Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

ak9750ctrl.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:
39:3821886c902e
Modified for multi sensor demo.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
masahikofukasawa 10:5c69b067d88a 1 #include "ak9750ctrl.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 27:41aa9fb23a2f 10 Ak9750Ctrl::Ak9750Ctrl() : AkmSensor(){
masahikofukasawa 10:5c69b067d88a 11 ak9750 = NULL;
masahikofukasawa 29:b488d2c89fba 12 // interrupt = NULL;
masahikofukasawa 10:5c69b067d88a 13 }
masahikofukasawa 10:5c69b067d88a 14
masahikofukasawa 10:5c69b067d88a 15 /**
masahikofukasawa 10:5c69b067d88a 16 * Destructor.
masahikofukasawa 10:5c69b067d88a 17 *
masahikofukasawa 10:5c69b067d88a 18 */
masahikofukasawa 10:5c69b067d88a 19 Ak9750Ctrl::~Ak9750Ctrl(){
masahikofukasawa 10:5c69b067d88a 20 if (ak9750) delete ak9750;
masahikofukasawa 29:b488d2c89fba 21 // if (interrupt) delete interrupt;
masahikofukasawa 10:5c69b067d88a 22 }
masahikofukasawa 10:5c69b067d88a 23
masahikofukasawa 10:5c69b067d88a 24 AkmSensor::Status Ak9750Ctrl::init(const uint8_t id, const uint8_t subid){
masahikofukasawa 10:5c69b067d88a 25 primaryId = id;
masahikofukasawa 10:5c69b067d88a 26 subId = subid;
masahikofukasawa 10:5c69b067d88a 27
masahikofukasawa 29:b488d2c89fba 28 // interrupt = new InterruptIn(I2C_DRDY);
masahikofukasawa 10:5c69b067d88a 29 I2C* i2c = new I2C(I2C_SDA,I2C_SCL);
masahikofukasawa 10:5c69b067d88a 30 i2c->frequency(I2C_SPEED_100KHZ);
masahikofukasawa 10:5c69b067d88a 31
masahikofukasawa 10:5c69b067d88a 32 if(subId == SUB_ID_AK9750){
masahikofukasawa 10:5c69b067d88a 33 ak9750 = new AK9750();
masahikofukasawa 13:d008249f0359 34 sensorName = "AK9750";
masahikofukasawa 13:d008249f0359 35 }
masahikofukasawa 13:d008249f0359 36 else if(subId == SUB_ID_AK9753){
masahikofukasawa 13:d008249f0359 37 ak9750 = new AK9750();
masahikofukasawa 13:d008249f0359 38 sensorName = "AK9753";
masahikofukasawa 10:5c69b067d88a 39 }
masahikofukasawa 10:5c69b067d88a 40 else{
masahikofukasawa 10:5c69b067d88a 41 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 42 }
masahikofukasawa 10:5c69b067d88a 43
masahikofukasawa 10:5c69b067d88a 44 bool foundSensor = false;
masahikofukasawa 10:5c69b067d88a 45
masahikofukasawa 10:5c69b067d88a 46 AK9750::SlaveAddress slaveAddr[]
masahikofukasawa 10:5c69b067d88a 47 = { AK9750::SLAVE_ADDR_1,
masahikofukasawa 10:5c69b067d88a 48 AK9750::SLAVE_ADDR_2,
masahikofukasawa 10:5c69b067d88a 49 AK9750::SLAVE_ADDR_3};
masahikofukasawa 10:5c69b067d88a 50
masahikofukasawa 10:5c69b067d88a 51 for(int i=0; i<sizeof(slaveAddr); i++)
masahikofukasawa 10:5c69b067d88a 52 {
masahikofukasawa 10:5c69b067d88a 53 ak9750->init(i2c, slaveAddr[i]);
masahikofukasawa 10:5c69b067d88a 54 // Checks connectivity
masahikofukasawa 10:5c69b067d88a 55 if(ak9750->checkConnection() == Ak9750Ctrl::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 56 // found
masahikofukasawa 10:5c69b067d88a 57 foundSensor = true;
masahikofukasawa 10:5c69b067d88a 58 break;
masahikofukasawa 10:5c69b067d88a 59 }
masahikofukasawa 10:5c69b067d88a 60 }
masahikofukasawa 10:5c69b067d88a 61 if(foundSensor != true){
masahikofukasawa 11:cef8dc1cf010 62 MSG("#Failed to checkConnection AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 63 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 64 }
masahikofukasawa 10:5c69b067d88a 65
masahikofukasawa 10:5c69b067d88a 66 // reset
masahikofukasawa 10:5c69b067d88a 67 if (ak9750->reset() != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 68 MSG("#Failed to reset AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 69 }
masahikofukasawa 15:1238993fd75f 70 /*
masahikofukasawa 10:5c69b067d88a 71 // Set to EEPROM mode to EEPROM access
