Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

ak9752ctrl.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?

UserRevisionLine numberNew contents of line
masahikofukasawa 10:5c69b067d88a 1 #include "ak9752ctrl.h"
masahikofukasawa 10:5c69b067d88a 2 #include "debug.h"
masahikofukasawa 10:5c69b067d88a 3
masahikofukasawa 10:5c69b067d88a 4 #define CONV16I(high,low) ((int16_t)(((high) << 8) | (low)))
masahikofukasawa 10:5c69b067d88a 5
masahikofukasawa 10:5c69b067d88a 6 /**
masahikofukasawa 10:5c69b067d88a 7 * Constructor.
masahikofukasawa 10:5c69b067d88a 8 *
masahikofukasawa 10:5c69b067d88a 9 */
masahikofukasawa 27:41aa9fb23a2f 10 Ak9752Ctrl::Ak9752Ctrl() : AkmSensor(){
masahikofukasawa 10:5c69b067d88a 11 ak9752 = NULL;
masahikofukasawa 10:5c69b067d88a 12 }
masahikofukasawa 10:5c69b067d88a 13
masahikofukasawa 10:5c69b067d88a 14 /**
masahikofukasawa 10:5c69b067d88a 15 * Destructor.
masahikofukasawa 10:5c69b067d88a 16 *
masahikofukasawa 10:5c69b067d88a 17 */
masahikofukasawa 10:5c69b067d88a 18 Ak9752Ctrl::~Ak9752Ctrl(){
masahikofukasawa 10:5c69b067d88a 19 if (ak9752) delete ak9752;
masahikofukasawa 10:5c69b067d88a 20 }
masahikofukasawa 10:5c69b067d88a 21
masahikofukasawa 10:5c69b067d88a 22 AkmSensor::Status Ak9752Ctrl::init(const uint8_t id, const uint8_t subid){
masahikofukasawa 10:5c69b067d88a 23 primaryId = id;
masahikofukasawa 10:5c69b067d88a 24 subId = subid;
masahikofukasawa 10:5c69b067d88a 25
masahikofukasawa 10:5c69b067d88a 26 I2C* i2c = new I2C(I2C_SDA,I2C_SCL);
masahikofukasawa 10:5c69b067d88a 27 i2c->frequency(I2C_SPEED_100KHZ);
masahikofukasawa 10:5c69b067d88a 28
masahikofukasawa 10:5c69b067d88a 29 if(subId == SUB_ID_AK9752){
masahikofukasawa 10:5c69b067d88a 30 ak9752 = new AK9752();
masahikofukasawa 13:d008249f0359 31 sensorName = "AK9752";
masahikofukasawa 10:5c69b067d88a 32 }
masahikofukasawa 10:5c69b067d88a 33 else{
masahikofukasawa 10:5c69b067d88a 34 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 35 }
masahikofukasawa 10:5c69b067d88a 36
masahikofukasawa 10:5c69b067d88a 37 bool foundSensor = false;
masahikofukasawa 10:5c69b067d88a 38
masahikofukasawa 10:5c69b067d88a 39 AK9752::SlaveAddress slaveAddr[]
masahikofukasawa 10:5c69b067d88a 40 = { AK9752::SLAVE_ADDR_1 };
masahikofukasawa 10:5c69b067d88a 41
masahikofukasawa 10:5c69b067d88a 42 for(int i=0; i<sizeof(slaveAddr); i++)
masahikofukasawa 10:5c69b067d88a 43 {
masahikofukasawa 10:5c69b067d88a 44 ak9752->init(i2c, slaveAddr[i]);
masahikofukasawa 10:5c69b067d88a 45 // Checks connectivity
masahikofukasawa 29:b488d2c89fba 46 if(ak9752->checkConnection() == AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 47 // found
masahikofukasawa 10:5c69b067d88a 48 foundSensor = true;
masahikofukasawa 10:5c69b067d88a 49 break;
masahikofukasawa 10:5c69b067d88a 50 }
masahikofukasawa 10:5c69b067d88a 51 }
masahikofukasawa 10:5c69b067d88a 52 if(foundSensor != true) return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 53
masahikofukasawa 10:5c69b067d88a 54 // reset
masahikofukasawa 10:5c69b067d88a 55 if (ak9752->reset() != AK9752::SUCCESS) {
masahikofukasawa 39:3821886c902e 56 MSG("#Error: Failed to reset AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 57 }
masahikofukasawa 10:5c69b067d88a 58
masahikofukasawa 11:cef8dc1cf010 59 MSG("#Init success AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 60 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 61 }
