Diff: ak9750ctrl.cpp

Revision:

10:5c69b067d88a

Child:

11:cef8dc1cf010

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ak9750ctrl.cpp	Fri Jul 08 22:26:26 2016 +0000
@@ -0,0 +1,459 @@
+#include "ak9750ctrl.h"
+#include "debug.h"
+
+#define CONV16I(high,low)  ((int16_t)(((high) << 8) | (low)))
+
+/**
+ * Constructor.
+ *
+ */
+Ak9750Ctrl::Ak9750Ctrl(){
+    ak9750 = NULL;
+    event = false;
+    interrupt = NULL;
+}
+
+/**
+ * Destructor.
+ *
+ */
+Ak9750Ctrl::~Ak9750Ctrl(){
+    if (ak9750) delete ak9750;
+    if (interrupt) delete interrupt;
+}
+
+AkmSensor::Status Ak9750Ctrl::init(const uint8_t id, const uint8_t subid){
+    primaryId = id;
+    subId = subid;
+
+    interrupt = new InterruptIn(I2C_DRDY);    
+    I2C* i2c = new I2C(I2C_SDA,I2C_SCL);
+    i2c->frequency(I2C_SPEED_100KHZ);
+
+    if(subId == SUB_ID_AK9750){
+      ak9750 = new AK9750();
+    }
+    else{
+        return AkmSensor::ERROR;
+    }
+
+    bool foundSensor = false;
+
+    AK9750::SlaveAddress slaveAddr[] 
+    = { AK9750::SLAVE_ADDR_1,
+        AK9750::SLAVE_ADDR_2,
+        AK9750::SLAVE_ADDR_3};
+
+    for(int i=0; i<sizeof(slaveAddr); i++)
+    {
+        ak9750->init(i2c, slaveAddr[i]);
+        // Checks connectivity
+        if(ak9750->checkConnection() == Ak9750Ctrl::SUCCESS) {
+            // found
+            foundSensor = true;
+            break;
+        }
+    }
+    if(foundSensor != true){
+        MSG("#Failed to checkConnection AK9750.\n");
+        return AkmSensor::ERROR;
+    }
+    
+    // reset
+    if (ak9750->reset() != AK9750::SUCCESS) {
+        MSG("#Failed to reset AK9750.\n");
+    }
+    
+    // Set to EEPROM mode to EEPROM access
+    if(ak9750->setOperationMode(AK9750::MODE_EEPROM_ACCESS, AK9750::DF_0P3HZ) != AK9750::SUCCESS) {
+        MSG("#Error setOperationMode to EEPROM mode. AK9750.\n");
+        return AkmSensor::ERROR;
+    }
+    // Gets threshold from EEPROM
+    AK9750::Threshold th;
+    if (ak9750->getThresholdFromEEPROM(&th) != AK9750::SUCCESS) {
+        MSG("#Failed to get threshold from EEPROM AK9750.\n");
+    }
+    // Gets hysteresis from EEPROM
+    AK9750::Hysteresis hys;
+    if (ak9750->getHysteresisFromEEPROM(&hys) != AK9750::SUCCESS) {
+        MSG("#Failed to get hysteresis from EEPROM AK9750.\n");
+    }
+    // Gets interrupt status from EEPROM
+    AK9750::InterruptStatus intStatus;
+    if ((ak9750->getInterruptEnableFromEEPROM(&intStatus)) != AK9750::SUCCESS) {
+        MSG("#Failed to get interrupts of AK9750 from EEPROM.\n");
+    }
+
+    // Gets operation mode from EEPROM
+    if ((ak9750->getOperationModeFromEEPROM(&mode,&filter)) != AK9750::SUCCESS) {
+        MSG("#Failed to get operation mode of AK9750 from EEPROM.\n");
+    }
+    MSG("#Operation Mode:(0x%02X,0x%02X)\n",mode, filter);
+    
+    // Back to Stand-by Mode for register access
+    if(ak9750->setOperationMode(AK9750::MODE_STANDBY, filter) != AK9750::SUCCESS) {
+        MSG("#Error setOperationMode to stand-by mode of AK9750.\n");
+        return AkmSensor::ERROR;
+    }
+    
+    // Sets threshold from the red EEPROM values
+    if (ak9750->setThreshold(&th) != AK9750::SUCCESS) {
+        MSG("#Failed to set threshold to AK9750.\n");
+    }
+    MSG("#Threshold:(0x%02X,0x%02X,0x%02X,0x%02X)\n",th.eth13h,th.eth13l,th.eth24h,th.eth24l);
+
+    // Sets hysteresis from the red EEPROM values
+    if (ak9750->setHysteresis(&hys) != AK9750::SUCCESS) {
+        MSG("#Failed to set hysteresis to AK9750.\n");