masahikofukasawa 10:5c69b067d88a 72 if(ak9750->setOperationMode(AK9750::MODE_EEPROM_ACCESS, AK9750::DF_0P3HZ) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 73 MSG("#Error setOperationMode to EEPROM mode. AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 74 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 75 }
masahikofukasawa 15:1238993fd75f 76 */
masahikofukasawa 10:5c69b067d88a 77 // Gets threshold from EEPROM
masahikofukasawa 10:5c69b067d88a 78 AK9750::Threshold th;
masahikofukasawa 10:5c69b067d88a 79 if (ak9750->getThresholdFromEEPROM(&th) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 80 MSG("#Failed to get threshold from EEPROM AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 81 }
masahikofukasawa 15:1238993fd75f 82 MSG("#Threshold:(0x%02X,0x%02X,0x%02X,0x%02X)\r\n",th.eth13h,th.eth13l,th.eth24h,th.eth24l);
masahikofukasawa 15:1238993fd75f 83
masahikofukasawa 10:5c69b067d88a 84 // Gets hysteresis from EEPROM
masahikofukasawa 10:5c69b067d88a 85 AK9750::Hysteresis hys;
masahikofukasawa 10:5c69b067d88a 86 if (ak9750->getHysteresisFromEEPROM(&hys) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 87 MSG("#Failed to get hysteresis from EEPROM AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 88 }
masahikofukasawa 15:1238993fd75f 89 MSG("#Hysteresis:(0x%02X,0x%02X)\r\n",hys.ehys13,hys.ehys24);
masahikofukasawa 15:1238993fd75f 90
masahikofukasawa 10:5c69b067d88a 91 // Gets interrupt status from EEPROM
masahikofukasawa 10:5c69b067d88a 92 AK9750::InterruptStatus intStatus;
masahikofukasawa 10:5c69b067d88a 93 if ((ak9750->getInterruptEnableFromEEPROM(&intStatus)) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 94 MSG("#Failed to get interrupts of AK9750 from EEPROM.\r\n");
masahikofukasawa 10:5c69b067d88a 95 }
masahikofukasawa 15:1238993fd75f 96 MSG("#Interrupt:(0x%02X,0x%02X,0x%02X,0x%02X,0x%02X)\r\n",intStatus.ir13h,intStatus.ir13l,intStatus.ir24h,intStatus.ir24l,intStatus.drdy);
masahikofukasawa 10:5c69b067d88a 97
masahikofukasawa 10:5c69b067d88a 98 // Gets operation mode from EEPROM
masahikofukasawa 10:5c69b067d88a 99 if ((ak9750->getOperationModeFromEEPROM(&mode,&filter)) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 100 MSG("#Failed to get operation mode of AK9750 from EEPROM.\r\n");
masahikofukasawa 10:5c69b067d88a 101 }
masahikofukasawa 11:cef8dc1cf010 102 MSG("#Operation Mode:(0x%02X,0x%02X)\r\n",mode, filter);
masahikofukasawa 15:1238993fd75f 103 /*
masahikofukasawa 10:5c69b067d88a 104 // Back to Stand-by Mode for register access
masahikofukasawa 10:5c69b067d88a 105 if(ak9750->setOperationMode(AK9750::MODE_STANDBY, filter) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 106 MSG("#Error setOperationMode to stand-by mode of AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 107 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 108 }
masahikofukasawa 15:1238993fd75f 109 */
masahikofukasawa 10:5c69b067d88a 110 // Sets threshold from the red EEPROM values
masahikofukasawa 10:5c69b067d88a 111 if (ak9750->setThreshold(&th) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 112 MSG("#Failed to set threshold to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 113 }
masahikofukasawa 10:5c69b067d88a 114
masahikofukasawa 10:5c69b067d88a 115 // Sets hysteresis from the red EEPROM values
masahikofukasawa 10:5c69b067d88a 116 if (ak9750->setHysteresis(&hys) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 117 MSG("#Failed to set hysteresis to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 118 }
masahikofukasawa 10:5c69b067d88a 119
masahikofukasawa 10:5c69b067d88a 120 // Sets interruput status from the red EEPROM values
masahikofukasawa 10:5c69b067d88a 121 AK9750::Status status = ak9750->setInterruptEnable(&intStatus);
