Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

ak09970ctrl.cpp@27:41aa9fb23a2f, 2017-03-11 (annotated)

Committer:
masahikofukasawa
Date:
Sat Mar 11 01:14:15 2017 +0000
Revision:
27:41aa9fb23a2f
Parent:
16:d85be9bafb80
Child:
29:b488d2c89fba
modified for multi sensor demo

Who changed what in which revision?

UserRevisionLine numberNew contents of line
masahikofukasawa 10:5c69b067d88a 1 #include "ak09970ctrl.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 * Constructor.
masahikofukasawa 10:5c69b067d88a 7 *
masahikofukasawa 10:5c69b067d88a 8 */
masahikofukasawa 27:41aa9fb23a2f 9 Ak09970Ctrl::Ak09970Ctrl() : AkmSensor(){
masahikofukasawa 10:5c69b067d88a 10 ak09970 = NULL;
masahikofukasawa 10:5c69b067d88a 11 sw = 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 Ak09970Ctrl::~Ak09970Ctrl(){
masahikofukasawa 10:5c69b067d88a 19 sw->rise(0);
masahikofukasawa 10:5c69b067d88a 20 if (ak09970) delete ak09970;
masahikofukasawa 10:5c69b067d88a 21 if (sw) delete sw;
masahikofukasawa 10:5c69b067d88a 22 }
masahikofukasawa 10:5c69b067d88a 23
masahikofukasawa 10:5c69b067d88a 24 AkmSensor::Status Ak09970Ctrl::init(const uint8_t id, const uint8_t subid){
masahikofukasawa 10:5c69b067d88a 25 primaryId = id;
masahikofukasawa 10:5c69b067d88a 26 subId = subid;
masahikofukasawa 10:5c69b067d88a 27
masahikofukasawa 10:5c69b067d88a 28 // initialize readConfig
masahikofukasawa 10:5c69b067d88a 29 readConfig.enabledReadX = false;
masahikofukasawa 10:5c69b067d88a 30 readConfig.enabledReadY = false;
masahikofukasawa 10:5c69b067d88a 31 readConfig.enabledReadZ = false;
masahikofukasawa 10:5c69b067d88a 32 readConfig.enabledUpperOnly = false;
masahikofukasawa 10:5c69b067d88a 33
masahikofukasawa 10:5c69b067d88a 34 if(primaryId == AKM_PRIMARY_ID_AKD_I2C){
masahikofukasawa 10:5c69b067d88a 35
masahikofukasawa 10:5c69b067d88a 36 sw = new InterruptIn(I2C_DRDY);
masahikofukasawa 10:5c69b067d88a 37 sw->rise(0);
masahikofukasawa 10:5c69b067d88a 38
masahikofukasawa 10:5c69b067d88a 39 I2C* i2c = new I2C(I2C_SDA,I2C_SCL);
masahikofukasawa 10:5c69b067d88a 40 i2c->frequency(I2C_SPEED_100KHZ);
masahikofukasawa 10:5c69b067d88a 41
masahikofukasawa 10:5c69b067d88a 42 switch(subid){
masahikofukasawa 10:5c69b067d88a 43 case Ak09970Ctrl::SUB_ID_AK09970:
masahikofukasawa 10:5c69b067d88a 44 ak09970 = new AK09970();
masahikofukasawa 10:5c69b067d88a 45 Ak09970Ctrl::sensorName = "AK09970";
masahikofukasawa 10:5c69b067d88a 46 break;
masahikofukasawa 10:5c69b067d88a 47 default:
masahikofukasawa 10:5c69b067d88a 48 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 49 }
masahikofukasawa 10:5c69b067d88a 50
masahikofukasawa 10:5c69b067d88a 51 bool foundSensor = false;
masahikofukasawa 10:5c69b067d88a 52
masahikofukasawa 10:5c69b067d88a 53 AK09970::SlaveAddress slaveAddr[]
masahikofukasawa 10:5c69b067d88a 54 = { AK09970::SLAVE_ADDR_1,
masahikofukasawa 10:5c69b067d88a 55 AK09970::SLAVE_ADDR_2};
masahikofukasawa 10:5c69b067d88a 56
masahikofukasawa 10:5c69b067d88a 57 for(int i=0; i<sizeof(slaveAddr); i++)
masahikofukasawa 10:5c69b067d88a 58 {
masahikofukasawa 10:5c69b067d88a 59 ak09970->init(i2c, slaveAddr[i]);
masahikofukasawa 10:5c69b067d88a 60 // Checks connectivity
