Modified for compatibility with Rev.E. hardware
Fork of AkmSensor by
ak7451ctrl.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?
User | Revision | Line number | New contents of line |
---|---|---|---|
masahikofukasawa | 11:cef8dc1cf010 | 1 | #include "ak7451ctrl.h" |
masahikofukasawa | 11:cef8dc1cf010 | 2 | #include "debug.h" |
masahikofukasawa | 11:cef8dc1cf010 | 3 | |
masahikofukasawa | 11:cef8dc1cf010 | 4 | /** |
masahikofukasawa | 11:cef8dc1cf010 | 5 | * Constructor. |
masahikofukasawa | 11:cef8dc1cf010 | 6 | * |
masahikofukasawa | 11:cef8dc1cf010 | 7 | */ |
masahikofukasawa | 27:41aa9fb23a2f | 8 | Ak7451Ctrl::Ak7451Ctrl() : AkmSensor(){ |
masahikofukasawa | 11:cef8dc1cf010 | 9 | ak7451 = NULL; |
masahikofukasawa | 11:cef8dc1cf010 | 10 | } |
masahikofukasawa | 11:cef8dc1cf010 | 11 | |
masahikofukasawa | 11:cef8dc1cf010 | 12 | /** |
masahikofukasawa | 11:cef8dc1cf010 | 13 | * Destructor. |
masahikofukasawa | 11:cef8dc1cf010 | 14 | * |
masahikofukasawa | 11:cef8dc1cf010 | 15 | */ |
masahikofukasawa | 11:cef8dc1cf010 | 16 | Ak7451Ctrl::~Ak7451Ctrl(){ |
masahikofukasawa | 11:cef8dc1cf010 | 17 | if (ak7451) delete ak7451; |
masahikofukasawa | 11:cef8dc1cf010 | 18 | } |
masahikofukasawa | 11:cef8dc1cf010 | 19 | |
masahikofukasawa | 11:cef8dc1cf010 | 20 | AkmSensor::Status Ak7451Ctrl::init(const uint8_t id, const uint8_t subid){ |
masahikofukasawa | 11:cef8dc1cf010 | 21 | primaryId = id; |
masahikofukasawa | 11:cef8dc1cf010 | 22 | subId = subid; |
masahikofukasawa | 11:cef8dc1cf010 | 23 | |
masahikofukasawa | 11:cef8dc1cf010 | 24 | if(subId == SUB_ID_AK7451){ |
masahikofukasawa | 11:cef8dc1cf010 | 25 | SPI* mSpi; |
masahikofukasawa | 11:cef8dc1cf010 | 26 | DigitalOut* mCs; |
masahikofukasawa | 11:cef8dc1cf010 | 27 | AK7451::Status status = AK7451::ERROR; |
masahikofukasawa | 11:cef8dc1cf010 | 28 | mSpi = new SPI(SPI_MOSI, SPI_MISO, SPI_SCK); |
masahikofukasawa | 11:cef8dc1cf010 | 29 | mSpi->format(8,1); // 8bit, Mode=1 |
masahikofukasawa | 11:cef8dc1cf010 | 30 | mSpi->frequency(1000000); |
masahikofukasawa | 11:cef8dc1cf010 | 31 | mCs = new DigitalOut(SPI_CS); |
masahikofukasawa | 11:cef8dc1cf010 | 32 | ak7451 = new AK7451(); |
masahikofukasawa | 11:cef8dc1cf010 | 33 | ak7451->begin(mSpi, mCs); |
masahikofukasawa | 13:d008249f0359 | 34 | sensorName = "AK7451"; |
masahikofukasawa | 11:cef8dc1cf010 | 35 | |
masahikofukasawa | 11:cef8dc1cf010 | 36 | status = ak7451->setOperationMode(AK7451::AK7451_USER_MODE); |
masahikofukasawa | 11:cef8dc1cf010 | 37 | if( status != AK7451::SUCCESS ){ |
masahikofukasawa | 11:cef8dc1cf010 | 38 | MSG("#AK7451 user mode failed.\r\n"); |
masahikofukasawa | 11:cef8dc1cf010 | 39 | return AkmSensor::ERROR; |
masahikofukasawa | 11:cef8dc1cf010 | 40 | } |
masahikofukasawa | 11:cef8dc1cf010 | 41 | MSG("#AK7451 user mode succeed.\r\n"); |
masahikofukasawa | 11:cef8dc1cf010 | 42 | |
masahikofukasawa | 11:cef8dc1cf010 | 43 | char data[2] = {0x02,0x00}; // set clockwise rotation |
masahikofukasawa | 11:cef8dc1cf010 | 44 | status = ak7451->writeEEPROM(0x07,data); // set clockwise |
masahikofukasawa | 11:cef8dc1cf010 | 45 | if( status != AK7451::SUCCESS ){ |
masahikofukasawa | 11:cef8dc1cf010 | 46 | MSG("#AK7451 write EEPROM failed.\r\n"); |
