Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

ak7401ctrl.cpp@13:d008249f0359, 2016-08-12 (annotated)

Committer:
masahikofukasawa
Date:
Fri Aug 12 00:04:48 2016 +0000
Revision:
13:d008249f0359
Parent:
11:cef8dc1cf010
Child:
14:21e177fc308a
Ver008. Modified for faster BLE connection, and sensor name in the BLE device name.

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 10:5c69b067d88a 8 Ak7401Ctrl::Ak7401Ctrl(){
masahikofukasawa 10:5c69b067d88a 9 ak7401 = NULL;
masahikofukasawa 10:5c69b067d88a 10 event = false;
masahikofukasawa 13:d008249f0359 11 sensorName = "";
masahikofukasawa 10:5c69b067d88a 12 }
masahikofukasawa 10:5c69b067d88a 13
masahikofukasawa 10:5c69b067d88a 14 /**
masahikofukasawa 10:5c69b067d88a 15 * Destructor.
masahikofukasawa 10:5c69b067d88a 16 *
masahikofukasawa 10:5c69b067d88a 17 */
masahikofukasawa 10:5c69b067d88a 18 Ak7401Ctrl::~Ak7401Ctrl(){
masahikofukasawa 10:5c69b067d88a 19 if (ak7401) delete ak7401;
masahikofukasawa 10:5c69b067d88a 20 }
masahikofukasawa 10:5c69b067d88a 21
masahikofukasawa 10:5c69b067d88a 22 AkmSensor::Status Ak7401Ctrl::init(const uint8_t id, const uint8_t subid){
masahikofukasawa 10:5c69b067d88a 23 primaryId = id;
masahikofukasawa 10:5c69b067d88a 24 subId = subid;
masahikofukasawa 10:5c69b067d88a 25
masahikofukasawa 10:5c69b067d88a 26 if(subId == SUB_ID_AK7401){
masahikofukasawa 10:5c69b067d88a 27 SPI* mSpi;
masahikofukasawa 10:5c69b067d88a 28 DigitalOut* mCs;
masahikofukasawa 10:5c69b067d88a 29 AK7401::Status status = AK7401::ERROR;
masahikofukasawa 10:5c69b067d88a 30 mSpi = new SPI(SPI_MOSI, SPI_MISO, SPI_SCK);
masahikofukasawa 10:5c69b067d88a 31 mSpi->format(8,1); // 8bit, Mode=1
masahikofukasawa 10:5c69b067d88a 32 mSpi->frequency(1000000);
masahikofukasawa 10:5c69b067d88a 33 mCs = new DigitalOut(SPI_CS);
masahikofukasawa 10:5c69b067d88a 34 ak7401 = new AK7401();
masahikofukasawa 10:5c69b067d88a 35 ak7401->begin(mSpi, mCs);
masahikofukasawa 13:d008249f0359 36 sensorName = "AK7401";
masahikofukasawa 10:5c69b067d88a 37
masahikofukasawa 10:5c69b067d88a 38 status = ak7401->setOperationMode(AK7401::AK7401_USER_MODE);
masahikofukasawa 10:5c69b067d88a 39 if( status != AK7401::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 40 MSG("#AK7401 user mode failed.\r\n");
masahikofukasawa 10:5c69b067d88a 41 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 42 }
masahikofukasawa 11:cef8dc1cf010 43 MSG("#AK7401 user mode succeed.\r\n");
masahikofukasawa 10:5c69b067d88a 44
masahikofukasawa 10:5c69b067d88a 45 char data[2] = {0x00,0x07}; // set clockwise rotation
masahikofukasawa 10:5c69b067d88a 46 status = ak7401->writeEEPROM(0x05,data); // set clockwise
masahikofukasawa 10:5c69b067d88a 47 if( status != AK7401::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 48 MSG("#AK7401 write EEPROM failed.\r\n");
masahikofukasawa 10:5c69b067d88a 49 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 50 }
masahikofukasawa 11:cef8dc1cf010 51 MSG("#AK7401 write EEPROM succeed.\r\n");
masahikofukasawa 10:5c69b067d88a 52
masahikofukasawa 10:5c69b067d88a 53 status = ak7401->setOperationMode(AK7401::AK7401_NORMAL_MODE);
masahikofukasawa 10:5c69b067d88a 54 if( status != AK7401::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 55 MSG("#AK7401 normal mode failed.\r\n");
