Modified for compatibility with Rev.E. hardware
Fork of AkmSensor by
Diff: ak9750ctrl.cpp
- Revision:
- 11:cef8dc1cf010
- Parent:
- 10:5c69b067d88a
- Child:
- 13:d008249f0359
--- a/ak9750ctrl.cpp Fri Jul 08 22:26:26 2016 +0000 +++ b/ak9750ctrl.cpp Fri Jul 22 22:54:11 2016 +0000 @@ -55,68 +55,68 @@ } } if(foundSensor != true){ - MSG("#Failed to checkConnection AK9750.\n"); + MSG("#Failed to checkConnection AK9750.\r\n"); return AkmSensor::ERROR; } // reset if (ak9750->reset() != AK9750::SUCCESS) { - MSG("#Failed to reset AK9750.\n"); + MSG("#Failed to reset AK9750.\r\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"); + MSG("#Error setOperationMode to EEPROM mode. AK9750.\r\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"); + MSG("#Failed to get threshold from EEPROM AK9750.\r\n"); } // Gets hysteresis from EEPROM AK9750::Hysteresis hys; if (ak9750->getHysteresisFromEEPROM(&hys) != AK9750::SUCCESS) { - MSG("#Failed to get hysteresis from EEPROM AK9750.\n"); + MSG("#Failed to get hysteresis from EEPROM AK9750.\r\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"); + MSG("#Failed to get interrupts of AK9750 from EEPROM.\r\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("#Failed to get operation mode of AK9750 from EEPROM.\r\n"); } - MSG("#Operation Mode:(0x%02X,0x%02X)\n",mode, filter); + MSG("#Operation Mode:(0x%02X,0x%02X)\r\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"); + MSG("#Error setOperationMode to stand-by mode of AK9750.\r\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("#Failed to set threshold to AK9750.\r\n"); } - MSG("#Threshold:(0x%02X,0x%02X,0x%02X,0x%02X)\n",th.eth13h,th.eth13l,th.eth24h,th.eth24l); + MSG("#Threshold:(0x%02X,0x%02X,0x%02X,0x%02X)\r\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("#Failed to set hysteresis to AK9750.\r\n"); } - MSG("#Hysteresis:(0x%02X,0x%02X)\n",hys.ehys13,hys.ehys24); + MSG("#Hysteresis:(0x%02X,0x%02X)\r\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("#Failed to set interrupts of AK9750. Status = 0x%02X\r\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("#Interrupt:(0x%02X,0x%02X,0x%02X,0x%02X,0x%02X)\r\n",intStatus.ir13h,intStatus.ir13l,intStatus.ir24h,intStatus.ir24l,intStatus.drdy); - MSG("#Init success AK9750.\n"); + MSG("#Init success AK9750.\r\n"); return AkmSensor::SUCCESS; } @@ -129,13 +129,20 @@ } AkmSensor::Status Ak9750Ctrl::startSensor(){ + // read one data to clear INT pin + AK9750::SensorData data; + ak9750->getSensorData(&data); + + // enable interrupt + interrupt->fall(this, &Ak9750Ctrl::detectINT); + + // set operation mode if(ak9750->setOperationMode(mode,filter) != AK9750::SUCCESS) { - MSG("#Error setOperationMode. AK9750.\n"); + MSG("#Start sensor failed.\r\n"); return AkmSensor::ERROR; } - - interrupt->fall(this, &Ak9750Ctrl::detectINT); - MSG("#Start Sensor success AK9750.\n"); + + MSG("#Start sensor succceeded.\r\n"); return AkmSensor::SUCCESS; } @@ -146,15 +153,15 @@ AkmSensor::Status Ak9750Ctrl::stopSensor(){ event = false; - interrupt->fall(0); + interrupt->fall(NULL); if(ak9750->setOperationMode(AK9750::MODE_STANDBY, filter) != AK9750::SUCCESS) { - MSG("#Error setOperationMode. AK9750.