Modified for compatibility with Rev.E. hardware
Fork of AkmSensor by
ak09970ctrl.cpp@39:3821886c902e, 2017-07-18 (annotated)
- Committer:
- masahikofukasawa
- Date:
- Tue Jul 18 23:20:26 2017 +0000
- Revision:
- 39:3821886c902e
- Parent:
- 29:b488d2c89fba
- Child:
- 40:42e48427e4b7
For AK09970 Small demo board. Takezawa-san's request.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
masahikofukasawa | 10:5c69b067d88a | 1 | #include "ak09970ctrl.h" |
masahikofukasawa | 10:5c69b067d88a | 2 | #include "debug.h" |
masahikofukasawa | 10:5c69b067d88a | 3 | |
masahikofukasawa | 29:b488d2c89fba | 4 | #ifndef PI |
masahikofukasawa | 29:b488d2c89fba | 5 | #define PI 3.14159265358979323846 |
masahikofukasawa | 29:b488d2c89fba | 6 | #endif |
masahikofukasawa | 29:b488d2c89fba | 7 | |
masahikofukasawa | 10:5c69b067d88a | 8 | #define CONV16I(high,low) ((int16_t)(((high) << 8) | (low))) |
masahikofukasawa | 10:5c69b067d88a | 9 | /** |
masahikofukasawa | 10:5c69b067d88a | 10 | * Constructor. |
masahikofukasawa | 10:5c69b067d88a | 11 | * |
masahikofukasawa | 10:5c69b067d88a | 12 | */ |
masahikofukasawa | 27:41aa9fb23a2f | 13 | Ak09970Ctrl::Ak09970Ctrl() : AkmSensor(){ |
masahikofukasawa | 10:5c69b067d88a | 14 | ak09970 = NULL; |
masahikofukasawa | 29:b488d2c89fba | 15 | // interrupt = NULL; |
masahikofukasawa | 10:5c69b067d88a | 16 | } |
masahikofukasawa | 10:5c69b067d88a | 17 | |
masahikofukasawa | 10:5c69b067d88a | 18 | /** |
masahikofukasawa | 10:5c69b067d88a | 19 | * Destructor. |
masahikofukasawa | 10:5c69b067d88a | 20 | * |
masahikofukasawa | 10:5c69b067d88a | 21 | */ |
masahikofukasawa | 10:5c69b067d88a | 22 | Ak09970Ctrl::~Ak09970Ctrl(){ |
masahikofukasawa | 10:5c69b067d88a | 23 | if (ak09970) delete ak09970; |
masahikofukasawa | 10:5c69b067d88a | 24 | } |
masahikofukasawa | 10:5c69b067d88a | 25 | |
masahikofukasawa | 10:5c69b067d88a | 26 | AkmSensor::Status Ak09970Ctrl::init(const uint8_t id, const uint8_t subid){ |
masahikofukasawa | 10:5c69b067d88a | 27 | primaryId = id; |
masahikofukasawa | 10:5c69b067d88a | 28 | subId = subid; |
masahikofukasawa | 10:5c69b067d88a | 29 | |
masahikofukasawa | 10:5c69b067d88a | 30 | // initialize readConfig |
masahikofukasawa | 10:5c69b067d88a | 31 | readConfig.enabledReadX = false; |
masahikofukasawa | 10:5c69b067d88a | 32 | readConfig.enabledReadY = false; |
masahikofukasawa | 10:5c69b067d88a | 33 | readConfig.enabledReadZ = false; |
masahikofukasawa | 10:5c69b067d88a | 34 | readConfig.enabledUpperOnly = false; |
masahikofukasawa | 10:5c69b067d88a | 35 | |
masahikofukasawa | 10:5c69b067d88a | 36 | if(primaryId == AKM_PRIMARY_ID_AKD_I2C){ |
masahikofukasawa | 10:5c69b067d88a | 37 | |
masahikofukasawa | 10:5c69b067d88a | 38 | I2C* i2c = new I2C(I2C_SDA,I2C_SCL); |
masahikofukasawa | 10:5c69b067d88a | 39 | i2c->frequency(I2C_SPEED_100KHZ); |
masahikofukasawa | 10:5c69b067d88a | 40 | |
masahikofukasawa | 10:5c69b067d88a | 41 | switch(subid){ |
masahikofukasawa | 10:5c69b067d88a | 42 | case Ak09970Ctrl::SUB_ID_AK09970: |
masahikofukasawa | 10:5c69b067d88a | 43 | ak09970 = new AK09970(); |
masahikofukasawa | 10:5c69b067d88a | 44 | Ak09970Ctrl::sensorName = "AK09970"; |
masahikofukasawa | 10:5c69b067d88a | 45 | break; |
masahikofukasawa | 10:5c69b067d88a | 46 | default: |
masahikofukasawa | 10:5c69b067d88a | 47 | return AkmSensor::ERROR; |
masahikofukasawa | 10:5c69b067d88a | 48 | } |
masahikofukasawa | 10:5c69b067d88a | 49 | |
masahikofukasawa | 10:5c69b067d88a | 50 | bool foundSensor = false; |
masahikofukasawa | 10:5c69b067d88a | 51 | |
