Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

ak9750ctrl.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 "ak9750ctrl.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 Ak9750Ctrl::Ak9750Ctrl() : AkmSensor(){
masahikofukasawa 10:5c69b067d88a 11 ak9750 = NULL;
masahikofukasawa 10:5c69b067d88a 12 interrupt = NULL;
masahikofukasawa 10:5c69b067d88a 13 }
masahikofukasawa 10:5c69b067d88a 14
masahikofukasawa 10:5c69b067d88a 15 /**
masahikofukasawa 10:5c69b067d88a 16 * Destructor.
masahikofukasawa 10:5c69b067d88a 17 *
masahikofukasawa 10:5c69b067d88a 18 */
masahikofukasawa 10:5c69b067d88a 19 Ak9750Ctrl::~Ak9750Ctrl(){
masahikofukasawa 10:5c69b067d88a 20 if (ak9750) delete ak9750;
masahikofukasawa 10:5c69b067d88a 21 if (interrupt) delete interrupt;
masahikofukasawa 10:5c69b067d88a 22 }
masahikofukasawa 10:5c69b067d88a 23
masahikofukasawa 10:5c69b067d88a 24 AkmSensor::Status Ak9750Ctrl::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 interrupt = new InterruptIn(I2C_DRDY);
masahikofukasawa 10:5c69b067d88a 29 I2C* i2c = new I2C(I2C_SDA,I2C_SCL);
masahikofukasawa 10:5c69b067d88a 30 i2c->frequency(I2C_SPEED_100KHZ);
masahikofukasawa 10:5c69b067d88a 31
masahikofukasawa 10:5c69b067d88a 32 if(subId == SUB_ID_AK9750){
masahikofukasawa 10:5c69b067d88a 33 ak9750 = new AK9750();
masahikofukasawa 13:d008249f0359 34 sensorName = "AK9750";
masahikofukasawa 13:d008249f0359 35 }
masahikofukasawa 13:d008249f0359 36 else if(subId == SUB_ID_AK9753){
masahikofukasawa 13:d008249f0359 37 ak9750 = new AK9750();
masahikofukasawa 13:d008249f0359 38 sensorName = "AK9753";
masahikofukasawa 10:5c69b067d88a 39 }
masahikofukasawa 10:5c69b067d88a 40 else{
masahikofukasawa 10:5c69b067d88a 41 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 42 }
masahikofukasawa 10:5c69b067d88a 43
masahikofukasawa 10:5c69b067d88a 44 bool foundSensor = false;
masahikofukasawa 10:5c69b067d88a 45
masahikofukasawa 10:5c69b067d88a 46 AK9750::SlaveAddress slaveAddr[]
masahikofukasawa 10:5c69b067d88a 47 = { AK9750::SLAVE_ADDR_1,
masahikofukasawa 10:5c69b067d88a 48 AK9750::SLAVE_ADDR_2,
masahikofukasawa 10:5c69b067d88a 49 AK9750::SLAVE_ADDR_3};
masahikofukasawa 10:5c69b067d88a 50
masahikofukasawa 10:5c69b067d88a 51 for(int i=0; i<sizeof(slaveAddr); i++)
masahikofukasawa 10:5c69b067d88a 52 {
masahikofukasawa 10:5c69b067d88a 53 ak9750->init(i2c, slaveAddr[i]);
masahikofukasawa 10:5c69b067d88a 54 // Checks connectivity
masahikofukasawa 10:5c69b067d88a 55 if(ak9750->checkConnection() == Ak9750Ctrl::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 56 // found
masahikofukasawa 10:5c69b067d88a 57 foundSensor = true;
masahikofukasawa 10:5c69b067d88a 58 break;
masahikofukasawa 10:5c69b067d88a 59 }
masahikofukasawa 10:5c69b067d88a 60 }
masahikofukasawa 10:5c69b067d88a 61 if(foundSensor != true){
masahikofukasawa 11:cef8dc1cf010 62 MSG("#Failed to checkConnection AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 63 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 64 }
masahikofukasawa 10:5c69b067d88a 65
masahikofukasawa 10:5c69b067d88a 66 // reset
masahikofukasawa 10:5c69b067d88a 67 if (ak9750->reset() != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 68 MSG("#Failed to reset AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 69 }
masahikofukasawa 15:1238993fd75f 70 /*
masahikofukasawa 10:5c69b067d88a 71 // Set to EEPROM mode to EEPROM access
masahikofukasawa 10:5c69b067d88a 72 if(ak9750->setOperationMode(AK9750::MODE_EEPROM_ACCESS, AK9750::DF_0P3HZ) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 73 MSG("#Error setOperationMode to EEPROM mode. AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 74 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 75 }