masahikofukasawa 10:5c69b067d88a 62
masahikofukasawa 29:b488d2c89fba 63 void Ak9752Ctrl::setEvent(){
masahikofukasawa 29:b488d2c89fba 64 // MSG("#setEvent() in %s.\r\n",sensorName);
masahikofukasawa 29:b488d2c89fba 65 AK9752::Status status = ak9752->isDataReady();
masahikofukasawa 29:b488d2c89fba 66 if( status == AK9752::DATA_READY ) base::setEvent();
masahikofukasawa 10:5c69b067d88a 67 }
masahikofukasawa 10:5c69b067d88a 68
masahikofukasawa 10:5c69b067d88a 69 AkmSensor::Status Ak9752Ctrl::startSensor(){
masahikofukasawa 11:cef8dc1cf010 70 // read one data to clear INT pin
masahikofukasawa 11:cef8dc1cf010 71 AK9752::SensorData data;
masahikofukasawa 11:cef8dc1cf010 72 ak9752->getSensorData(&data);
masahikofukasawa 11:cef8dc1cf010 73
masahikofukasawa 11:cef8dc1cf010 74 // set operation mode
masahikofukasawa 10:5c69b067d88a 75 if(ak9752->setOperationMode(mode,fc_tmp, fc_ir) != AK9752::SUCCESS) {
masahikofukasawa 39:3821886c902e 76 MSG("#Error: Start sensor failed %s\r\n", sensorName);
masahikofukasawa 10:5c69b067d88a 77 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 78 }
masahikofukasawa 10:5c69b067d88a 79
masahikofukasawa 29:b488d2c89fba 80 MSG("#Start sensor %s.\r\n",sensorName);
masahikofukasawa 10:5c69b067d88a 81 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 82 }
masahikofukasawa 10:5c69b067d88a 83
masahikofukasawa 10:5c69b067d88a 84 AkmSensor::Status Ak9752Ctrl::startSensor(const float sec){
masahikofukasawa 10:5c69b067d88a 85 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 86 }
masahikofukasawa 10:5c69b067d88a 87
masahikofukasawa 10:5c69b067d88a 88 AkmSensor::Status Ak9752Ctrl::stopSensor(){
masahikofukasawa 29:b488d2c89fba 89 AkmSensor::clearEvent();
masahikofukasawa 29:b488d2c89fba 90
masahikofukasawa 10:5c69b067d88a 91 if(ak9752->setOperationMode(AK9752::MODE_STANDBY, fc_tmp, fc_ir) != AK9752::SUCCESS) {
masahikofukasawa 39:3821886c902e 92 MSG("#Error: setOperationMode. AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 93 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 94 }
masahikofukasawa 10:5c69b067d88a 95
masahikofukasawa 10:5c69b067d88a 96 // read one data to clear INT pin
masahikofukasawa 11:cef8dc1cf010 97 AK9752::SensorData data;
masahikofukasawa 11:cef8dc1cf010 98 ak9752->getSensorData(&data);
masahikofukasawa 10:5c69b067d88a 99
masahikofukasawa 10:5c69b067d88a 100 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 101 }
masahikofukasawa 10:5c69b067d88a 102
masahikofukasawa 10:5c69b067d88a 103 AkmSensor::Status Ak9752Ctrl::readSensorData(Message* msg){
masahikofukasawa 29:b488d2c89fba 104 AkmSensor::clearEvent();
masahikofukasawa 10:5c69b067d88a 105
masahikofukasawa 10:5c69b067d88a 106 AK9752::SensorData data;
masahikofukasawa 10:5c69b067d88a 107 AK9752::Status status = ak9752->getSensorData(&data);
masahikofukasawa 10:5c69b067d88a 108 if( status != AK9752::SUCCESS){
masahikofukasawa 39:3821886c902e 109 MSG("#Error: getSensorData. AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 110 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 111 }
masahikofukasawa 10:5c69b067d88a 112 msg->setCommand(Message::CMD_START_MEASUREMENT);
masahikofukasawa 10:5c69b067d88a 113 msg->setArgument( 0, data.intStatus.irh);
masahikofukasawa 10:5c69b067d88a 114 msg->setArgument( 1, data.intStatus.irl);