masahikofukasawa 10:5c69b067d88a 61 if(ak09970->checkConnection() == AK09970::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 62 // found
masahikofukasawa 10:5c69b067d88a 63 foundSensor = true;
masahikofukasawa 10:5c69b067d88a 64 break;
masahikofukasawa 10:5c69b067d88a 65 }
masahikofukasawa 10:5c69b067d88a 66 }
masahikofukasawa 10:5c69b067d88a 67 if(foundSensor != true){
masahikofukasawa 10:5c69b067d88a 68 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 69 }
masahikofukasawa 10:5c69b067d88a 70
masahikofukasawa 10:5c69b067d88a 71 // software reset
masahikofukasawa 10:5c69b067d88a 72 ak09970->reset();
masahikofukasawa 10:5c69b067d88a 73
masahikofukasawa 10:5c69b067d88a 74 }else if(primaryId == AKM_PRIMARY_ID_AKD_SPI){
masahikofukasawa 10:5c69b067d88a 75
masahikofukasawa 10:5c69b067d88a 76 sw = new InterruptIn(SPI_DRDY);
masahikofukasawa 10:5c69b067d88a 77 sw->rise(0);
masahikofukasawa 10:5c69b067d88a 78
masahikofukasawa 10:5c69b067d88a 79 SPI* spi = new SPI(SPI_MOSI, SPI_MISO, SPI_SCK);
masahikofukasawa 10:5c69b067d88a 80 spi->format(8,3); // 8bit, Mode=3
masahikofukasawa 10:5c69b067d88a 81 spi->frequency(1000000);
masahikofukasawa 10:5c69b067d88a 82
masahikofukasawa 10:5c69b067d88a 83 DigitalOut* cs = new DigitalOut(SPI_CS);
masahikofukasawa 10:5c69b067d88a 84
masahikofukasawa 10:5c69b067d88a 85 switch(subid){
masahikofukasawa 10:5c69b067d88a 86 case Ak09970Ctrl::SUB_ID_AK09970:
masahikofukasawa 10:5c69b067d88a 87 ak09970 = new AK09970();
masahikofukasawa 10:5c69b067d88a 88 Ak09970Ctrl::sensorName = "AK09970";
masahikofukasawa 10:5c69b067d88a 89 break;
masahikofukasawa 10:5c69b067d88a 90 default:
masahikofukasawa 10:5c69b067d88a 91 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 92 }
masahikofukasawa 10:5c69b067d88a 93
masahikofukasawa 10:5c69b067d88a 94 bool foundSensor = false;
masahikofukasawa 10:5c69b067d88a 95 ak09970->init(spi, cs);
masahikofukasawa 10:5c69b067d88a 96 if(ak09970->checkConnection() == AK09970::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 97 foundSensor = true;
masahikofukasawa 10:5c69b067d88a 98 }
masahikofukasawa 10:5c69b067d88a 99 if(foundSensor != true){
masahikofukasawa 11:cef8dc1cf010 100 MSG("#failed checkConnetion(SPI). %s\r\n",Ak09970Ctrl::sensorName);
masahikofukasawa 10:5c69b067d88a 101 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 102 }
masahikofukasawa 10:5c69b067d88a 103
masahikofukasawa 10:5c69b067d88a 104 // software reset
masahikofukasawa 10:5c69b067d88a 105 ak09970->reset();
masahikofukasawa 10:5c69b067d88a 106 }
masahikofukasawa 10:5c69b067d88a 107 else{
masahikofukasawa 10:5c69b067d88a 108 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 109 }
masahikofukasawa 10:5c69b067d88a 110
masahikofukasawa 11:cef8dc1cf010 111 MSG("#%s detected.\r\n", Ak09970Ctrl::sensorName);
masahikofukasawa 10:5c69b067d88a 112 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 113 }
masahikofukasawa 10:5c69b067d88a 114
masahikofukasawa 10:5c69b067d88a 115
masahikofukasawa 10:5c69b067d88a 116 void Ak09970Ctrl::checkINT(){
masahikofukasawa 10:5c69b067d88a 117 // AK09970::Status status = ak09970->isDataReady();