masahikofukasawa 10:5c69b067d88a 122 if (status != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 123 MSG("#Failed to set interrupts of AK9750. Status = 0x%02X\r\n", status);
masahikofukasawa 10:5c69b067d88a 124 }
masahikofukasawa 10:5c69b067d88a 125
masahikofukasawa 15:1238993fd75f 126 if(ak9750->setOperationMode(mode, filter) != AK9750::SUCCESS) {
masahikofukasawa 15:1238993fd75f 127 MSG("#Error setOperationMode of AK9750.\r\n");
masahikofukasawa 15:1238993fd75f 128 return AkmSensor::ERROR;
masahikofukasawa 15:1238993fd75f 129 }
masahikofukasawa 15:1238993fd75f 130
masahikofukasawa 11:cef8dc1cf010 131 MSG("#Init success AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 132 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 133 }
masahikofukasawa 10:5c69b067d88a 134
masahikofukasawa 29:b488d2c89fba 135 void Ak9750Ctrl::setEvent(){
masahikofukasawa 29:b488d2c89fba 136 AK9750::Status status = ak9750->isDataReady();
masahikofukasawa 29:b488d2c89fba 137 if( status == AK9750::DATA_READY ) base::setEvent();
masahikofukasawa 10:5c69b067d88a 138 }
masahikofukasawa 10:5c69b067d88a 139
masahikofukasawa 10:5c69b067d88a 140 AkmSensor::Status Ak9750Ctrl::startSensor(){
masahikofukasawa 11:cef8dc1cf010 141 // read one data to clear INT pin
masahikofukasawa 11:cef8dc1cf010 142 AK9750::SensorData data;
masahikofukasawa 11:cef8dc1cf010 143 ak9750->getSensorData(&data);
masahikofukasawa 11:cef8dc1cf010 144
masahikofukasawa 11:cef8dc1cf010 145 // enable interrupt
masahikofukasawa 29:b488d2c89fba 146 // interrupt->fall(callback(this, &Ak9750Ctrl::detectINT));
masahikofukasawa 11:cef8dc1cf010 147
masahikofukasawa 11:cef8dc1cf010 148 // set operation mode
masahikofukasawa 10:5c69b067d88a 149 if(ak9750->setOperationMode(mode,filter) != AK9750::SUCCESS) {
masahikofukasawa 29:b488d2c89fba 150 MSG("#Start sensor failed %s\r\n", sensorName);
masahikofukasawa 10:5c69b067d88a 151 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 152 }
masahikofukasawa 11:cef8dc1cf010 153
masahikofukasawa 29:b488d2c89fba 154 MSG("#Start sensor %s.\r\n",sensorName);
masahikofukasawa 10:5c69b067d88a 155 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 156 }
masahikofukasawa 10:5c69b067d88a 157
masahikofukasawa 10:5c69b067d88a 158 AkmSensor::Status Ak9750Ctrl::startSensor(const float sec){
masahikofukasawa 29:b488d2c89fba 159 // interrupt->fall(callback(this, &Ak9750Ctrl::detectINT));
masahikofukasawa 10:5c69b067d88a 160 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 161 }
masahikofukasawa 10:5c69b067d88a 162
masahikofukasawa 10:5c69b067d88a 163 AkmSensor::Status Ak9750Ctrl::stopSensor(){
masahikofukasawa 29:b488d2c89fba 164 AkmSensor::clearEvent();
masahikofukasawa 29:b488d2c89fba 165
masahikofukasawa 29:b488d2c89fba 166 // interrupt->fall(NULL);
masahikofukasawa 10:5c69b067d88a 167 if(ak9750->setOperationMode(AK9750::MODE_STANDBY, filter) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 168 MSG("#Error setOperationMode. AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 169 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 170 }
masahikofukasawa 10:5c69b067d88a 171
masahikofukasawa 10:5c69b067d88a 172 // read one data to clear INT pin
masahikofukasawa 11:cef8dc1cf010 173 AK9750::SensorData data;
masahikofukasawa 11:cef8dc1cf010 174 ak9750->getSensorData(&data);
masahikofukasawa 10:5c69b067d88a 175
masahikofukasawa 10:5c69b067d88a 176 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 177 }
masahikofukasawa 10:5c69b067d88a 178
masahikofukasawa 10:5c69b067d88a 179 AkmSensor::Status Ak9750Ctrl::readSensorData(Message* msg){
masahikofukasawa 29:b488d2c89fba 180 AkmSensor::clearEvent();
masahikofukasawa 10:5c69b067d88a 181
masahikofukasawa 10:5c69b067d88a 182 AK9750::SensorData data;
masahikofukasawa 10:5c69b067d88a 183 AK9750::Status status = ak9750->getSensorData(&data);
