Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

ak7451ctrl.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 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 11:cef8dc1cf010 8 Ak7451Ctrl::Ak7451Ctrl(){
masahikofukasawa 11:cef8dc1cf010 9 ak7451 = NULL;
masahikofukasawa 11:cef8dc1cf010 10 event = false;
masahikofukasawa 13:d008249f0359 11 sensorName = "";
masahikofukasawa 11:cef8dc1cf010 12 }
masahikofukasawa 11:cef8dc1cf010 13
masahikofukasawa 11:cef8dc1cf010 14 /**
masahikofukasawa 11:cef8dc1cf010 15 * Destructor.
masahikofukasawa 11:cef8dc1cf010 16 *
masahikofukasawa 11:cef8dc1cf010 17 */
masahikofukasawa 11:cef8dc1cf010 18 Ak7451Ctrl::~Ak7451Ctrl(){
masahikofukasawa 11:cef8dc1cf010 19 if (ak7451) delete ak7451;
masahikofukasawa 11:cef8dc1cf010 20 }
masahikofukasawa 11:cef8dc1cf010 21
masahikofukasawa 11:cef8dc1cf010 22 AkmSensor::Status Ak7451Ctrl::init(const uint8_t id, const uint8_t subid){
masahikofukasawa 11:cef8dc1cf010 23 primaryId = id;
masahikofukasawa 11:cef8dc1cf010 24 subId = subid;
masahikofukasawa 11:cef8dc1cf010 25
masahikofukasawa 11:cef8dc1cf010 26 if(subId == SUB_ID_AK7451){
masahikofukasawa 11:cef8dc1cf010 27 SPI* mSpi;
masahikofukasawa 11:cef8dc1cf010 28 DigitalOut* mCs;
masahikofukasawa 11:cef8dc1cf010 29 AK7451::Status status = AK7451::ERROR;
masahikofukasawa 11:cef8dc1cf010 30 mSpi = new SPI(SPI_MOSI, SPI_MISO, SPI_SCK);
masahikofukasawa 11:cef8dc1cf010 31 mSpi->format(8,1); // 8bit, Mode=1
masahikofukasawa 11:cef8dc1cf010 32 mSpi->frequency(1000000);
masahikofukasawa 11:cef8dc1cf010 33 mCs = new DigitalOut(SPI_CS);
masahikofukasawa 11:cef8dc1cf010 34 ak7451 = new AK7451();
masahikofukasawa 11:cef8dc1cf010 35 ak7451->begin(mSpi, mCs);
masahikofukasawa 13:d008249f0359 36 sensorName = "AK7451";
masahikofukasawa 11:cef8dc1cf010 37
masahikofukasawa 11:cef8dc1cf010 38 status = ak7451->setOperationMode(AK7451::AK7451_USER_MODE);
masahikofukasawa 11:cef8dc1cf010 39 if( status != AK7451::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 40 MSG("#AK7451 user mode failed.\r\n");
masahikofukasawa 11:cef8dc1cf010 41 return AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 42 }
masahikofukasawa 11:cef8dc1cf010 43 MSG("#AK7451 user mode succeed.\r\n");
masahikofukasawa 11:cef8dc1cf010 44
masahikofukasawa 11:cef8dc1cf010 45 char data[2] = {0x02,0x00}; // set clockwise rotation
masahikofukasawa 11:cef8dc1cf010 46 status = ak7451->writeEEPROM(0x07,data); // set clockwise
masahikofukasawa 11:cef8dc1cf010 47 if( status != AK7451::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 48 MSG("#AK7451 write EEPROM failed.\r\n");
masahikofukasawa 11:cef8dc1cf010 49 return AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 50 }
masahikofukasawa 11:cef8dc1cf010 51 MSG("#AK7451 write EEPROM succeed.\r\n");
masahikofukasawa 11:cef8dc1cf010 52
masahikofukasawa 11:cef8dc1cf010 53 status = ak7451->setOperationMode(AK7451::AK7451_NORMAL_MODE);
masahikofukasawa 11:cef8dc1cf010 54 if( status != AK7451::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 55 MSG("#AK7451 normal mode failed.\r\n");
masahikofukasawa 11:cef8dc1cf010 56 return AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 57 }
masahikofukasawa 11:cef8dc1cf010 58 MSG("#AK7451 normal mode succeed.\r\n");
