Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

ak9752ctrl.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 "ak9752ctrl.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 Ak9752Ctrl::Ak9752Ctrl() : AkmSensor(){
masahikofukasawa 10:5c69b067d88a 11 ak9752 = 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 Ak9752Ctrl::~Ak9752Ctrl(){
masahikofukasawa 10:5c69b067d88a 20 if (ak9752) delete ak9752;
masahikofukasawa 29:b488d2c89fba 21 // if (interrupt) delete interrupt;
masahikofukasawa 10:5c69b067d88a 22 }
masahikofukasawa 10:5c69b067d88a 23
masahikofukasawa 10:5c69b067d88a 24 AkmSensor::Status Ak9752Ctrl::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_AK9752){
masahikofukasawa 10:5c69b067d88a 33 ak9752 = new AK9752();
masahikofukasawa 13:d008249f0359 34 sensorName = "AK9752";
masahikofukasawa 10:5c69b067d88a 35 }
masahikofukasawa 10:5c69b067d88a 36 else{
masahikofukasawa 10:5c69b067d88a 37 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 38 }
masahikofukasawa 10:5c69b067d88a 39
masahikofukasawa 10:5c69b067d88a 40 bool foundSensor = false;
masahikofukasawa 10:5c69b067d88a 41
masahikofukasawa 10:5c69b067d88a 42 AK9752::SlaveAddress slaveAddr[]
masahikofukasawa 10:5c69b067d88a 43 = { AK9752::SLAVE_ADDR_1 };
masahikofukasawa 10:5c69b067d88a 44
masahikofukasawa 10:5c69b067d88a 45 for(int i=0; i<sizeof(slaveAddr); i++)
masahikofukasawa 10:5c69b067d88a 46 {
masahikofukasawa 10:5c69b067d88a 47 ak9752->init(i2c, slaveAddr[i]);
masahikofukasawa 10:5c69b067d88a 48 // Checks connectivity
masahikofukasawa 29:b488d2c89fba 49 if(ak9752->checkConnection() == AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 50 // found
masahikofukasawa 10:5c69b067d88a 51 foundSensor = true;
masahikofukasawa 10:5c69b067d88a 52 break;
masahikofukasawa 10:5c69b067d88a 53 }
masahikofukasawa 10:5c69b067d88a 54 }
masahikofukasawa 10:5c69b067d88a 55 if(foundSensor != true) return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 56
masahikofukasawa 10:5c69b067d88a 57 // reset
masahikofukasawa 10:5c69b067d88a 58 if (ak9752->reset() != AK9752::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 59 MSG("#Failed to reset AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 60 }
masahikofukasawa 10:5c69b067d88a 61
masahikofukasawa 11:cef8dc1cf010 62 MSG("#Init success AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 63 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 64 }
masahikofukasawa 10:5c69b067d88a 65
masahikofukasawa 29:b488d2c89fba 66 void Ak9752Ctrl::setEvent(){
masahikofukasawa 29:b488d2c89fba 67 // MSG("#setEvent() in %s.\r\n",sensorName);
masahikofukasawa 29:b488d2c89fba 68 AK9752::Status status = ak9752->isDataReady();
masahikofukasawa 29:b488d2c89fba 69 if( status == AK9752::DATA_READY ) base::setEvent();
masahikofukasawa 10:5c69b067d88a 70 }
masahikofukasawa 10:5c69b067d88a 71
masahikofukasawa 10:5c69b067d88a 72 AkmSensor::Status Ak9752Ctrl::startSensor(){
masahikofukasawa 11:cef8dc1cf010 73 // read one data to clear INT pin
masahikofukasawa 11:cef8dc1cf010 74 AK9752::SensorData data;
masahikofukasawa 11:cef8dc1cf010 75 ak9752->getSensorData(&data);
masahikofukasawa 11:cef8dc1cf010 76
masahikofukasawa 11:cef8dc1cf010 77 // enable interrupt
masahikofukasawa 29:b488d2c89fba 78 // interrupt->fall(callback(this, &Ak9752Ctrl::detectINT));
masahikofukasawa 29:b488d2c89fba 79
masahikofukasawa 11:cef8dc1cf010 80 // set operation mode
masahikofukasawa 10:5c69b067d88a 81 if(ak9752->setOperationMode(mode,fc_tmp, fc_ir) != AK9752::SUCCESS) {
masahikofukasawa 29:b488d2c89fba 82 MSG("#Start sensor failed %s\r\n", sensorName);
masahikofukasawa 10:5c69b067d88a 83 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 84 }
masahikofukasawa 10:5c69b067d88a 85
masahikofukasawa 29:b488d2c89fba 86 MSG("#Start sensor %s.\r\n",sensorName);
masahikofukasawa 10:5c69b067d88a 87 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 88 }
masahikofukasawa 10:5c69b067d88a 89
masahikofukasawa 10:5c69b067d88a 90 AkmSensor::Status Ak9752Ctrl::startSensor(const float sec){
