Modified for compatibility with Rev.E. hardware
Fork of AkmSensor by
Diff: ak9752ctrl.cpp
- Revision:
- 10:5c69b067d88a
- Child:
- 11:cef8dc1cf010
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ak9752ctrl.cpp Fri Jul 08 22:26:26 2016 +0000 @@ -0,0 +1,278 @@ +#include "ak9752ctrl.h" +#include "debug.h" + +#define CONV16I(high,low) ((int16_t)(((high) << 8) | (low))) + +/** + * Constructor. + * + */ +Ak9752Ctrl::Ak9752Ctrl(){ + ak9752 = NULL; + event = false; + interrupt = NULL; +} + +/** + * Destructor. + * + */ +Ak9752Ctrl::~Ak9752Ctrl(){ + if (ak9752) delete ak9752; + if (interrupt) delete interrupt; +} + +AkmSensor::Status Ak9752Ctrl::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_AK9752){ + ak9752 = new AK9752(); + } + else{ + return AkmSensor::ERROR; + } + + bool foundSensor = false; + + AK9752::SlaveAddress slaveAddr[] + = { AK9752::SLAVE_ADDR_1 }; + + for(int i=0; i<sizeof(slaveAddr); i++) + { + ak9752->init(i2c, slaveAddr[i]); + // Checks connectivity + if(ak9752->checkConnection() == Ak9752Ctrl::SUCCESS) { + // found + foundSensor = true; + break; + } + } + if(foundSensor != true) return AkmSensor::ERROR; + + // reset + if (ak9752->reset() != AK9752::SUCCESS) { + MSG("#Failed to reset AK9752.\n"); + } + + MSG("#Init success AK9752.\n"); + return AkmSensor::SUCCESS; +} + +void Ak9752Ctrl::detectINT(){ + event = true; +} + +bool Ak9752Ctrl::isEvent(){ + return event; +} + +AkmSensor::Status Ak9752Ctrl::startSensor(){ + if(ak9752->setOperationMode(mode,fc_tmp, fc_ir) != AK9752::SUCCESS) { + MSG("#Error setOperationMode. AK9752.\n"); + return AkmSensor::ERROR; + } + + interrupt->fall(this, &Ak9752Ctrl::detectINT); + MSG("#Start Sensor success AK9752.\n"); + return AkmSensor::SUCCESS; +} + +AkmSensor::Status Ak9752Ctrl::startSensor(const float sec){ + interrupt->fall(this, &Ak9752Ctrl::detectINT); + return AkmSensor::ERROR; +} + +AkmSensor::Status Ak9752Ctrl::stopSensor(){ + event = false; + interrupt->fall(0); + if(ak9752->setOperationMode(AK9752::MODE_STANDBY, fc_tmp, fc_ir) != AK9752::SUCCESS) { + MSG("#Error setOperationMode. AK9752.\n"); + return AkmSensor::ERROR; + } + + // read one data to clear INT pin + Message msg; + Ak9752Ctrl::readSensorData(&msg); + + return AkmSensor::SUCCESS; +} + +AkmSensor::Status Ak9752Ctrl::readSensorData(Message* msg){ + event = false; + + AK9752::SensorData data; + AK9752::Status status = ak9752->getSensorData(&data); + if( status != AK9752::SUCCESS){ + MSG("#Error getSensorData. AK9752.\n"); + return AkmSensor::ERROR; + } + msg->setCommand(Message::CMD_START_MEASUREMENT); + msg->setArgument( 0, data.intStatus.irh); + msg->setArgument( 1, data.intStatus.irl); + msg->setArgument( 2, data.intStatus.tmph); + msg->setArgument( 3, data.intStatus.tmpl); + msg->setArgument( 4, data.intStatus.dr); + msg->setArgument( 5,(char)((int32_t)(data.ir) >> 8)); + msg->setArgument( 6, (char)((int32_t)(data.ir) & 0x00FF) ); + msg->setArgument( 7,(char)((int32_t)(data.temperature) >> 8)); + msg->setArgument( 8, (char)((int32_t)(data.temperature) & 0x00FF) ); + msg->setArgument( 9, data.dor); + + return AkmSensor::SUCCESS; +} + +AkmSensor::Status Ak9752Ctrl::requestCommand(Message* in, Message* out){ + AkmSensor::Status status = AkmSensor::SUCCESS; + Message::Command cmd = in->getCommand(); + AK9752::Threshold th; + AK9752::InterruptStatus interrupt; + + out->setCommand(cmd); + + switch(cmd){ + case Message::CMD_IR_GET_THRESHOLD: + { + if (ak9752->getThreshold(&th) != AK9752::SUCCESS) { + status = AkmSensor::ERROR; + MSG("#Failed to set threshold to AK9752.