masahikofukasawa 10:5c69b067d88a 115 msg->setArgument( 2, data.intStatus.tmph);
masahikofukasawa 10:5c69b067d88a 116 msg->setArgument( 3, data.intStatus.tmpl);
masahikofukasawa 10:5c69b067d88a 117 msg->setArgument( 4, data.intStatus.dr);
masahikofukasawa 10:5c69b067d88a 118 msg->setArgument( 5,(char)((int32_t)(data.ir) >> 8));
masahikofukasawa 10:5c69b067d88a 119 msg->setArgument( 6, (char)((int32_t)(data.ir) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 120 msg->setArgument( 7,(char)((int32_t)(data.temperature) >> 8));
masahikofukasawa 10:5c69b067d88a 121 msg->setArgument( 8, (char)((int32_t)(data.temperature) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 122 msg->setArgument( 9, data.dor);
masahikofukasawa 10:5c69b067d88a 123
masahikofukasawa 10:5c69b067d88a 124 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 125 }
masahikofukasawa 10:5c69b067d88a 126
masahikofukasawa 10:5c69b067d88a 127 AkmSensor::Status Ak9752Ctrl::requestCommand(Message* in, Message* out){
masahikofukasawa 10:5c69b067d88a 128 AkmSensor::Status status = AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 129 Message::Command cmd = in->getCommand();
masahikofukasawa 10:5c69b067d88a 130 AK9752::Threshold th;
masahikofukasawa 29:b488d2c89fba 131 AK9752::InterruptStatus interruptStatus;
masahikofukasawa 10:5c69b067d88a 132
masahikofukasawa 10:5c69b067d88a 133 out->setCommand(cmd);
masahikofukasawa 10:5c69b067d88a 134
masahikofukasawa 10:5c69b067d88a 135 switch(cmd){
masahikofukasawa 10:5c69b067d88a 136 case Message::CMD_IR_GET_THRESHOLD:
masahikofukasawa 10:5c69b067d88a 137 {
masahikofukasawa 10:5c69b067d88a 138 if (ak9752->getThreshold(&th) != AK9752::SUCCESS) {
masahikofukasawa 39:3821886c902e 139 MSG("#Error: Failed to set threshold to AK9752.\r\n");
masahikofukasawa 15:1238993fd75f 140 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 141 }
masahikofukasawa 10:5c69b067d88a 142 out->setArgument(0,(char)((int32_t)(th.thirh) >> 8));
masahikofukasawa 10:5c69b067d88a 143 out->setArgument(1,(char)((int32_t)(th.thirh) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 144 out->setArgument(2,(char)((int32_t)(th.thirl) >> 8));
masahikofukasawa 10:5c69b067d88a 145 out->setArgument(3,(char)((int32_t)(th.thirl) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 146 out->setArgument(4,(char)((int32_t)(th.thtmph) >> 8));
masahikofukasawa 10:5c69b067d88a 147 out->setArgument(5,(char)((int32_t)(th.thtmph) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 148 out->setArgument(6,(char)((int32_t)(th.thtmpl) >> 8));
masahikofukasawa 10:5c69b067d88a 149 out->setArgument(7,(char)((int32_t)(th.thtmpl) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 150 break;
masahikofukasawa 10:5c69b067d88a 151 }
masahikofukasawa 10:5c69b067d88a 152 case Message::CMD_IR_SET_THRESHOLD:
masahikofukasawa 10:5c69b067d88a 153 {
masahikofukasawa 10:5c69b067d88a 154 th.thirh = CONV16I(in->getArgument(0), in->getArgument(1));
masahikofukasawa 10:5c69b067d88a 155 th.thirl = CONV16I(in->getArgument(2), in->getArgument(3));
masahikofukasawa 10:5c69b067d88a 156 th.thtmph = CONV16I(in->getArgument(4), in->getArgument(5));
masahikofukasawa 10:5c69b067d88a 157 th.thtmpl = CONV16I(in->getArgument(6), in->getArgument(7));