masahikofukasawa 10:5c69b067d88a 118 // if( status == AK09970::DATA_READY ||
masahikofukasawa 10:5c69b067d88a 119 // status == AK09970::DATA_OVER_RUN ) event = true;
masahikofukasawa 10:5c69b067d88a 120 }
masahikofukasawa 10:5c69b067d88a 121
masahikofukasawa 10:5c69b067d88a 122 void Ak09970Ctrl::detectINT(){
masahikofukasawa 10:5c69b067d88a 123 event = true;
masahikofukasawa 10:5c69b067d88a 124 }
masahikofukasawa 10:5c69b067d88a 125
masahikofukasawa 10:5c69b067d88a 126 AkmSensor::Status Ak09970Ctrl::startSensor(){
masahikofukasawa 11:cef8dc1cf010 127 // read one data to clear switch
masahikofukasawa 11:cef8dc1cf010 128 AK09970::SwitchStatus sw_status;
masahikofukasawa 11:cef8dc1cf010 129 ak09970->getSwitchStatus(&sw_status, readConfig);
masahikofukasawa 11:cef8dc1cf010 130
masahikofukasawa 11:cef8dc1cf010 131 // enable interrupt
masahikofukasawa 16:d85be9bafb80 132 sw->rise(callback(this, &Ak09970Ctrl::detectINT));
masahikofukasawa 11:cef8dc1cf010 133
masahikofukasawa 11:cef8dc1cf010 134 // set operation mode
masahikofukasawa 10:5c69b067d88a 135 if(ak09970->setOperationMode(mode,sensorDriveMode,sensorMeasurementRange) != AK09970::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 136 MSG("#Start sensor failed.\r\n");
masahikofukasawa 10:5c69b067d88a 137 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 138 }
masahikofukasawa 10:5c69b067d88a 139
masahikofukasawa 11:cef8dc1cf010 140 MSG("#Start sensor succceeded.\r\n");
masahikofukasawa 10:5c69b067d88a 141 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 142 }
masahikofukasawa 10:5c69b067d88a 143
masahikofukasawa 10:5c69b067d88a 144 AkmSensor::Status Ak09970Ctrl::startSensor(const float sec){
masahikofukasawa 11:cef8dc1cf010 145 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 146 }
masahikofukasawa 10:5c69b067d88a 147
masahikofukasawa 10:5c69b067d88a 148 AkmSensor::Status Ak09970Ctrl::stopSensor(){
masahikofukasawa 11:cef8dc1cf010 149 sw->rise(NULL);
masahikofukasawa 11:cef8dc1cf010 150 event = false;
masahikofukasawa 11:cef8dc1cf010 151
masahikofukasawa 10:5c69b067d88a 152 if(ak09970->setOperationMode(AK09970::MODE_POWER_DOWN, sensorDriveMode, sensorMeasurementRange) != AK09970::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 153 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 154 }
masahikofukasawa 11:cef8dc1cf010 155
masahikofukasawa 11:cef8dc1cf010 156 // read one data to clear switch
masahikofukasawa 11:cef8dc1cf010 157 AK09970::SwitchStatus sw_status;
masahikofukasawa 11:cef8dc1cf010 158 ak09970->getSwitchStatus(&sw_status, readConfig);
masahikofukasawa 11:cef8dc1cf010 159
masahikofukasawa 10:5c69b067d88a 160 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 161 }
masahikofukasawa 10:5c69b067d88a 162
masahikofukasawa 10:5c69b067d88a 163 AkmSensor::Status Ak09970Ctrl::readSensorData(Message* msg){
masahikofukasawa 10:5c69b067d88a 164 event = false;
masahikofukasawa 10:5c69b067d88a 165
masahikofukasawa 10:5c69b067d88a 166 AK09970::SwitchStatus sw_status;
masahikofukasawa 10:5c69b067d88a 167 if( ak09970->getSwitchStatus(&sw_status, readConfig) != AkmSensor::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 168 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 169 }