masahikofukasawa | 10:5c69b067d88a | 52 | AK09970::SlaveAddress slaveAddr[] |
masahikofukasawa | 10:5c69b067d88a | 53 | = { AK09970::SLAVE_ADDR_1, |
masahikofukasawa | 10:5c69b067d88a | 54 | AK09970::SLAVE_ADDR_2}; |
masahikofukasawa | 10:5c69b067d88a | 55 | |
masahikofukasawa | 10:5c69b067d88a | 56 | for(int i=0; i<sizeof(slaveAddr); i++) |
masahikofukasawa | 10:5c69b067d88a | 57 | { |
masahikofukasawa | 10:5c69b067d88a | 58 | ak09970->init(i2c, slaveAddr[i]); |
masahikofukasawa | 10:5c69b067d88a | 59 | // Checks connectivity |
masahikofukasawa | 10:5c69b067d88a | 60 | if(ak09970->checkConnection() == AK09970::SUCCESS) { |
masahikofukasawa | 10:5c69b067d88a | 61 | // found |
masahikofukasawa | 10:5c69b067d88a | 62 | foundSensor = true; |
masahikofukasawa | 10:5c69b067d88a | 63 | break; |
masahikofukasawa | 10:5c69b067d88a | 64 | } |
masahikofukasawa | 10:5c69b067d88a | 65 | } |
masahikofukasawa | 10:5c69b067d88a | 66 | if(foundSensor != true){ |
masahikofukasawa | 10:5c69b067d88a | 67 | return AkmSensor::ERROR; |
masahikofukasawa | 10:5c69b067d88a | 68 | } |
masahikofukasawa | 10:5c69b067d88a | 69 | |
masahikofukasawa | 10:5c69b067d88a | 70 | // software reset |
masahikofukasawa | 10:5c69b067d88a | 71 | ak09970->reset(); |
masahikofukasawa | 10:5c69b067d88a | 72 | |
masahikofukasawa | 10:5c69b067d88a | 73 | }else if(primaryId == AKM_PRIMARY_ID_AKD_SPI){ |
masahikofukasawa | 10:5c69b067d88a | 74 | |
masahikofukasawa | 10:5c69b067d88a | 75 | SPI* spi = new SPI(SPI_MOSI, SPI_MISO, SPI_SCK); |
masahikofukasawa | 10:5c69b067d88a | 76 | spi->format(8,3); // 8bit, Mode=3 |
masahikofukasawa | 10:5c69b067d88a | 77 | spi->frequency(1000000); |
masahikofukasawa | 10:5c69b067d88a | 78 | |
masahikofukasawa | 10:5c69b067d88a | 79 | DigitalOut* cs = new DigitalOut(SPI_CS); |
masahikofukasawa | 10:5c69b067d88a | 80 | |
masahikofukasawa | 10:5c69b067d88a | 81 | switch(subid){ |
masahikofukasawa | 10:5c69b067d88a | 82 | case Ak09970Ctrl::SUB_ID_AK09970: |
masahikofukasawa | 10:5c69b067d88a | 83 | ak09970 = new AK09970(); |
masahikofukasawa | 10:5c69b067d88a | 84 | Ak09970Ctrl::sensorName = "AK09970"; |
masahikofukasawa | 10:5c69b067d88a | 85 | break; |
masahikofukasawa | 10:5c69b067d88a | 86 | default: |
masahikofukasawa | 10:5c69b067d88a | 87 | return AkmSensor::ERROR; |
masahikofukasawa | 10:5c69b067d88a | 88 | } |
masahikofukasawa | 10:5c69b067d88a | 89 | |
masahikofukasawa | 10:5c69b067d88a | 90 | bool foundSensor = false; |
masahikofukasawa | 10:5c69b067d88a | 91 | ak09970->init(spi, cs); |
masahikofukasawa | 10:5c69b067d88a | 92 | if(ak09970->checkConnection() == AK09970::SUCCESS) { |
masahikofukasawa | 10:5c69b067d88a | 93 | foundSensor = true; |
masahikofukasawa | 10:5c69b067d88a | 94 | } |
masahikofukasawa | 10:5c69b067d88a | 95 | if(foundSensor != true){ |
masahikofukasawa | 39:3821886c902e | 96 | MSG("#Error: Failed checkConnetion(SPI). %s\r\n",Ak09970Ctrl::sensorName); |
masahikofukasawa | 10:5c69b067d88a | 97 | return AkmSensor::ERROR; |
masahikofukasawa | 10:5c69b067d88a | 98 | } |
masahikofukasawa | 10:5c69b067d88a | 99 | |
masahikofukasawa | 10:5c69b067d88a | 100 | // software reset |
masahikofukasawa | 10:5c69b067d88a | 101 | ak09970->reset(); |
masahikofukasawa | 10:5c69b067d88a | 102 | } |
masahikofukasawa | 10:5c69b067d88a | 103 | else{ |
masahikofukasawa | 10:5c69b067d88a | 104 | return AkmSensor::ERROR; |
masahikofukasawa | 10:5c69b067d88a | 105 | } |
masahikofukasawa | 10:5c69b067d88a | 106 | |
masahikofukasawa | 11:cef8dc1cf010 | 107 | MSG("#%s detected.\r\n", Ak09970Ctrl::sensorName); |
masahikofukasawa | 10:5c69b067d88a | 108 | return AkmSensor::SUCCESS; |
