Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

ak9750ctrl.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:
15:1238993fd75f
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 "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 10:5c69b067d88a 10 Ak9750Ctrl::Ak9750Ctrl(){
masahikofukasawa 10:5c69b067d88a 11 ak9750 = NULL;
masahikofukasawa 10:5c69b067d88a 12 event = false;
masahikofukasawa 10:5c69b067d88a 13 interrupt = NULL;
masahikofukasawa 13:d008249f0359 14 sensorName = "";
masahikofukasawa 10:5c69b067d88a 15 }
masahikofukasawa 10:5c69b067d88a 16
masahikofukasawa 10:5c69b067d88a 17 /**
masahikofukasawa 10:5c69b067d88a 18 * Destructor.
masahikofukasawa 10:5c69b067d88a 19 *
masahikofukasawa 10:5c69b067d88a 20 */
masahikofukasawa 10:5c69b067d88a 21 Ak9750Ctrl::~Ak9750Ctrl(){
masahikofukasawa 10:5c69b067d88a 22 if (ak9750) delete ak9750;
masahikofukasawa 10:5c69b067d88a 23 if (interrupt) delete interrupt;
masahikofukasawa 10:5c69b067d88a 24 }
masahikofukasawa 10:5c69b067d88a 25
masahikofukasawa 10:5c69b067d88a 26 AkmSensor::Status Ak9750Ctrl::init(const uint8_t id, const uint8_t subid){
masahikofukasawa 10:5c69b067d88a 27 primaryId = id;
masahikofukasawa 10:5c69b067d88a 28 subId = subid;
masahikofukasawa 10:5c69b067d88a 29
masahikofukasawa 10:5c69b067d88a 30 interrupt = new InterruptIn(I2C_DRDY);
masahikofukasawa 10:5c69b067d88a 31 I2C* i2c = new I2C(I2C_SDA,I2C_SCL);
masahikofukasawa 10:5c69b067d88a 32 i2c->frequency(I2C_SPEED_100KHZ);
masahikofukasawa 10:5c69b067d88a 33
masahikofukasawa 10:5c69b067d88a 34 if(subId == SUB_ID_AK9750){
masahikofukasawa 10:5c69b067d88a 35 ak9750 = new AK9750();
masahikofukasawa 13:d008249f0359 36 sensorName = "AK9750";
masahikofukasawa 13:d008249f0359 37 }
masahikofukasawa 13:d008249f0359 38 else if(subId == SUB_ID_AK9753){
masahikofukasawa 13:d008249f0359 39 ak9750 = new AK9750();
masahikofukasawa 13:d008249f0359 40 sensorName = "AK9753";
masahikofukasawa 10:5c69b067d88a 41 }
masahikofukasawa 10:5c69b067d88a 42 else{
masahikofukasawa 10:5c69b067d88a 43 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 44 }
masahikofukasawa 10:5c69b067d88a 45
masahikofukasawa 10:5c69b067d88a 46 bool foundSensor = false;
masahikofukasawa 10:5c69b067d88a 47
masahikofukasawa 10:5c69b067d88a 48 AK9750::SlaveAddress slaveAddr[]
masahikofukasawa 10:5c69b067d88a 49 = { AK9750::SLAVE_ADDR_1,
masahikofukasawa 10:5c69b067d88a 50 AK9750::SLAVE_ADDR_2,
masahikofukasawa 10:5c69b067d88a 51 AK9750::SLAVE_ADDR_3};
masahikofukasawa 10:5c69b067d88a 52
masahikofukasawa 10:5c69b067d88a 53 for(int i=0; i<sizeof(slaveAddr); i++)
masahikofukasawa 10:5c69b067d88a 54 {
masahikofukasawa 10:5c69b067d88a 55 ak9750->init(i2c, slaveAddr[i]);
masahikofukasawa 10:5c69b067d88a 56 // Checks connectivity
masahikofukasawa 10:5c69b067d88a 57 if(ak9750->checkConnection() == Ak9750Ctrl::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 58 // found
masahikofukasawa 10:5c69b067d88a 59 foundSensor = true;
masahikofukasawa 10:5c69b067d88a 60 break;
masahikofukasawa 10:5c69b067d88a 61 }
masahikofukasawa 10:5c69b067d88a 62 }
masahikofukasawa 10:5c69b067d88a 63 if(foundSensor != true){
masahikofukasawa 11:cef8dc1cf010 64 MSG("#Failed to checkConnection AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 65 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 66 }
masahikofukasawa 10:5c69b067d88a 67
masahikofukasawa 10:5c69b067d88a 68 // reset
masahikofukasawa 10:5c69b067d88a 69 if (ak9750->reset() != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 70 MSG("#Failed to reset AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 71 }
masahikofukasawa 10:5c69b067d88a 72
masahikofukasawa 10:5c69b067d88a 73 // Set to EEPROM mode to EEPROM access