masahikofukasawa 10:5c69b067d88a 184 if( status != AK9750::SUCCESS){
masahikofukasawa 11:cef8dc1cf010 185 MSG("#Error getSensorData. AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 186 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 187 }
masahikofukasawa 10:5c69b067d88a 188 msg->setCommand(Message::CMD_START_MEASUREMENT);
masahikofukasawa 10:5c69b067d88a 189 msg->setArgument( 0, data.intStatus.ir13h);
masahikofukasawa 10:5c69b067d88a 190 msg->setArgument( 1, data.intStatus.ir13l);
masahikofukasawa 10:5c69b067d88a 191 msg->setArgument( 2, data.intStatus.ir24h);
masahikofukasawa 10:5c69b067d88a 192 msg->setArgument( 3, data.intStatus.ir24l);
masahikofukasawa 10:5c69b067d88a 193 msg->setArgument( 4, data.intStatus.drdy);
masahikofukasawa 10:5c69b067d88a 194 msg->setArgument( 5,(char)((int32_t)(data.ir1) >> 8));
masahikofukasawa 10:5c69b067d88a 195 msg->setArgument( 6, (char)((int32_t)(data.ir1) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 196 msg->setArgument( 7,(char)((int32_t)(data.ir2) >> 8));
masahikofukasawa 10:5c69b067d88a 197 msg->setArgument( 8, (char)((int32_t)(data.ir2) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 198 msg->setArgument( 9,(char)((int32_t)(data.ir3) >> 8));
masahikofukasawa 10:5c69b067d88a 199 msg->setArgument( 10, (char)((int32_t)(data.ir3) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 200 msg->setArgument( 11,(char)((int32_t)(data.ir4) >> 8));
masahikofukasawa 10:5c69b067d88a 201 msg->setArgument( 12, (char)((int32_t)(data.ir4) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 202 msg->setArgument( 13,(char)((int32_t)(data.temperature) >> 8));
masahikofukasawa 10:5c69b067d88a 203 msg->setArgument( 14, (char)((int32_t)(data.temperature) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 204 msg->setArgument( 15, data.dor);
masahikofukasawa 10:5c69b067d88a 205
masahikofukasawa 10:5c69b067d88a 206 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 207 }
masahikofukasawa 10:5c69b067d88a 208
masahikofukasawa 10:5c69b067d88a 209 AkmSensor::Status Ak9750Ctrl::requestCommand(Message* in, Message* out){
masahikofukasawa 10:5c69b067d88a 210 AkmSensor::Status status = AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 211 Message::Command cmd = in->getCommand();
masahikofukasawa 10:5c69b067d88a 212 AK9750::Threshold th;
masahikofukasawa 10:5c69b067d88a 213 AK9750::Hysteresis hys;
masahikofukasawa 10:5c69b067d88a 214 AK9750::InterruptStatus interrupt;
masahikofukasawa 10:5c69b067d88a 215
masahikofukasawa 10:5c69b067d88a 216 out->setCommand(cmd);
masahikofukasawa 10:5c69b067d88a 217
masahikofukasawa 10:5c69b067d88a 218 switch(cmd){
masahikofukasawa 10:5c69b067d88a 219 case Message::CMD_IR_GET_THRESHOLD:
masahikofukasawa 10:5c69b067d88a 220 {
masahikofukasawa 10:5c69b067d88a 221 if (ak9750->getThreshold(&th) != AK9750::SUCCESS) {
masahikofukasawa 15:1238993fd75f 222 MSG("#Failed to get threshold of AK9750.\r\n");
masahikofukasawa 15:1238993fd75f 223 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 224 }
masahikofukasawa 10:5c69b067d88a 225 out->setArgument(0,(char)((int32_t)(th.eth13h) >> 8));
masahikofukasawa 10:5c69b067d88a 226 out->setArgument(1,(char)((int32_t)(th.eth13h) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 227 out->setArgument(2,(char)((int32_t)(th.eth13l) >> 8));
masahikofukasawa 10:5c69b067d88a 228 out->setArgument(3,(char)((int32_t)(th.eth13l) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 229 out->setArgument(4,(char)((int32_t)(th.eth24h) >> 8));
masahikofukasawa 10:5c69b067d88a 230 out->setArgument(5,(char)((int32_t)(th.eth24h) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 231 out->setArgument(6,(char)((int32_t)(th.eth24l) >> 8));
masahikofukasawa 10:5c69b067d88a 232 out->setArgument(7,(char)((int32_t)(th.eth24l) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 233 break;