+    }
+    MSG("#Hysteresis:(0x%02X,0x%02X)\n",hys.ehys13,hys.ehys24);
+    
+    // Sets interruput status from the red EEPROM values
+    AK9750::Status status = ak9750->setInterruptEnable(&intStatus);
+    if (status != AK9750::SUCCESS) {
+        MSG("#Failed to set interrupts of AK9750. Status = 0x%02X\n", status);
+    }
+    MSG("#Interrupt:(0x%02X,0x%02X,0x%02X,0x%02X,0x%02X)\n",intStatus.ir13h,intStatus.ir13l,intStatus.ir24h,intStatus.ir24l,intStatus.drdy);
+    
+    MSG("#Init success AK9750.\n");
+    return AkmSensor::SUCCESS;
+}
+
+void Ak9750Ctrl::detectINT(){
+    event = true;
+}
+
+bool Ak9750Ctrl::isEvent(){
+    return event;
+}
+
+AkmSensor::Status Ak9750Ctrl::startSensor(){
+    if(ak9750->setOperationMode(mode,filter) != AK9750::SUCCESS) {
+        MSG("#Error setOperationMode. AK9750.\n");
+        return AkmSensor::ERROR;
+    }
+
+    interrupt->fall(this, &Ak9750Ctrl::detectINT);
+    MSG("#Start Sensor success AK9750.\n");
+    return AkmSensor::SUCCESS;
+}
+
+AkmSensor::Status Ak9750Ctrl::startSensor(const float sec){
+    interrupt->fall(this, &Ak9750Ctrl::detectINT);
+    return AkmSensor::ERROR;
+}
+
+AkmSensor::Status Ak9750Ctrl::stopSensor(){
+    event = false;
+    interrupt->fall(0);
+    if(ak9750->setOperationMode(AK9750::MODE_STANDBY, filter) != AK9750::SUCCESS) {
+        MSG("#Error setOperationMode. AK9750.\n");
+        return AkmSensor::ERROR;
+    }
+    
+    // read one data to clear INT pin
+    Message msg;
+    Ak9750Ctrl::readSensorData(&msg);
+    
+    return AkmSensor::SUCCESS;
+}
+
+AkmSensor::Status Ak9750Ctrl::readSensorData(Message* msg){
+    event = false;
+
+    AK9750::SensorData data;
+    AK9750::Status status = ak9750->getSensorData(&data);
+    if( status != AK9750::SUCCESS){
+        MSG("#Error getSensorData. AK9750.\n");
+        return AkmSensor::ERROR;
+    }
+    msg->setCommand(Message::CMD_START_MEASUREMENT);
+    msg->setArgument( 0, data.intStatus.ir13h);
+    msg->setArgument( 1, data.intStatus.ir13l);
+    msg->setArgument( 2, data.intStatus.ir24h);
+    msg->setArgument( 3, data.intStatus.ir24l);
+    msg->setArgument( 4, data.intStatus.drdy);
+    msg->setArgument( 5,(char)((int32_t)(data.ir1) >> 8));
+    msg->setArgument( 6, (char)((int32_t)(data.ir1) & 0x00FF) );
+    msg->setArgument( 7,(char)((int32_t)(data.ir2) >> 8));
+    msg->setArgument( 8, (char)((int32_t)(data.ir2) & 0x00FF) );
+    msg->setArgument( 9,(char)((int32_t)(data.ir3) >> 8));
+    msg->setArgument( 10, (char)((int32_t)(data.ir3) & 0x00FF) );
+    msg->setArgument( 11,(char)((int32_t)(data.ir4) >> 8));
+    msg->setArgument( 12, (char)((int32_t)(data.ir4) & 0x00FF) );
+    msg->setArgument( 13,(char)((int32_t)(data.temperature) >> 8));
+    msg->setArgument( 14, (char)((int32_t)(data.temperature) & 0x00FF) );    
+    msg->setArgument( 15, data.dor);
+
+    return AkmSensor::SUCCESS;
+}
+
+AkmSensor::Status Ak9750Ctrl::requestCommand(Message* in, Message* out){
+    AkmSensor::Status status = AkmSensor::SUCCESS;
+    Message::Command cmd = in->getCommand();
+    AK9750::Threshold th;
+    AK9750::Hysteresis hys;
+    AK9750::InterruptStatus interrupt;
+    
+    out->setCommand(cmd);
+    
+    switch(cmd){
+        case Message::CMD_IR_GET_THRESHOLD:
+        {
+            if (ak9750->getThreshold(&th) != AK9750::SUCCESS) {
+                status =  AkmSensor::ERROR;
+                MSG("#Failed to set threshold to AK9750.\n");
+            }