masahikofukasawa 10:5c69b067d88a 170
masahikofukasawa 10:5c69b067d88a 171 msg->setCommand(Message::CMD_START_MEASUREMENT);
masahikofukasawa 10:5c69b067d88a 172 msg->setArgument(0, sensorMeasurementRange);
masahikofukasawa 10:5c69b067d88a 173 msg->setArgument(1, sw_status.st_hi);
masahikofukasawa 10:5c69b067d88a 174 msg->setArgument(2, sw_status.st_lo);
masahikofukasawa 10:5c69b067d88a 175 msg->setArgument(3, (char)(sw_status.mag.mx>>8));
masahikofukasawa 10:5c69b067d88a 176 msg->setArgument(4, (char)(sw_status.mag.mx & 0x00FF));
masahikofukasawa 10:5c69b067d88a 177 msg->setArgument(5, (char)(sw_status.mag.my>>8));
masahikofukasawa 10:5c69b067d88a 178 msg->setArgument(6, (char)(sw_status.mag.my & 0x00FF));
masahikofukasawa 10:5c69b067d88a 179 msg->setArgument(7, (char)(sw_status.mag.mz>>8));
masahikofukasawa 10:5c69b067d88a 180 msg->setArgument(8, (char)(sw_status.mag.mz & 0x00FF));
masahikofukasawa 10:5c69b067d88a 181
masahikofukasawa 10:5c69b067d88a 182 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 183 }
masahikofukasawa 10:5c69b067d88a 184
masahikofukasawa 10:5c69b067d88a 185 AkmSensor::Status Ak09970Ctrl::requestCommand(Message* in, Message* out){
masahikofukasawa 10:5c69b067d88a 186 AkmSensor::Status status = AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 187 Message::Command cmd = in->getCommand();
masahikofukasawa 10:5c69b067d88a 188 out->setCommand(cmd);
masahikofukasawa 10:5c69b067d88a 189
masahikofukasawa 10:5c69b067d88a 190 switch(cmd){
masahikofukasawa 10:5c69b067d88a 191 case Message::CMD_PROGSW_GET_THRESHOLD:
masahikofukasawa 10:5c69b067d88a 192 {
masahikofukasawa 10:5c69b067d88a 193 if(in->getArgNum() != 1){
masahikofukasawa 11:cef8dc1cf010 194 MSG("#Error argument num. AK09970. Args=%d\r\n",in->getArgNum());
masahikofukasawa 10:5c69b067d88a 195 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 196 }
masahikofukasawa 10:5c69b067d88a 197
masahikofukasawa 10:5c69b067d88a 198 AK09970::SensorAxis axis = (AK09970::SensorAxis)in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 199 AK09970::Threshold th;
masahikofukasawa 10:5c69b067d88a 200 if( ak09970->getThreshold(axis, &th) != AkmSensor::SUCCESS ){
masahikofukasawa 10:5c69b067d88a 201 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 202 }
masahikofukasawa 10:5c69b067d88a 203 out->setArgument(0, axis);
masahikofukasawa 10:5c69b067d88a 204 out->setArgument(1,(char)((int32_t)(th.BOP1) >> 8));
masahikofukasawa 10:5c69b067d88a 205 out->setArgument(2,(char)((int32_t)(th.BOP1) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 206 out->setArgument(3,(char)((int32_t)(th.BRP1) >> 8));
masahikofukasawa 10:5c69b067d88a 207 out->setArgument(4,(char)((int32_t)(th.BRP1) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 208 out->setArgument(5,(char)((int32_t)(th.BOP2) >> 8));
masahikofukasawa 10:5c69b067d88a 209 out->setArgument(6,(char)((int32_t)(th.BOP2) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 210 out->setArgument(7,(char)((int32_t)(th.BRP2) >> 8));
masahikofukasawa 10:5c69b067d88a 211 out->setArgument(8,(char)((int32_t)(th.BRP2) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 212 break;