masahikofukasawa 10:5c69b067d88a 74 if(ak9750->setOperationMode(AK9750::MODE_EEPROM_ACCESS, AK9750::DF_0P3HZ) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 75 MSG("#Error setOperationMode to EEPROM mode. AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 76 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 77 }
masahikofukasawa 10:5c69b067d88a 78 // Gets threshold from EEPROM
masahikofukasawa 10:5c69b067d88a 79 AK9750::Threshold th;
masahikofukasawa 10:5c69b067d88a 80 if (ak9750->getThresholdFromEEPROM(&th) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 81 MSG("#Failed to get threshold from EEPROM AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 82 }
masahikofukasawa 10:5c69b067d88a 83 // Gets hysteresis from EEPROM
masahikofukasawa 10:5c69b067d88a 84 AK9750::Hysteresis hys;
masahikofukasawa 10:5c69b067d88a 85 if (ak9750->getHysteresisFromEEPROM(&hys) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 86 MSG("#Failed to get hysteresis from EEPROM AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 87 }
masahikofukasawa 10:5c69b067d88a 88 // Gets interrupt status from EEPROM
masahikofukasawa 10:5c69b067d88a 89 AK9750::InterruptStatus intStatus;
masahikofukasawa 10:5c69b067d88a 90 if ((ak9750->getInterruptEnableFromEEPROM(&intStatus)) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 91 MSG("#Failed to get interrupts of AK9750 from EEPROM.\r\n");
masahikofukasawa 10:5c69b067d88a 92 }
masahikofukasawa 10:5c69b067d88a 93
masahikofukasawa 10:5c69b067d88a 94 // Gets operation mode from EEPROM
masahikofukasawa 10:5c69b067d88a 95 if ((ak9750->getOperationModeFromEEPROM(&mode,&filter)) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 96 MSG("#Failed to get operation mode of AK9750 from EEPROM.\r\n");
masahikofukasawa 10:5c69b067d88a 97 }
masahikofukasawa 11:cef8dc1cf010 98 MSG("#Operation Mode:(0x%02X,0x%02X)\r\n",mode, filter);
masahikofukasawa 10:5c69b067d88a 99
masahikofukasawa 10:5c69b067d88a 100 // Back to Stand-by Mode for register access
masahikofukasawa 10:5c69b067d88a 101 if(ak9750->setOperationMode(AK9750::MODE_STANDBY, filter) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 102 MSG("#Error setOperationMode to stand-by mode of AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 103 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 104 }
masahikofukasawa 10:5c69b067d88a 105
masahikofukasawa 10:5c69b067d88a 106 // Sets threshold from the red EEPROM values
masahikofukasawa 10:5c69b067d88a 107 if (ak9750->setThreshold(&th) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 108 MSG("#Failed to set threshold to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 109 }
masahikofukasawa 11:cef8dc1cf010 110 MSG("#Threshold:(0x%02X,0x%02X,0x%02X,0x%02X)\r\n",th.eth13h,th.eth13l,th.eth24h,th.eth24l);
masahikofukasawa 10:5c69b067d88a 111
masahikofukasawa 10:5c69b067d88a 112 // Sets hysteresis from the red EEPROM values
masahikofukasawa 10:5c69b067d88a 113 if (ak9750->setHysteresis(&hys) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 114 MSG("#Failed to set hysteresis to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 115 }
masahikofukasawa 11:cef8dc1cf010 116 MSG("#Hysteresis:(0x%02X,0x%02X)\r\n",hys.ehys13,hys.ehys24);
masahikofukasawa 10:5c69b067d88a 117
masahikofukasawa 10:5c69b067d88a 118 // Sets interruput status from the red EEPROM values
masahikofukasawa 10:5c69b067d88a 119 AK9750::Status status = ak9750->setInterruptEnable(&intStatus);
masahikofukasawa 10:5c69b067d88a 120 if (status != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 121 MSG("#Failed to set interrupts of AK9750. Status = 0x%02X\r\n", status);
masahikofukasawa 10:5c69b067d88a 122 }
masahikofukasawa 11:cef8dc1cf010 123 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 124