+            out->setArgument(0,(char)((int32_t)(th.eth13h) >> 8));
+            out->setArgument(1,(char)((int32_t)(th.eth13h) & 0x00FF));
+            out->setArgument(2,(char)((int32_t)(th.eth13l) >> 8));
+            out->setArgument(3,(char)((int32_t)(th.eth13l) & 0x00FF));
+            out->setArgument(4,(char)((int32_t)(th.eth24h) >> 8));
+            out->setArgument(5,(char)((int32_t)(th.eth24h) & 0x00FF));
+            out->setArgument(6,(char)((int32_t)(th.eth24l) >> 8));
+            out->setArgument(7,(char)((int32_t)(th.eth24l) & 0x00FF));
+            break;
+        }
+        case Message::CMD_IR_SET_THRESHOLD:
+        {
+            th.eth13h = CONV16I(in->getArgument(0), in->getArgument(1));
+            th.eth13l = CONV16I(in->getArgument(2), in->getArgument(3));
+            th.eth24h = CONV16I(in->getArgument(4), in->getArgument(5));
+            th.eth24l = CONV16I(in->getArgument(6), in->getArgument(7));
+            if (ak9750->setThreshold(&th) != AK9750::SUCCESS) {
+                status =  AkmSensor::ERROR;
+                MSG("#Failed to set threshold to AK9750.\n");
+            }
+            out->setArgument(0,(char)status);
+            break;
+        }
+        case Message::CMD_IR_GET_HYSTERESIS:
+        {
+            if (ak9750->getHysteresis(&hys) != AK9750::SUCCESS) {
+                status =  AkmSensor::ERROR;
+                MSG("#Failed to set hysteresis to AK9750.\n");
+            }
+            out->setArgument(0,hys.ehys13);
+            out->setArgument(1,hys.ehys24);
+            break;
+        }
+        case Message::CMD_IR_SET_HYSTERESIS:
+        {
+            hys.ehys13 = in->getArgument(0);
+            hys.ehys24 = in->getArgument(1);
+            if (ak9750->setHysteresis(&hys) != AK9750::SUCCESS) {
+                status =  AkmSensor::ERROR;
+                MSG("#Failed to set hysteresis to AK9750.\n");
+            }
+            out->setArgument(0,(char)status);
+            break;
+        }
+        case Message::CMD_IR_GET_INTERRUPT:
+        {
+            if (ak9750->getInterruptEnable(&interrupt) != AK9750::SUCCESS) {
+                status =  AkmSensor::ERROR;
+                MSG("#Failed to set hysteresis to AK9750.\n");
+            }
+            out->setArgument(0, interrupt.ir13h);
+            out->setArgument(1, interrupt.ir13l);
+            out->setArgument(2, interrupt.ir24h);
+            out->setArgument(3, interrupt.ir24l);
+            out->setArgument(4, interrupt.drdy);
+            break;
+        }
+        case Message::CMD_IR_SET_INTERRUPT:
+        {
+            interrupt.ir13h = in->getArgument(0);
+            interrupt.ir13l = in->getArgument(1);
+            interrupt.ir24h = in->getArgument(2);
+            interrupt.ir24l = in->getArgument(3);
+            interrupt.drdy = in->getArgument(4);
+            if (ak9750->setInterruptEnable(&interrupt) != AK9750::SUCCESS) {
+                status =  AkmSensor::ERROR;
+                MSG("#Failed to set hysteresis to AK9750.\n");
+            }
+            out->setArgument(0,(char)status);
+            break;            
+        }
+        case Message::CMD_IR_GET_OPERATION_MODE:
+        {
+            if(ak9750->getOperationMode(&mode, &filter) != AK9750::SUCCESS) {
+                status =  AkmSensor::ERROR;
+                MSG("#Error setOperationMode. AK9750.\n");
+            }
+            out->setArgument(0,(char)mode);
+            out->setArgument(1,(char)filter);
+            break;
+        }