masahikofukasawa 10:5c69b067d88a 234 }
masahikofukasawa 10:5c69b067d88a 235 case Message::CMD_IR_SET_THRESHOLD:
masahikofukasawa 10:5c69b067d88a 236 {
masahikofukasawa 10:5c69b067d88a 237 th.eth13h = CONV16I(in->getArgument(0), in->getArgument(1));
masahikofukasawa 10:5c69b067d88a 238 th.eth13l = CONV16I(in->getArgument(2), in->getArgument(3));
masahikofukasawa 10:5c69b067d88a 239 th.eth24h = CONV16I(in->getArgument(4), in->getArgument(5));
masahikofukasawa 10:5c69b067d88a 240 th.eth24l = CONV16I(in->getArgument(6), in->getArgument(7));
masahikofukasawa 10:5c69b067d88a 241 if (ak9750->setThreshold(&th) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 242 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 243 MSG("#Failed to set threshold to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 244 }
masahikofukasawa 10:5c69b067d88a 245 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 246 break;
masahikofukasawa 10:5c69b067d88a 247 }
masahikofukasawa 10:5c69b067d88a 248 case Message::CMD_IR_GET_HYSTERESIS:
masahikofukasawa 10:5c69b067d88a 249 {
masahikofukasawa 10:5c69b067d88a 250 if (ak9750->getHysteresis(&hys) != AK9750::SUCCESS) {
masahikofukasawa 15:1238993fd75f 251 MSG("#Failed to get hysteresis of AK9750.\r\n");
masahikofukasawa 15:1238993fd75f 252 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 253 }
masahikofukasawa 10:5c69b067d88a 254 out->setArgument(0,hys.ehys13);
masahikofukasawa 10:5c69b067d88a 255 out->setArgument(1,hys.ehys24);
masahikofukasawa 10:5c69b067d88a 256 break;
masahikofukasawa 10:5c69b067d88a 257 }
masahikofukasawa 10:5c69b067d88a 258 case Message::CMD_IR_SET_HYSTERESIS:
masahikofukasawa 10:5c69b067d88a 259 {
masahikofukasawa 10:5c69b067d88a 260 hys.ehys13 = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 261 hys.ehys24 = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 262 if (ak9750->setHysteresis(&hys) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 263 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 264 MSG("#Failed to set hysteresis to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 265 }
masahikofukasawa 10:5c69b067d88a 266 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 267 break;
masahikofukasawa 10:5c69b067d88a 268 }
masahikofukasawa 10:5c69b067d88a 269 case Message::CMD_IR_GET_INTERRUPT:
masahikofukasawa 10:5c69b067d88a 270 {
masahikofukasawa 10:5c69b067d88a 271 if (ak9750->getInterruptEnable(&interrupt) != AK9750::SUCCESS) {
masahikofukasawa 15:1238993fd75f 272 MSG("#Failed to get interrupt of AK9750.\r\n");
masahikofukasawa 15:1238993fd75f 273 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 274 }
masahikofukasawa 10:5c69b067d88a 275 out->setArgument(0, interrupt.ir13h);
masahikofukasawa 10:5c69b067d88a 276 out->setArgument(1, interrupt.ir13l);
masahikofukasawa 10:5c69b067d88a 277 out->setArgument(2, interrupt.ir24h);
masahikofukasawa 10:5c69b067d88a 278 out->setArgument(3, interrupt.ir24l);
masahikofukasawa 10:5c69b067d88a 279 out->setArgument(4, interrupt.drdy);
masahikofukasawa 10:5c69b067d88a 280 break;
masahikofukasawa 10:5c69b067d88a 281 }
masahikofukasawa 10:5c69b067d88a 282 case Message::CMD_IR_SET_INTERRUPT:
masahikofukasawa 10:5c69b067d88a 283 {
masahikofukasawa 10:5c69b067d88a 284 interrupt.ir13h = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 285 interrupt.ir13l = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 286 interrupt.ir24h = in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 287 interrupt.ir24l = in->getArgument(3);
masahikofukasawa 10:5c69b067d88a 288 interrupt.drdy = in->getArgument(4);
masahikofukasawa 10:5c69b067d88a 289 if (ak9750->setInterruptEnable(&interrupt) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 290 status = AkmSensor::ERROR;