masahikofukasawa 10:5c69b067d88a 213 }
masahikofukasawa 10:5c69b067d88a 214 case Message::CMD_PROGSW_SET_THRESHOLD:
masahikofukasawa 10:5c69b067d88a 215 {
masahikofukasawa 10:5c69b067d88a 216 if(in->getArgNum() != 9){
masahikofukasawa 11:cef8dc1cf010 217 MSG("#Error argument num. AK09970. Args=%d\r\n",in->getArgNum());
masahikofukasawa 10:5c69b067d88a 218 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 219 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 220 return status;
masahikofukasawa 10:5c69b067d88a 221 }
masahikofukasawa 10:5c69b067d88a 222
masahikofukasawa 10:5c69b067d88a 223 AK09970::SensorAxis axis = (AK09970::SensorAxis)in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 224 AK09970::Threshold th;
masahikofukasawa 10:5c69b067d88a 225
masahikofukasawa 10:5c69b067d88a 226 th.BOP1 = CONV16I(in->getArgument(1),in->getArgument(2));
masahikofukasawa 10:5c69b067d88a 227 th.BRP1 = CONV16I(in->getArgument(3),in->getArgument(4));
masahikofukasawa 10:5c69b067d88a 228 th.BOP2 = CONV16I(in->getArgument(5),in->getArgument(6));
masahikofukasawa 10:5c69b067d88a 229 th.BRP2 = CONV16I(in->getArgument(7),in->getArgument(8));
masahikofukasawa 10:5c69b067d88a 230 if( ak09970->setThreshold(axis, th) != AkmSensor::SUCCESS ){
masahikofukasawa 10:5c69b067d88a 231 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 232 }
masahikofukasawa 10:5c69b067d88a 233 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 234 break;
masahikofukasawa 10:5c69b067d88a 235 }
masahikofukasawa 10:5c69b067d88a 236 case Message::CMD_PROGSW_GET_READ_COFIGURATION:
masahikofukasawa 10:5c69b067d88a 237 {
masahikofukasawa 10:5c69b067d88a 238 if(in->getArgNum() != 0){
masahikofukasawa 11:cef8dc1cf010 239 MSG("#Error argument num. AK09970. Args=%d\r\n",in->getArgNum());
masahikofukasawa 10:5c69b067d88a 240 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 241 }
masahikofukasawa 10:5c69b067d88a 242
masahikofukasawa 10:5c69b067d88a 243 out->setArgument(0, readConfig.enabledReadX);
masahikofukasawa 10:5c69b067d88a 244 out->setArgument(1, readConfig.enabledReadY);
masahikofukasawa 10:5c69b067d88a 245 out->setArgument(2, readConfig.enabledReadZ);
masahikofukasawa 10:5c69b067d88a 246 out->setArgument(3, readConfig.enabledUpperOnly);
masahikofukasawa 10:5c69b067d88a 247 break;
masahikofukasawa 10:5c69b067d88a 248 }
masahikofukasawa 10:5c69b067d88a 249 case Message::CMD_PROGSW_SET_READ_COFIGURATION:
masahikofukasawa 10:5c69b067d88a 250 {
masahikofukasawa 10:5c69b067d88a 251 if(in->getArgNum() != 4){
masahikofukasawa 11:cef8dc1cf010 252 MSG("#Error argument num. AK09970. Args=%d\r\n",in->getArgNum());
masahikofukasawa 10:5c69b067d88a 253 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 254 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 255 return status;
masahikofukasawa 10:5c69b067d88a 256 }
masahikofukasawa 10:5c69b067d88a 257
masahikofukasawa 10:5c69b067d88a 258 readConfig.enabledReadX = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 259 readConfig.enabledReadY = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 260 readConfig.enabledReadZ = in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 261 readConfig.enabledUpperOnly = in->getArgument(3);
