Modified for compatibility with Rev.E. hardware
Fork of AkmSensor by
akmakd.cpp@7:e269411568c9, 2016-05-26 (annotated)
- Committer:
- masahikofukasawa
- Date:
- Thu May 26 21:56:45 2016 +0000
- Revision:
- 7:e269411568c9
- Parent:
- 0:7a00359e701e
- Child:
- 9:6fa3e7b17c27
5/26/2016 Japan Demo Version; Modified For: SPI
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
masahikofukasawa | 0:7a00359e701e | 1 | #include "akmakd.h" |
masahikofukasawa | 0:7a00359e701e | 2 | #include "ak8963.h" |
masahikofukasawa | 0:7a00359e701e | 3 | #include "ak099xx.h" |
masahikofukasawa | 0:7a00359e701e | 4 | #include "debug.h" |
masahikofukasawa | 0:7a00359e701e | 5 | |
masahikofukasawa | 0:7a00359e701e | 6 | /** |
masahikofukasawa | 0:7a00359e701e | 7 | * Constructor. |
masahikofukasawa | 0:7a00359e701e | 8 | * |
masahikofukasawa | 0:7a00359e701e | 9 | */ |
masahikofukasawa | 0:7a00359e701e | 10 | AkmAkd::AkmAkd(){ |
masahikofukasawa | 0:7a00359e701e | 11 | event = false; |
masahikofukasawa | 0:7a00359e701e | 12 | compass = NULL; |
masahikofukasawa | 0:7a00359e701e | 13 | drdy = NULL; |
masahikofukasawa | 0:7a00359e701e | 14 | sensorName = ""; |
masahikofukasawa | 0:7a00359e701e | 15 | } |
masahikofukasawa | 0:7a00359e701e | 16 | |
masahikofukasawa | 0:7a00359e701e | 17 | /** |
masahikofukasawa | 0:7a00359e701e | 18 | * Destructor. |
masahikofukasawa | 0:7a00359e701e | 19 | * |
masahikofukasawa | 0:7a00359e701e | 20 | */ |
masahikofukasawa | 0:7a00359e701e | 21 | AkmAkd::~AkmAkd(){ |
masahikofukasawa | 0:7a00359e701e | 22 | drdy->rise(0); |
masahikofukasawa | 0:7a00359e701e | 23 | if (compass) delete compass; |
masahikofukasawa | 0:7a00359e701e | 24 | if (drdy) delete drdy; |
masahikofukasawa | 0:7a00359e701e | 25 | } |
masahikofukasawa | 0:7a00359e701e | 26 | |
masahikofukasawa | 0:7a00359e701e | 27 | AkmSensor::Status AkmAkd::init(const uint8_t id, const uint8_t subid){ |
masahikofukasawa | 0:7a00359e701e | 28 | primaryId = id; |
masahikofukasawa | 0:7a00359e701e | 29 | subId = subid; |
masahikofukasawa | 0:7a00359e701e | 30 | |
masahikofukasawa | 0:7a00359e701e | 31 | AkmECompass::SensorType type; |
masahikofukasawa | 7:e269411568c9 | 32 | AK099XX* ak099xx; |
masahikofukasawa | 7:e269411568c9 | 33 | AK8963* ak8963; |
masahikofukasawa | 0:7a00359e701e | 34 | |
masahikofukasawa | 0:7a00359e701e | 35 | if(primaryId == AKM_PRIMARY_ID_AKD_I2C){ |
masahikofukasawa | 0:7a00359e701e | 36 | |
masahikofukasawa | 7:e269411568c9 | 37 | drdy = new InterruptIn(I2C_DRDY); |
masahikofukasawa | 7:e269411568c9 | 38 | drdy->rise(0); |
masahikofukasawa | 7:e269411568c9 | 39 | |
masahikofukasawa | 0:7a00359e701e | 40 | I2C* i2c = new I2C(I2C_SDA,I2C_SCL); |
masahikofukasawa | 0:7a00359e701e | 41 | i2c->frequency(I2C_SPEED_100KHZ); |