\n"); + MSG("#Error setOperationMode. AK9750.\r\n"); return AkmSensor::ERROR; } // read one data to clear INT pin - Message msg; - Ak9750Ctrl::readSensorData(&msg); + AK9750::SensorData data; + ak9750->getSensorData(&data); return AkmSensor::SUCCESS; } @@ -165,7 +172,7 @@ AK9750::SensorData data; AK9750::Status status = ak9750->getSensorData(&data); if( status != AK9750::SUCCESS){ - MSG("#Error getSensorData. AK9750.\n"); + MSG("#Error getSensorData. AK9750.\r\n"); return AkmSensor::ERROR; } msg->setCommand(Message::CMD_START_MEASUREMENT); @@ -203,7 +210,7 @@ { if (ak9750->getThreshold(&th) != AK9750::SUCCESS) { status = AkmSensor::ERROR; - MSG("#Failed to set threshold to AK9750.\n"); + MSG("#Failed to set threshold to AK9750.\r\n"); } out->setArgument(0,(char)((int32_t)(th.eth13h) >> 8)); out->setArgument(1,(char)((int32_t)(th.eth13h) & 0x00FF)); @@ -223,7 +230,7 @@ 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"); + MSG("#Failed to set threshold to AK9750.\r\n"); } out->setArgument(0,(char)status); break; @@ -232,7 +239,7 @@ { if (ak9750->getHysteresis(&hys) != AK9750::SUCCESS) { status = AkmSensor::ERROR; - MSG("#Failed to set hysteresis to AK9750.\n"); + MSG("#Failed to set hysteresis to AK9750.\r\n"); } out->setArgument(0,hys.ehys13); out->setArgument(1,hys.ehys24); @@ -244,7 +251,7 @@ hys.ehys24 = in->getArgument(1); if (ak9750->setHysteresis(&hys) != AK9750::SUCCESS) { status = AkmSensor::ERROR; - MSG("#Failed to set hysteresis to AK9750.\n"); + MSG("#Failed to set hysteresis to AK9750.\r\n"); } out->setArgument(0,(char)status); break; @@ -253,7 +260,7 @@ { if (ak9750->getInterruptEnable(&interrupt) != AK9750::SUCCESS) { status = AkmSensor::ERROR; - MSG("#Failed to set hysteresis to AK9750.\n"); + MSG("#Failed to set hysteresis to AK9750.\r\n"); } out->setArgument(0, interrupt.ir13h); out->setArgument(1, interrupt.ir13l); @@ -271,7 +278,7 @@ interrupt.drdy = in->getArgument(4); if (ak9750->setInterruptEnable(&interrupt) != AK9750::SUCCESS) { status = AkmSensor::ERROR; - MSG("#Failed to set hysteresis to AK9750.\n"); + MSG("#Failed to set hysteresis to AK9750.\r\n"); } out->setArgument(0,(char)status); break; @@ -280,7 +287,7 @@ { if(ak9750->getOperationMode(&mode, &filter) != AK9750::SUCCESS) { status = AkmSensor::ERROR; - MSG("#Error setOperationMode. AK9750.\n"); + MSG("#Error setOperationMode. AK9750.\r\n"); } out->setArgument(0,(char)mode); out->setArgument(1,(char)filter); @@ -292,7 +299,7 @@ filter = (AK9750::DigitalFilter)in->getArgument(1); if(ak9750->setOperationMode(mode, filter) != AK9750::SUCCESS) { status = AkmSensor::ERROR; - MSG("#Error setOperationMode. AK9750.\n"); + MSG("#Error setOperationMode. AK9750.\r\n"); } out->setArgument(0,(char)status); break; @@ -301,7 +308,7 @@ { if (ak9750->getThresholdFromEEPROM(&th) != AK9750::SUCCESS) { status = AkmSensor::ERROR; - MSG("#Failed to set threshold to AK9750(EEPROM).\n"); + MSG("#Failed to set threshold to AK9750(EEPROM).