Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

ak7401ctrl.cpp@29:b488d2c89fba, 2017-03-17 (annotated)

Committer:
masahikofukasawa
Date:
Fri Mar 17 23:29:20 2017 +0000
Revision:
29:b488d2c89fba
Parent:
27:41aa9fb23a2f
Child:
30:5a241d9b3262
Modified for multi sensor demo.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
masahikofukasawa 10:5c69b067d88a 1 #include "ak7401ctrl.h"
masahikofukasawa 10:5c69b067d88a 2 #include "debug.h"
masahikofukasawa 10:5c69b067d88a 3
masahikofukasawa 10:5c69b067d88a 4 /**
masahikofukasawa 10:5c69b067d88a 5 * Constructor.
masahikofukasawa 10:5c69b067d88a 6 *
masahikofukasawa 10:5c69b067d88a 7 */
masahikofukasawa 27:41aa9fb23a2f 8 Ak7401Ctrl::Ak7401Ctrl() : AkmSensor(){
masahikofukasawa 10:5c69b067d88a 9 ak7401 = NULL;
masahikofukasawa 10:5c69b067d88a 10 }
masahikofukasawa 10:5c69b067d88a 11
masahikofukasawa 10:5c69b067d88a 12 /**
masahikofukasawa 10:5c69b067d88a 13 * Destructor.
masahikofukasawa 10:5c69b067d88a 14 *
masahikofukasawa 10:5c69b067d88a 15 */
masahikofukasawa 10:5c69b067d88a 16 Ak7401Ctrl::~Ak7401Ctrl(){
masahikofukasawa 10:5c69b067d88a 17 if (ak7401) delete ak7401;
masahikofukasawa 10:5c69b067d88a 18 }
masahikofukasawa 10:5c69b067d88a 19
masahikofukasawa 10:5c69b067d88a 20 AkmSensor::Status Ak7401Ctrl::init(const uint8_t id, const uint8_t subid){
masahikofukasawa 10:5c69b067d88a 21 primaryId = id;
masahikofukasawa 10:5c69b067d88a 22 subId = subid;
masahikofukasawa 10:5c69b067d88a 23
masahikofukasawa 10:5c69b067d88a 24 if(subId == SUB_ID_AK7401){
masahikofukasawa 10:5c69b067d88a 25 SPI* mSpi;
masahikofukasawa 10:5c69b067d88a 26 DigitalOut* mCs;
masahikofukasawa 10:5c69b067d88a 27 AK7401::Status status = AK7401::ERROR;
masahikofukasawa 10:5c69b067d88a 28 mSpi = new SPI(SPI_MOSI, SPI_MISO, SPI_SCK);
masahikofukasawa 10:5c69b067d88a 29 mSpi->format(8,1); // 8bit, Mode=1
masahikofukasawa 10:5c69b067d88a 30 mSpi->frequency(1000000);
masahikofukasawa 10:5c69b067d88a 31 mCs = new DigitalOut(SPI_CS);
masahikofukasawa 10:5c69b067d88a 32 ak7401 = new AK7401();
masahikofukasawa 10:5c69b067d88a 33 ak7401->begin(mSpi, mCs);
masahikofukasawa 13:d008249f0359 34 sensorName = "AK7401";
masahikofukasawa 10:5c69b067d88a 35
masahikofukasawa 10:5c69b067d88a 36 status = ak7401->setOperationMode(AK7401::AK7401_USER_MODE);
masahikofukasawa 10:5c69b067d88a 37 if( status != AK7401::SUCCESS ){
masahikofukasawa 14:21e177fc308a 38 MSG("#AK7401 set USER mode failed.\r\n");
masahikofukasawa 10:5c69b067d88a 39 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 40 }
masahikofukasawa 14:21e177fc308a 41
masahikofukasawa 14:21e177fc308a 42 // check connection
masahikofukasawa 14:21e177fc308a 43 status = ak7401->checkConnection();
masahikofukasawa 14:21e177fc308a 44 if( status != AK7401::SUCCESS ){
masahikofukasawa 14:21e177fc308a 45 MSG("#AK7401 check connection failed.\r\n");
masahikofukasawa 14:21e177fc308a 46 return AkmSensor::ERROR;
masahikofukasawa 14:21e177fc308a 47 }
masahikofukasawa 14:21e177fc308a 48
masahikofukasawa 14:21e177fc308a 49 // change rotation direction to CW from CCW
masahikofukasawa 10:5c69b067d88a 50 char data[2] = {0x00,0x07}; // set clockwise rotation
masahikofukasawa 10:5c69b067d88a 51 status = ak7401->writeEEPROM(0x05,data); // set clockwise
masahikofukasawa 10:5c69b067d88a 52 if( status != AK7401::SUCCESS ){
masahikofukasawa 14:21e177fc308a 53 MSG("#AK7401 set rotation failed.\r\n");
masahikofukasawa 10:5c69b067d88a 54 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 55 }
masahikofukasawa 10:5c69b067d88a 56
masahikofukasawa 10:5c69b067d88a 57 status = ak7401->setOperationMode(AK7401::AK7401_NORMAL_MODE);
masahikofukasawa 10:5c69b067d88a 58 if( status != AK7401::SUCCESS ){
masahikofukasawa 14:21e177fc308a 59 MSG("#AK7401 set NORMAL mode failed.\r\n");
masahikofukasawa 10:5c69b067d88a 60 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 61 }
masahikofukasawa 14:21e177fc308a 62
masahikofukasawa 14:21e177fc308a 63 MSG("#AK7401 init succeed.\r\n");
masahikofukasawa 11:cef8dc1cf010 64