masahikofukasawa 29:b488d2c89fba 91 // interrupt->fall(callback(this, &Ak9752Ctrl::detectINT));
masahikofukasawa 10:5c69b067d88a 92 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 93 }
masahikofukasawa 10:5c69b067d88a 94
masahikofukasawa 10:5c69b067d88a 95 AkmSensor::Status Ak9752Ctrl::stopSensor(){
masahikofukasawa 29:b488d2c89fba 96 AkmSensor::clearEvent();
masahikofukasawa 29:b488d2c89fba 97
masahikofukasawa 29:b488d2c89fba 98 // interrupt->fall(NULL);
masahikofukasawa 10:5c69b067d88a 99 if(ak9752->setOperationMode(AK9752::MODE_STANDBY, fc_tmp, fc_ir) != AK9752::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 100 MSG("#Error setOperationMode. AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 101 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 102 }
masahikofukasawa 10:5c69b067d88a 103
masahikofukasawa 10:5c69b067d88a 104 // read one data to clear INT pin
masahikofukasawa 11:cef8dc1cf010 105 AK9752::SensorData data;
masahikofukasawa 11:cef8dc1cf010 106 ak9752->getSensorData(&data);
masahikofukasawa 10:5c69b067d88a 107
masahikofukasawa 10:5c69b067d88a 108 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 109 }
masahikofukasawa 10:5c69b067d88a 110
masahikofukasawa 10:5c69b067d88a 111 AkmSensor::Status Ak9752Ctrl::readSensorData(Message* msg){
masahikofukasawa 29:b488d2c89fba 112 AkmSensor::clearEvent();
masahikofukasawa 10:5c69b067d88a 113
masahikofukasawa 10:5c69b067d88a 114 AK9752::SensorData data;
masahikofukasawa 10:5c69b067d88a 115 AK9752::Status status = ak9752->getSensorData(&data);
masahikofukasawa 10:5c69b067d88a 116 if( status != AK9752::SUCCESS){
masahikofukasawa 11:cef8dc1cf010 117 MSG("#Error getSensorData. AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 118 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 119 }
masahikofukasawa 10:5c69b067d88a 120 msg->setCommand(Message::CMD_START_MEASUREMENT);
masahikofukasawa 10:5c69b067d88a 121 msg->setArgument( 0, data.intStatus.irh);
masahikofukasawa 10:5c69b067d88a 122 msg->setArgument( 1, data.intStatus.irl);
masahikofukasawa 10:5c69b067d88a 123 msg->setArgument( 2, data.intStatus.tmph);
masahikofukasawa 10:5c69b067d88a 124 msg->setArgument( 3, data.intStatus.tmpl);
masahikofukasawa 10:5c69b067d88a 125 msg->setArgument( 4, data.intStatus.dr);
masahikofukasawa 10:5c69b067d88a 126 msg->setArgument( 5,(char)((int32_t)(data.ir) >> 8));
masahikofukasawa 10:5c69b067d88a 127 msg->setArgument( 6, (char)((int32_t)(data.ir) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 128 msg->setArgument( 7,(char)((int32_t)(data.temperature) >> 8));
masahikofukasawa 10:5c69b067d88a 129 msg->setArgument( 8, (char)((int32_t)(data.temperature) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 130 msg->setArgument( 9, data.dor);
masahikofukasawa 10:5c69b067d88a 131
masahikofukasawa 10:5c69b067d88a 132 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 133 }
masahikofukasawa 10:5c69b067d88a 134
masahikofukasawa 10:5c69b067d88a 135 AkmSensor::Status Ak9752Ctrl::requestCommand(Message* in, Message* out){
masahikofukasawa 10:5c69b067d88a 136 AkmSensor::Status status = AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 137 Message::Command cmd = in->getCommand();
masahikofukasawa 10:5c69b067d88a 138 AK9752::Threshold th;
masahikofukasawa 29:b488d2c89fba 139 AK9752::InterruptStatus interruptStatus;
masahikofukasawa 10:5c69b067d88a 140
masahikofukasawa 10:5c69b067d88a 141 out->setCommand(cmd);
masahikofukasawa 10:5c69b067d88a 142
masahikofukasawa 10:5c69b067d88a 143 switch(cmd){
masahikofukasawa 10:5c69b067d88a 144 case Message::CMD_IR_GET_THRESHOLD:
masahikofukasawa 10:5c69b067d88a 145 {
masahikofukasawa 10:5c69b067d88a 146 if (ak9752->getThreshold(&th) != AK9752::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 147 MSG("#Failed to set threshold to AK9752.\r\n");
masahikofukasawa 15:1238993fd75f 148 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 149 }
masahikofukasawa 10:5c69b067d88a 150 out->setArgument(0,(char)((int32_t)(th.thirh) >> 8));