masahikofukasawa | 10:5c69b067d88a | 109 | } |
masahikofukasawa | 10:5c69b067d88a | 110 | |
masahikofukasawa | 29:b488d2c89fba | 111 | void Ak09970Ctrl::setEvent(){ |
masahikofukasawa | 29:b488d2c89fba | 112 | // MSG("#setEvent() in %s.\r\n",sensorName); |
masahikofukasawa | 29:b488d2c89fba | 113 | AK09970::Status status = ak09970->isDataReady(); |
masahikofukasawa | 29:b488d2c89fba | 114 | if( status == AK09970::DATA_READY ) base::setEvent(); |
masahikofukasawa | 10:5c69b067d88a | 115 | } |
masahikofukasawa | 10:5c69b067d88a | 116 | |
masahikofukasawa | 10:5c69b067d88a | 117 | AkmSensor::Status Ak09970Ctrl::startSensor(){ |
masahikofukasawa | 11:cef8dc1cf010 | 118 | // read one data to clear switch |
masahikofukasawa | 11:cef8dc1cf010 | 119 | AK09970::SwitchStatus sw_status; |
masahikofukasawa | 11:cef8dc1cf010 | 120 | ak09970->getSwitchStatus(&sw_status, readConfig); |
masahikofukasawa | 11:cef8dc1cf010 | 121 | |
masahikofukasawa | 11:cef8dc1cf010 | 122 | // set operation mode |
masahikofukasawa | 10:5c69b067d88a | 123 | if(ak09970->setOperationMode(mode,sensorDriveMode,sensorMeasurementRange) != AK09970::SUCCESS) { |
masahikofukasawa | 39:3821886c902e | 124 | MSG("#Error: Start sensor %s.\r\n", sensorName); |
masahikofukasawa | 10:5c69b067d88a | 125 | return AkmSensor::ERROR; |
masahikofukasawa | 10:5c69b067d88a | 126 | } |
masahikofukasawa | 10:5c69b067d88a | 127 | |
masahikofukasawa | 10:5c69b067d88a | 128 | return AkmSensor::SUCCESS; |
masahikofukasawa | 10:5c69b067d88a | 129 | } |
masahikofukasawa | 10:5c69b067d88a | 130 | |
masahikofukasawa | 10:5c69b067d88a | 131 | AkmSensor::Status Ak09970Ctrl::startSensor(const float sec){ |
masahikofukasawa | 39:3821886c902e | 132 | MSG("#Error: Start sensor %s.\r\n", sensorName); |
masahikofukasawa | 11:cef8dc1cf010 | 133 | return AkmSensor::ERROR; |
masahikofukasawa | 10:5c69b067d88a | 134 | } |
masahikofukasawa | 10:5c69b067d88a | 135 | |
masahikofukasawa | 10:5c69b067d88a | 136 | AkmSensor::Status Ak09970Ctrl::stopSensor(){ |
masahikofukasawa | 29:b488d2c89fba | 137 | AkmSensor::clearEvent(); |
masahikofukasawa | 11:cef8dc1cf010 | 138 | |
masahikofukasawa | 10:5c69b067d88a | 139 | if(ak09970->setOperationMode(AK09970::MODE_POWER_DOWN, sensorDriveMode, sensorMeasurementRange) != AK09970::SUCCESS) { |
masahikofukasawa | 39:3821886c902e | 140 | MSG("#Error: Stop sensor %s.\r\n", sensorName); |
masahikofukasawa | 10:5c69b067d88a | 141 | return AkmSensor::ERROR; |
masahikofukasawa | 10:5c69b067d88a | 142 | } |
masahikofukasawa | 11:cef8dc1cf010 | 143 | |
masahikofukasawa | 11:cef8dc1cf010 | 144 | // read one data to clear switch |
masahikofukasawa | 11:cef8dc1cf010 | 145 | AK09970::SwitchStatus sw_status; |
masahikofukasawa | 11:cef8dc1cf010 | 146 | ak09970->getSwitchStatus(&sw_status, readConfig); |
masahikofukasawa | 11:cef8dc1cf010 | 147 | |
masahikofukasawa | 10:5c69b067d88a | 148 | return AkmSensor::SUCCESS; |
masahikofukasawa | 10:5c69b067d88a | 149 | } |
masahikofukasawa | 10:5c69b067d88a | 150 | |
masahikofukasawa | 10:5c69b067d88a | 151 | AkmSensor::Status Ak09970Ctrl::readSensorData(Message* msg){ |
masahikofukasawa | 29:b488d2c89fba | 152 | AkmSensor::clearEvent(); |
masahikofukasawa | 10:5c69b067d88a | 153 | |
masahikofukasawa | 10:5c69b067d88a | 154 | AK09970::SwitchStatus sw_status; |
masahikofukasawa | 10:5c69b067d88a | 155 | if( ak09970->getSwitchStatus(&sw_status, readConfig) != AkmSensor::SUCCESS) { |
masahikofukasawa | 10:5c69b067d88a | 156 | return AkmSensor::ERROR; |
masahikofukasawa | 10:5c69b067d88a | 157 | } |