masahikofukasawa | 0:7a00359e701e | 42 | |
masahikofukasawa | 0:7a00359e701e | 43 | switch(subid){ |
masahikofukasawa | 0:7a00359e701e | 44 | case AkmAkd::SUB_ID_AK8963N: |
masahikofukasawa | 0:7a00359e701e | 45 | case AkmAkd::SUB_ID_AK8963C: |
masahikofukasawa | 0:7a00359e701e | 46 | type = AkmECompass::AK8963; |
masahikofukasawa | 0:7a00359e701e | 47 | ak8963 = new AK8963(); |
masahikofukasawa | 0:7a00359e701e | 48 | compass = ak8963; |
masahikofukasawa | 0:7a00359e701e | 49 | AkmAkd::sensorName = "AK8963"; |
masahikofukasawa | 0:7a00359e701e | 50 | break; |
masahikofukasawa | 0:7a00359e701e | 51 | case AkmAkd::SUB_ID_AK09911: |
masahikofukasawa | 0:7a00359e701e | 52 | type = AkmECompass::AK09911; |
masahikofukasawa | 0:7a00359e701e | 53 | ak099xx = new AK099XX(); |
masahikofukasawa | 0:7a00359e701e | 54 | compass = ak099xx; |
masahikofukasawa | 0:7a00359e701e | 55 | AkmAkd::sensorName = "AK09911"; |
masahikofukasawa | 0:7a00359e701e | 56 | break; |
masahikofukasawa | 0:7a00359e701e | 57 | case AkmAkd::SUB_ID_AK09912: |
masahikofukasawa | 0:7a00359e701e | 58 | type = AkmECompass::AK09912; |
masahikofukasawa | 0:7a00359e701e | 59 | ak099xx = new AK099XX(); |
masahikofukasawa | 0:7a00359e701e | 60 | compass = ak099xx; |
masahikofukasawa | 0:7a00359e701e | 61 | AkmAkd::sensorName = "AK09912"; |
masahikofukasawa | 0:7a00359e701e | 62 | break; |
masahikofukasawa | 0:7a00359e701e | 63 | case AkmAkd::SUB_ID_AK09915: |
masahikofukasawa | 0:7a00359e701e | 64 | type = AkmECompass::AK09915; |
masahikofukasawa | 0:7a00359e701e | 65 | ak099xx = new AK099XX(); |
masahikofukasawa | 0:7a00359e701e | 66 | compass = ak099xx; |
masahikofukasawa | 0:7a00359e701e | 67 | AkmAkd::sensorName = "AK09915"; |
masahikofukasawa | 0:7a00359e701e | 68 | break; |
masahikofukasawa | 0:7a00359e701e | 69 | case AkmAkd::SUB_ID_AK09916C: |
masahikofukasawa | 0:7a00359e701e | 70 | type = AkmECompass::AK09916C; |
masahikofukasawa | 0:7a00359e701e | 71 | ak099xx = new AK099XX(); |
masahikofukasawa | 0:7a00359e701e | 72 | compass = ak099xx; |
masahikofukasawa | 0:7a00359e701e | 73 | AkmAkd::sensorName = "AK09916C"; |
masahikofukasawa | 0:7a00359e701e | 74 | break; |
masahikofukasawa | 0:7a00359e701e | 75 | default: |
masahikofukasawa | 0:7a00359e701e | 76 | return AkmSensor::ERROR; |
masahikofukasawa | 0:7a00359e701e | 77 | // break; |
masahikofukasawa | 0:7a00359e701e | 78 | } |
masahikofukasawa | 0:7a00359e701e | 79 | |
masahikofukasawa | 0:7a00359e701e | 80 | bool foundSensor = false; |
masahikofukasawa | 0:7a00359e701e | 81 | |
masahikofukasawa | 0:7a00359e701e | 82 | AkmECompass::SlaveAddress slaveAddr[] |
masahikofukasawa | 0:7a00359e701e | 83 | = { AkmECompass::SLAVE_ADDR_1, |