masahikofukasawa 15:1238993fd75f 76 */
masahikofukasawa 10:5c69b067d88a 77 // Gets threshold from EEPROM
masahikofukasawa 10:5c69b067d88a 78 AK9750::Threshold th;
masahikofukasawa 10:5c69b067d88a 79 if (ak9750->getThresholdFromEEPROM(&th) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 80 MSG("#Failed to get threshold from EEPROM AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 81 }
masahikofukasawa 15:1238993fd75f 82 MSG("#Threshold:(0x%02X,0x%02X,0x%02X,0x%02X)\r\n",th.eth13h,th.eth13l,th.eth24h,th.eth24l);
masahikofukasawa 15:1238993fd75f 83
masahikofukasawa 10:5c69b067d88a 84 // Gets hysteresis from EEPROM
masahikofukasawa 10:5c69b067d88a 85 AK9750::Hysteresis hys;
masahikofukasawa 10:5c69b067d88a 86 if (ak9750->getHysteresisFromEEPROM(&hys) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 87 MSG("#Failed to get hysteresis from EEPROM AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 88 }
masahikofukasawa 15:1238993fd75f 89 MSG("#Hysteresis:(0x%02X,0x%02X)\r\n",hys.ehys13,hys.ehys24);
masahikofukasawa 15:1238993fd75f 90
masahikofukasawa 10:5c69b067d88a 91 // Gets interrupt status from EEPROM
masahikofukasawa 10:5c69b067d88a 92 AK9750::InterruptStatus intStatus;
masahikofukasawa 10:5c69b067d88a 93 if ((ak9750->getInterruptEnableFromEEPROM(&intStatus)) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 94 MSG("#Failed to get interrupts of AK9750 from EEPROM.\r\n");
masahikofukasawa 10:5c69b067d88a 95 }
masahikofukasawa 15:1238993fd75f 96 MSG("#Interrupt:(0x%02X,0x%02X,0x%02X,0x%02X,0x%02X)\r\n",intStatus.ir13h,intStatus.ir13l,intStatus.ir24h,intStatus.ir24l,intStatus.drdy);
masahikofukasawa 10:5c69b067d88a 97
masahikofukasawa 10:5c69b067d88a 98 // Gets operation mode from EEPROM
masahikofukasawa 10:5c69b067d88a 99 if ((ak9750->getOperationModeFromEEPROM(&mode,&filter)) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 100 MSG("#Failed to get operation mode of AK9750 from EEPROM.\r\n");
masahikofukasawa 10:5c69b067d88a 101 }
masahikofukasawa 11:cef8dc1cf010 102 MSG("#Operation Mode:(0x%02X,0x%02X)\r\n",mode, filter);
masahikofukasawa 15:1238993fd75f 103 /*
masahikofukasawa 10:5c69b067d88a 104 // Back to Stand-by Mode for register access
masahikofukasawa 10:5c69b067d88a 105 if(ak9750->setOperationMode(AK9750::MODE_STANDBY, filter) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 106 MSG("#Error setOperationMode to stand-by mode of AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 107 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 108 }
masahikofukasawa 15:1238993fd75f 109 */
masahikofukasawa 10:5c69b067d88a 110 // Sets threshold from the red EEPROM values
masahikofukasawa 10:5c69b067d88a 111 if (ak9750->setThreshold(&th) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 112 MSG("#Failed to set threshold to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 113 }
masahikofukasawa 10:5c69b067d88a 114
masahikofukasawa 10:5c69b067d88a 115 // Sets hysteresis from the red EEPROM values
masahikofukasawa 10:5c69b067d88a 116 if (ak9750->setHysteresis(&hys) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 117 MSG("#Failed to set hysteresis to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 118 }
masahikofukasawa 10:5c69b067d88a 119
masahikofukasawa 10:5c69b067d88a 120 // Sets interruput status from the red EEPROM values
masahikofukasawa 10:5c69b067d88a 121 AK9750::Status status = ak9750->setInterruptEnable(&intStatus);
masahikofukasawa 10:5c69b067d88a 122 if (status != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 123 MSG("#Failed to set interrupts of AK9750. Status = 0x%02X\r\n", status);
masahikofukasawa 10:5c69b067d88a 124 }