masahikofukasawa | 10:5c69b067d88a | 158 | |
masahikofukasawa | 10:5c69b067d88a | 159 | msg->setCommand(Message::CMD_START_MEASUREMENT); |
masahikofukasawa | 10:5c69b067d88a | 160 | msg->setArgument(0, sensorMeasurementRange); |
masahikofukasawa | 10:5c69b067d88a | 161 | msg->setArgument(1, sw_status.st_hi); |
masahikofukasawa | 10:5c69b067d88a | 162 | msg->setArgument(2, sw_status.st_lo); |
masahikofukasawa | 10:5c69b067d88a | 163 | msg->setArgument(3, (char)(sw_status.mag.mx>>8)); |
masahikofukasawa | 10:5c69b067d88a | 164 | msg->setArgument(4, (char)(sw_status.mag.mx & 0x00FF)); |
masahikofukasawa | 10:5c69b067d88a | 165 | msg->setArgument(5, (char)(sw_status.mag.my>>8)); |
masahikofukasawa | 10:5c69b067d88a | 166 | msg->setArgument(6, (char)(sw_status.mag.my & 0x00FF)); |
masahikofukasawa | 10:5c69b067d88a | 167 | msg->setArgument(7, (char)(sw_status.mag.mz>>8)); |
masahikofukasawa | 10:5c69b067d88a | 168 | msg->setArgument(8, (char)(sw_status.mag.mz & 0x00FF)); |
masahikofukasawa | 10:5c69b067d88a | 169 | |
masahikofukasawa | 10:5c69b067d88a | 170 | return AkmSensor::SUCCESS; |
masahikofukasawa | 10:5c69b067d88a | 171 | } |
masahikofukasawa | 10:5c69b067d88a | 172 | |
masahikofukasawa | 10:5c69b067d88a | 173 | AkmSensor::Status Ak09970Ctrl::requestCommand(Message* in, Message* out){ |
masahikofukasawa | 10:5c69b067d88a | 174 | AkmSensor::Status status = AkmSensor::SUCCESS; |
masahikofukasawa | 10:5c69b067d88a | 175 | Message::Command cmd = in->getCommand(); |
masahikofukasawa | 10:5c69b067d88a | 176 | out->setCommand(cmd); |
masahikofukasawa | 10:5c69b067d88a | 177 | |
masahikofukasawa | 10:5c69b067d88a | 178 | switch(cmd){ |
masahikofukasawa | 10:5c69b067d88a | 179 | case Message::CMD_PROGSW_GET_THRESHOLD: |
masahikofukasawa | 10:5c69b067d88a | 180 | { |
masahikofukasawa | 10:5c69b067d88a | 181 | if(in->getArgNum() != 1){ |
masahikofukasawa | 39:3821886c902e | 182 | MSG("#Error: Argument num. AK09970. Args=%d\r\n",in->getArgNum()); |
masahikofukasawa | 10:5c69b067d88a | 183 | return AkmSensor::ERROR; |
masahikofukasawa | 10:5c69b067d88a | 184 | } |
masahikofukasawa | 10:5c69b067d88a | 185 | |
masahikofukasawa | 10:5c69b067d88a | 186 | AK09970::SensorAxis axis = (AK09970::SensorAxis)in->getArgument(0); |
masahikofukasawa | 10:5c69b067d88a | 187 | AK09970::Threshold th; |
masahikofukasawa | 10:5c69b067d88a | 188 | if( ak09970->getThreshold(axis, &th) != AkmSensor::SUCCESS ){ |
masahikofukasawa | 10:5c69b067d88a | 189 | return AkmSensor::ERROR; |
masahikofukasawa | 10:5c69b067d88a | 190 | } |
masahikofukasawa | 10:5c69b067d88a | 191 | out->setArgument(0, axis); |
masahikofukasawa | 10:5c69b067d88a | 192 | out->setArgument(1,(char)((int32_t)(th.BOP1) >> 8)); |
masahikofukasawa | 10:5c69b067d88a | 193 | out->setArgument(2,(char)((int32_t)(th.BOP1) & 0x00FF)); |
masahikofukasawa | 10:5c69b067d88a | 194 | out->setArgument(3,(char)((int32_t)(th.BRP1) >> 8)); |
masahikofukasawa | 10:5c69b067d88a | 195 | out->setArgument(4,(char)((int32_t)(th.BRP1) & 0x00FF)); |
masahikofukasawa | 10:5c69b067d88a | 196 | out->setArgument(5,(char)((int32_t)(th.BOP2) >> 8)); |
masahikofukasawa | 10:5c69b067d88a | 197 | out->setArgument(6,(char)((int32_t)(th.BOP2) & 0x00FF)); |
masahikofukasawa | 10:5c69b067d88a | 198 | out->setArgument(7,(char)((int32_t)(th.BRP2) >> 8)); |
masahikofukasawa | 10:5c69b067d88a | 199 | out->setArgument(8,(char)((int32_t)(th.BRP2) & 0x00FF)); |
masahikofukasawa | 10:5c69b067d88a | 200 | break; |
masahikofukasawa | 10:5c69b067d88a | 201 | } |
masahikofukasawa | 10:5c69b067d88a | 202 | case Message::CMD_PROGSW_SET_THRESHOLD: |