masahikofukasawa | 11:cef8dc1cf010 | 47 | return AkmSensor::ERROR; |
masahikofukasawa | 11:cef8dc1cf010 | 48 | } |
masahikofukasawa | 11:cef8dc1cf010 | 49 | MSG("#AK7451 write EEPROM succeed.\r\n"); |
masahikofukasawa | 11:cef8dc1cf010 | 50 | |
masahikofukasawa | 11:cef8dc1cf010 | 51 | status = ak7451->setOperationMode(AK7451::AK7451_NORMAL_MODE); |
masahikofukasawa | 11:cef8dc1cf010 | 52 | if( status != AK7451::SUCCESS ){ |
masahikofukasawa | 11:cef8dc1cf010 | 53 | MSG("#AK7451 normal mode failed.\r\n"); |
masahikofukasawa | 11:cef8dc1cf010 | 54 | return AkmSensor::ERROR; |
masahikofukasawa | 11:cef8dc1cf010 | 55 | } |
masahikofukasawa | 11:cef8dc1cf010 | 56 | MSG("#AK7451 normal mode succeed.\r\n"); |
masahikofukasawa | 11:cef8dc1cf010 | 57 | |
masahikofukasawa | 11:cef8dc1cf010 | 58 | interval = SENSOR_SAMPLING_RATE; // 10Hz |
masahikofukasawa | 11:cef8dc1cf010 | 59 | } |
masahikofukasawa | 11:cef8dc1cf010 | 60 | else{ |
masahikofukasawa | 11:cef8dc1cf010 | 61 | return AkmSensor::ERROR; |
masahikofukasawa | 11:cef8dc1cf010 | 62 | } |
masahikofukasawa | 11:cef8dc1cf010 | 63 | |
masahikofukasawa | 11:cef8dc1cf010 | 64 | return AkmSensor::SUCCESS; |
masahikofukasawa | 11:cef8dc1cf010 | 65 | } |
masahikofukasawa | 11:cef8dc1cf010 | 66 | |
masahikofukasawa | 11:cef8dc1cf010 | 67 | AkmSensor::Status Ak7451Ctrl::startSensor(){ |
masahikofukasawa | 29:b488d2c89fba | 68 | ticker.attach(callback(this, &AkmSensor::setEvent), interval); |
masahikofukasawa | 11:cef8dc1cf010 | 69 | return AkmSensor::SUCCESS; |
masahikofukasawa | 11:cef8dc1cf010 | 70 | } |
masahikofukasawa | 11:cef8dc1cf010 | 71 | |
masahikofukasawa | 11:cef8dc1cf010 | 72 | AkmSensor::Status Ak7451Ctrl::startSensor(const float sec){ |
masahikofukasawa | 11:cef8dc1cf010 | 73 | interval = sec; |
masahikofukasawa | 29:b488d2c89fba | 74 | ticker.attach(callback(this, &AkmSensor::setEvent), interval); |
masahikofukasawa | 29:b488d2c89fba | 75 | MSG("#Start sensor %s.\r\n",sensorName); |
masahikofukasawa | 11:cef8dc1cf010 | 76 | return AkmSensor::SUCCESS; |
masahikofukasawa | 11:cef8dc1cf010 | 77 | } |
masahikofukasawa | 11:cef8dc1cf010 | 78 | |
masahikofukasawa | 11:cef8dc1cf010 | 79 | AkmSensor::Status Ak7451Ctrl::stopSensor(){ |
masahikofukasawa | 11:cef8dc1cf010 | 80 | ticker.detach(); |
masahikofukasawa | 29:b488d2c89fba | 81 | AkmSensor::clearEvent(); |
masahikofukasawa | 11:cef8dc1cf010 | 82 | return AkmSensor::SUCCESS; |
masahikofukasawa | 11:cef8dc1cf010 | 83 | } |
masahikofukasawa | 11:cef8dc1cf010 | 84 | |
masahikofukasawa | 11:cef8dc1cf010 | 85 | AkmSensor::Status Ak7451Ctrl::readSensorData(Message* msg){ |
masahikofukasawa | 29:b488d2c89fba | 86 | AkmSensor::clearEvent(); |
masahikofukasawa | 29:b488d2c89fba | 87 | |
masahikofukasawa | 11:cef8dc1cf010 | 88 | char angle[2] = {0x00,0x00}; |
masahikofukasawa | 11:cef8dc1cf010 | 89 | AK7451::Status status = ak7451->readAngle(angle); |
masahikofukasawa | 11:cef8dc1cf010 | 90 | |
masahikofukasawa | 11:cef8dc1cf010 | 91 | msg->setCommand(Message::CMD_START_MEASUREMENT); |
masahikofukasawa | 11:cef8dc1cf010 | 92 | msg->setArgument( 0, status ); |
masahikofukasawa | 11:cef8dc1cf010 | 93 | msg->setArgument( 1, angle[0] ); |
masahikofukasawa | 11:cef8dc1cf010 | 94 | msg->setArgument( 2, angle[1] ); |