masahikofukasawa 10:5c69b067d88a 125
masahikofukasawa 15:1238993fd75f 126 if(ak9750->setOperationMode(mode, filter) != AK9750::SUCCESS) {
masahikofukasawa 15:1238993fd75f 127 MSG("#Error setOperationMode of AK9750.\r\n");
masahikofukasawa 15:1238993fd75f 128 return AkmSensor::ERROR;
masahikofukasawa 15:1238993fd75f 129 }
masahikofukasawa 15:1238993fd75f 130
masahikofukasawa 11:cef8dc1cf010 131 MSG("#Init success AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 132 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 133 }
masahikofukasawa 10:5c69b067d88a 134
masahikofukasawa 10:5c69b067d88a 135 void Ak9750Ctrl::detectINT(){
masahikofukasawa 10:5c69b067d88a 136 event = true;
masahikofukasawa 10:5c69b067d88a 137 }
masahikofukasawa 10:5c69b067d88a 138
masahikofukasawa 10:5c69b067d88a 139 AkmSensor::Status Ak9750Ctrl::startSensor(){
masahikofukasawa 11:cef8dc1cf010 140 // read one data to clear INT pin
masahikofukasawa 11:cef8dc1cf010 141 AK9750::SensorData data;
masahikofukasawa 11:cef8dc1cf010 142 ak9750->getSensorData(&data);
masahikofukasawa 11:cef8dc1cf010 143
masahikofukasawa 11:cef8dc1cf010 144 // enable interrupt
masahikofukasawa 16:d85be9bafb80 145 interrupt->fall(callback(this, &Ak9750Ctrl::detectINT));
masahikofukasawa 11:cef8dc1cf010 146
masahikofukasawa 11:cef8dc1cf010 147 // set operation mode
masahikofukasawa 10:5c69b067d88a 148 if(ak9750->setOperationMode(mode,filter) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 149 MSG("#Start sensor failed.\r\n");
masahikofukasawa 10:5c69b067d88a 150 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 151 }
masahikofukasawa 11:cef8dc1cf010 152
masahikofukasawa 11:cef8dc1cf010 153 MSG("#Start sensor succceeded.\r\n");
masahikofukasawa 10:5c69b067d88a 154 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 155 }
masahikofukasawa 10:5c69b067d88a 156
masahikofukasawa 10:5c69b067d88a 157 AkmSensor::Status Ak9750Ctrl::startSensor(const float sec){
masahikofukasawa 16:d85be9bafb80 158 interrupt->fall(callback(this, &Ak9750Ctrl::detectINT));
masahikofukasawa 10:5c69b067d88a 159 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 160 }
masahikofukasawa 10:5c69b067d88a 161
masahikofukasawa 10:5c69b067d88a 162 AkmSensor::Status Ak9750Ctrl::stopSensor(){
masahikofukasawa 10:5c69b067d88a 163 event = false;
masahikofukasawa 11:cef8dc1cf010 164 interrupt->fall(NULL);
masahikofukasawa 10:5c69b067d88a 165 if(ak9750->setOperationMode(AK9750::MODE_STANDBY, filter) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 166 MSG("#Error setOperationMode. AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 167 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 168 }
masahikofukasawa 10:5c69b067d88a 169
masahikofukasawa 10:5c69b067d88a 170 // read one data to clear INT pin
masahikofukasawa 11:cef8dc1cf010 171 AK9750::SensorData data;
masahikofukasawa 11:cef8dc1cf010 172 ak9750->getSensorData(&data);
masahikofukasawa 10:5c69b067d88a 173
masahikofukasawa 10:5c69b067d88a 174 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 175 }
masahikofukasawa 10:5c69b067d88a 176
masahikofukasawa 10:5c69b067d88a 177 AkmSensor::Status Ak9750Ctrl::readSensorData(Message* msg){
masahikofukasawa 10:5c69b067d88a 178 event = false;
masahikofukasawa 10:5c69b067d88a 179
masahikofukasawa 10:5c69b067d88a 180 AK9750::SensorData data;
masahikofukasawa 10:5c69b067d88a 181 AK9750::Status status = ak9750->getSensorData(&data);
masahikofukasawa 10:5c69b067d88a 182 if( status != AK9750::SUCCESS){
masahikofukasawa 11:cef8dc1cf010 183 MSG("#Error getSensorData. AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 184 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 185 }