masahikofukasawa 11:cef8dc1cf010 125 MSG("#Init success AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 126 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 127 }
masahikofukasawa 10:5c69b067d88a 128
masahikofukasawa 10:5c69b067d88a 129 void Ak9750Ctrl::detectINT(){
masahikofukasawa 10:5c69b067d88a 130 event = true;
masahikofukasawa 10:5c69b067d88a 131 }
masahikofukasawa 10:5c69b067d88a 132
masahikofukasawa 10:5c69b067d88a 133 bool Ak9750Ctrl::isEvent(){
masahikofukasawa 10:5c69b067d88a 134 return event;
masahikofukasawa 10:5c69b067d88a 135 }
masahikofukasawa 10:5c69b067d88a 136
masahikofukasawa 10:5c69b067d88a 137 AkmSensor::Status Ak9750Ctrl::startSensor(){
masahikofukasawa 11:cef8dc1cf010 138 // read one data to clear INT pin
masahikofukasawa 11:cef8dc1cf010 139 AK9750::SensorData data;
masahikofukasawa 11:cef8dc1cf010 140 ak9750->getSensorData(&data);
masahikofukasawa 11:cef8dc1cf010 141
masahikofukasawa 11:cef8dc1cf010 142 // enable interrupt
masahikofukasawa 11:cef8dc1cf010 143 interrupt->fall(this, &Ak9750Ctrl::detectINT);
masahikofukasawa 11:cef8dc1cf010 144
masahikofukasawa 11:cef8dc1cf010 145 // set operation mode
masahikofukasawa 10:5c69b067d88a 146 if(ak9750->setOperationMode(mode,filter) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 147 MSG("#Start sensor failed.\r\n");
masahikofukasawa 10:5c69b067d88a 148 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 149 }
masahikofukasawa 11:cef8dc1cf010 150
masahikofukasawa 11:cef8dc1cf010 151 MSG("#Start sensor succceeded.\r\n");
masahikofukasawa 10:5c69b067d88a 152 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 153 }
masahikofukasawa 10:5c69b067d88a 154
masahikofukasawa 10:5c69b067d88a 155 AkmSensor::Status Ak9750Ctrl::startSensor(const float sec){
masahikofukasawa 10:5c69b067d88a 156 interrupt->fall(this, &Ak9750Ctrl::detectINT);
masahikofukasawa 10:5c69b067d88a 157 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 158 }
masahikofukasawa 10:5c69b067d88a 159
masahikofukasawa 10:5c69b067d88a 160 AkmSensor::Status Ak9750Ctrl::stopSensor(){
masahikofukasawa 10:5c69b067d88a 161 event = false;
masahikofukasawa 11:cef8dc1cf010 162 interrupt->fall(NULL);
masahikofukasawa 10:5c69b067d88a 163 if(ak9750->setOperationMode(AK9750::MODE_STANDBY, filter) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 164 MSG("#Error setOperationMode. AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 165 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 166 }
masahikofukasawa 10:5c69b067d88a 167
masahikofukasawa 10:5c69b067d88a 168 // read one data to clear INT pin
masahikofukasawa 11:cef8dc1cf010 169 AK9750::SensorData data;
masahikofukasawa 11:cef8dc1cf010 170 ak9750->getSensorData(&data);
masahikofukasawa 10:5c69b067d88a 171
masahikofukasawa 10:5c69b067d88a 172 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 173 }
masahikofukasawa 10:5c69b067d88a 174
masahikofukasawa 10:5c69b067d88a 175 AkmSensor::Status Ak9750Ctrl::readSensorData(Message* msg){
masahikofukasawa 10:5c69b067d88a 176 event = false;
masahikofukasawa 10:5c69b067d88a 177
masahikofukasawa 10:5c69b067d88a 178 AK9750::SensorData data;
masahikofukasawa 10:5c69b067d88a 179 AK9750::Status status = ak9750->getSensorData(&data);
masahikofukasawa 10:5c69b067d88a 180 if( status != AK9750::SUCCESS){
masahikofukasawa 11:cef8dc1cf010 181 MSG("#Error getSensorData. AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 182 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 183 }
masahikofukasawa 10:5c69b067d88a 184 msg->setCommand(Message::CMD_START_MEASUREMENT);
masahikofukasawa 10:5c69b067d88a 185 msg->setArgument( 0, data.intStatus.ir13h);
masahikofukasawa 10:5c69b067d88a 186 msg->setArgument( 1, data.intStatus.ir13l);