masahikofukasawa 11:cef8dc1cf010 65 interval = SENSOR_SAMPLING_RATE; // 10Hz
masahikofukasawa 10:5c69b067d88a 66 }
masahikofukasawa 10:5c69b067d88a 67 else{
masahikofukasawa 10:5c69b067d88a 68 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 69 }
masahikofukasawa 10:5c69b067d88a 70
masahikofukasawa 10:5c69b067d88a 71 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 72 }
masahikofukasawa 10:5c69b067d88a 73
masahikofukasawa 10:5c69b067d88a 74 AkmSensor::Status Ak7401Ctrl::startSensor(){
masahikofukasawa 29:b488d2c89fba 75 ticker.attach(callback(this, &base::setEvent), interval);
masahikofukasawa 10:5c69b067d88a 76 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 77 }
masahikofukasawa 10:5c69b067d88a 78
masahikofukasawa 10:5c69b067d88a 79 AkmSensor::Status Ak7401Ctrl::startSensor(const float sec){
masahikofukasawa 10:5c69b067d88a 80 interval = sec;
masahikofukasawa 29:b488d2c89fba 81 ticker.attach(callback(this, &base::setEvent), interval);
masahikofukasawa 29:b488d2c89fba 82 MSG("#Start sensor %s.\r\n",sensorName);
masahikofukasawa 10:5c69b067d88a 83 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 84 }
masahikofukasawa 10:5c69b067d88a 85
masahikofukasawa 10:5c69b067d88a 86 AkmSensor::Status Ak7401Ctrl::stopSensor(){
masahikofukasawa 10:5c69b067d88a 87 ticker.detach();
masahikofukasawa 29:b488d2c89fba 88 AkmSensor::clearEvent();
masahikofukasawa 10:5c69b067d88a 89 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 90 }
masahikofukasawa 10:5c69b067d88a 91
masahikofukasawa 10:5c69b067d88a 92 AkmSensor::Status Ak7401Ctrl::readSensorData(Message* msg){
masahikofukasawa 29:b488d2c89fba 93 AkmSensor::clearEvent();
masahikofukasawa 29:b488d2c89fba 94
masahikofukasawa 10:5c69b067d88a 95 char angle[2] = {0x00,0x00};
masahikofukasawa 10:5c69b067d88a 96 AK7401::Status status = ak7401->readAngle(angle);
masahikofukasawa 10:5c69b067d88a 97
masahikofukasawa 10:5c69b067d88a 98 msg->setCommand(Message::CMD_START_MEASUREMENT);
masahikofukasawa 10:5c69b067d88a 99 msg->setArgument( 0, status );
masahikofukasawa 10:5c69b067d88a 100 msg->setArgument( 1, angle[0] );
masahikofukasawa 10:5c69b067d88a 101 msg->setArgument( 2, angle[1] );
masahikofukasawa 10:5c69b067d88a 102
masahikofukasawa 10:5c69b067d88a 103 if( status != SUCCESS){
masahikofukasawa 10:5c69b067d88a 104 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 105 }
masahikofukasawa 10:5c69b067d88a 106 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 107 }
masahikofukasawa 10:5c69b067d88a 108
masahikofukasawa 10:5c69b067d88a 109 AkmSensor::Status Ak7401Ctrl::requestCommand(Message* in, Message* out){
masahikofukasawa 10:5c69b067d88a 110 AkmSensor::Status status = AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 111 Message::Command cmd = in->getCommand();
masahikofukasawa 10:5c69b067d88a 112 switch(cmd){
masahikofukasawa 10:5c69b067d88a 113 case Message::CMD_ANGLE_ZERO_RESET:
masahikofukasawa 10:5c69b067d88a 114 {
masahikofukasawa 14:21e177fc308a 115 if( ak7401->setAngleZero() != AK7401::SUCCESS ){
masahikofukasawa 14:21e177fc308a 116 MSG("#Error set angle zero\r\n");
masahikofukasawa 10:5c69b067d88a 117 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 118 }
masahikofukasawa 10:5c69b067d88a 119 if( status == AkmSensor::ERROR ){
masahikofukasawa 10:5c69b067d88a 120 out->setArgument(0,1);
masahikofukasawa 10:5c69b067d88a 121 }else{
masahikofukasawa 10:5c69b067d88a 122 out->setArgument(0,0);
masahikofukasawa 10:5c69b067d88a 123 }
masahikofukasawa 10:5c69b067d88a 124 break;
masahikofukasawa 10:5c69b067d88a 125 }
masahikofukasawa 10:5c69b067d88a 126 default:
masahikofukasawa 10:5c69b067d88a 127 {
masahikofukasawa 11:cef8dc1cf010 128 MSG("#Error no command.\r\n");
masahikofukasawa 10:5c69b067d88a 129 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 130 break;
masahikofukasawa 10:5c69b067d88a 131 }
masahikofukasawa 10:5c69b067d88a 132 }
masahikofukasawa 10:5c69b067d88a 133
masahikofukasawa 10:5c69b067d88a 134 return status;
masahikofukasawa 10:5c69b067d88a 135 }
masahikofukasawa 10:5c69b067d88a 136
masahikofukasawa 13:d008249f0359 137