masahikofukasawa 15:1238993fd75f 291 MSG("#Failed to set interrupt to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 292 }
masahikofukasawa 10:5c69b067d88a 293 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 294 break;
masahikofukasawa 10:5c69b067d88a 295 }
masahikofukasawa 10:5c69b067d88a 296 case Message::CMD_IR_GET_OPERATION_MODE:
masahikofukasawa 10:5c69b067d88a 297 {
masahikofukasawa 10:5c69b067d88a 298 if(ak9750->getOperationMode(&mode, &filter) != AK9750::SUCCESS) {
masahikofukasawa 15:1238993fd75f 299 MSG("#Error getOperationMode. AK9750.\r\n");
masahikofukasawa 15:1238993fd75f 300 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 301 }
masahikofukasawa 10:5c69b067d88a 302 out->setArgument(0,(char)mode);
masahikofukasawa 10:5c69b067d88a 303 out->setArgument(1,(char)filter);
masahikofukasawa 10:5c69b067d88a 304 break;
masahikofukasawa 10:5c69b067d88a 305 }
masahikofukasawa 10:5c69b067d88a 306 case Message::CMD_IR_SET_OPERATION_MODE:
masahikofukasawa 10:5c69b067d88a 307 {
masahikofukasawa 10:5c69b067d88a 308 mode = (AK9750::OperationMode)in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 309 filter = (AK9750::DigitalFilter)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 310 if(ak9750->setOperationMode(mode, filter) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 311 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 312 MSG("#Error setOperationMode. AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 313 }
masahikofukasawa 10:5c69b067d88a 314 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 315 break;
masahikofukasawa 10:5c69b067d88a 316 }
masahikofukasawa 10:5c69b067d88a 317 case Message::CMD_IR_GET_THRESHOLD_EEPROM:
masahikofukasawa 10:5c69b067d88a 318 {
masahikofukasawa 10:5c69b067d88a 319 if (ak9750->getThresholdFromEEPROM(&th) != AK9750::SUCCESS) {
masahikofukasawa 15:1238993fd75f 320 MSG("#Failed to get threshold of AK9750(EEPROM).\r\n");
masahikofukasawa 15:1238993fd75f 321 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 322 }
masahikofukasawa 10:5c69b067d88a 323 out->setArgument(0,(char)((int32_t)(th.eth13h) >> 8));
masahikofukasawa 10:5c69b067d88a 324 out->setArgument(1,(char)((int32_t)(th.eth13h) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 325 out->setArgument(2,(char)((int32_t)(th.eth13l) >> 8));
masahikofukasawa 10:5c69b067d88a 326 out->setArgument(3,(char)((int32_t)(th.eth13l) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 327 out->setArgument(4,(char)((int32_t)(th.eth24h) >> 8));
masahikofukasawa 10:5c69b067d88a 328 out->setArgument(5,(char)((int32_t)(th.eth24h) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 329 out->setArgument(6,(char)((int32_t)(th.eth24l) >> 8));
masahikofukasawa 10:5c69b067d88a 330 out->setArgument(7,(char)((int32_t)(th.eth24l) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 331 break;
masahikofukasawa 10:5c69b067d88a 332 }
masahikofukasawa 10:5c69b067d88a 333 case Message::CMD_IR_SET_THRESHOLD_EEPROM:
masahikofukasawa 10:5c69b067d88a 334 {
masahikofukasawa 10:5c69b067d88a 335 th.eth13h = CONV16I(in->getArgument(0), in->getArgument(1));
masahikofukasawa 10:5c69b067d88a 336 th.eth13l = CONV16I(in->getArgument(2), in->getArgument(3));
masahikofukasawa 10:5c69b067d88a 337 th.eth24h = CONV16I(in->getArgument(4), in->getArgument(5));
masahikofukasawa 10:5c69b067d88a 338 th.eth24l = CONV16I(in->getArgument(6), in->getArgument(7));
masahikofukasawa 10:5c69b067d88a 339 if (ak9750->setThresholdToEEPROM(&th) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 340 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 341 MSG("#Failed to set threshold to AK9750(EEPROM).\r\n");
masahikofukasawa 10:5c69b067d88a 342 }
masahikofukasawa 10:5c69b067d88a 343 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 344 break;