+        case Message::CMD_IR_SET_OPERATION_MODE:
+        {
+            mode = (AK9750::OperationMode)in->getArgument(0);
+            filter = (AK9750::DigitalFilter)in->getArgument(1);
+            if(ak9750->setOperationMode(mode, filter) != AK9750::SUCCESS) {
+                status =  AkmSensor::ERROR;
+                MSG("#Error setOperationMode. AK9750.\n");
+            }
+            out->setArgument(0,(char)status);
+            break;
+        }
+        case Message::CMD_IR_GET_THRESHOLD_EEPROM:
+        {
+            if (ak9750->getThresholdFromEEPROM(&th) != AK9750::SUCCESS) {
+                status =  AkmSensor::ERROR;
+                MSG("#Failed to set threshold to AK9750(EEPROM).\n");
+            }
+            out->setArgument(0,(char)((int32_t)(th.eth13h) >> 8));
+            out->setArgument(1,(char)((int32_t)(th.eth13h) & 0x00FF));
+            out->setArgument(2,(char)((int32_t)(th.eth13l) >> 8));
+            out->setArgument(3,(char)((int32_t)(th.eth13l) & 0x00FF));
+            out->setArgument(4,(char)((int32_t)(th.eth24h) >> 8));
+            out->setArgument(5,(char)((int32_t)(th.eth24h) & 0x00FF));
+            out->setArgument(6,(char)((int32_t)(th.eth24l) >> 8));
+            out->setArgument(7,(char)((int32_t)(th.eth24l) & 0x00FF));
+            break;
+        }
+        case Message::CMD_IR_SET_THRESHOLD_EEPROM:
+        {
+            th.eth13h = CONV16I(in->getArgument(0), in->getArgument(1));
+            th.eth13l = CONV16I(in->getArgument(2), in->getArgument(3));
+            th.eth24h = CONV16I(in->getArgument(4), in->getArgument(5));
+            th.eth24l = CONV16I(in->getArgument(6), in->getArgument(7));
+            if (ak9750->setThresholdToEEPROM(&th) != AK9750::SUCCESS) {
+                status =  AkmSensor::ERROR;
+                MSG("#Failed to set threshold to AK9750(EEPROM).\n");
+            }
+            out->setArgument(0,(char)status);
+            break;
+        }
+        case Message::CMD_IR_GET_HYSTERESIS_EEPROM:
+        {
+            if (ak9750->getHysteresisFromEEPROM(&hys) != AK9750::SUCCESS) {
+                status =  AkmSensor::ERROR;
+                MSG("#Failed to set hysteresis to AK9750(EEPROM).\n");
+            }
+            out->setArgument(0,hys.ehys13);
+            out->setArgument(1,hys.ehys24);
+            break;
+        }
+        case Message::CMD_IR_SET_HYSTERESIS_EEPROM:
+        {
+            hys.ehys13 = in->getArgument(0);
+            hys.ehys24 = in->getArgument(1);
+            if (ak9750->setHysteresisToEEPROM(&hys) != AK9750::SUCCESS) {
+                status =  AkmSensor::ERROR;
+                MSG("#Failed to set hysteresis to AK9750(EEPROM).\n");
+            }
+            out->setArgument(0,(char)status);
+            break;
+        }
+        case Message::CMD_IR_GET_INTERRUPT_EEPROM:
+        {
+            if (ak9750->getInterruptEnableFromEEPROM(&interrupt) != AK9750::SUCCESS) {
+                status =  AkmSensor::ERROR;
+                MSG("#Failed to set interrupt to AK9750(EEPROM).\n");
+            }
+            out->setArgument(0, interrupt.ir13h);
+            out->setArgument(1, interrupt.ir13l);
+            out->setArgument(2, interrupt.ir24h);
+            out->setArgument(3, interrupt.ir24l);
+            out->setArgument(4, interrupt.drdy);
+            break;
+        }
+        case Message::CMD_IR_SET_INTERRUPT_EEPROM:
+        {
+            interrupt.ir13h = in->getArgument(0);