masahikofukasawa 10:5c69b067d88a 151 out->setArgument(1,(char)((int32_t)(th.thirh) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 152 out->setArgument(2,(char)((int32_t)(th.thirl) >> 8));
masahikofukasawa 10:5c69b067d88a 153 out->setArgument(3,(char)((int32_t)(th.thirl) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 154 out->setArgument(4,(char)((int32_t)(th.thtmph) >> 8));
masahikofukasawa 10:5c69b067d88a 155 out->setArgument(5,(char)((int32_t)(th.thtmph) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 156 out->setArgument(6,(char)((int32_t)(th.thtmpl) >> 8));
masahikofukasawa 10:5c69b067d88a 157 out->setArgument(7,(char)((int32_t)(th.thtmpl) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 158 break;
masahikofukasawa 10:5c69b067d88a 159 }
masahikofukasawa 10:5c69b067d88a 160 case Message::CMD_IR_SET_THRESHOLD:
masahikofukasawa 10:5c69b067d88a 161 {
masahikofukasawa 10:5c69b067d88a 162 th.thirh = CONV16I(in->getArgument(0), in->getArgument(1));
masahikofukasawa 10:5c69b067d88a 163 th.thirl = CONV16I(in->getArgument(2), in->getArgument(3));
masahikofukasawa 10:5c69b067d88a 164 th.thtmph = CONV16I(in->getArgument(4), in->getArgument(5));
masahikofukasawa 10:5c69b067d88a 165 th.thtmpl = CONV16I(in->getArgument(6), in->getArgument(7));
masahikofukasawa 10:5c69b067d88a 166 if (ak9752->setThreshold(&th) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 167 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 168 MSG("#Failed to set threshold to AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 169 }
masahikofukasawa 10:5c69b067d88a 170 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 171 break;
masahikofukasawa 10:5c69b067d88a 172 }
masahikofukasawa 10:5c69b067d88a 173 case Message::CMD_IR_GET_INTERRUPT:
masahikofukasawa 10:5c69b067d88a 174 {
masahikofukasawa 29:b488d2c89fba 175 if (ak9752->getInterruptEnable(&interruptStatus) != AK9752::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 176 MSG("#Failed to set hysteresis to AK9752.\r\n");
masahikofukasawa 15:1238993fd75f 177 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 178 }
masahikofukasawa 29:b488d2c89fba 179 out->setArgument(0, interruptStatus.irh);
masahikofukasawa 29:b488d2c89fba 180 out->setArgument(1, interruptStatus.irl);
masahikofukasawa 29:b488d2c89fba 181 out->setArgument(2, interruptStatus.tmph);
masahikofukasawa 29:b488d2c89fba 182 out->setArgument(3, interruptStatus.tmpl);
masahikofukasawa 29:b488d2c89fba 183 out->setArgument(4, interruptStatus.dr);
masahikofukasawa 10:5c69b067d88a 184 break;
masahikofukasawa 10:5c69b067d88a 185 }
masahikofukasawa 10:5c69b067d88a 186 case Message::CMD_IR_SET_INTERRUPT:
masahikofukasawa 10:5c69b067d88a 187 {
masahikofukasawa 29:b488d2c89fba 188 interruptStatus.irh = in->getArgument(0);
masahikofukasawa 29:b488d2c89fba 189 interruptStatus.irl = in->getArgument(1);
masahikofukasawa 29:b488d2c89fba 190 interruptStatus.tmph = in->getArgument(2);
masahikofukasawa 29:b488d2c89fba 191 interruptStatus.tmpl = in->getArgument(3);
masahikofukasawa 29:b488d2c89fba 192 interruptStatus.dr = in->getArgument(4);
masahikofukasawa 29:b488d2c89fba 193 if (ak9752->setInterruptEnable(&interruptStatus) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 194 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 195 MSG("#Failed to set hysteresis to AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 196 }
masahikofukasawa 10:5c69b067d88a 197 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 198 break;
masahikofukasawa 10:5c69b067d88a 199 }
masahikofukasawa 10:5c69b067d88a 200 case Message::CMD_IR_GET_OPERATION_MODE:
masahikofukasawa 10:5c69b067d88a 201 {
masahikofukasawa 10:5c69b067d88a 202 if(ak9752->getOperationMode(&mode, &fc_tmp, &fc_ir) != AK9752::SUCCESS) {
masahikofukasawa 15:1238993fd75f 203 MSG("#Error getOperationMode. AK9752.\r\n");
masahikofukasawa 15:1238993fd75f 204 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 205 }
masahikofukasawa 10:5c69b067d88a 206 out->setArgument(0,(char)mode);
