Modified for compatibility with Rev.E. hardware
Fork of AkmSensor by
akmakd.h@20:2fca76521680, 2017-02-22 (annotated)
- Committer:
- masahikofukasawa
- Date:
- Wed Feb 22 21:56:05 2017 +0000
- Revision:
- 20:2fca76521680
- Parent:
- 19:8dcc4f323bdc
- Child:
- 24:1d37438f31a9
- Child:
- 27:41aa9fb23a2f
Debugged for AK09915 when stop sensor.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
masahikofukasawa | 0:7a00359e701e | 1 | #ifndef AKMAKD_H |
masahikofukasawa | 0:7a00359e701e | 2 | #define AKMAKD_H |
masahikofukasawa | 0:7a00359e701e | 3 | |
masahikofukasawa | 0:7a00359e701e | 4 | #include "mbed.h" |
masahikofukasawa | 0:7a00359e701e | 5 | #include "SerialNano.h" |
masahikofukasawa | 0:7a00359e701e | 6 | #include "akmsensor.h" |
masahikofukasawa | 0:7a00359e701e | 7 | #include "akmecompass.h" |
masahikofukasawa | 0:7a00359e701e | 8 | |
masahikofukasawa | 20:2fca76521680 | 9 | #define AKDP_MAG_SENSITIVITY (0.15) // [uT/LSB] |
masahikofukasawa | 20:2fca76521680 | 10 | #define AKDP_POLLING_FREQUENCY (200.0) // [Hz] |
masahikofukasawa | 20:2fca76521680 | 11 | |
masahikofukasawa | 0:7a00359e701e | 12 | class AkmAkd : public AkmSensor |
masahikofukasawa | 0:7a00359e701e | 13 | { |
masahikofukasawa | 0:7a00359e701e | 14 | |
masahikofukasawa | 0:7a00359e701e | 15 | public: |
masahikofukasawa | 0:7a00359e701e | 16 | |
masahikofukasawa | 0:7a00359e701e | 17 | // SUB ID |
masahikofukasawa | 18:b7182d5ad8d5 | 18 | typedef enum { // 5bit AKDP Secondary ID |
masahikofukasawa | 0:7a00359e701e | 19 | SUB_ID_AK8963N = 0x1A, // 26 |
masahikofukasawa | 6:c4401549d68f | 20 | SUB_ID_AK8963C = 0x1C, // 28 |
masahikofukasawa | 10:5c69b067d88a | 21 | SUB_ID_AK09911C = 0x0A, // 10 |
masahikofukasawa | 10:5c69b067d88a | 22 | SUB_ID_AK09912C = 0x09, // 9 |
masahikofukasawa | 10:5c69b067d88a | 23 | SUB_ID_AK09915C = 0x0D, // 13 |
masahikofukasawa | 0:7a00359e701e | 24 | SUB_ID_AK09916C = 0x0E, // 14 |
masahikofukasawa | 10:5c69b067d88a | 25 | SUB_ID_AK09916D = 0x0F, // 15 |
masahikofukasawa | 10:5c69b067d88a | 26 | SUB_ID_AK09915D = 0x10, // 16 |
masahikofukasawa | 18:b7182d5ad8d5 | 27 | SUB_ID_AK09918 = 0x11, // 17 |
masahikofukasawa | 0:7a00359e701e | 28 | } SubIdAkd; |
masahikofukasawa | 0:7a00359e701e | 29 | |
masahikofukasawa | 19:8dcc4f323bdc | 30 | typedef enum { |
masahikofukasawa | 19:8dcc4f323bdc | 31 | INTERRUPT_DISABLED = 0x00, // Polling |
masahikofukasawa | 19:8dcc4f323bdc | 32 | INTERRUPT_ENABLED_PP = 0x01, // Push-Pull |
masahikofukasawa | 19:8dcc4f323bdc | 33 | INTERRUPT_ENABLED_OD = 0x02, // Open drain |
masahikofukasawa | 19:8dcc4f323bdc | 34 | } InterruptMode; |
masahikofukasawa | 19:8dcc4f323bdc | 35 | |
