensor::ERROR; |
masahikofukasawa | 9:6fa3e7b17c27 | 400 | break; |
masahikofukasawa | 9:6fa3e7b17c27 | 401 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 402 | } |
masahikofukasawa | 15:1238993fd75f | 403 | return status; |
masahikofukasawa | 0:7a00359e701e | 404 | } |
masahikofukasawa | 0:7a00359e701e | 405 | |
masahikofukasawa | 0:7a00359e701e | 406 | char* AkmAkd::getSensorName(){ |
masahikofukasawa | 0:7a00359e701e | 407 | return sensorName; |
masahikofukasawa | 0:7a00359e701e | 408 | } |