masahikofukasawa | 0:7a00359e701e | 84 | AkmECompass::SLAVE_ADDR_2, |
masahikofukasawa | 0:7a00359e701e | 85 | AkmECompass::SLAVE_ADDR_3, |
masahikofukasawa | 0:7a00359e701e | 86 | AkmECompass::SLAVE_ADDR_4}; |
masahikofukasawa | 0:7a00359e701e | 87 | |
masahikofukasawa | 0:7a00359e701e | 88 | for(int i=0; i<sizeof(slaveAddr); i++) |
masahikofukasawa | 0:7a00359e701e | 89 | { |
masahikofukasawa | 0:7a00359e701e | 90 | compass->init(i2c, slaveAddr[i], type); |
masahikofukasawa | 0:7a00359e701e | 91 | // Checks connectivity |
masahikofukasawa | 0:7a00359e701e | 92 | if(compass->checkConnection() == AkmECompass::SUCCESS) { |
masahikofukasawa | 0:7a00359e701e | 93 | // found |
masahikofukasawa | 0:7a00359e701e | 94 | foundSensor = true; |
masahikofukasawa | 0:7a00359e701e | 95 | break; |
masahikofukasawa | 0:7a00359e701e | 96 | } |
masahikofukasawa | 0:7a00359e701e | 97 | } |
masahikofukasawa | 7:e269411568c9 | 98 | if(foundSensor != true){ |
masahikofukasawa | 7:e269411568c9 | 99 | return AkmSensor::ERROR; |
masahikofukasawa | 7:e269411568c9 | 100 | } |
masahikofukasawa | 0:7a00359e701e | 101 | |
masahikofukasawa | 0:7a00359e701e | 102 | // read a data to reset DRDY |
masahikofukasawa | 0:7a00359e701e | 103 | AkmECompass::MagneticVector mag; |
masahikofukasawa | 0:7a00359e701e | 104 | compass->getMagneticVector(&mag); |
masahikofukasawa | 0:7a00359e701e | 105 | |
masahikofukasawa | 0:7a00359e701e | 106 | }else if(primaryId == AKM_PRIMARY_ID_AKD_SPI){ |
masahikofukasawa | 7:e269411568c9 | 107 | |
masahikofukasawa | 7:e269411568c9 | 108 | drdy = new InterruptIn(SPI_DRDY); |
masahikofukasawa | 7:e269411568c9 | 109 | drdy->rise(0); |
masahikofukasawa | 0:7a00359e701e | 110 | |
masahikofukasawa | 7:e269411568c9 | 111 | SPI* spi = new SPI(SPI_MOSI, SPI_MISO, SPI_SCK); |
masahikofukasawa | 7:e269411568c9 | 112 | spi->format(8,3); // 8bit, Mode=3 |
masahikofukasawa | 7:e269411568c9 | 113 | spi->frequency(1000000); |
masahikofukasawa | 7:e269411568c9 | 114 | |
masahikofukasawa | 7:e269411568c9 | 115 | DigitalOut* cs = new DigitalOut(SPI_CS); |
masahikofukasawa | 7:e269411568c9 | 116 | |
masahikofukasawa | 7:e269411568c9 | 117 | switch(subid){ |
masahikofukasawa | 7:e269411568c9 | 118 | case AkmAkd::SUB_ID_AK8963N: |
masahikofukasawa | 7:e269411568c9 | 119 | case AkmAkd::SUB_ID_AK8963C: |
masahikofukasawa | 7:e269411568c9 | 120 | type = AkmECompass::AK8963; |
masahikofukasawa | 7:e269411568c9 | 121 | ak8963 = new AK8963(); |
masahikofukasawa | 7:e269411568c9 | 122 | compass = ak8963; |
masahikofukasawa | 7:e269411568c9 | 123 | AkmAkd::sensorName = "AK8963"; |
masahikofukasawa | 7:e269411568c9 | 124 | break; |
masahikofukasawa | 7:e269411568c9 | 125 | case AkmAkd::SUB_ID_AK09911: |