masahikofukasawa | 0:7a00359e701e | 36 | /** |
masahikofukasawa | 0:7a00359e701e | 37 | * Constructor. |
masahikofukasawa | 0:7a00359e701e | 38 | * |
masahikofukasawa | 0:7a00359e701e | 39 | */ |
masahikofukasawa | 0:7a00359e701e | 40 | AkmAkd(); |
masahikofukasawa | 0:7a00359e701e | 41 | |
masahikofukasawa | 0:7a00359e701e | 42 | /** |
masahikofukasawa | 0:7a00359e701e | 43 | * Destructor. |
masahikofukasawa | 0:7a00359e701e | 44 | * |
masahikofukasawa | 0:7a00359e701e | 45 | */ |
masahikofukasawa | 0:7a00359e701e | 46 | virtual ~AkmAkd(); |
masahikofukasawa | 0:7a00359e701e | 47 | virtual AkmSensor::Status init(const uint8_t id, const uint8_t subid); |
masahikofukasawa | 0:7a00359e701e | 48 | virtual bool isEvent(); |
masahikofukasawa | 0:7a00359e701e | 49 | virtual AkmSensor::Status startSensor(); |
masahikofukasawa | 0:7a00359e701e | 50 | virtual AkmSensor::Status startSensor(const float sec); |
masahikofukasawa | 0:7a00359e701e | 51 | virtual AkmSensor::Status stopSensor(); |
masahikofukasawa | 0:7a00359e701e | 52 | virtual AkmSensor::Status readSensorData(Message* msg); |
masahikofukasawa | 0:7a00359e701e | 53 | virtual Status requestCommand(Message* in, Message* out); |
masahikofukasawa | 13:d008249f0359 | 54 | virtual char* getSensorName(); |
masahikofukasawa | 0:7a00359e701e | 55 | |
masahikofukasawa | 0:7a00359e701e | 56 | void checkDRDY(); |
masahikofukasawa | 0:7a00359e701e | 57 | void detectDRDY(); |
masahikofukasawa | 0:7a00359e701e | 58 | int getSensorType(); |
masahikofukasawa | 19:8dcc4f323bdc | 59 | InterruptMode getInterrupt(uint8_t primaryId, uint8_t subId); |
masahikofukasawa | 20:2fca76521680 | 60 | AkmSensor::Status checkSensor( const uint8_t primaryid, const uint8_t subid, AkmECompass::DeviceId* devid); |
masahikofukasawa | 19:8dcc4f323bdc | 61 | |
masahikofukasawa | 0:7a00359e701e | 62 | private: |
masahikofukasawa | 0:7a00359e701e | 63 | bool event; |
masahikofukasawa | 0:7a00359e701e | 64 | uint8_t primaryId; |
masahikofukasawa | 0:7a00359e701e | 65 | uint8_t subId; |
masahikofukasawa | 13:d008249f0359 | 66 | char* sensorName; |
masahikofukasawa | 0:7a00359e701e | 67 | |
masahikofukasawa | 0:7a00359e701e | 68 | Ticker ticker; |
masahikofukasawa | 0:7a00359e701e | 69 | AkmECompass* compass; |
masahikofukasawa | 0:7a00359e701e | 70 | InterruptIn* drdy; |
masahikofukasawa | 9:6fa3e7b17c27 | 71 | AkmECompass::OperationMode mode; |
masahikofukasawa | 9:6fa3e7b17c27 | 72 | AkmECompass::Nsf nsf; |
masahikofukasawa | 19:8dcc4f323bdc | 73 | AkmECompass::Sdr sdr; |
masahikofukasawa | 0:7a00359e701e | 74 | }; |
masahikofukasawa | 0:7a00359e701e | 75 | |
masahikofukasawa | 0:7a00359e701e | 76 | #endif |