\n"); + } + out->setArgument(0,(char)((int32_t)(th.thirh) >> 8)); + out->setArgument(1,(char)((int32_t)(th.thirh) & 0x00FF)); + out->setArgument(2,(char)((int32_t)(th.thirl) >> 8)); + out->setArgument(3,(char)((int32_t)(th.thirl) & 0x00FF)); + out->setArgument(4,(char)((int32_t)(th.thtmph) >> 8)); + out->setArgument(5,(char)((int32_t)(th.thtmph) & 0x00FF)); + out->setArgument(6,(char)((int32_t)(th.thtmpl) >> 8)); + out->setArgument(7,(char)((int32_t)(th.thtmpl) & 0x00FF)); + break; + } + case Message::CMD_IR_SET_THRESHOLD: + { + th.thirh = CONV16I(in->getArgument(0), in->getArgument(1)); + th.thirl = CONV16I(in->getArgument(2), in->getArgument(3)); + th.thtmph = CONV16I(in->getArgument(4), in->getArgument(5)); + th.thtmpl = CONV16I(in->getArgument(6), in->getArgument(7)); + if (ak9752->setThreshold(&th) != AK9752::SUCCESS) { + status = AkmSensor::ERROR; + MSG("#Failed to set threshold to AK9752.\n"); + } + out->setArgument(0,(char)status); + break; + } + case Message::CMD_IR_GET_INTERRUPT: + { + if (ak9752->getInterruptEnable(&interrupt) != AK9752::SUCCESS) { + status = AkmSensor::ERROR; + MSG("#Failed to set hysteresis to AK9752.\n"); + } + out->setArgument(0, interrupt.irh); + out->setArgument(1, interrupt.irl); + out->setArgument(2, interrupt.tmph); + out->setArgument(3, interrupt.tmpl); + out->setArgument(4, interrupt.dr); + break; + } + case Message::CMD_IR_SET_INTERRUPT: + { + interrupt.irh = in->getArgument(0); + interrupt.irl = in->getArgument(1); + interrupt.tmph = in->getArgument(2); + interrupt.tmpl = in->getArgument(3); + interrupt.dr = in->getArgument(4); + if (ak9752->setInterruptEnable(&interrupt) != AK9752::SUCCESS) { + status = AkmSensor::ERROR; + MSG("#Failed to set hysteresis to AK9752.\n"); + } + out->setArgument(0,(char)status); + break; + } + case Message::CMD_IR_GET_OPERATION_MODE: + { + if(ak9752->getOperationMode(&mode, &fc_tmp, &fc_ir) != AK9752::SUCCESS) { + status = AkmSensor::ERROR; + MSG("#Error setOperationMode. AK9752.\n"); + } + out->setArgument(0,(char)mode); + out->setArgument(1,(char)fc_tmp); + out->setArgument(2,(char)fc_ir); + break; + } + case Message::CMD_IR_SET_OPERATION_MODE: + { + mode = (AK9752::OperationMode)in->getArgument(0); + fc_tmp = (AK9752::FcTmp)in->getArgument(1); + fc_ir = (AK9752::FcIr)in->getArgument(2); + if(ak9752->setOperationMode(mode, fc_tmp, fc_ir) != AK9752::SUCCESS) { + status = AkmSensor::ERROR; + MSG("#Error setOperationMode. AK9752.\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( ak9752->write(address, &data, len) != AK9752::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( ak9752->write(address, data, len) != AK9752::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( ak9752->read(address, &data, len) != AK9752::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( ak9752->read(address, data, len) != AK9752::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; +}