masahikofukasawa 10:5c69b067d88a 186 msg->setCommand(Message::CMD_START_MEASUREMENT);
masahikofukasawa 10:5c69b067d88a 187 msg->setArgument( 0, data.intStatus.ir13h);
masahikofukasawa 10:5c69b067d88a 188 msg->setArgument( 1, data.intStatus.ir13l);
masahikofukasawa 10:5c69b067d88a 189 msg->setArgument( 2, data.intStatus.ir24h);
masahikofukasawa 10:5c69b067d88a 190 msg->setArgument( 3, data.intStatus.ir24l);
masahikofukasawa 10:5c69b067d88a 191 msg->setArgument( 4, data.intStatus.drdy);
masahikofukasawa 10:5c69b067d88a 192 msg->setArgument( 5,(char)((int32_t)(data.ir1) >> 8));
masahikofukasawa 10:5c69b067d88a 193 msg->setArgument( 6, (char)((int32_t)(data.ir1) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 194 msg->setArgument( 7,(char)((int32_t)(data.ir2) >> 8));
masahikofukasawa 10:5c69b067d88a 195 msg->setArgument( 8, (char)((int32_t)(data.ir2) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 196 msg->setArgument( 9,(char)((int32_t)(data.ir3) >> 8));
masahikofukasawa 10:5c69b067d88a 197 msg->setArgument( 10, (char)((int32_t)(data.ir3) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 198 msg->setArgument( 11,(char)((int32_t)(data.ir4) >> 8));
masahikofukasawa 10:5c69b067d88a 199 msg->setArgument( 12, (char)((int32_t)(data.ir4) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 200 msg->setArgument( 13,(char)((int32_t)(data.temperature) >> 8));
masahikofukasawa 10:5c69b067d88a 201 msg->setArgument( 14, (char)((int32_t)(data.temperature) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 202 msg->setArgument( 15, data.dor);
masahikofukasawa 10:5c69b067d88a 203
masahikofukasawa 10:5c69b067d88a 204 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 205 }
masahikofukasawa 10:5c69b067d88a 206
masahikofukasawa 10:5c69b067d88a 207 AkmSensor::Status Ak9750Ctrl::requestCommand(Message* in, Message* out){
masahikofukasawa 10:5c69b067d88a 208 AkmSensor::Status status = AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 209 Message::Command cmd = in->getCommand();
masahikofukasawa 10:5c69b067d88a 210 AK9750::Threshold th;
masahikofukasawa 10:5c69b067d88a 211 AK9750::Hysteresis hys;
masahikofukasawa 10:5c69b067d88a 212 AK9750::InterruptStatus interrupt;
masahikofukasawa 10:5c69b067d88a 213
masahikofukasawa 10:5c69b067d88a 214 out->setCommand(cmd);
masahikofukasawa 10:5c69b067d88a 215
masahikofukasawa 10:5c69b067d88a 216 switch(cmd){
masahikofukasawa 10:5c69b067d88a 217 case Message::CMD_IR_GET_THRESHOLD:
masahikofukasawa 10:5c69b067d88a 218 {
masahikofukasawa 10:5c69b067d88a 219 if (ak9750->getThreshold(&th) != AK9750::SUCCESS) {
masahikofukasawa 15:1238993fd75f 220 MSG("#Failed to get threshold of AK9750.\r\n");
masahikofukasawa 15:1238993fd75f 221 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 222 }
masahikofukasawa 10:5c69b067d88a 223 out->setArgument(0,(char)((int32_t)(th.eth13h) >> 8));
masahikofukasawa 10:5c69b067d88a 224 out->setArgument(1,(char)((int32_t)(th.eth13h) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 225 out->setArgument(2,(char)((int32_t)(th.eth13l) >> 8));
masahikofukasawa 10:5c69b067d88a 226 out->setArgument(3,(char)((int32_t)(th.eth13l) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 227 out->setArgument(4,(char)((int32_t)(th.eth24h) >> 8));
masahikofukasawa 10:5c69b067d88a 228 out->setArgument(5,(char)((int32_t)(th.eth24h) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 229 out->setArgument(6,(char)((int32_t)(th.eth24l) >> 8));
masahikofukasawa 10:5c69b067d88a 230 out->setArgument(7,(char)((int32_t)(th.eth24l) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 231 break;
masahikofukasawa 10:5c69b067d88a 232 }