masahikofukasawa 10:5c69b067d88a 187 msg->setArgument( 2, data.intStatus.ir24h);
masahikofukasawa 10:5c69b067d88a 188 msg->setArgument( 3, data.intStatus.ir24l);
masahikofukasawa 10:5c69b067d88a 189 msg->setArgument( 4, data.intStatus.drdy);
masahikofukasawa 10:5c69b067d88a 190 msg->setArgument( 5,(char)((int32_t)(data.ir1) >> 8));
masahikofukasawa 10:5c69b067d88a 191 msg->setArgument( 6, (char)((int32_t)(data.ir1) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 192 msg->setArgument( 7,(char)((int32_t)(data.ir2) >> 8));
masahikofukasawa 10:5c69b067d88a 193 msg->setArgument( 8, (char)((int32_t)(data.ir2) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 194 msg->setArgument( 9,(char)((int32_t)(data.ir3) >> 8));
masahikofukasawa 10:5c69b067d88a 195 msg->setArgument( 10, (char)((int32_t)(data.ir3) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 196 msg->setArgument( 11,(char)((int32_t)(data.ir4) >> 8));
masahikofukasawa 10:5c69b067d88a 197 msg->setArgument( 12, (char)((int32_t)(data.ir4) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 198 msg->setArgument( 13,(char)((int32_t)(data.temperature) >> 8));
masahikofukasawa 10:5c69b067d88a 199 msg->setArgument( 14, (char)((int32_t)(data.temperature) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 200 msg->setArgument( 15, data.dor);
masahikofukasawa 10:5c69b067d88a 201
masahikofukasawa 10:5c69b067d88a 202 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 203 }
masahikofukasawa 10:5c69b067d88a 204
masahikofukasawa 10:5c69b067d88a 205 AkmSensor::Status Ak9750Ctrl::requestCommand(Message* in, Message* out){
masahikofukasawa 10:5c69b067d88a 206 AkmSensor::Status status = AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 207 Message::Command cmd = in->getCommand();
masahikofukasawa 10:5c69b067d88a 208 AK9750::Threshold th;
masahikofukasawa 10:5c69b067d88a 209 AK9750::Hysteresis hys;
masahikofukasawa 10:5c69b067d88a 210 AK9750::InterruptStatus interrupt;
masahikofukasawa 10:5c69b067d88a 211
masahikofukasawa 10:5c69b067d88a 212 out->setCommand(cmd);
masahikofukasawa 10:5c69b067d88a 213
masahikofukasawa 10:5c69b067d88a 214 switch(cmd){
masahikofukasawa 10:5c69b067d88a 215 case Message::CMD_IR_GET_THRESHOLD:
masahikofukasawa 10:5c69b067d88a 216 {
masahikofukasawa 10:5c69b067d88a 217 if (ak9750->getThreshold(&th) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 218 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 219 MSG("#Failed to set threshold to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 220 }
masahikofukasawa 10:5c69b067d88a 221 out->setArgument(0,(char)((int32_t)(th.eth13h) >> 8));
masahikofukasawa 10:5c69b067d88a 222 out->setArgument(1,(char)((int32_t)(th.eth13h) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 223 out->setArgument(2,(char)((int32_t)(th.eth13l) >> 8));
masahikofukasawa 10:5c69b067d88a 224 out->setArgument(3,(char)((int32_t)(th.eth13l) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 225 out->setArgument(4,(char)((int32_t)(th.eth24h) >> 8));
masahikofukasawa 10:5c69b067d88a 226 out->setArgument(5,(char)((int32_t)(th.eth24h) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 227 out->setArgument(6,(char)((int32_t)(th.eth24l) >> 8));
masahikofukasawa 10:5c69b067d88a 228 out->setArgument(7,(char)((int32_t)(th.eth24l) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 229 break;
masahikofukasawa 10:5c69b067d88a 230 }
masahikofukasawa 10:5c69b067d88a 231 case Message::CMD_IR_SET_THRESHOLD:
masahikofukasawa 10:5c69b067d88a 232 {
masahikofukasawa 10:5c69b067d88a 233 th.eth13h = CONV16I(in->getArgument(0), in->getArgument(1));
masahikofukasawa 10:5c69b067d88a 234 th.eth13l = CONV16I(in->getArgument(2), in->getArgument(3));