masahikofukasawa 10:5c69b067d88a 262 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 263 break;
masahikofukasawa 10:5c69b067d88a 264 }
masahikofukasawa 10:5c69b067d88a 265 case Message::CMD_PROGSW_GET_SWITCH_COFIGURATION:
masahikofukasawa 10:5c69b067d88a 266 {
masahikofukasawa 10:5c69b067d88a 267 if(in->getArgNum() != 0){
masahikofukasawa 11:cef8dc1cf010 268 MSG("#Error argument num. AK09970. Args=%d\r\n",in->getArgNum());
masahikofukasawa 10:5c69b067d88a 269 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 270 }
masahikofukasawa 10:5c69b067d88a 271
masahikofukasawa 10:5c69b067d88a 272 if(ak09970->getSwitchConfig(&switchConfig) != AK09970::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 273 MSG("#Error getSwitchConfig. AK09970.\r\n");
masahikofukasawa 15:1238993fd75f 274 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 275 }
masahikofukasawa 10:5c69b067d88a 276 out->setArgument(0,switchConfig.enabledODINTEN);
masahikofukasawa 10:5c69b067d88a 277 out->setArgument(1,switchConfig.enabledINTEN);
masahikofukasawa 10:5c69b067d88a 278 out->setArgument(2,switchConfig.enabledERRADCEN);
masahikofukasawa 10:5c69b067d88a 279 out->setArgument(3,switchConfig.enabledERRXYEN);
masahikofukasawa 10:5c69b067d88a 280 out->setArgument(4,switchConfig.enabledSWZ2EN);
masahikofukasawa 10:5c69b067d88a 281 out->setArgument(5,switchConfig.enabledSWZ1EN);
masahikofukasawa 10:5c69b067d88a 282 out->setArgument(6,switchConfig.enabledSWY2EN);
masahikofukasawa 10:5c69b067d88a 283 out->setArgument(7,switchConfig.enabledSWY1EN);
masahikofukasawa 10:5c69b067d88a 284 out->setArgument(8,switchConfig.enabledSWX2EN);
masahikofukasawa 10:5c69b067d88a 285 out->setArgument(9,switchConfig.enabledSWX1EN);
masahikofukasawa 10:5c69b067d88a 286 out->setArgument(10,switchConfig.enabledDRDYEN);
masahikofukasawa 10:5c69b067d88a 287 break;
masahikofukasawa 10:5c69b067d88a 288 }
masahikofukasawa 10:5c69b067d88a 289 case Message::CMD_PROGSW_SET_SWITCH_COFIGURATION:
masahikofukasawa 10:5c69b067d88a 290 {
masahikofukasawa 10:5c69b067d88a 291 if(in->getArgNum() != 11){
masahikofukasawa 11:cef8dc1cf010 292 MSG("#Error argument num. AK09970. Args=%d\r\n",in->getArgNum());
masahikofukasawa 10:5c69b067d88a 293 for(int i=0; i<in->getArgNum(); i++){
masahikofukasawa 11:cef8dc1cf010 294 MSG("#%d = %02X\r\n",i,in->getArgument(i));
masahikofukasawa 10:5c69b067d88a 295 }
masahikofukasawa 10:5c69b067d88a 296 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 297 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 298 return status;
masahikofukasawa 10:5c69b067d88a 299 }
masahikofukasawa 10:5c69b067d88a 300
masahikofukasawa 10:5c69b067d88a 301 switchConfig.enabledODINTEN = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 302 switchConfig.enabledINTEN = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 303 switchConfig.enabledERRADCEN = in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 304 switchConfig.enabledERRXYEN = in->getArgument(3);
masahikofukasawa 10:5c69b067d88a 305 switchConfig.enabledSWZ2EN = in->getArgument(4);
masahikofukasawa 10:5c69b067d88a 306 switchConfig.enabledSWZ1EN = in->getArgument(5);