masahikofukasawa | 7:e269411568c9 | 126 | type = AkmECompass::AK09911; |
masahikofukasawa | 7:e269411568c9 | 127 | AkmAkd::sensorName = "AK09911"; |
masahikofukasawa | 7:e269411568c9 | 128 | return AkmSensor::ERROR; |
masahikofukasawa | 7:e269411568c9 | 129 | case AkmAkd::SUB_ID_AK09912: |
masahikofukasawa | 7:e269411568c9 | 130 | type = AkmECompass::AK09912; |
masahikofukasawa | 7:e269411568c9 | 131 | ak099xx = new AK099XX(); |
masahikofukasawa | 7:e269411568c9 | 132 | compass = ak099xx; |
masahikofukasawa | 7:e269411568c9 | 133 | AkmAkd::sensorName = "AK09912"; |
masahikofukasawa | 7:e269411568c9 | 134 | break; |
masahikofukasawa | 7:e269411568c9 | 135 | case AkmAkd::SUB_ID_AK09915: |
masahikofukasawa | 7:e269411568c9 | 136 | type = AkmECompass::AK09915; |
masahikofukasawa | 7:e269411568c9 | 137 | ak099xx = new AK099XX(); |
masahikofukasawa | 7:e269411568c9 | 138 | compass = ak099xx; |
masahikofukasawa | 7:e269411568c9 | 139 | AkmAkd::sensorName = "AK09915"; |
masahikofukasawa | 7:e269411568c9 | 140 | break; |
masahikofukasawa | 7:e269411568c9 | 141 | case AkmAkd::SUB_ID_AK09916C: |
masahikofukasawa | 7:e269411568c9 | 142 | type = AkmECompass::AK09916C; |
masahikofukasawa | 7:e269411568c9 | 143 | AkmAkd::sensorName = "AK09916C"; |
masahikofukasawa | 7:e269411568c9 | 144 | // doesn't support SPI |
masahikofukasawa | 7:e269411568c9 | 145 | return AkmSensor::ERROR; |
masahikofukasawa | 7:e269411568c9 | 146 | default: |
masahikofukasawa | 7:e269411568c9 | 147 | return AkmSensor::ERROR; |
masahikofukasawa | 7:e269411568c9 | 148 | // break; |
masahikofukasawa | 7:e269411568c9 | 149 | } |
masahikofukasawa | 7:e269411568c9 | 150 | |
masahikofukasawa | 7:e269411568c9 | 151 | bool foundSensor = false; |
masahikofukasawa | 7:e269411568c9 | 152 | compass->init(spi, cs, type); |
masahikofukasawa | 7:e269411568c9 | 153 | if(compass->checkConnection() == AkmECompass::SUCCESS) { |
masahikofukasawa | 7:e269411568c9 | 154 | foundSensor = true; |
masahikofukasawa | 7:e269411568c9 | 155 | } |
masahikofukasawa | 7:e269411568c9 | 156 | if(foundSensor != true){ |
masahikofukasawa | 7:e269411568c9 | 157 | MSG("#failed checkConnetion(SPI). %s\n",AkmAkd::sensorName); |
masahikofukasawa | 7:e269411568c9 | 158 | return AkmSensor::ERROR; |
masahikofukasawa | 7:e269411568c9 | 159 | } |
masahikofukasawa | 7:e269411568c9 | 160 | // read a data to reset DRDY |
masahikofukasawa | 7:e269411568c9 | 161 | AkmECompass::MagneticVector mag; |
masahikofukasawa | 7:e269411568c9 | 162 | compass->getMagneticVector(&mag); |
masahikofukasawa | 0:7a00359e701e | 163 | } |
masahikofukasawa | 0:7a00359e701e | 164 | |
masahikofukasawa | 0:7a00359e701e | 165 | MSG("#%s detected.\n", AkmAkd::sensorName); |
masahikofukasawa | 0:7a00359e701e | 166 | return AkmSensor::SUCCESS; |