masahikofukasawa 10:5c69b067d88a 56 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 57 }
masahikofukasawa 11:cef8dc1cf010 58 MSG("#AK7401 normal mode succeed.\r\n");
masahikofukasawa 11:cef8dc1cf010 59
masahikofukasawa 11:cef8dc1cf010 60 interval = SENSOR_SAMPLING_RATE; // 10Hz
masahikofukasawa 10:5c69b067d88a 61 }
masahikofukasawa 10:5c69b067d88a 62 else{
masahikofukasawa 10:5c69b067d88a 63 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 64 }
masahikofukasawa 10:5c69b067d88a 65
masahikofukasawa 10:5c69b067d88a 66 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 67 }
masahikofukasawa 10:5c69b067d88a 68
masahikofukasawa 10:5c69b067d88a 69 void Ak7401Ctrl::eventCallback(){
masahikofukasawa 10:5c69b067d88a 70 event = true;
masahikofukasawa 10:5c69b067d88a 71 }
masahikofukasawa 10:5c69b067d88a 72
masahikofukasawa 10:5c69b067d88a 73 bool Ak7401Ctrl::isEvent(){
masahikofukasawa 10:5c69b067d88a 74 return event;
masahikofukasawa 10:5c69b067d88a 75 }
masahikofukasawa 10:5c69b067d88a 76
masahikofukasawa 10:5c69b067d88a 77 AkmSensor::Status Ak7401Ctrl::startSensor(){
masahikofukasawa 10:5c69b067d88a 78 ticker.attach(this, &Ak7401Ctrl::eventCallback, interval);
masahikofukasawa 10:5c69b067d88a 79 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 80 }
masahikofukasawa 10:5c69b067d88a 81
masahikofukasawa 10:5c69b067d88a 82 AkmSensor::Status Ak7401Ctrl::startSensor(const float sec){
masahikofukasawa 10:5c69b067d88a 83 interval = sec;
masahikofukasawa 10:5c69b067d88a 84 ticker.attach(this, &Ak7401Ctrl::eventCallback, interval);
masahikofukasawa 10:5c69b067d88a 85 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 86 }
masahikofukasawa 10:5c69b067d88a 87
masahikofukasawa 10:5c69b067d88a 88 AkmSensor::Status Ak7401Ctrl::stopSensor(){
masahikofukasawa 10:5c69b067d88a 89 ticker.detach();
masahikofukasawa 10:5c69b067d88a 90 event = false;
masahikofukasawa 10:5c69b067d88a 91 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 92 }
masahikofukasawa 10:5c69b067d88a 93
masahikofukasawa 10:5c69b067d88a 94 AkmSensor::Status Ak7401Ctrl::readSensorData(Message* msg){
masahikofukasawa 10:5c69b067d88a 95 event = false;
masahikofukasawa 10:5c69b067d88a 96 char angle[2] = {0x00,0x00};
masahikofukasawa 10:5c69b067d88a 97 AK7401::Status status = ak7401->readAngle(angle);
masahikofukasawa 10:5c69b067d88a 98
masahikofukasawa 10:5c69b067d88a 99 msg->setCommand(Message::CMD_START_MEASUREMENT);
masahikofukasawa 10:5c69b067d88a 100 msg->setArgument( 0, status );
masahikofukasawa 10:5c69b067d88a 101 msg->setArgument( 1, angle[0] );
masahikofukasawa 10:5c69b067d88a 102 msg->setArgument( 2, angle[1] );
masahikofukasawa 10:5c69b067d88a 103
masahikofukasawa 10:5c69b067d88a 104 if( status != SUCCESS){
masahikofukasawa 10:5c69b067d88a 105 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 106 }
masahikofukasawa 10:5c69b067d88a 107 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 108 }
masahikofukasawa 10:5c69b067d88a 109
masahikofukasawa 10:5c69b067d88a 110 AkmSensor::Status Ak7401Ctrl::requestCommand(Message* in, Message* out){
masahikofukasawa 10:5c69b067d88a 111 AkmSensor::Status status = AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 112
masahikofukasawa 10:5c69b067d88a 113 Message::Command cmd = in->getCommand();
masahikofukasawa 10:5c69b067d88a 114