masahikofukasawa 11:cef8dc1cf010 59
masahikofukasawa 11:cef8dc1cf010 60 interval = SENSOR_SAMPLING_RATE; // 10Hz
masahikofukasawa 11:cef8dc1cf010 61 }
masahikofukasawa 11:cef8dc1cf010 62 else{
masahikofukasawa 11:cef8dc1cf010 63 return AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 64 }
masahikofukasawa 11:cef8dc1cf010 65
masahikofukasawa 11:cef8dc1cf010 66 return AkmSensor::SUCCESS;
masahikofukasawa 11:cef8dc1cf010 67 }
masahikofukasawa 11:cef8dc1cf010 68
masahikofukasawa 11:cef8dc1cf010 69 void Ak7451Ctrl::eventCallback(){
masahikofukasawa 11:cef8dc1cf010 70 event = true;
masahikofukasawa 11:cef8dc1cf010 71 }
masahikofukasawa 11:cef8dc1cf010 72
masahikofukasawa 11:cef8dc1cf010 73 bool Ak7451Ctrl::isEvent(){
masahikofukasawa 11:cef8dc1cf010 74 return event;
masahikofukasawa 11:cef8dc1cf010 75 }
masahikofukasawa 11:cef8dc1cf010 76
masahikofukasawa 11:cef8dc1cf010 77 AkmSensor::Status Ak7451Ctrl::startSensor(){
masahikofukasawa 11:cef8dc1cf010 78 ticker.attach(this, &Ak7451Ctrl::eventCallback, interval);
masahikofukasawa 11:cef8dc1cf010 79 return AkmSensor::SUCCESS;
masahikofukasawa 11:cef8dc1cf010 80 }
masahikofukasawa 11:cef8dc1cf010 81
masahikofukasawa 11:cef8dc1cf010 82 AkmSensor::Status Ak7451Ctrl::startSensor(const float sec){
masahikofukasawa 11:cef8dc1cf010 83 interval = sec;
masahikofukasawa 11:cef8dc1cf010 84 ticker.attach(this, &Ak7451Ctrl::eventCallback, interval);
masahikofukasawa 11:cef8dc1cf010 85 return AkmSensor::SUCCESS;
masahikofukasawa 11:cef8dc1cf010 86 }
masahikofukasawa 11:cef8dc1cf010 87
masahikofukasawa 11:cef8dc1cf010 88 AkmSensor::Status Ak7451Ctrl::stopSensor(){
masahikofukasawa 11:cef8dc1cf010 89 ticker.detach();
masahikofukasawa 11:cef8dc1cf010 90 event = false;
masahikofukasawa 11:cef8dc1cf010 91 return AkmSensor::SUCCESS;
masahikofukasawa 11:cef8dc1cf010 92 }
masahikofukasawa 11:cef8dc1cf010 93
masahikofukasawa 11:cef8dc1cf010 94 AkmSensor::Status Ak7451Ctrl::readSensorData(Message* msg){
masahikofukasawa 11:cef8dc1cf010 95 event = false;
masahikofukasawa 11:cef8dc1cf010 96 char angle[2] = {0x00,0x00};
masahikofukasawa 11:cef8dc1cf010 97 AK7451::Status status = ak7451->readAngle(angle);
masahikofukasawa 11:cef8dc1cf010 98
masahikofukasawa 11:cef8dc1cf010 99 msg->setCommand(Message::CMD_START_MEASUREMENT);
masahikofukasawa 11:cef8dc1cf010 100 msg->setArgument( 0, status );
masahikofukasawa 11:cef8dc1cf010 101 msg->setArgument( 1, angle[0] );
masahikofukasawa 11:cef8dc1cf010 102 msg->setArgument( 2, angle[1] );
masahikofukasawa 11:cef8dc1cf010 103
masahikofukasawa 11:cef8dc1cf010 104 if( status != SUCCESS){
masahikofukasawa 11:cef8dc1cf010 105 return AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 106 }
masahikofukasawa 11:cef8dc1cf010 107 return AkmSensor::SUCCESS;
masahikofukasawa 11:cef8dc1cf010 108 }
masahikofukasawa 11:cef8dc1cf010 109
masahikofukasawa 11:cef8dc1cf010 110 AkmSensor::Status Ak7451Ctrl::requestCommand(Message* in, Message* out){
masahikofukasawa 11:cef8dc1cf010 111 AkmSensor::Status status = AkmSensor::SUCCESS;
masahikofukasawa 11:cef8dc1cf010 112
masahikofukasawa 11:cef8dc1cf010 113 Message::Command cmd = in->getCommand();
masahikofukasawa 11:cef8dc1cf010 114