masahikofukasawa 10:5c69b067d88a 158 if (ak9752->setThreshold(&th) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 159 status = AkmSensor::ERROR;
masahikofukasawa 39:3821886c902e 160 MSG("#Error: Failed to set threshold to AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 161 }
masahikofukasawa 10:5c69b067d88a 162 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 163 break;
masahikofukasawa 10:5c69b067d88a 164 }
masahikofukasawa 10:5c69b067d88a 165 case Message::CMD_IR_GET_INTERRUPT:
masahikofukasawa 10:5c69b067d88a 166 {
masahikofukasawa 29:b488d2c89fba 167 if (ak9752->getInterruptEnable(&interruptStatus) != AK9752::SUCCESS) {
masahikofukasawa 39:3821886c902e 168 MSG("#Error: Failed to set hysteresis to AK9752.\r\n");
masahikofukasawa 15:1238993fd75f 169 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 170 }
masahikofukasawa 29:b488d2c89fba 171 out->setArgument(0, interruptStatus.irh);
masahikofukasawa 29:b488d2c89fba 172 out->setArgument(1, interruptStatus.irl);
masahikofukasawa 29:b488d2c89fba 173 out->setArgument(2, interruptStatus.tmph);
masahikofukasawa 29:b488d2c89fba 174 out->setArgument(3, interruptStatus.tmpl);
masahikofukasawa 29:b488d2c89fba 175 out->setArgument(4, interruptStatus.dr);
masahikofukasawa 10:5c69b067d88a 176 break;
masahikofukasawa 10:5c69b067d88a 177 }
masahikofukasawa 10:5c69b067d88a 178 case Message::CMD_IR_SET_INTERRUPT:
masahikofukasawa 10:5c69b067d88a 179 {
masahikofukasawa 29:b488d2c89fba 180 interruptStatus.irh = in->getArgument(0);
masahikofukasawa 29:b488d2c89fba 181 interruptStatus.irl = in->getArgument(1);
masahikofukasawa 29:b488d2c89fba 182 interruptStatus.tmph = in->getArgument(2);
masahikofukasawa 29:b488d2c89fba 183 interruptStatus.tmpl = in->getArgument(3);
masahikofukasawa 29:b488d2c89fba 184 interruptStatus.dr = in->getArgument(4);
masahikofukasawa 29:b488d2c89fba 185 if (ak9752->setInterruptEnable(&interruptStatus) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 186 status = AkmSensor::ERROR;
masahikofukasawa 39:3821886c902e 187 MSG("#Error: Failed to set hysteresis to AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 188 }
masahikofukasawa 10:5c69b067d88a 189 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 190 break;
masahikofukasawa 10:5c69b067d88a 191 }
masahikofukasawa 10:5c69b067d88a 192 case Message::CMD_IR_GET_OPERATION_MODE:
masahikofukasawa 10:5c69b067d88a 193 {
masahikofukasawa 10:5c69b067d88a 194 if(ak9752->getOperationMode(&mode, &fc_tmp, &fc_ir) != AK9752::SUCCESS) {
masahikofukasawa 39:3821886c902e 195 MSG("#Error: getOperationMode. AK9752.\r\n");
masahikofukasawa 15:1238993fd75f 196 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 197 }
masahikofukasawa 10:5c69b067d88a 198 out->setArgument(0,(char)mode);
masahikofukasawa 10:5c69b067d88a 199 out->setArgument(1,(char)fc_tmp);
masahikofukasawa 10:5c69b067d88a 200 out->setArgument(2,(char)fc_ir);
masahikofukasawa 10:5c69b067d88a 201 break;
masahikofukasawa 10:5c69b067d88a 202 }
masahikofukasawa 10:5c69b067d88a 203 case Message::CMD_IR_SET_OPERATION_MODE:
masahikofukasawa 10:5c69b067d88a 204 {
masahikofukasawa 10:5c69b067d88a 205 mode = (AK9752::OperationMode)in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 206 fc_tmp = (AK9752::FcTmp)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 207 fc_ir = (AK9752::FcIr)in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 208 if(ak9752->setOperationMode(mode, fc_tmp, fc_ir) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 209 status = AkmSensor::ERROR;