masahikofukasawa 10:5c69b067d88a 233 case Message::CMD_IR_SET_THRESHOLD:
masahikofukasawa 10:5c69b067d88a 234 {
masahikofukasawa 10:5c69b067d88a 235 th.eth13h = CONV16I(in->getArgument(0), in->getArgument(1));
masahikofukasawa 10:5c69b067d88a 236 th.eth13l = CONV16I(in->getArgument(2), in->getArgument(3));
masahikofukasawa 10:5c69b067d88a 237 th.eth24h = CONV16I(in->getArgument(4), in->getArgument(5));
masahikofukasawa 10:5c69b067d88a 238 th.eth24l = CONV16I(in->getArgument(6), in->getArgument(7));
masahikofukasawa 10:5c69b067d88a 239 if (ak9750->setThreshold(&th) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 240 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 241 MSG("#Failed to set threshold to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 242 }
masahikofukasawa 10:5c69b067d88a 243 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 244 break;
masahikofukasawa 10:5c69b067d88a 245 }
masahikofukasawa 10:5c69b067d88a 246 case Message::CMD_IR_GET_HYSTERESIS:
masahikofukasawa 10:5c69b067d88a 247 {
masahikofukasawa 10:5c69b067d88a 248 if (ak9750->getHysteresis(&hys) != AK9750::SUCCESS) {
masahikofukasawa 15:1238993fd75f 249 MSG("#Failed to get hysteresis of AK9750.\r\n");
masahikofukasawa 15:1238993fd75f 250 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 251 }
masahikofukasawa 10:5c69b067d88a 252 out->setArgument(0,hys.ehys13);
masahikofukasawa 10:5c69b067d88a 253 out->setArgument(1,hys.ehys24);
masahikofukasawa 10:5c69b067d88a 254 break;
masahikofukasawa 10:5c69b067d88a 255 }
masahikofukasawa 10:5c69b067d88a 256 case Message::CMD_IR_SET_HYSTERESIS:
masahikofukasawa 10:5c69b067d88a 257 {
masahikofukasawa 10:5c69b067d88a 258 hys.ehys13 = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 259 hys.ehys24 = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 260 if (ak9750->setHysteresis(&hys) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 261 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 262 MSG("#Failed to set hysteresis to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 263 }
masahikofukasawa 10:5c69b067d88a 264 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 265 break;
masahikofukasawa 10:5c69b067d88a 266 }
masahikofukasawa 10:5c69b067d88a 267 case Message::CMD_IR_GET_INTERRUPT:
masahikofukasawa 10:5c69b067d88a 268 {
masahikofukasawa 10:5c69b067d88a 269 if (ak9750->getInterruptEnable(&interrupt) != AK9750::SUCCESS) {
masahikofukasawa 15:1238993fd75f 270 MSG("#Failed to get interrupt of AK9750.\r\n");
masahikofukasawa 15:1238993fd75f 271 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 272 }
masahikofukasawa 10:5c69b067d88a 273 out->setArgument(0, interrupt.ir13h);
masahikofukasawa 10:5c69b067d88a 274 out->setArgument(1, interrupt.ir13l);
masahikofukasawa 10:5c69b067d88a 275 out->setArgument(2, interrupt.ir24h);
masahikofukasawa 10:5c69b067d88a 276 out->setArgument(3, interrupt.ir24l);
masahikofukasawa 10:5c69b067d88a 277 out->setArgument(4, interrupt.drdy);
masahikofukasawa 10:5c69b067d88a 278 break;
masahikofukasawa 10:5c69b067d88a 279 }
masahikofukasawa 10:5c69b067d88a 280 case Message::CMD_IR_SET_INTERRUPT:
masahikofukasawa 10:5c69b067d88a 281 {
masahikofukasawa 10:5c69b067d88a 282 interrupt.ir13h = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 283 interrupt.ir13l = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 284 interrupt.ir24h = in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 285 interrupt.ir24l = in->getArgument(3);
masahikofukasawa 10:5c69b067d88a 286 interrupt.drdy = in->getArgument(4);
masahikofukasawa 10:5c69b067d88a 287 if (ak9750->setInterruptEnable(&interrupt) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 288 status = AkmSensor::ERROR;