masahikofukasawa 11:cef8dc1cf010 115 switch(cmd){
masahikofukasawa 11:cef8dc1cf010 116 case Message::CMD_ANGLE_ZERO_RESET:
masahikofukasawa 11:cef8dc1cf010 117 {
masahikofukasawa 11:cef8dc1cf010 118 AK7451::Status st;
masahikofukasawa 11:cef8dc1cf010 119 if( Ak7451Ctrl::stopSensor() != AkmSensor::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 120 MSG("#Error stop sensor\r\n");
masahikofukasawa 11:cef8dc1cf010 121 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 122 }
masahikofukasawa 11:cef8dc1cf010 123
masahikofukasawa 11:cef8dc1cf010 124 st = ak7451->setOperationMode(AK7451::AK7451_USER_MODE);
masahikofukasawa 11:cef8dc1cf010 125 if( st != AK7451::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 126 MSG("#Error when set user mode\r\n");
masahikofukasawa 11:cef8dc1cf010 127 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 128 }
masahikofukasawa 11:cef8dc1cf010 129 char temp[2] = {0x00,0x00};
masahikofukasawa 11:cef8dc1cf010 130 st = ak7451->writeRegister(0x06,temp);
masahikofukasawa 11:cef8dc1cf010 131 if( st != AK7451::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 132 MSG("#Error temp read: code=%d\r\n",st);
masahikofukasawa 11:cef8dc1cf010 133 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 134 }
masahikofukasawa 11:cef8dc1cf010 135 st = ak7451->setAngleZero(); // reset ZP data
masahikofukasawa 11:cef8dc1cf010 136 if( st != AK7451::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 137 MSG("#Error setAngleZero: code=%d\r\n",st);
masahikofukasawa 11:cef8dc1cf010 138 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 139 }
masahikofukasawa 11:cef8dc1cf010 140 st = ak7451->setOperationMode(AK7451::AK7451_NORMAL_MODE);
masahikofukasawa 11:cef8dc1cf010 141 if( st != AK7451::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 142 MSG("#Error when set normal mode\r\n");
masahikofukasawa 11:cef8dc1cf010 143 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 144 }
masahikofukasawa 11:cef8dc1cf010 145 if( Ak7451Ctrl::startSensor(interval) != AkmSensor::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 146 MSG("#Error start sensor\r\n");
masahikofukasawa 11:cef8dc1cf010 147 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 148 }
masahikofukasawa 11:cef8dc1cf010 149 if( status == AkmSensor::ERROR ){
masahikofukasawa 11:cef8dc1cf010 150 out->setArgument(0,1);
masahikofukasawa 11:cef8dc1cf010 151 }else{
masahikofukasawa 11:cef8dc1cf010 152 out->setArgument(0,0);
masahikofukasawa 11:cef8dc1cf010 153 }
masahikofukasawa 11:cef8dc1cf010 154 break;
masahikofukasawa 11:cef8dc1cf010 155 }
masahikofukasawa 11:cef8dc1cf010 156 default:
masahikofukasawa 11:cef8dc1cf010 157 {
masahikofukasawa 11:cef8dc1cf010 158 MSG("#Error no command.\r\n");
masahikofukasawa 11:cef8dc1cf010 159 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 160 break;
masahikofukasawa 11:cef8dc1cf010 161 }
masahikofukasawa 11:cef8dc1cf010 162 }
masahikofukasawa 11:cef8dc1cf010 163
masahikofukasawa 11:cef8dc1cf010 164 return status;
masahikofukasawa 11:cef8dc1cf010 165 }
masahikofukasawa 13:d008249f0359 166 char* Ak7451Ctrl::getSensorName(){
masahikofukasawa 13:d008249f0359 167 return sensorName;
masahikofukasawa 13:d008249f0359 168 }
masahikofukasawa 11:cef8dc1cf010 169