masahikofukasawa 10:5c69b067d88a 207 out->setArgument(1,(char)fc_tmp);
masahikofukasawa 10:5c69b067d88a 208 out->setArgument(2,(char)fc_ir);
masahikofukasawa 10:5c69b067d88a 209 break;
masahikofukasawa 10:5c69b067d88a 210 }
masahikofukasawa 10:5c69b067d88a 211 case Message::CMD_IR_SET_OPERATION_MODE:
masahikofukasawa 10:5c69b067d88a 212 {
masahikofukasawa 10:5c69b067d88a 213 mode = (AK9752::OperationMode)in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 214 fc_tmp = (AK9752::FcTmp)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 215 fc_ir = (AK9752::FcIr)in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 216 if(ak9752->setOperationMode(mode, fc_tmp, fc_ir) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 217 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 218 MSG("#Error setOperationMode. AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 219 }
masahikofukasawa 10:5c69b067d88a 220 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 221 break;
masahikofukasawa 10:5c69b067d88a 222 }
masahikofukasawa 10:5c69b067d88a 223 case Message::CMD_REG_WRITE:
masahikofukasawa 10:5c69b067d88a 224 case Message::CMD_REG_WRITEN:
masahikofukasawa 10:5c69b067d88a 225 {
masahikofukasawa 10:5c69b067d88a 226 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 227 int len = (int)in->getArgument(1);
masahikofukasawa 15:1238993fd75f 228 if(in->getArgNum() != len+2){
masahikofukasawa 15:1238993fd75f 229 MSG("#Error argument num. Args=%d\r\n",in->getArgNum());
masahikofukasawa 15:1238993fd75f 230 status = AkmSensor::ERROR;
masahikofukasawa 15:1238993fd75f 231 out->setArgument(0,(char)status);
masahikofukasawa 15:1238993fd75f 232 return status;
masahikofukasawa 15:1238993fd75f 233 }
masahikofukasawa 15:1238993fd75f 234
masahikofukasawa 10:5c69b067d88a 235 char data[len];
masahikofukasawa 10:5c69b067d88a 236 for(int i=0; i<len; i++){
masahikofukasawa 15:1238993fd75f 237 data[i] = in->getArgument(i+2);
masahikofukasawa 10:5c69b067d88a 238 }
masahikofukasawa 10:5c69b067d88a 239 if( ak9752->write(address, data, len) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 240 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 241 MSG("#Error register write.\r\n");
masahikofukasawa 10:5c69b067d88a 242 }
masahikofukasawa 10:5c69b067d88a 243 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 244 break;
masahikofukasawa 10:5c69b067d88a 245 }
masahikofukasawa 10:5c69b067d88a 246 case Message::CMD_REG_READ:
masahikofukasawa 10:5c69b067d88a 247 case Message::CMD_REG_READN:
masahikofukasawa 10:5c69b067d88a 248 {
masahikofukasawa 15:1238993fd75f 249 if(in->getArgNum() != 2){
masahikofukasawa 15:1238993fd75f 250 MSG("#Error argument num. Args=%d\r\n",in->getArgNum());
masahikofukasawa 15:1238993fd75f 251 return AkmSensor::ERROR;
masahikofukasawa 15:1238993fd75f 252 }
masahikofukasawa 15:1238993fd75f 253
masahikofukasawa 10:5c69b067d88a 254 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 255 int len = (int)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 256 char data[len];
masahikofukasawa 10:5c69b067d88a 257 if( ak9752->read(address, data, len) != AK9752::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 258 MSG("#Error register read.\r\n");
masahikofukasawa 15:1238993fd75f 259 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 260 }
masahikofukasawa 10:5c69b067d88a 261 for(int i=0; i<len; i++){
masahikofukasawa 10:5c69b067d88a 262 out->setArgument(i, data[i]);
masahikofukasawa 10:5c69b067d88a 263 }
masahikofukasawa 10:5c69b067d88a 264 break;
masahikofukasawa 10:5c69b067d88a 265 }
masahikofukasawa 10:5c69b067d88a 266 default:
masahikofukasawa 10:5c69b067d88a 267 {
masahikofukasawa 11:cef8dc1cf010 268 MSG("#Error no command.\r\n");
masahikofukasawa 10:5c69b067d88a 269 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 270 break;
masahikofukasawa 10:5c69b067d88a 271 }
masahikofukasawa 10:5c69b067d88a 272 }
masahikofukasawa 10:5c69b067d88a 273 return status;
masahikofukasawa 10:5c69b067d88a 274 }