File content as of revision 49:c8f8946129b6:

#include "ak9750ctrl.h"

#define CONV16I(high,low)  ((int16_t)(((high) << 8) | (low)))

/**
 * Constructor.
 *
 */
Ak9750Ctrl::Ak9750Ctrl() : AkmSensor(){
    ak9750 = NULL;
}

/**
 * Destructor.
 *
 */
Ak9750Ctrl::~Ak9750Ctrl(){
    if (ak9750) delete ak9750;
}

AkmSensor::Status Ak9750Ctrl::init(const uint8_t id, const uint8_t subid){
    primaryId = id;
    subId = subid;

    I2C* i2c = new I2C(I2C_SDA,I2C_SCL);
    i2c->frequency(I2C_SPEED);

    if(subId == SUB_ID_AK9750){
      ak9750 = new AK9750();
      sensorName = "AK9750";
    }
    else if(subId == SUB_ID_AK9753){
      ak9750 = new AK9750();
      sensorName = "AK9753";
    }
    else{
        return AkmSensor::ERROR;
    }

    bool foundSensor = false;

    AK9750::SlaveAddress slaveAddr[] 
    = { AK9750::SLAVE_ADDR_1,
        AK9750::SLAVE_ADDR_2,
        AK9750::SLAVE_ADDR_3};

    for(unsigned int i=0; i<sizeof(slaveAddr); i++)
    {
        ak9750->init(i2c, slaveAddr[i]);
        // Checks connectivity
        if(ak9750->checkConnection() == AK9750::SUCCESS) {
            // found
            foundSensor = true;
            break;
        }
    }
    if(foundSensor != true){
        MSG("#Error: Failed to checkConnection AK9750.\r\n");
        return AkmSensor::ERROR;
    }
    
    // reset
    if (ak9750->reset() != AK9750::SUCCESS) {
        MSG("#Error: 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.\r\n");
        return AkmSensor::ERROR;
    }
*/    
    // Gets threshold from EEPROM
    AK9750::Threshold th;
    if (ak9750->getThresholdFromEEPROM(&th) != AK9750::SUCCESS) {
        MSG("#Error: Failed to get threshold from EEPROM AK9750.\r\n");
    }
    MSG("#Threshold:(0x%02X,0x%02X,0x%02X,0x%02X)\r\n",th.eth13h,th.eth13l,th.eth24h,th.eth24l);
    
    // Gets hysteresis from EEPROM
    AK9750::Hysteresis hys;
    if (ak9750->getHysteresisFromEEPROM(&hys) != AK9750::SUCCESS) {
        MSG("#Error: Failed to get hysteresis from EEPROM AK9750.\r\n");
    }
    MSG("#Hysteresis:(0x%02X,0x%02X)\r\n",hys.ehys13,hys.ehys24);

    // Gets interrupt status from EEPROM
    AK9750::InterruptStatus intStatus;
    if ((ak9750->getInterruptEnableFromEEPROM(&intStatus)) != AK9750::SUCCESS) {
        MSG("#Error: Failed to get interrupts of AK9750 from EEPROM.\r\n");
    }
    MSG("#Interrupt:(0x%02X,0x%02X,0x%02X,0x%02X,0x%02X)\r\n",intStatus.ir13h,intStatus.ir13l,intStatus.ir24h,intStatus.ir24l,intStatus.drdy);

    // Gets operation mode from EEPROM
    if ((ak9750->getOperationModeFromEEPROM(&mode,&filter)) != AK9750::SUCCESS) {
        MSG("#Error: Failed to get operation mode of AK9750 from EEPROM.\r\n");
    }
    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.\r\n");
        return AkmSensor::ERROR;
    }
*/    
    // Sets threshold from the red EEPROM values
    if (ak9750->setThreshold(&th) != AK9750::SUCCESS) {
        MSG("#Error: Failed to set threshold to AK9750.\r\n");
    }

    // Sets hysteresis from the red EEPROM values
    if (ak9750->setHysteresis(&hys) != AK9750::SUCCESS) {
        MSG("#Error: Failed to set hysteresis to AK9750.\r\n");
    }
    
    // Sets interruput status from the red EEPROM values
    AK9750::Status status = ak9750->setInterruptEnable(&intStatus);
    if (status != AK9750::SUCCESS) {
        MSG("#Error: Failed to set interrupts of AK9750. Status = 0x%02X\r\n", status);
    }
    
    if(ak9750->setOperationMode(mode, filter) != AK9750::SUCCESS) {
        MSG("#Error: setOperationMode of AK9750.\r\n");
        return AkmSensor::ERROR;
    }

    MSG("#Init success AK9750.\r\n");
    return AkmSensor::SUCCESS;
}

void Ak9750Ctrl::setEvent(){
    AK9750::Status  status = ak9750->isDataReady();
    if( status == AK9750::DATA_READY ) base::setEvent();
}

AkmSensor::Status Ak9750Ctrl::startSensor(){
    // read one data to clear INT pin
    AK9750::SensorData data;
    ak9750->getSensorData(&data);

    // set operation mode
    if(ak9750->setOperationMode(mode,filter) != AK9750::SUCCESS) {
        MSG("#Error: Start sensor failed %s\r\n", sensorName);
        return AkmSensor::ERROR;
    }
    
    MSG("#Start sensor %s.\r\n",sensorName);
    return AkmSensor::SUCCESS;
}

AkmSensor::Status Ak9750Ctrl::startSensor(const float sec){
    return AkmSensor::ERROR;
}