+            interrupt.ir13l = in->getArgument(1);
+            interrupt.ir24h = in->getArgument(2);
+            interrupt.ir24l = in->getArgument(2);
+            interrupt.drdy = in->getArgument(4);
+            if (ak9750->setInterruptEnableToEEPROM(&interrupt) != AK9750::SUCCESS) {
+                status =  AkmSensor::ERROR;
+                MSG("#Failed to set interrupt to AK9750(EEPROM).\n");
+            }
+            out->setArgument(0,(char)status);
+            break;            
+        }
+        case Message::CMD_IR_GET_OPERATION_MODE_EEPROM:
+        {
+            if(ak9750->getOperationModeFromEEPROM(&mode, &filter) != AK9750::SUCCESS) {
+                status =  AkmSensor::ERROR;
+                MSG("#Error getOperationMode. AK9750(EEPROM).\n");
+            }
+            out->setArgument(0,(char)mode);
+            out->setArgument(1,(char)filter);
+            break;
+        }
+        case Message::CMD_IR_SET_OPERATION_MODE_EEPROM:
+        {
+            mode = (AK9750::OperationMode)in->getArgument(0);
+            filter = (AK9750::DigitalFilter)in->getArgument(1);
+            if(ak9750->setOperationModeToEEPROM(mode, filter) != AK9750::SUCCESS) {
+                status =  AkmSensor::ERROR;
+                MSG("#Error setOperationMode. AK9750(EEPROM).\n");
+            }
+            out->setArgument(0,(char)status);
+            break;
+        }
+        case Message::CMD_REG_WRITE:
+        {
+            char address = in->getArgument(0);
+            int len = (int)in->getArgument(1);
+            const char data = in->getArgument(2);
+            if( ak9750->write(address, &data, len) != AK9750::SUCCESS) {
+                status =  AkmSensor::ERROR;
+                MSG("#Error register write.\n");
+            }
+            out->setArgument(0,(char)status);
+            break;
+        }        
+        case Message::CMD_REG_WRITEN:
+        {
+            char address = in->getArgument(0);
+            int len = (int)in->getArgument(1);
+            char data[len];
+            for(int i=0; i<len; i++){
+                data[i] = in->getArgument(i);    
+            }
+            if( ak9750->write(address, data, len) != AK9750::SUCCESS) {
+                status =  AkmSensor::ERROR;
+                MSG("#Error register write.\n");
+            }
+            out->setArgument(0,(char)status);
+            break;
+        }        
+        case Message::CMD_REG_READ:
+        {
+            char address = in->getArgument(0);
+            int len = (int)in->getArgument(1);
+            char data;
+            if( ak9750->read(address, &data, len) != AK9750::SUCCESS) {
+                status =  AkmSensor::ERROR;
+                MSG("#Error register read.\n");
+            }
+            out->setArgument(0,data);
+            break;
+        }
+        case Message::CMD_REG_READN:
+        {
+            char address = in->getArgument(0);
+            int len = (int)in->getArgument(1);
+            char data[len];
+            if( ak9750->read(address, data, len) != AK9750::SUCCESS) {
+                status =  AkmSensor::ERROR;
+                MSG("#Error register read.\n");
+            }
+            for(int i=0; i<len; i++){
+                out->setArgument(i, data[i]);
+            }
+            break;
+        }
+        default:
+        {
+            MSG("#Error no command.\n");
+            status =  AkmSensor::ERROR;
+            break;
+        }
+    }
+    return status;
+}