masahikofukasawa | 0:7a00359e701e | 167 | } |
masahikofukasawa | 0:7a00359e701e | 168 | |
masahikofukasawa | 0:7a00359e701e | 169 | |
masahikofukasawa | 0:7a00359e701e | 170 | void AkmAkd::checkDRDY(){ |
masahikofukasawa | 0:7a00359e701e | 171 | AkmECompass::Status status = compass->isDataReady(); |
masahikofukasawa | 0:7a00359e701e | 172 | if( status == AkmECompass::DATA_READY || |
masahikofukasawa | 0:7a00359e701e | 173 | status == AkmECompass::DATA_OVER_RUN ) event = true; |
masahikofukasawa | 0:7a00359e701e | 174 | } |
masahikofukasawa | 0:7a00359e701e | 175 | |
masahikofukasawa | 0:7a00359e701e | 176 | void AkmAkd::detectDRDY(){ |
masahikofukasawa | 0:7a00359e701e | 177 | event = true; |
masahikofukasawa | 0:7a00359e701e | 178 | } |
masahikofukasawa | 0:7a00359e701e | 179 | |
masahikofukasawa | 0:7a00359e701e | 180 | bool AkmAkd::isEvent(){ |
masahikofukasawa | 0:7a00359e701e | 181 | return event; |
masahikofukasawa | 0:7a00359e701e | 182 | } |
masahikofukasawa | 0:7a00359e701e | 183 | |
masahikofukasawa | 0:7a00359e701e | 184 | AkmSensor::Status AkmAkd::startSensor(){ |
masahikofukasawa | 0:7a00359e701e | 185 | // Puts the device into continuous measurement mode. |
masahikofukasawa | 0:7a00359e701e | 186 | if(compass->setOperationMode((AkmECompass::OperationMode)0x02) != AkmECompass::SUCCESS) { |
masahikofukasawa | 0:7a00359e701e | 187 | return AkmSensor::ERROR; |
masahikofukasawa | 0:7a00359e701e | 188 | } |
masahikofukasawa | 0:7a00359e701e | 189 | |
masahikofukasawa | 7:e269411568c9 | 190 | // DRDY interrupt enable for AK8963/AK09912/AK09915 with I2C interface |
masahikofukasawa | 7:e269411568c9 | 191 | if(primaryId == AKM_PRIMARY_ID_AKD_I2C && |
masahikofukasawa | 7:e269411568c9 | 192 | (compass->getSensorType() == AkmECompass::AK8963 || |
masahikofukasawa | 7:e269411568c9 | 193 | compass->getSensorType() == AkmECompass::AK09912 || |
masahikofukasawa | 7:e269411568c9 | 194 | compass->getSensorType() == AkmECompass::AK09915) ){ |
masahikofukasawa | 0:7a00359e701e | 195 | drdy->rise(this, &AkmAkd::detectDRDY); |
masahikofukasawa | 0:7a00359e701e | 196 | } |
masahikofukasawa | 0:7a00359e701e | 197 | else{ |
masahikofukasawa | 0:7a00359e701e | 198 | ticker.attach(this, &AkmAkd::checkDRDY, 0.01); // 100Hz |
masahikofukasawa | 0:7a00359e701e | 199 | } |
masahikofukasawa | 0:7a00359e701e | 200 | return AkmSensor::SUCCESS; |
masahikofukasawa | 0:7a00359e701e | 201 | } |
masahikofukasawa | 0:7a00359e701e | 202 | |
masahikofukasawa | 0:7a00359e701e | 203 | AkmSensor::Status AkmAkd::startSensor(const float sec){ |
masahikofukasawa | 0:7a00359e701e | 204 | return AkmSensor::ERROR; // doesn't support |
masahikofukasawa | 0:7a00359e701e | 205 | } |