AkmSensor::Status Ak9750Ctrl::stopSensor(){
    AkmSensor::clearEvent();

    if(ak9750->setOperationMode(AK9750::MODE_STANDBY, filter) != AK9750::SUCCESS) {
        MSG("#Error: setOperationMode. AK9750.\r\n");
        return AkmSensor::ERROR;
    }
    
    // read one data to clear INT pin
    AK9750::SensorData data;
    ak9750->getSensorData(&data);
    
    return AkmSensor::SUCCESS;
}

AkmSensor::Status Ak9750Ctrl::readSensorData(Message* msg){
    AkmSensor::clearEvent();

    AK9750::SensorData data;
    AK9750::Status status = ak9750->getSensorData(&data);
    if( status != AK9750::SUCCESS){
        MSG("#Error: getSensorData. AK9750.\r\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) {
                MSG("#Error: Failed to get threshold of AK9750.\r\n");
                return AkmSensor::ERROR;
            }
            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("#Error: Failed to set threshold to AK9750.\r\n");
            }
            out->setArgument(0,(char)status);
            break;
        }
        case Message::CMD_IR_GET_HYSTERESIS:
        {
            if (ak9750->getHysteresis(&hys) != AK9750::SUCCESS) {
                MSG("#Error: Failed to get hysteresis of AK9750.\r\n");
                return AkmSensor::ERROR;
            }
            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("#Error: Failed to set hysteresis to AK9750.\r\n");
            }
            out->setArgument(0,(char)status);
            break;
        }
        case Message::CMD_IR_GET_INTERRUPT:
        {
            if (ak9750->getInterruptEnable(&interrupt) != AK9750::SUCCESS) {
                MSG("#Error: Failed to get interrupt of AK9750.\r\n");
                return AkmSensor::ERROR;
            }
            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("#Error: Failed to set interrupt to AK9750.\r\n");
            }
            out->setArgument(0,(char)status);
            break;            
        }
        case Message::CMD_IR_GET_OPERATION_MODE:
        {
            if(ak9750->getOperationMode(&mode, &filter) != AK9750::SUCCESS) {
                MSG("#Error: getOperationMode. AK9750.\r\n");
                return AkmSensor::ERROR;
            }
            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.\r\n");
            }
            out->setArgument(0,(char)status);
            break;
        }
        case Message::CMD_IR_GET_THRESHOLD_EEPROM:
        {
            if (ak9750->getThresholdFromEEPROM(&th) != AK9750::SUCCESS) {
                MSG("#Error: Failed to get threshold of AK9750(EEPROM).\r\n");
                return AkmSensor::ERROR;
            }
            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("#Error: Failed to set threshold to AK9750(EEPROM).\r\n");
            }
            out->setArgument(0,(char)status);
            break;
        }
        case Message::CMD_IR_GET_HYSTERESIS_EEPROM:
        {
            if (ak9750->getHysteresisFromEEPROM(&hys) != AK9750::SUCCESS) {
                MSG("#Error: Failed to get hysteresis of AK9750(EEPROM).\r\n");
                return AkmSensor::ERROR;
            }
            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("#Error: Failed to set hysteresis to AK9750(EEPROM).\r\n");
            }
            out->setArgument(0,(char)status);
            break;
        }
        case Message::CMD_IR_GET_INTERRUPT_EEPROM:
        {
            if (ak9750->getInterruptEnableFromEEPROM(&interrupt) != AK9750::SUCCESS) {
                MSG("#Error: Failed to get interrupt of AK9750(EEPROM).\r\n");
                return AkmSensor::ERROR;
            }
            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("#Error: Failed to set interrupt to AK9750(EEPROM).\r\n");
            }
            out->setArgument(0,(char)status);
            break;            
        }
        case Message::CMD_IR_GET_OPERATION_MODE_EEPROM:
        {
            if(ak9750->getOperationModeFromEEPROM(&mode, &filter) != AK9750::SUCCESS) {
                MSG("#Error: getOperationMode. AK9750(EEPROM).\r\n");
                return AkmSensor::ERROR;
            }
            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).\r\n");
            }
            out->setArgument(0,(char)status);
            break;
        }
        case Message::CMD_REG_WRITE:
        case Message::CMD_REG_WRITEN:
        {
            char address = in->getArgument(0);
            const int len = (int)in->getArgument(1);
            if(in->getArgNum() != len+2){
                MSG("#Error: argument num. Args=%d\r\n",in->getArgNum());
                status = AkmSensor::ERROR;
                out->setArgument(0,(char)status);
                return status;
            }

            char data[len];
            for(int i=0; i<len; i++){
                data[i] = in->getArgument(i+2);    
            }
            if( ak9750->write(address, data, len) != AK9750::SUCCESS) {
                status =  AkmSensor::ERROR;
                MSG("#Error: register write.\r\n");
            }
            out->setArgument(0,(char)status);
            break;
        }        
        case Message::CMD_REG_READ:
        case Message::CMD_REG_READN:
        {
            if(in->getArgNum() != 2){
                MSG("#Error: argument num. Args=%d\r\n",in->getArgNum());
                return AkmSensor::ERROR;
            }

            char address = in->getArgument(0);
            const int len = (int)in->getArgument(1);
            char data[len];
            if( ak9750->read(address, data, len) != AK9750::SUCCESS) {
                MSG("#Error: register read.\r\n");
                return AkmSensor::ERROR;
            }
            for(int i=0; i<len; i++){
                out->setArgument(i, data[i]);
            }
            break;
        }
        default:
        {
            MSG("#Error: no command.\r\n");
            status =  AkmSensor::ERROR;
            break;
        }
    }
    return status;
}