masahikofukasawa | 10:5c69b067d88a | 203 | { |
masahikofukasawa | 10:5c69b067d88a | 204 | if(in->getArgNum() != 9){ |
masahikofukasawa | 39:3821886c902e | 205 | MSG("#Error: Argument num. AK09970. Args=%d\r\n",in->getArgNum()); |
masahikofukasawa | 10:5c69b067d88a | 206 | status = AkmSensor::ERROR; |
masahikofukasawa | 10:5c69b067d88a | 207 | out->setArgument(0,(char)status); |
masahikofukasawa | 10:5c69b067d88a | 208 | return status; |
masahikofukasawa | 10:5c69b067d88a | 209 | } |
masahikofukasawa | 10:5c69b067d88a | 210 | |
masahikofukasawa | 10:5c69b067d88a | 211 | AK09970::SensorAxis axis = (AK09970::SensorAxis)in->getArgument(0); |
masahikofukasawa | 10:5c69b067d88a | 212 | AK09970::Threshold th; |
masahikofukasawa | 10:5c69b067d88a | 213 | |
masahikofukasawa | 10:5c69b067d88a | 214 | th.BOP1 = CONV16I(in->getArgument(1),in->getArgument(2)); |
masahikofukasawa | 10:5c69b067d88a | 215 | th.BRP1 = CONV16I(in->getArgument(3),in->getArgument(4)); |
masahikofukasawa | 10:5c69b067d88a | 216 | th.BOP2 = CONV16I(in->getArgument(5),in->getArgument(6)); |
masahikofukasawa | 10:5c69b067d88a | 217 | th.BRP2 = CONV16I(in->getArgument(7),in->getArgument(8)); |
masahikofukasawa | 10:5c69b067d88a | 218 | if( ak09970->setThreshold(axis, th) != AkmSensor::SUCCESS ){ |
masahikofukasawa | 10:5c69b067d88a | 219 | status = AkmSensor::ERROR; |
masahikofukasawa | 10:5c69b067d88a | 220 | } |
masahikofukasawa | 10:5c69b067d88a | 221 | out->setArgument(0,(char)status); |
masahikofukasawa | 10:5c69b067d88a | 222 | break; |
masahikofukasawa | 10:5c69b067d88a | 223 | } |
masahikofukasawa | 10:5c69b067d88a | 224 | case Message::CMD_PROGSW_GET_READ_COFIGURATION: |
masahikofukasawa | 10:5c69b067d88a | 225 | { |
masahikofukasawa | 10:5c69b067d88a | 226 | if(in->getArgNum() != 0){ |
masahikofukasawa | 39:3821886c902e | 227 | MSG("#Error: Argument num. AK09970. Args=%d\r\n",in->getArgNum()); |
masahikofukasawa | 10:5c69b067d88a | 228 | return AkmSensor::ERROR; |
masahikofukasawa | 10:5c69b067d88a | 229 | } |
masahikofukasawa | 10:5c69b067d88a | 230 | |
masahikofukasawa | 10:5c69b067d88a | 231 | out->setArgument(0, readConfig.enabledReadX); |
masahikofukasawa | 10:5c69b067d88a | 232 | out->setArgument(1, readConfig.enabledReadY); |
masahikofukasawa | 10:5c69b067d88a | 233 | out->setArgument(2, readConfig.enabledReadZ); |
masahikofukasawa | 10:5c69b067d88a | 234 | out->setArgument(3, readConfig.enabledUpperOnly); |
masahikofukasawa | 10:5c69b067d88a | 235 | break; |
masahikofukasawa | 10:5c69b067d88a | 236 | } |
masahikofukasawa | 10:5c69b067d88a | 237 | case Message::CMD_PROGSW_SET_READ_COFIGURATION: |
masahikofukasawa | 10:5c69b067d88a | 238 | { |
masahikofukasawa | 10:5c69b067d88a | 239 | if(in->getArgNum() != 4){ |
masahikofukasawa | 39:3821886c902e | 240 | MSG("#Error: Argument num. AK09970. Args=%d\r\n",in->getArgNum()); |
masahikofukasawa | 10:5c69b067d88a | 241 | status = AkmSensor::ERROR; |
masahikofukasawa | 10:5c69b067d88a | 242 | out->setArgument(0,(char)status); |
masahikofukasawa | 10:5c69b067d88a | 243 | return status; |
masahikofukasawa | 10:5c69b067d88a | 244 | } |
masahikofukasawa | 10:5c69b067d88a | 245 | |
masahikofukasawa | 10:5c69b067d88a | 246 | readConfig.enabledReadX = in->getArgument(0); |
masahikofukasawa | 10:5c69b067d88a | 247 | readConfig.enabledReadY = in->getArgument(1); |
masahikofukasawa | 10:5c69b067d88a | 248 | readConfig.enabledReadZ = in->getArgument(2); |
masahikofukasawa | 10:5c69b067d88a | 249 | readConfig.enabledUpperOnly = in->getArgument(3); |