masahikofukasawa 10:5c69b067d88a 345 }
masahikofukasawa 10:5c69b067d88a 346 case Message::CMD_IR_GET_HYSTERESIS_EEPROM:
masahikofukasawa 10:5c69b067d88a 347 {
masahikofukasawa 10:5c69b067d88a 348 if (ak9750->getHysteresisFromEEPROM(&hys) != AK9750::SUCCESS) {
masahikofukasawa 15:1238993fd75f 349 MSG("#Failed to get hysteresis of AK9750(EEPROM).\r\n");
masahikofukasawa 15:1238993fd75f 350 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 351 }
masahikofukasawa 10:5c69b067d88a 352 out->setArgument(0,hys.ehys13);
masahikofukasawa 10:5c69b067d88a 353 out->setArgument(1,hys.ehys24);
masahikofukasawa 10:5c69b067d88a 354 break;
masahikofukasawa 10:5c69b067d88a 355 }
masahikofukasawa 10:5c69b067d88a 356 case Message::CMD_IR_SET_HYSTERESIS_EEPROM:
masahikofukasawa 10:5c69b067d88a 357 {
masahikofukasawa 10:5c69b067d88a 358 hys.ehys13 = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 359 hys.ehys24 = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 360 if (ak9750->setHysteresisToEEPROM(&hys) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 361 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 362 MSG("#Failed to set hysteresis to AK9750(EEPROM).\r\n");
masahikofukasawa 10:5c69b067d88a 363 }
masahikofukasawa 10:5c69b067d88a 364 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 365 break;
masahikofukasawa 10:5c69b067d88a 366 }
masahikofukasawa 10:5c69b067d88a 367 case Message::CMD_IR_GET_INTERRUPT_EEPROM:
masahikofukasawa 10:5c69b067d88a 368 {
masahikofukasawa 10:5c69b067d88a 369 if (ak9750->getInterruptEnableFromEEPROM(&interrupt) != AK9750::SUCCESS) {
masahikofukasawa 15:1238993fd75f 370 MSG("#Failed to get interrupt of AK9750(EEPROM).\r\n");
masahikofukasawa 15:1238993fd75f 371 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 372 }
masahikofukasawa 10:5c69b067d88a 373 out->setArgument(0, interrupt.ir13h);
masahikofukasawa 10:5c69b067d88a 374 out->setArgument(1, interrupt.ir13l);
masahikofukasawa 10:5c69b067d88a 375 out->setArgument(2, interrupt.ir24h);
masahikofukasawa 10:5c69b067d88a 376 out->setArgument(3, interrupt.ir24l);
masahikofukasawa 10:5c69b067d88a 377 out->setArgument(4, interrupt.drdy);
masahikofukasawa 10:5c69b067d88a 378 break;
masahikofukasawa 10:5c69b067d88a 379 }
masahikofukasawa 10:5c69b067d88a 380 case Message::CMD_IR_SET_INTERRUPT_EEPROM:
masahikofukasawa 10:5c69b067d88a 381 {
masahikofukasawa 10:5c69b067d88a 382 interrupt.ir13h = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 383 interrupt.ir13l = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 384 interrupt.ir24h = in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 385 interrupt.ir24l = in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 386 interrupt.drdy = in->getArgument(4);
masahikofukasawa 10:5c69b067d88a 387 if (ak9750->setInterruptEnableToEEPROM(&interrupt) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 388 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 389 MSG("#Failed to set interrupt to AK9750(EEPROM).\r\n");
masahikofukasawa 10:5c69b067d88a 390 }
masahikofukasawa 10:5c69b067d88a 391 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 392 break;
masahikofukasawa 10:5c69b067d88a 393 }
masahikofukasawa 10:5c69b067d88a 394 case Message::CMD_IR_GET_OPERATION_MODE_EEPROM:
masahikofukasawa 10:5c69b067d88a 395 {
masahikofukasawa 10:5c69b067d88a 396 if(ak9750->getOperationModeFromEEPROM(&mode, &filter) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 397 MSG("#Error getOperationMode. AK9750(EEPROM).\r\n");
masahikofukasawa 15:1238993fd75f 398 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 399 }
masahikofukasawa 10:5c69b067d88a 400 out->setArgument(0,(char)mode);
masahikofukasawa 10:5c69b067d88a 401 out->setArgument(1,(char)filter);