masahikofukasawa 15:1238993fd75f 289 MSG("#Failed to set interrupt to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 290 }
masahikofukasawa 10:5c69b067d88a 291 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 292 break;
masahikofukasawa 10:5c69b067d88a 293 }
masahikofukasawa 10:5c69b067d88a 294 case Message::CMD_IR_GET_OPERATION_MODE:
masahikofukasawa 10:5c69b067d88a 295 {
masahikofukasawa 10:5c69b067d88a 296 if(ak9750->getOperationMode(&mode, &filter) != AK9750::SUCCESS) {
masahikofukasawa 15:1238993fd75f 297 MSG("#Error getOperationMode. AK9750.\r\n");
masahikofukasawa 15:1238993fd75f 298 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 299 }
masahikofukasawa 10:5c69b067d88a 300 out->setArgument(0,(char)mode);
masahikofukasawa 10:5c69b067d88a 301 out->setArgument(1,(char)filter);
masahikofukasawa 10:5c69b067d88a 302 break;
masahikofukasawa 10:5c69b067d88a 303 }
masahikofukasawa 10:5c69b067d88a 304 case Message::CMD_IR_SET_OPERATION_MODE:
masahikofukasawa 10:5c69b067d88a 305 {
masahikofukasawa 10:5c69b067d88a 306 mode = (AK9750::OperationMode)in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 307 filter = (AK9750::DigitalFilter)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 308 if(ak9750->setOperationMode(mode, filter) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 309 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 310 MSG("#Error setOperationMode. AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 311 }
masahikofukasawa 10:5c69b067d88a 312 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 313 break;
masahikofukasawa 10:5c69b067d88a 314 }
masahikofukasawa 10:5c69b067d88a 315 case Message::CMD_IR_GET_THRESHOLD_EEPROM:
masahikofukasawa 10:5c69b067d88a 316 {
masahikofukasawa 10:5c69b067d88a 317 if (ak9750->getThresholdFromEEPROM(&th) != AK9750::SUCCESS) {
masahikofukasawa 15:1238993fd75f 318 MSG("#Failed to get threshold of AK9750(EEPROM).\r\n");
masahikofukasawa 15:1238993fd75f 319 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 320 }
masahikofukasawa 10:5c69b067d88a 321 out->setArgument(0,(char)((int32_t)(th.eth13h) >> 8));
masahikofukasawa 10:5c69b067d88a 322 out->setArgument(1,(char)((int32_t)(th.eth13h) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 323 out->setArgument(2,(char)((int32_t)(th.eth13l) >> 8));
masahikofukasawa 10:5c69b067d88a 324 out->setArgument(3,(char)((int32_t)(th.eth13l) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 325 out->setArgument(4,(char)((int32_t)(th.eth24h) >> 8));
masahikofukasawa 10:5c69b067d88a 326 out->setArgument(5,(char)((int32_t)(th.eth24h) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 327 out->setArgument(6,(char)((int32_t)(th.eth24l) >> 8));
masahikofukasawa 10:5c69b067d88a 328 out->setArgument(7,(char)((int32_t)(th.eth24l) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 329 break;
masahikofukasawa 10:5c69b067d88a 330 }
masahikofukasawa 10:5c69b067d88a 331 case Message::CMD_IR_SET_THRESHOLD_EEPROM:
masahikofukasawa 10:5c69b067d88a 332 {
masahikofukasawa 10:5c69b067d88a 333 th.eth13h = CONV16I(in->getArgument(0), in->getArgument(1));
masahikofukasawa 10:5c69b067d88a 334 th.eth13l = CONV16I(in->getArgument(2), in->getArgument(3));
masahikofukasawa 10:5c69b067d88a 335 th.eth24h = CONV16I(in->getArgument(4), in->getArgument(5));
masahikofukasawa 10:5c69b067d88a 336 th.eth24l = CONV16I(in->getArgument(6), in->getArgument(7));
masahikofukasawa 10:5c69b067d88a 337 if (ak9750->setThresholdToEEPROM(&th) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 338 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 339 MSG("#Failed to set threshold to AK9750(EEPROM).\r\n");