masahikofukasawa 10:5c69b067d88a 307 switchConfig.enabledSWY2EN = in->getArgument(6);
masahikofukasawa 10:5c69b067d88a 308 switchConfig.enabledSWY1EN = in->getArgument(7);
masahikofukasawa 10:5c69b067d88a 309 switchConfig.enabledSWX2EN = in->getArgument(8);
masahikofukasawa 10:5c69b067d88a 310 switchConfig.enabledSWX1EN = in->getArgument(9);
masahikofukasawa 10:5c69b067d88a 311 switchConfig.enabledDRDYEN = in->getArgument(10);
masahikofukasawa 10:5c69b067d88a 312
masahikofukasawa 10:5c69b067d88a 313 if(ak09970->setSwitchConfig(switchConfig) != AK09970::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 314 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 315 MSG("#Error setSwitchConfig. AK09970.\r\n");
masahikofukasawa 10:5c69b067d88a 316 }
masahikofukasawa 10:5c69b067d88a 317 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 318 break;
masahikofukasawa 10:5c69b067d88a 319 }
masahikofukasawa 10:5c69b067d88a 320 case Message::CMD_PROGSW_GET_OPERATION_MODE:
masahikofukasawa 10:5c69b067d88a 321 {
masahikofukasawa 10:5c69b067d88a 322 if(in->getArgNum() != 0){
masahikofukasawa 11:cef8dc1cf010 323 MSG("#Error argument num. AK09970. Args=%d\r\n",in->getArgNum());
masahikofukasawa 10:5c69b067d88a 324 return AkmSensor::ERROR;
masahikofukasawa 15:1238993fd75f 325 }
masahikofukasawa 10:5c69b067d88a 326
masahikofukasawa 10:5c69b067d88a 327 if(ak09970->getOperationMode(&mode, &sensorDriveMode, &sensorMeasurementRange) != AK09970::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 328 MSG("#Error getOperationMode. AK09970.\r\n");
masahikofukasawa 15:1238993fd75f 329 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 330 }
masahikofukasawa 10:5c69b067d88a 331 out->setArgument(0,(char)sensorMeasurementRange);
masahikofukasawa 10:5c69b067d88a 332 out->setArgument(1,(char)sensorDriveMode);
masahikofukasawa 10:5c69b067d88a 333 out->setArgument(2,(char)mode);
masahikofukasawa 10:5c69b067d88a 334 break;
masahikofukasawa 10:5c69b067d88a 335 }
masahikofukasawa 10:5c69b067d88a 336 case Message::CMD_PROGSW_SET_OPERATION_MODE:
masahikofukasawa 10:5c69b067d88a 337 {
masahikofukasawa 10:5c69b067d88a 338 if(in->getArgNum() != 3){
masahikofukasawa 11:cef8dc1cf010 339 MSG("#Error argument num. AK09970. Args=%d\r\n",in->getArgNum());
masahikofukasawa 10:5c69b067d88a 340 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 341 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 342 return status;
masahikofukasawa 10:5c69b067d88a 343 }
masahikofukasawa 10:5c69b067d88a 344
masahikofukasawa 10:5c69b067d88a 345 sensorMeasurementRange = (AK09970::SensorMeasurementRange)(in->getArgument(0));
masahikofukasawa 10:5c69b067d88a 346 sensorDriveMode = (AK09970::SensorDriveMode)(in->getArgument(1));
masahikofukasawa 10:5c69b067d88a 347 mode = (AK09970::OperationMode)(in->getArgument(2));
masahikofukasawa 10:5c69b067d88a 348 if(ak09970->setOperationMode(mode, sensorDriveMode, sensorMeasurementRange) != AK09970::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 349 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 350 MSG("#Error setOperationMode. AK09970. %d,%d,%d\r\n",mode,sensorDriveMode,sensorMeasurementRange);
