Modified for compatibility with Rev.E. hardware
Fork of AkmSensor by
akmakd.cpp
- Committer:
- masahikofukasawa
- Date:
- 2016-04-28
- Revision:
- 0:7a00359e701e
- Child:
- 7:e269411568c9
File content as of revision 0:7a00359e701e:
#include "akmakd.h" #include "ak8963.h" #include "ak099xx.h" #include "debug.h" /** * Constructor. * */ AkmAkd::AkmAkd(){ event = false; compass = NULL; drdy = NULL; sensorName = ""; } /** * Destructor. * */ AkmAkd::~AkmAkd(){ drdy->rise(0); if (compass) delete compass; if (drdy) delete drdy; } AkmSensor::Status AkmAkd::init(const uint8_t id, const uint8_t subid){ primaryId = id; subId = subid; AkmECompass::SensorType type; drdy = new InterruptIn(DRDY); drdy->rise(0); if(primaryId == AKM_PRIMARY_ID_AKD_I2C){ I2C* i2c = new I2C(I2C_SDA,I2C_SCL); i2c->frequency(I2C_SPEED_100KHZ); AK099XX* ak099xx; AK8963* ak8963; switch(subid){ case AkmAkd::SUB_ID_AK8963N: case AkmAkd::SUB_ID_AK8963C: type = AkmECompass::AK8963; ak8963 = new AK8963(); compass = ak8963; AkmAkd::sensorName = "AK8963"; break; case AkmAkd::SUB_ID_AK09911: type = AkmECompass::AK09911; ak099xx = new AK099XX(); compass = ak099xx; AkmAkd::sensorName = "AK09911"; break; case AkmAkd::SUB_ID_AK09912: type = AkmECompass::AK09912; ak099xx = new AK099XX(); compass = ak099xx; AkmAkd::sensorName = "AK09912"; break; case AkmAkd::SUB_ID_AK09915: type = AkmECompass::AK09915; ak099xx = new AK099XX(); compass = ak099xx; AkmAkd::sensorName = "AK09915"; break; case AkmAkd::SUB_ID_AK09916C: type = AkmECompass::AK09916C; ak099xx = new AK099XX(); compass = ak099xx; AkmAkd::sensorName = "AK09916C"; break; default: return AkmSensor::ERROR; // break; } bool foundSensor = false; AkmECompass::SlaveAddress slaveAddr[] = { AkmECompass::SLAVE_ADDR_1, AkmECompass::SLAVE_ADDR_2, AkmECompass::SLAVE_ADDR_3, AkmECompass::SLAVE_ADDR_4}; for(int i=0; i<sizeof(slaveAddr); i++) { compass->init(i2c, slaveAddr[i], type); // Checks connectivity if(compass->checkConnection() == AkmECompass::SUCCESS) { // found foundSensor = true; break; } } if(foundSensor != true) return AkmSensor::ERROR; // read a data to reset DRDY AkmECompass::MagneticVector mag; compass->getMagneticVector(&mag); }else if(primaryId == AKM_PRIMARY_ID_AKD_SPI){ MSG("#Error: SPI doesn't support.\n"); return AkmSensor::ERROR_DOESNT_SUPPORT; // spi = new SPI(SPI_MOSI, SPI_MISO, SPI_SCK); // spi->format(8,3); // 8bit, Mode=3 // spi->frequency(100000); } MSG("#%s detected.\n", AkmAkd::sensorName); return AkmSensor::SUCCESS; } void AkmAkd::checkDRDY(){ AkmECompass::Status status = compass->isDataReady(); if( status == AkmECompass::DATA_READY || status == AkmECompass::DATA_OVER_RUN ) event = true; } void AkmAkd::detectDRDY(){ event = true; } bool AkmAkd::isEvent(){ return event; } AkmSensor::Status AkmAkd::startSensor(){ // Puts the device into continuous measurement mode. if(compass->setOperationMode((AkmECompass::OperationMode)0x02) != AkmECompass::SUCCESS) { return AkmSensor::ERROR; } // DRDY interrupt enable for AK8963/AK09912/AK09915 if(compass->getSensorType() == AkmECompass::AK8963 || compass->getSensorType() == AkmECompass::AK09912 || compass->getSensorType() == AkmECompass::AK09915 ){ drdy->rise(this, &AkmAkd::detectDRDY); } else{ ticker.attach(this, &AkmAkd::checkDRDY, 0.01); // 100Hz } return AkmSensor::SUCCESS; } AkmSensor::Status AkmAkd::startSensor(const float sec){ return AkmSensor::ERROR; // doesn't support } AkmSensor::Status AkmAkd::stopSensor(){ ticker.detach(); // Puts the device into power down mode. if(compass->setOperationMode(AkmECompass::MODE_POWER_DOWN) != AkmECompass::SUCCESS) { return AkmSensor::ERROR; } return AkmSensor::SUCCESS; } AkmSensor::Status AkmAkd::readSensorData(Message* msg){ event = false; AkmECompass::MagneticVector mag; AkmECompass::Status status = compass->getMagneticVector(&mag); if( status != AkmECompass::SUCCESS){ return AkmSensor::ERROR; } msg->setCommand(Message::CMD_START_MEASUREMENT); msg->setArgument( 0, (mag.isOverflow ? 1 : 0) ); msg->setArgument( 1,(char)((int32_t)(mag.mx/0.15) >> 8)); msg->setArgument( 2, (char)((int32_t)(mag.mx/0.15) & 0x00FF) ); msg->setArgument( 3, (char)((int32_t)(mag.my/0.15) >> 8) ); msg->setArgument( 4, (char)((int32_t)(mag.my/0.15) & 0x00FF) ); msg->setArgument( 5, (char)((int32_t)(mag.mz/0.15) >> 8) ); msg->setArgument( 6, (char)((int32_t)(mag.mz/0.15) & 0x00FF) ); return AkmSensor::SUCCESS; } AkmSensor::Status AkmAkd::requestCommand(Message* in, Message* out){ return AkmSensor::SUCCESS; } char* AkmAkd::getSensorName(){ return sensorName; }