masahikofukasawa 10:5c69b067d88a 235 th.eth24h = CONV16I(in->getArgument(4), in->getArgument(5));
masahikofukasawa 10:5c69b067d88a 236 th.eth24l = CONV16I(in->getArgument(6), in->getArgument(7));
masahikofukasawa 10:5c69b067d88a 237 if (ak9750->setThreshold(&th) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 238 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 239 MSG("#Failed to set threshold to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 240 }
masahikofukasawa 10:5c69b067d88a 241 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 242 break;
masahikofukasawa 10:5c69b067d88a 243 }
masahikofukasawa 10:5c69b067d88a 244 case Message::CMD_IR_GET_HYSTERESIS:
masahikofukasawa 10:5c69b067d88a 245 {
masahikofukasawa 10:5c69b067d88a 246 if (ak9750->getHysteresis(&hys) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 247 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 248 MSG("#Failed to set hysteresis to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 249 }
masahikofukasawa 10:5c69b067d88a 250 out->setArgument(0,hys.ehys13);
masahikofukasawa 10:5c69b067d88a 251 out->setArgument(1,hys.ehys24);
masahikofukasawa 10:5c69b067d88a 252 break;
masahikofukasawa 10:5c69b067d88a 253 }
masahikofukasawa 10:5c69b067d88a 254 case Message::CMD_IR_SET_HYSTERESIS:
masahikofukasawa 10:5c69b067d88a 255 {
masahikofukasawa 10:5c69b067d88a 256 hys.ehys13 = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 257 hys.ehys24 = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 258 if (ak9750->setHysteresis(&hys) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 259 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 260 MSG("#Failed to set hysteresis to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 261 }
masahikofukasawa 10:5c69b067d88a 262 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 263 break;
masahikofukasawa 10:5c69b067d88a 264 }
masahikofukasawa 10:5c69b067d88a 265 case Message::CMD_IR_GET_INTERRUPT:
masahikofukasawa 10:5c69b067d88a 266 {
masahikofukasawa 10:5c69b067d88a 267 if (ak9750->getInterruptEnable(&interrupt) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 268 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 269 MSG("#Failed to set hysteresis to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 270 }
masahikofukasawa 10:5c69b067d88a 271 out->setArgument(0, interrupt.ir13h);
masahikofukasawa 10:5c69b067d88a 272 out->setArgument(1, interrupt.ir13l);
masahikofukasawa 10:5c69b067d88a 273 out->setArgument(2, interrupt.ir24h);
masahikofukasawa 10:5c69b067d88a 274 out->setArgument(3, interrupt.ir24l);
masahikofukasawa 10:5c69b067d88a 275 out->setArgument(4, interrupt.drdy);
masahikofukasawa 10:5c69b067d88a 276 break;
masahikofukasawa 10:5c69b067d88a 277 }
masahikofukasawa 10:5c69b067d88a 278 case Message::CMD_IR_SET_INTERRUPT:
masahikofukasawa 10:5c69b067d88a 279 {
masahikofukasawa 10:5c69b067d88a 280 interrupt.ir13h = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 281 interrupt.ir13l = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 282 interrupt.ir24h = in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 283 interrupt.ir24l = in->getArgument(3);
masahikofukasawa 10:5c69b067d88a 284 interrupt.drdy = in->getArgument(4);
masahikofukasawa 10:5c69b067d88a 285 if (ak9750->setInterruptEnable(&interrupt) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 286 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 287 MSG("#Failed to set hysteresis to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 288 }
masahikofukasawa 10:5c69b067d88a 289 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 290 break;
masahikofukasawa 10:5c69b067d88a 291 }
masahikofukasawa 10:5c69b067d88a 292 case Message::CMD_IR_GET_OPERATION_MODE:
masahikofukasawa 10:5c69b067d88a 293 {
masahikofukasawa 10:5c69b067d88a 294 if(ak9750->getOperationMode(&mode, &filter) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 295 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 296 MSG("#Error setOperationMode. AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 297 }
masahikofukasawa 10:5c69b067d88a 298 out->setArgument(0,(char)mode);
masahikofukasawa 10:5c69b067d88a 299 out->setArgument(1,(char)filter);
masahikofukasawa 10:5c69b067d88a 300 break;
masahikofukasawa 10:5c69b067d88a 301 }
masahikofukasawa 10:5c69b067d88a 302 case Message::CMD_IR_SET_OPERATION_MODE:
masahikofukasawa 10:5c69b067d88a 303 {
masahikofukasawa 10:5c69b067d88a 304 mode = (AK9750::OperationMode)in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 305 filter = (AK9750::DigitalFilter)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 306 if(ak9750->setOperationMode(mode, filter) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 307 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 308 MSG("#Error setOperationMode. AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 309 }
masahikofukasawa 10:5c69b067d88a 310 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 311 break;
masahikofukasawa 10:5c69b067d88a 312 }
masahikofukasawa 10:5c69b067d88a 313 case Message::CMD_IR_GET_THRESHOLD_EEPROM:
masahikofukasawa 10:5c69b067d88a 314 {
masahikofukasawa 10:5c69b067d88a 315 if (ak9750->getThresholdFromEEPROM(&th) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 316 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 317 MSG("#Failed to set threshold to AK9750(EEPROM).\r\n");
masahikofukasawa 10:5c69b067d88a 318 }
masahikofukasawa 10:5c69b067d88a 319 out->setArgument(0,(char)((int32_t)(th.eth13h) >> 8));
masahikofukasawa 10:5c69b067d88a 320 out->setArgument(1,(char)((int32_t)(th.eth13h) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 321 out->setArgument(2,(char)((int32_t)(th.eth13l) >> 8));
masahikofukasawa 10:5c69b067d88a 322 out->setArgument(3,(char)((int32_t)(th.eth13l) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 323 out->setArgument(4,(char)((int32_t)(th.eth24h) >> 8));
masahikofukasawa 10:5c69b067d88a 324 out->setArgument(5,(char)((int32_t)(th.eth24h) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 325 out->setArgument(6,(char)((int32_t)(th.eth24l) >> 8));
masahikofukasawa 10:5c69b067d88a 326 out->setArgument(7,(char)((int32_t)(th.eth24l) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 327 break;
masahikofukasawa 10:5c69b067d88a 328 }
masahikofukasawa 10:5c69b067d88a 329 case Message::CMD_IR_SET_THRESHOLD_EEPROM:
masahikofukasawa 10:5c69b067d88a 330 {
masahikofukasawa 10:5c69b067d88a 331 th.eth13h = CONV16I(in->getArgument(0), in->getArgument(1));
masahikofukasawa 10:5c69b067d88a 332 th.eth13l = CONV16I(in->getArgument(2), in->getArgument(3));
masahikofukasawa 10:5c69b067d88a 333 th.eth24h = CONV16I(in->getArgument(4), in->getArgument(5));
masahikofukasawa 10:5c69b067d88a 334 th.eth24l = CONV16I(in->getArgument(6), in->getArgument(7));
masahikofukasawa 10:5c69b067d88a 335 if (ak9750->setThresholdToEEPROM(&th) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 336 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 337 MSG("#Failed to set threshold to AK9750(EEPROM).\r\n");
masahikofukasawa 10:5c69b067d88a 338 }
masahikofukasawa 10:5c69b067d88a 339 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 340 break;
masahikofukasawa 10:5c69b067d88a 341 }
masahikofukasawa 10:5c69b067d88a 342 case Message::CMD_IR_GET_HYSTERESIS_EEPROM:
masahikofukasawa 10:5c69b067d88a 343 {