masahikofukasawa | 10:5c69b067d88a | 250 | out->setArgument(0,(char)status); |
masahikofukasawa | 10:5c69b067d88a | 251 | break; |
masahikofukasawa | 10:5c69b067d88a | 252 | } |
masahikofukasawa | 10:5c69b067d88a | 253 | case Message::CMD_PROGSW_GET_SWITCH_COFIGURATION: |
masahikofukasawa | 10:5c69b067d88a | 254 | { |
masahikofukasawa | 10:5c69b067d88a | 255 | if(in->getArgNum() != 0){ |
masahikofukasawa | 39:3821886c902e | 256 | MSG("#Error: Argument num. AK09970. Args=%d\r\n",in->getArgNum()); |
masahikofukasawa | 10:5c69b067d88a | 257 | return AkmSensor::ERROR; |
masahikofukasawa | 10:5c69b067d88a | 258 | } |
masahikofukasawa | 10:5c69b067d88a | 259 | |
masahikofukasawa | 10:5c69b067d88a | 260 | if(ak09970->getSwitchConfig(&switchConfig) != AK09970::SUCCESS) { |
masahikofukasawa | 39:3821886c902e | 261 | MSG("#Error: getSwitchConfig. AK09970.\r\n"); |
masahikofukasawa | 15:1238993fd75f | 262 | return AkmSensor::ERROR; |
masahikofukasawa | 10:5c69b067d88a | 263 | } |
masahikofukasawa | 10:5c69b067d88a | 264 | out->setArgument(0,switchConfig.enabledODINTEN); |
masahikofukasawa | 10:5c69b067d88a | 265 | out->setArgument(1,switchConfig.enabledINTEN); |
masahikofukasawa | 10:5c69b067d88a | 266 | out->setArgument(2,switchConfig.enabledERRADCEN); |
masahikofukasawa | 10:5c69b067d88a | 267 | out->setArgument(3,switchConfig.enabledERRXYEN); |
masahikofukasawa | 10:5c69b067d88a | 268 | out->setArgument(4,switchConfig.enabledSWZ2EN); |
masahikofukasawa | 10:5c69b067d88a | 269 | out->setArgument(5,switchConfig.enabledSWZ1EN); |
masahikofukasawa | 10:5c69b067d88a | 270 | out->setArgument(6,switchConfig.enabledSWY2EN); |
masahikofukasawa | 10:5c69b067d88a | 271 | out->setArgument(7,switchConfig.enabledSWY1EN); |
masahikofukasawa | 10:5c69b067d88a | 272 | out->setArgument(8,switchConfig.enabledSWX2EN); |
masahikofukasawa | 10:5c69b067d88a | 273 | out->setArgument(9,switchConfig.enabledSWX1EN); |
masahikofukasawa | 10:5c69b067d88a | 274 | out->setArgument(10,switchConfig.enabledDRDYEN); |
masahikofukasawa | 10:5c69b067d88a | 275 | break; |
masahikofukasawa | 10:5c69b067d88a | 276 | } |
masahikofukasawa | 10:5c69b067d88a | 277 | case Message::CMD_PROGSW_SET_SWITCH_COFIGURATION: |
masahikofukasawa | 10:5c69b067d88a | 278 | { |
masahikofukasawa | 10:5c69b067d88a | 279 | if(in->getArgNum() != 11){ |
masahikofukasawa | 39:3821886c902e | 280 | MSG("#Error: Argument num. AK09970. Args=%d\r\n",in->getArgNum()); |
masahikofukasawa | 10:5c69b067d88a | 281 | for(int i=0; i<in->getArgNum(); i++){ |
masahikofukasawa | 11:cef8dc1cf010 | 282 | MSG("#%d = %02X\r\n",i,in->getArgument(i)); |
masahikofukasawa | 10:5c69b067d88a | 283 | } |
masahikofukasawa | 10:5c69b067d88a | 284 | status = AkmSensor::ERROR; |
masahikofukasawa | 10:5c69b067d88a | 285 | out->setArgument(0,(char)status); |
masahikofukasawa | 10:5c69b067d88a | 286 | return status; |
masahikofukasawa | 10:5c69b067d88a | 287 | } |
masahikofukasawa | 10:5c69b067d88a | 288 | |
masahikofukasawa | 10:5c69b067d88a | 289 | switchConfig.enabledODINTEN = in->getArgument(0); |
masahikofukasawa | 10:5c69b067d88a | 290 | switchConfig.enabledINTEN = in->getArgument(1); |
masahikofukasawa | 10:5c69b067d88a | 291 | switchConfig.enabledERRADCEN = in->getArgument(2); |
masahikofukasawa | 10:5c69b067d88a | 292 | switchConfig.enabledERRXYEN = in->getArgument(3); |
masahikofukasawa | 10:5c69b067d88a | 293 | switchConfig.enabledSWZ2EN = in->getArgument(4); |
masahikofukasawa | 10:5c69b067d88a | 294 | switchConfig.enabledSWZ1EN = in->getArgument(5); |
masahikofukasawa | 10:5c69b067d88a | 295 | switchConfig.enabledSWY2EN = in->getArgument(6); |