\r\n"); } out->setArgument(0,(char)((int32_t)(th.eth13h) >> 8)); out->setArgument(1,(char)((int32_t)(th.eth13h) & 0x00FF)); @@ -321,7 +328,7 @@ 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"); + MSG("#Failed to set threshold to AK9750(EEPROM).\r\n"); } out->setArgument(0,(char)status); break; @@ -330,7 +337,7 @@ { if (ak9750->getHysteresisFromEEPROM(&hys) != AK9750::SUCCESS) { status = AkmSensor::ERROR; - MSG("#Failed to set hysteresis to AK9750(EEPROM).\n"); + MSG("#Failed to set hysteresis to AK9750(EEPROM).\r\n"); } out->setArgument(0,hys.ehys13); out->setArgument(1,hys.ehys24); @@ -342,7 +349,7 @@ hys.ehys24 = in->getArgument(1); if (ak9750->setHysteresisToEEPROM(&hys) != AK9750::SUCCESS) { status = AkmSensor::ERROR; - MSG("#Failed to set hysteresis to AK9750(EEPROM).\n"); + MSG("#Failed to set hysteresis to AK9750(EEPROM).\r\n"); } out->setArgument(0,(char)status); break; @@ -351,7 +358,7 @@ { if (ak9750->getInterruptEnableFromEEPROM(&interrupt) != AK9750::SUCCESS) { status = AkmSensor::ERROR; - MSG("#Failed to set interrupt to AK9750(EEPROM).\n"); + MSG("#Failed to set interrupt to AK9750(EEPROM).\r\n"); } out->setArgument(0, interrupt.ir13h); out->setArgument(1, interrupt.ir13l); @@ -369,7 +376,7 @@ interrupt.drdy = in->getArgument(4); if (ak9750->setInterruptEnableToEEPROM(&interrupt) != AK9750::SUCCESS) { status = AkmSensor::ERROR; - MSG("#Failed to set interrupt to AK9750(EEPROM).\n"); + MSG("#Failed to set interrupt to AK9750(EEPROM).\r\n"); } out->setArgument(0,(char)status); break; @@ -378,7 +385,7 @@ { if(ak9750->getOperationModeFromEEPROM(&mode, &filter) != AK9750::SUCCESS) { status = AkmSensor::ERROR; - MSG("#Error getOperationMode. AK9750(EEPROM).\n"); + MSG("#Error getOperationMode. AK9750(EEPROM).\r\n"); } out->setArgument(0,(char)mode); out->setArgument(1,(char)filter); @@ -390,7 +397,7 @@ filter = (AK9750::DigitalFilter)in->getArgument(1); if(ak9750->setOperationModeToEEPROM(mode, filter) != AK9750::SUCCESS) { status = AkmSensor::ERROR; - MSG("#Error setOperationMode. AK9750(EEPROM).\n"); + MSG("#Error setOperationMode. AK9750(EEPROM).\r\n"); } out->setArgument(0,(char)status); break; @@ -402,7 +409,7 @@ const char data = in->getArgument(2); if( ak9750->write(address, &data, len) != AK9750::SUCCESS) { status = AkmSensor::ERROR; - MSG("#Error register write.\n"); + MSG("#Error register write.\r\n"); } out->setArgument(0,(char)status); break; @@ -417,7 +424,7 @@ } if( ak9750->write(address, data, len) != AK9750::SUCCESS) { status = AkmSensor::ERROR; - MSG("#Error register write.\n"); + MSG("#Error register write.\r\n"); } out->setArgument(0,(char)status); break; @@ -429,7 +436,7 @@ char data; if( ak9750->read(address, &data, len) != AK9750::SUCCESS) { status = AkmSensor::ERROR; - MSG("#Error register read.\n"); + MSG("#Error register read.\r\n"); } out->setArgument(0,data); break; @@ -441,7 +448,7 @@ char data[len]; if( ak9750->read(address, data, len) != AK9750::SUCCESS) { status = AkmSensor::ERROR; - MSG("#Error register read.\n"); + MSG("#Error register read.\r\n"); } for(int i=0; i<len; i++){ out->setArgument(i, data[i]); @@ -450,7 +457,7 @@ } default: { - MSG("#Error no command.\n"); + MSG("#Error no command.\r\n"); status = AkmSensor::ERROR; break; }