masahikofukasawa 10:5c69b067d88a 351 }
masahikofukasawa 10:5c69b067d88a 352 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 353 break;
masahikofukasawa 10:5c69b067d88a 354 }
masahikofukasawa 10:5c69b067d88a 355 case Message::CMD_REG_WRITE:
masahikofukasawa 10:5c69b067d88a 356 case Message::CMD_REG_WRITEN:
masahikofukasawa 10:5c69b067d88a 357 {
masahikofukasawa 10:5c69b067d88a 358 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 359 int len = (int)in->getArgument(1);
masahikofukasawa 15:1238993fd75f 360 if(in->getArgNum() != len+2){
masahikofukasawa 15:1238993fd75f 361 MSG("#Error argument num. Args=%d\r\n",in->getArgNum());
masahikofukasawa 15:1238993fd75f 362 status = AkmSensor::ERROR;
masahikofukasawa 15:1238993fd75f 363 out->setArgument(0,(char)status);
masahikofukasawa 15:1238993fd75f 364 return status;
masahikofukasawa 15:1238993fd75f 365 }
masahikofukasawa 15:1238993fd75f 366
masahikofukasawa 10:5c69b067d88a 367 char data[len];
masahikofukasawa 10:5c69b067d88a 368 for(int i=0; i<len; i++){
masahikofukasawa 15:1238993fd75f 369 data[i] = in->getArgument(i+2);
masahikofukasawa 10:5c69b067d88a 370 }
masahikofukasawa 10:5c69b067d88a 371 if( ak09970->write(address, data, len) != AK09970::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 372 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 373 MSG("#Error register write.\r\n");
masahikofukasawa 10:5c69b067d88a 374 }
masahikofukasawa 10:5c69b067d88a 375 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 376 break;
masahikofukasawa 10:5c69b067d88a 377 }
masahikofukasawa 10:5c69b067d88a 378 case Message::CMD_REG_READ:
masahikofukasawa 10:5c69b067d88a 379 case Message::CMD_REG_READN:
masahikofukasawa 10:5c69b067d88a 380 {
masahikofukasawa 10:5c69b067d88a 381 if(in->getArgNum() != 2){
masahikofukasawa 15:1238993fd75f 382 MSG("#Error argument num. Args=%d\r\n",in->getArgNum());
masahikofukasawa 15:1238993fd75f 383 return AkmSensor::ERROR;
masahikofukasawa 15:1238993fd75f 384 }
masahikofukasawa 10:5c69b067d88a 385
masahikofukasawa 10:5c69b067d88a 386 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 387 int len = (int)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 388 char data[len];
masahikofukasawa 10:5c69b067d88a 389 if( ak09970->read(address, data, len) != AK09970::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 390 MSG("#Error register read.\r\n");
masahikofukasawa 15:1238993fd75f 391 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 392 }
masahikofukasawa 10:5c69b067d88a 393 for(int i=0; i<len; i++){
masahikofukasawa 10:5c69b067d88a 394 out->setArgument(i, data[i]);
masahikofukasawa 10:5c69b067d88a 395 }
masahikofukasawa 10:5c69b067d88a 396 break;
masahikofukasawa 10:5c69b067d88a 397 }
masahikofukasawa 10:5c69b067d88a 398 default:
masahikofukasawa 10:5c69b067d88a 399 {
masahikofukasawa 11:cef8dc1cf010 400 MSG("#Error no command.\r\n");
masahikofukasawa 10:5c69b067d88a 401 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 402 break;
masahikofukasawa 10:5c69b067d88a 403 }
masahikofukasawa 10:5c69b067d88a 404 }
masahikofukasawa 10:5c69b067d88a 405 return status;
masahikofukasawa 10:5c69b067d88a 406 }