masahikofukasawa 10:5c69b067d88a 344 if (ak9750->getHysteresisFromEEPROM(&hys) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 345 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 346 MSG("#Failed to set hysteresis to AK9750(EEPROM).\r\n");
masahikofukasawa 10:5c69b067d88a 347 }
masahikofukasawa 10:5c69b067d88a 348 out->setArgument(0,hys.ehys13);
masahikofukasawa 10:5c69b067d88a 349 out->setArgument(1,hys.ehys24);
masahikofukasawa 10:5c69b067d88a 350 break;
masahikofukasawa 10:5c69b067d88a 351 }
masahikofukasawa 10:5c69b067d88a 352 case Message::CMD_IR_SET_HYSTERESIS_EEPROM:
masahikofukasawa 10:5c69b067d88a 353 {
masahikofukasawa 10:5c69b067d88a 354 hys.ehys13 = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 355 hys.ehys24 = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 356 if (ak9750->setHysteresisToEEPROM(&hys) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 357 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 358 MSG("#Failed to set hysteresis to AK9750(EEPROM).\r\n");
masahikofukasawa 10:5c69b067d88a 359 }
masahikofukasawa 10:5c69b067d88a 360 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 361 break;
masahikofukasawa 10:5c69b067d88a 362 }
masahikofukasawa 10:5c69b067d88a 363 case Message::CMD_IR_GET_INTERRUPT_EEPROM:
masahikofukasawa 10:5c69b067d88a 364 {
masahikofukasawa 10:5c69b067d88a 365 if (ak9750->getInterruptEnableFromEEPROM(&interrupt) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 366 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 367 MSG("#Failed to set interrupt to AK9750(EEPROM).\r\n");
masahikofukasawa 10:5c69b067d88a 368 }
masahikofukasawa 10:5c69b067d88a 369 out->setArgument(0, interrupt.ir13h);
masahikofukasawa 10:5c69b067d88a 370 out->setArgument(1, interrupt.ir13l);
masahikofukasawa 10:5c69b067d88a 371 out->setArgument(2, interrupt.ir24h);
masahikofukasawa 10:5c69b067d88a 372 out->setArgument(3, interrupt.ir24l);
masahikofukasawa 10:5c69b067d88a 373 out->setArgument(4, interrupt.drdy);
masahikofukasawa 10:5c69b067d88a 374 break;
masahikofukasawa 10:5c69b067d88a 375 }
masahikofukasawa 10:5c69b067d88a 376 case Message::CMD_IR_SET_INTERRUPT_EEPROM:
masahikofukasawa 10:5c69b067d88a 377 {
masahikofukasawa 10:5c69b067d88a 378 interrupt.ir13h = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 379 interrupt.ir13l = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 380 interrupt.ir24h = in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 381 interrupt.ir24l = in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 382 interrupt.drdy = in->getArgument(4);
masahikofukasawa 10:5c69b067d88a 383 if (ak9750->setInterruptEnableToEEPROM(&interrupt) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 384 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 385 MSG("#Failed to set interrupt to AK9750(EEPROM).\r\n");
masahikofukasawa 10:5c69b067d88a 386 }
masahikofukasawa 10:5c69b067d88a 387 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 388 break;
masahikofukasawa 10:5c69b067d88a 389 }
masahikofukasawa 10:5c69b067d88a 390 case Message::CMD_IR_GET_OPERATION_MODE_EEPROM:
masahikofukasawa 10:5c69b067d88a 391 {
masahikofukasawa 10:5c69b067d88a 392 if(ak9750->getOperationModeFromEEPROM(&mode, &filter) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 393 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 394 MSG("#Error getOperationMode. AK9750(EEPROM).\r\n");
masahikofukasawa 10:5c69b067d88a 395 }
masahikofukasawa 10:5c69b067d88a 396 out->setArgument(0,(char)mode);
masahikofukasawa 10:5c69b067d88a 397 out->setArgument(1,(char)filter);
masahikofukasawa 10:5c69b067d88a 398 break;
masahikofukasawa 10:5c69b067d88a 399 }
masahikofukasawa 10:5c69b067d88a 400 case Message::CMD_IR_SET_OPERATION_MODE_EEPROM:
masahikofukasawa 10:5c69b067d88a 401 {