masahikofukasawa | 0:7a00359e701e | 206 | |
masahikofukasawa | 0:7a00359e701e | 207 | AkmSensor::Status AkmAkd::stopSensor(){ |
masahikofukasawa | 0:7a00359e701e | 208 | ticker.detach(); |
masahikofukasawa | 0:7a00359e701e | 209 | |
masahikofukasawa | 0:7a00359e701e | 210 | // Puts the device into power down mode. |
masahikofukasawa | 0:7a00359e701e | 211 | if(compass->setOperationMode(AkmECompass::MODE_POWER_DOWN) != AkmECompass::SUCCESS) { |
masahikofukasawa | 0:7a00359e701e | 212 | return AkmSensor::ERROR; |
masahikofukasawa | 0:7a00359e701e | 213 | } |
masahikofukasawa | 0:7a00359e701e | 214 | return AkmSensor::SUCCESS; |
masahikofukasawa | 0:7a00359e701e | 215 | } |
masahikofukasawa | 0:7a00359e701e | 216 | |
masahikofukasawa | 0:7a00359e701e | 217 | AkmSensor::Status AkmAkd::readSensorData(Message* msg){ |
masahikofukasawa | 0:7a00359e701e | 218 | event = false; |
masahikofukasawa | 0:7a00359e701e | 219 | |
masahikofukasawa | 0:7a00359e701e | 220 | AkmECompass::MagneticVector mag; |
masahikofukasawa | 0:7a00359e701e | 221 | AkmECompass::Status status = compass->getMagneticVector(&mag); |
masahikofukasawa | 0:7a00359e701e | 222 | if( status != AkmECompass::SUCCESS){ |
masahikofukasawa | 0:7a00359e701e | 223 | return AkmSensor::ERROR; |
masahikofukasawa | 0:7a00359e701e | 224 | } |
masahikofukasawa | 0:7a00359e701e | 225 | msg->setCommand(Message::CMD_START_MEASUREMENT); |
masahikofukasawa | 0:7a00359e701e | 226 | msg->setArgument( 0, (mag.isOverflow ? 1 : 0) ); |
masahikofukasawa | 0:7a00359e701e | 227 | msg->setArgument( 1,(char)((int32_t)(mag.mx/0.15) >> 8)); |
masahikofukasawa | 0:7a00359e701e | 228 | msg->setArgument( 2, (char)((int32_t)(mag.mx/0.15) & 0x00FF) ); |
masahikofukasawa | 0:7a00359e701e | 229 | msg->setArgument( 3, (char)((int32_t)(mag.my/0.15) >> 8) ); |
masahikofukasawa | 0:7a00359e701e | 230 | msg->setArgument( 4, (char)((int32_t)(mag.my/0.15) & 0x00FF) ); |
masahikofukasawa | 0:7a00359e701e | 231 | msg->setArgument( 5, (char)((int32_t)(mag.mz/0.15) >> 8) ); |
masahikofukasawa | 0:7a00359e701e | 232 | msg->setArgument( 6, (char)((int32_t)(mag.mz/0.15) & 0x00FF) ); |
masahikofukasawa | 0:7a00359e701e | 233 | return AkmSensor::SUCCESS; |
masahikofukasawa | 0:7a00359e701e | 234 | } |
masahikofukasawa | 0:7a00359e701e | 235 | |
masahikofukasawa | 0:7a00359e701e | 236 | AkmSensor::Status AkmAkd::requestCommand(Message* in, Message* out){ |
masahikofukasawa | 0:7a00359e701e | 237 | return AkmSensor::SUCCESS; |
masahikofukasawa | 0:7a00359e701e | 238 | } |
masahikofukasawa | 0:7a00359e701e | 239 | |
masahikofukasawa | 0:7a00359e701e | 240 | char* AkmAkd::getSensorName(){ |
masahikofukasawa | 0:7a00359e701e | 241 | return sensorName; |
masahikofukasawa | 0:7a00359e701e | 242 | } |