masahikofukasawa | 10:5c69b067d88a | 296 | switchConfig.enabledSWY1EN = in->getArgument(7); |
masahikofukasawa | 10:5c69b067d88a | 297 | switchConfig.enabledSWX2EN = in->getArgument(8); |
masahikofukasawa | 10:5c69b067d88a | 298 | switchConfig.enabledSWX1EN = in->getArgument(9); |
masahikofukasawa | 10:5c69b067d88a | 299 | switchConfig.enabledDRDYEN = in->getArgument(10); |
masahikofukasawa | 10:5c69b067d88a | 300 | |
masahikofukasawa | 10:5c69b067d88a | 301 | if(ak09970->setSwitchConfig(switchConfig) != AK09970::SUCCESS) { |
masahikofukasawa | 10:5c69b067d88a | 302 | status = AkmSensor::ERROR; |
masahikofukasawa | 39:3821886c902e | 303 | MSG("#Error: setSwitchConfig. AK09970.\r\n"); |
masahikofukasawa | 10:5c69b067d88a | 304 | } |
masahikofukasawa | 10:5c69b067d88a | 305 | out->setArgument(0,(char)status); |
masahikofukasawa | 10:5c69b067d88a | 306 | break; |
masahikofukasawa | 10:5c69b067d88a | 307 | } |
masahikofukasawa | 10:5c69b067d88a | 308 | case Message::CMD_PROGSW_GET_OPERATION_MODE: |
masahikofukasawa | 10:5c69b067d88a | 309 | { |
masahikofukasawa | 10:5c69b067d88a | 310 | if(in->getArgNum() != 0){ |
masahikofukasawa | 39:3821886c902e | 311 | MSG("#Error: Argument num. AK09970. Args=%d\r\n",in->getArgNum()); |
masahikofukasawa | 10:5c69b067d88a | 312 | return AkmSensor::ERROR; |
masahikofukasawa | 15:1238993fd75f | 313 | } |
masahikofukasawa | 10:5c69b067d88a | 314 | |
masahikofukasawa | 10:5c69b067d88a | 315 | if(ak09970->getOperationMode(&mode, &sensorDriveMode, &sensorMeasurementRange) != AK09970::SUCCESS) { |
masahikofukasawa | 39:3821886c902e | 316 | MSG("#Error: getOperationMode. AK09970.\r\n"); |
masahikofukasawa | 15:1238993fd75f | 317 | return AkmSensor::ERROR; |
masahikofukasawa | 10:5c69b067d88a | 318 | } |
masahikofukasawa | 10:5c69b067d88a | 319 | out->setArgument(0,(char)sensorMeasurementRange); |
masahikofukasawa | 10:5c69b067d88a | 320 | out->setArgument(1,(char)sensorDriveMode); |
masahikofukasawa | 10:5c69b067d88a | 321 | out->setArgument(2,(char)mode); |
masahikofukasawa | 10:5c69b067d88a | 322 | break; |
masahikofukasawa | 10:5c69b067d88a | 323 | } |
masahikofukasawa | 10:5c69b067d88a | 324 | case Message::CMD_PROGSW_SET_OPERATION_MODE: |
masahikofukasawa | 10:5c69b067d88a | 325 | { |
masahikofukasawa | 10:5c69b067d88a | 326 | if(in->getArgNum() != 3){ |
masahikofukasawa | 39:3821886c902e | 327 | MSG("#Error: Argument num. AK09970. Args=%d\r\n",in->getArgNum()); |
masahikofukasawa | 10:5c69b067d88a | 328 | status = AkmSensor::ERROR; |
masahikofukasawa | 10:5c69b067d88a | 329 | out->setArgument(0,(char)status); |
masahikofukasawa | 10:5c69b067d88a | 330 | return status; |
masahikofukasawa | 10:5c69b067d88a | 331 | } |
masahikofukasawa | 10:5c69b067d88a | 332 | |
masahikofukasawa | 10:5c69b067d88a | 333 | sensorMeasurementRange = (AK09970::SensorMeasurementRange)(in->getArgument(0)); |
masahikofukasawa | 10:5c69b067d88a | 334 | sensorDriveMode = (AK09970::SensorDriveMode)(in->getArgument(1)); |
masahikofukasawa | 10:5c69b067d88a | 335 | mode = (AK09970::OperationMode)(in->getArgument(2)); |
masahikofukasawa | 10:5c69b067d88a | 336 | if(ak09970->setOperationMode(mode, sensorDriveMode, sensorMeasurementRange) != AK09970::SUCCESS) { |
masahikofukasawa | 10:5c69b067d88a | 337 | status = AkmSensor::ERROR; |
masahikofukasawa | 39:3821886c902e | 338 | MSG("#Error: setOperationMode. AK09970. %d,%d,%d\r\n",mode,sensorDriveMode,sensorMeasurementRange); |
masahikofukasawa | 10:5c69b067d88a | 339 | } |