masahikofukasawa 10:5c69b067d88a 402 break;
masahikofukasawa 10:5c69b067d88a 403 }
masahikofukasawa 10:5c69b067d88a 404 case Message::CMD_IR_SET_OPERATION_MODE_EEPROM:
masahikofukasawa 10:5c69b067d88a 405 {
masahikofukasawa 10:5c69b067d88a 406 mode = (AK9750::OperationMode)in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 407 filter = (AK9750::DigitalFilter)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 408 if(ak9750->setOperationModeToEEPROM(mode, filter) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 409 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 410 MSG("#Error setOperationMode. AK9750(EEPROM).\r\n");
masahikofukasawa 10:5c69b067d88a 411 }
masahikofukasawa 10:5c69b067d88a 412 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 413 break;
masahikofukasawa 10:5c69b067d88a 414 }
masahikofukasawa 10:5c69b067d88a 415 case Message::CMD_REG_WRITE:
masahikofukasawa 10:5c69b067d88a 416 case Message::CMD_REG_WRITEN:
masahikofukasawa 10:5c69b067d88a 417 {
masahikofukasawa 10:5c69b067d88a 418 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 419 int len = (int)in->getArgument(1);
masahikofukasawa 15:1238993fd75f 420 if(in->getArgNum() != len+2){
masahikofukasawa 15:1238993fd75f 421 MSG("#Error argument num. Args=%d\r\n",in->getArgNum());
masahikofukasawa 15:1238993fd75f 422 status = AkmSensor::ERROR;
masahikofukasawa 15:1238993fd75f 423 out->setArgument(0,(char)status);
masahikofukasawa 15:1238993fd75f 424 return status;
masahikofukasawa 15:1238993fd75f 425 }
masahikofukasawa 15:1238993fd75f 426
masahikofukasawa 10:5c69b067d88a 427 char data[len];
masahikofukasawa 10:5c69b067d88a 428 for(int i=0; i<len; i++){
masahikofukasawa 15:1238993fd75f 429 data[i] = in->getArgument(i+2);
masahikofukasawa 10:5c69b067d88a 430 }
masahikofukasawa 10:5c69b067d88a 431 if( ak9750->write(address, data, len) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 432 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 433 MSG("#Error register write.\r\n");
masahikofukasawa 10:5c69b067d88a 434 }
masahikofukasawa 10:5c69b067d88a 435 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 436 break;
masahikofukasawa 10:5c69b067d88a 437 }
masahikofukasawa 10:5c69b067d88a 438 case Message::CMD_REG_READ:
masahikofukasawa 10:5c69b067d88a 439 case Message::CMD_REG_READN:
masahikofukasawa 10:5c69b067d88a 440 {
masahikofukasawa 15:1238993fd75f 441 if(in->getArgNum() != 2){
masahikofukasawa 15:1238993fd75f 442 MSG("#Error argument num. Args=%d\r\n",in->getArgNum());
masahikofukasawa 15:1238993fd75f 443 return AkmSensor::ERROR;
masahikofukasawa 15:1238993fd75f 444 }
masahikofukasawa 15:1238993fd75f 445
masahikofukasawa 10:5c69b067d88a 446 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 447 int len = (int)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 448 char data[len];
masahikofukasawa 10:5c69b067d88a 449 if( ak9750->read(address, data, len) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 450 MSG("#Error register read.\r\n");
masahikofukasawa 15:1238993fd75f 451 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 452 }
masahikofukasawa 10:5c69b067d88a 453 for(int i=0; i<len; i++){
masahikofukasawa 10:5c69b067d88a 454 out->setArgument(i, data[i]);
masahikofukasawa 10:5c69b067d88a 455 }
masahikofukasawa 10:5c69b067d88a 456 break;
masahikofukasawa 10:5c69b067d88a 457 }
masahikofukasawa 10:5c69b067d88a 458 default:
masahikofukasawa 10:5c69b067d88a 459 {
masahikofukasawa 11:cef8dc1cf010 460 MSG("#Error no command.\r\n");
masahikofukasawa 10:5c69b067d88a 461 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 462 break;
masahikofukasawa 10:5c69b067d88a 463 }
masahikofukasawa 10:5c69b067d88a 464 }
masahikofukasawa 10:5c69b067d88a 465 return status;
masahikofukasawa 10:5c69b067d88a 466 }