masahikofukasawa 10:5c69b067d88a 115 switch(cmd){
masahikofukasawa 10:5c69b067d88a 116 case Message::CMD_ANGLE_ZERO_RESET:
masahikofukasawa 10:5c69b067d88a 117 {
masahikofukasawa 10:5c69b067d88a 118 AK7401::Status st;
masahikofukasawa 10:5c69b067d88a 119 if( Ak7401Ctrl::stopSensor() != AkmSensor::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 120 MSG("#Error stop sensor\r\n");
masahikofukasawa 10:5c69b067d88a 121 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 122 }
masahikofukasawa 10:5c69b067d88a 123
masahikofukasawa 10:5c69b067d88a 124 st = ak7401->setOperationMode(AK7401::AK7401_USER_MODE);
masahikofukasawa 10:5c69b067d88a 125 if( st != AK7401::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 126 MSG("#Error when set user mode\r\n");
masahikofukasawa 10:5c69b067d88a 127 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 128 }
masahikofukasawa 10:5c69b067d88a 129 char temp[2] = {0x00,0x00};
masahikofukasawa 10:5c69b067d88a 130 st = ak7401->writeRegister(0x06,temp);
masahikofukasawa 10:5c69b067d88a 131 if( st != AK7401::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 132 MSG("#Error temp read: code=%d\r\n",st);
masahikofukasawa 10:5c69b067d88a 133 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 134 }
masahikofukasawa 10:5c69b067d88a 135 st = ak7401->setAngleZero(); // reset ZP data
masahikofukasawa 10:5c69b067d88a 136 if( st != AK7401::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 137 MSG("#Error setAngleZero: code=%d\r\n",st);
masahikofukasawa 10:5c69b067d88a 138 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 139 }
masahikofukasawa 10:5c69b067d88a 140 st = ak7401->setOperationMode(AK7401::AK7401_NORMAL_MODE);
masahikofukasawa 10:5c69b067d88a 141 if( st != AK7401::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 142 MSG("#Error when set normal mode\r\n");
masahikofukasawa 10:5c69b067d88a 143 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 144 }
masahikofukasawa 10:5c69b067d88a 145 if( Ak7401Ctrl::startSensor(interval) != AkmSensor::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 146 MSG("#Error start sensor\r\n");
masahikofukasawa 10:5c69b067d88a 147 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 148 }
masahikofukasawa 10:5c69b067d88a 149 if( status == AkmSensor::ERROR ){
masahikofukasawa 10:5c69b067d88a 150 out->setArgument(0,1);
masahikofukasawa 10:5c69b067d88a 151 }else{
masahikofukasawa 10:5c69b067d88a 152 out->setArgument(0,0);
masahikofukasawa 10:5c69b067d88a 153 }
masahikofukasawa 10:5c69b067d88a 154 break;
masahikofukasawa 10:5c69b067d88a 155 }
masahikofukasawa 10:5c69b067d88a 156 default:
masahikofukasawa 10:5c69b067d88a 157 {
masahikofukasawa 11:cef8dc1cf010 158 MSG("#Error no command.\r\n");
masahikofukasawa 10:5c69b067d88a 159 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 160 break;
masahikofukasawa 10:5c69b067d88a 161 }
masahikofukasawa 10:5c69b067d88a 162 }
masahikofukasawa 10:5c69b067d88a 163
masahikofukasawa 10:5c69b067d88a 164 return status;
masahikofukasawa 10:5c69b067d88a 165 }
masahikofukasawa 13:d008249f0359 166 char* Ak7401Ctrl::getSensorName(){
masahikofukasawa 13:d008249f0359 167 return sensorName;
masahikofukasawa 13:d008249f0359 168 }
masahikofukasawa 10:5c69b067d88a 169
masahikofukasawa 13:d008249f0359 170