masahikofukasawa | 10:5c69b067d88a | 340 | out->setArgument(0,(char)status); |
masahikofukasawa | 10:5c69b067d88a | 341 | break; |
masahikofukasawa | 10:5c69b067d88a | 342 | } |
masahikofukasawa | 10:5c69b067d88a | 343 | case Message::CMD_REG_WRITE: |
masahikofukasawa | 10:5c69b067d88a | 344 | case Message::CMD_REG_WRITEN: |
masahikofukasawa | 10:5c69b067d88a | 345 | { |
masahikofukasawa | 10:5c69b067d88a | 346 | char address = in->getArgument(0); |
masahikofukasawa | 10:5c69b067d88a | 347 | int len = (int)in->getArgument(1); |
masahikofukasawa | 15:1238993fd75f | 348 | if(in->getArgNum() != len+2){ |
masahikofukasawa | 39:3821886c902e | 349 | MSG("#Error: Argument num. Args=%d\r\n",in->getArgNum()); |
masahikofukasawa | 15:1238993fd75f | 350 | status = AkmSensor::ERROR; |
masahikofukasawa | 15:1238993fd75f | 351 | out->setArgument(0,(char)status); |
masahikofukasawa | 15:1238993fd75f | 352 | return status; |
masahikofukasawa | 15:1238993fd75f | 353 | } |
masahikofukasawa | 15:1238993fd75f | 354 | |
masahikofukasawa | 10:5c69b067d88a | 355 | char data[len]; |
masahikofukasawa | 10:5c69b067d88a | 356 | for(int i=0; i<len; i++){ |
masahikofukasawa | 15:1238993fd75f | 357 | data[i] = in->getArgument(i+2); |
masahikofukasawa | 10:5c69b067d88a | 358 | } |
masahikofukasawa | 10:5c69b067d88a | 359 | if( ak09970->write(address, data, len) != AK09970::SUCCESS) { |
masahikofukasawa | 10:5c69b067d88a | 360 | status = AkmSensor::ERROR; |
masahikofukasawa | 39:3821886c902e | 361 | MSG("#Error: Register write.\r\n"); |
masahikofukasawa | 10:5c69b067d88a | 362 | } |
masahikofukasawa | 10:5c69b067d88a | 363 | out->setArgument(0,(char)status); |
masahikofukasawa | 10:5c69b067d88a | 364 | break; |
masahikofukasawa | 10:5c69b067d88a | 365 | } |
masahikofukasawa | 10:5c69b067d88a | 366 | case Message::CMD_REG_READ: |
masahikofukasawa | 10:5c69b067d88a | 367 | case Message::CMD_REG_READN: |
masahikofukasawa | 10:5c69b067d88a | 368 | { |
masahikofukasawa | 10:5c69b067d88a | 369 | if(in->getArgNum() != 2){ |
masahikofukasawa | 39:3821886c902e | 370 | MSG("#Error: Argument num. Args=%d\r\n",in->getArgNum()); |
masahikofukasawa | 15:1238993fd75f | 371 | return AkmSensor::ERROR; |
masahikofukasawa | 15:1238993fd75f | 372 | } |
masahikofukasawa | 10:5c69b067d88a | 373 | |
masahikofukasawa | 10:5c69b067d88a | 374 | char address = in->getArgument(0); |
masahikofukasawa | 10:5c69b067d88a | 375 | int len = (int)in->getArgument(1); |
masahikofukasawa | 10:5c69b067d88a | 376 | char data[len]; |
masahikofukasawa | 10:5c69b067d88a | 377 | if( ak09970->read(address, data, len) != AK09970::SUCCESS) { |
masahikofukasawa | 39:3821886c902e | 378 | MSG("#Error: Register read.\r\n"); |
masahikofukasawa | 15:1238993fd75f | 379 | return AkmSensor::ERROR; |
masahikofukasawa | 10:5c69b067d88a | 380 | } |
masahikofukasawa | 10:5c69b067d88a | 381 | for(int i=0; i<len; i++){ |
masahikofukasawa | 10:5c69b067d88a | 382 | out->setArgument(i, data[i]); |
masahikofukasawa | 10:5c69b067d88a | 383 | } |
masahikofukasawa | 10:5c69b067d88a | 384 | break; |
masahikofukasawa | 10:5c69b067d88a | 385 | } |
masahikofukasawa | 10:5c69b067d88a | 386 | default: |
masahikofukasawa | 10:5c69b067d88a | 387 | { |
masahikofukasawa | 39:3821886c902e | 388 | MSG("#Error: No command.\r\n"); |
masahikofukasawa | 10:5c69b067d88a | 389 | status = AkmSensor::ERROR; |
masahikofukasawa | 10:5c69b067d88a | 390 | break; |
masahikofukasawa | 10:5c69b067d88a | 391 | } |
masahikofukasawa | 10:5c69b067d88a | 392 | } |
masahikofukasawa | 10:5c69b067d88a | 393 | return status; |
masahikofukasawa | 10:5c69b067d88a | 394 | } |