masahikofukasawa 10:5c69b067d88a 402 mode = (AK9750::OperationMode)in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 403 filter = (AK9750::DigitalFilter)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 404 if(ak9750->setOperationModeToEEPROM(mode, filter) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 405 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 406 MSG("#Error setOperationMode. AK9750(EEPROM).\r\n");
masahikofukasawa 10:5c69b067d88a 407 }
masahikofukasawa 10:5c69b067d88a 408 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 409 break;
masahikofukasawa 10:5c69b067d88a 410 }
masahikofukasawa 10:5c69b067d88a 411 case Message::CMD_REG_WRITE:
masahikofukasawa 10:5c69b067d88a 412 {
masahikofukasawa 10:5c69b067d88a 413 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 414 int len = (int)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 415 const char data = in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 416 if( ak9750->write(address, &data, len) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 417 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 418 MSG("#Error register write.\r\n");
masahikofukasawa 10:5c69b067d88a 419 }
masahikofukasawa 10:5c69b067d88a 420 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 421 break;
masahikofukasawa 10:5c69b067d88a 422 }
masahikofukasawa 10:5c69b067d88a 423 case Message::CMD_REG_WRITEN:
masahikofukasawa 10:5c69b067d88a 424 {
masahikofukasawa 10:5c69b067d88a 425 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 426 int len = (int)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 427 char data[len];
masahikofukasawa 10:5c69b067d88a 428 for(int i=0; i<len; i++){
masahikofukasawa 10:5c69b067d88a 429 data[i] = in->getArgument(i);
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 {
masahikofukasawa 10:5c69b067d88a 440 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 441 int len = (int)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 442 char data;
masahikofukasawa 10:5c69b067d88a 443 if( ak9750->read(address, &data, len) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 444 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 445 MSG("#Error register read.\r\n");
masahikofukasawa 10:5c69b067d88a 446 }
masahikofukasawa 10:5c69b067d88a 447 out->setArgument(0,data);
masahikofukasawa 10:5c69b067d88a 448 break;
masahikofukasawa 10:5c69b067d88a 449 }
masahikofukasawa 10:5c69b067d88a 450 case Message::CMD_REG_READN:
masahikofukasawa 10:5c69b067d88a 451 {
masahikofukasawa 10:5c69b067d88a 452 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 453 int len = (int)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 454 char data[len];
masahikofukasawa 10:5c69b067d88a 455 if( ak9750->read(address, data, len) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 456 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 457 MSG("#Error register read.\r\n");
masahikofukasawa 10:5c69b067d88a 458 }
masahikofukasawa 10:5c69b067d88a 459 for(int i=0; i<len; i++){
masahikofukasawa 10:5c69b067d88a 460 out->setArgument(i, data[i]);
masahikofukasawa 10:5c69b067d88a 461 }
masahikofukasawa 10:5c69b067d88a 462 break;
masahikofukasawa 10:5c69b067d88a 463 }
masahikofukasawa 10:5c69b067d88a 464 default:
masahikofukasawa 10:5c69b067d88a 465 {
masahikofukasawa 11:cef8dc1cf010 466 MSG("#Error no command.\r\n");
masahikofukasawa 10:5c69b067d88a 467 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 468 break;
masahikofukasawa 10:5c69b067d88a 469 }
masahikofukasawa 10:5c69b067d88a 470 }
masahikofukasawa 10:5c69b067d88a 471 return status;
masahikofukasawa 10:5c69b067d88a 472 }
masahikofukasawa 13:d008249f0359 473 char* Ak9750Ctrl::getSensorName(){
masahikofukasawa 13:d008249f0359 474 return sensorName;
masahikofukasawa 13:d008249f0359 475 }