masahikofukasawa | 11:cef8dc1cf010 | 95 | |
masahikofukasawa | 11:cef8dc1cf010 | 96 | if( status != SUCCESS){ |
masahikofukasawa | 11:cef8dc1cf010 | 97 | return AkmSensor::ERROR; |
masahikofukasawa | 11:cef8dc1cf010 | 98 | } |
masahikofukasawa | 11:cef8dc1cf010 | 99 | return AkmSensor::SUCCESS; |
masahikofukasawa | 11:cef8dc1cf010 | 100 | } |
masahikofukasawa | 11:cef8dc1cf010 | 101 | |
masahikofukasawa | 11:cef8dc1cf010 | 102 | AkmSensor::Status Ak7451Ctrl::requestCommand(Message* in, Message* out){ |
masahikofukasawa | 11:cef8dc1cf010 | 103 | AkmSensor::Status status = AkmSensor::SUCCESS; |
masahikofukasawa | 11:cef8dc1cf010 | 104 | |
masahikofukasawa | 11:cef8dc1cf010 | 105 | Message::Command cmd = in->getCommand(); |
masahikofukasawa | 11:cef8dc1cf010 | 106 | |
masahikofukasawa | 11:cef8dc1cf010 | 107 | switch(cmd){ |
masahikofukasawa | 11:cef8dc1cf010 | 108 | case Message::CMD_ANGLE_ZERO_RESET: |
masahikofukasawa | 11:cef8dc1cf010 | 109 | { |
masahikofukasawa | 11:cef8dc1cf010 | 110 | AK7451::Status st; |
masahikofukasawa | 11:cef8dc1cf010 | 111 | |
masahikofukasawa | 11:cef8dc1cf010 | 112 | st = ak7451->setOperationMode(AK7451::AK7451_USER_MODE); |
masahikofukasawa | 11:cef8dc1cf010 | 113 | if( st != AK7451::SUCCESS ){ |
masahikofukasawa | 11:cef8dc1cf010 | 114 | MSG("#Error when set user mode\r\n"); |
masahikofukasawa | 11:cef8dc1cf010 | 115 | status = AkmSensor::ERROR; |
masahikofukasawa | 11:cef8dc1cf010 | 116 | } |
masahikofukasawa | 11:cef8dc1cf010 | 117 | st = ak7451->setAngleZero(); // reset ZP data |
masahikofukasawa | 11:cef8dc1cf010 | 118 | if( st != AK7451::SUCCESS ){ |
masahikofukasawa | 11:cef8dc1cf010 | 119 | MSG("#Error setAngleZero: code=%d\r\n",st); |
masahikofukasawa | 11:cef8dc1cf010 | 120 | status = AkmSensor::ERROR; |
masahikofukasawa | 11:cef8dc1cf010 | 121 | } |
masahikofukasawa | 11:cef8dc1cf010 | 122 | st = ak7451->setOperationMode(AK7451::AK7451_NORMAL_MODE); |
masahikofukasawa | 11:cef8dc1cf010 | 123 | if( st != AK7451::SUCCESS ){ |
masahikofukasawa | 11:cef8dc1cf010 | 124 | MSG("#Error when set normal mode\r\n"); |
masahikofukasawa | 11:cef8dc1cf010 | 125 | status = AkmSensor::ERROR; |
masahikofukasawa | 11:cef8dc1cf010 | 126 | } |
masahikofukasawa | 14:21e177fc308a | 127 | |
masahikofukasawa | 11:cef8dc1cf010 | 128 | if( status == AkmSensor::ERROR ){ |
masahikofukasawa | 11:cef8dc1cf010 | 129 | out->setArgument(0,1); |
masahikofukasawa | 11:cef8dc1cf010 | 130 | }else{ |
masahikofukasawa | 11:cef8dc1cf010 | 131 | out->setArgument(0,0); |
masahikofukasawa | 11:cef8dc1cf010 | 132 | } |
masahikofukasawa | 11:cef8dc1cf010 | 133 | break; |
masahikofukasawa | 11:cef8dc1cf010 | 134 | } |
masahikofukasawa | 11:cef8dc1cf010 | 135 | default: |
masahikofukasawa | 11:cef8dc1cf010 | 136 | { |
masahikofukasawa | 11:cef8dc1cf010 | 137 | MSG("#Error no command.\r\n"); |
masahikofukasawa | 11:cef8dc1cf010 | 138 | status = AkmSensor::ERROR; |
masahikofukasawa | 11:cef8dc1cf010 | 139 | break; |
masahikofukasawa | 11:cef8dc1cf010 | 140 | } |
masahikofukasawa | 11:cef8dc1cf010 | 141 | } |
masahikofukasawa | 11:cef8dc1cf010 | 142 | |
masahikofukasawa | 11:cef8dc1cf010 | 143 | return status; |
masahikofukasawa | 11:cef8dc1cf010 | 144 | } |
masahikofukasawa | 11:cef8dc1cf010 | 145 |