masahikofukasawa 39:3821886c902e 210 MSG("#Error: setOperationMode. AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 211 }
masahikofukasawa 10:5c69b067d88a 212 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 213 break;
masahikofukasawa 10:5c69b067d88a 214 }
masahikofukasawa 10:5c69b067d88a 215 case Message::CMD_REG_WRITE:
masahikofukasawa 10:5c69b067d88a 216 case Message::CMD_REG_WRITEN:
masahikofukasawa 10:5c69b067d88a 217 {
masahikofukasawa 10:5c69b067d88a 218 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 219 int len = (int)in->getArgument(1);
masahikofukasawa 15:1238993fd75f 220 if(in->getArgNum() != len+2){
masahikofukasawa 39:3821886c902e 221 MSG("#Error: argument num. Args=%d\r\n",in->getArgNum());
masahikofukasawa 15:1238993fd75f 222 status = AkmSensor::ERROR;
masahikofukasawa 15:1238993fd75f 223 out->setArgument(0,(char)status);
masahikofukasawa 15:1238993fd75f 224 return status;
masahikofukasawa 15:1238993fd75f 225 }
masahikofukasawa 15:1238993fd75f 226
masahikofukasawa 10:5c69b067d88a 227 char data[len];
masahikofukasawa 10:5c69b067d88a 228 for(int i=0; i<len; i++){
masahikofukasawa 15:1238993fd75f 229 data[i] = in->getArgument(i+2);
masahikofukasawa 10:5c69b067d88a 230 }
masahikofukasawa 10:5c69b067d88a 231 if( ak9752->write(address, data, len) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 232 status = AkmSensor::ERROR;
masahikofukasawa 39:3821886c902e 233 MSG("#Error: register write.\r\n");
masahikofukasawa 10:5c69b067d88a 234 }
masahikofukasawa 10:5c69b067d88a 235 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 236 break;
masahikofukasawa 10:5c69b067d88a 237 }
masahikofukasawa 10:5c69b067d88a 238 case Message::CMD_REG_READ:
masahikofukasawa 10:5c69b067d88a 239 case Message::CMD_REG_READN:
masahikofukasawa 10:5c69b067d88a 240 {
masahikofukasawa 15:1238993fd75f 241 if(in->getArgNum() != 2){
masahikofukasawa 39:3821886c902e 242 MSG("#Error: argument num. Args=%d\r\n",in->getArgNum());
masahikofukasawa 15:1238993fd75f 243 return AkmSensor::ERROR;
masahikofukasawa 15:1238993fd75f 244 }
masahikofukasawa 15:1238993fd75f 245
masahikofukasawa 10:5c69b067d88a 246 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 247 int len = (int)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 248 char data[len];
masahikofukasawa 10:5c69b067d88a 249 if( ak9752->read(address, data, len) != AK9752::SUCCESS) {
masahikofukasawa 39:3821886c902e 250 MSG("#Error: register read.\r\n");
masahikofukasawa 15:1238993fd75f 251 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 252 }
masahikofukasawa 10:5c69b067d88a 253 for(int i=0; i<len; i++){
masahikofukasawa 10:5c69b067d88a 254 out->setArgument(i, data[i]);
masahikofukasawa 10:5c69b067d88a 255 }
masahikofukasawa 10:5c69b067d88a 256 break;
masahikofukasawa 10:5c69b067d88a 257 }
masahikofukasawa 10:5c69b067d88a 258 default:
masahikofukasawa 10:5c69b067d88a 259 {
masahikofukasawa 39:3821886c902e 260 MSG("#Error: No command.\r\n");
masahikofukasawa 10:5c69b067d88a 261 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 262 break;
masahikofukasawa 10:5c69b067d88a 263 }
masahikofukasawa 10:5c69b067d88a 264 }
masahikofukasawa 10:5c69b067d88a 265 return status;
masahikofukasawa 10:5c69b067d88a 266 }