masahikofukasawa 10:5c69b067d88a 340 }
masahikofukasawa 10:5c69b067d88a 341 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 342 break;
masahikofukasawa 10:5c69b067d88a 343 }
masahikofukasawa 10:5c69b067d88a 344 case Message::CMD_IR_GET_HYSTERESIS_EEPROM:
masahikofukasawa 10:5c69b067d88a 345 {
masahikofukasawa 10:5c69b067d88a 346 if (ak9750->getHysteresisFromEEPROM(&hys) != AK9750::SUCCESS) {
masahikofukasawa 15:1238993fd75f 347 MSG("#Failed to get hysteresis of AK9750(EEPROM).\r\n");
masahikofukasawa 15:1238993fd75f 348 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 349 }
masahikofukasawa 10:5c69b067d88a 350 out->setArgument(0,hys.ehys13);
masahikofukasawa 10:5c69b067d88a 351 out->setArgument(1,hys.ehys24);
masahikofukasawa 10:5c69b067d88a 352 break;
masahikofukasawa 10:5c69b067d88a 353 }
masahikofukasawa 10:5c69b067d88a 354 case Message::CMD_IR_SET_HYSTERESIS_EEPROM:
masahikofukasawa 10:5c69b067d88a 355 {
masahikofukasawa 10:5c69b067d88a 356 hys.ehys13 = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 357 hys.ehys24 = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 358 if (ak9750->setHysteresisToEEPROM(&hys) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 359 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 360 MSG("#Failed to set hysteresis to AK9750(EEPROM).\r\n");
masahikofukasawa 10:5c69b067d88a 361 }
masahikofukasawa 10:5c69b067d88a 362 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 363 break;
masahikofukasawa 10:5c69b067d88a 364 }
masahikofukasawa 10:5c69b067d88a 365 case Message::CMD_IR_GET_INTERRUPT_EEPROM:
masahikofukasawa 10:5c69b067d88a 366 {
masahikofukasawa 10:5c69b067d88a 367 if (ak9750->getInterruptEnableFromEEPROM(&interrupt) != AK9750::SUCCESS) {
masahikofukasawa 15:1238993fd75f 368 MSG("#Failed to get interrupt of AK9750(EEPROM).\r\n");
masahikofukasawa 15:1238993fd75f 369 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 370 }
masahikofukasawa 10:5c69b067d88a 371 out->setArgument(0, interrupt.ir13h);
masahikofukasawa 10:5c69b067d88a 372 out->setArgument(1, interrupt.ir13l);
masahikofukasawa 10:5c69b067d88a 373 out->setArgument(2, interrupt.ir24h);
masahikofukasawa 10:5c69b067d88a 374 out->setArgument(3, interrupt.ir24l);
masahikofukasawa 10:5c69b067d88a 375 out->setArgument(4, interrupt.drdy);
masahikofukasawa 10:5c69b067d88a 376 break;
masahikofukasawa 10:5c69b067d88a 377 }
masahikofukasawa 10:5c69b067d88a 378 case Message::CMD_IR_SET_INTERRUPT_EEPROM:
masahikofukasawa 10:5c69b067d88a 379 {
masahikofukasawa 10:5c69b067d88a 380 interrupt.ir13h = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 381 interrupt.ir13l = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 382 interrupt.ir24h = in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 383 interrupt.ir24l = in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 384 interrupt.drdy = in->getArgument(4);
masahikofukasawa 10:5c69b067d88a 385 if (ak9750->setInterruptEnableToEEPROM(&interrupt) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 386 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 387 MSG("#Failed to set interrupt to AK9750(EEPROM).\r\n");
masahikofukasawa 10:5c69b067d88a 388 }
masahikofukasawa 10:5c69b067d88a 389 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 390 break;
masahikofukasawa 10:5c69b067d88a 391 }
masahikofukasawa 10:5c69b067d88a 392 case Message::CMD_IR_GET_OPERATION_MODE_EEPROM:
masahikofukasawa 10:5c69b067d88a 393 {
masahikofukasawa 10:5c69b067d88a 394 if(ak9750->getOperationModeFromEEPROM(&mode, &filter) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 395 MSG("#Error getOperationMode. AK9750(EEPROM).\r\n");
masahikofukasawa 15:1238993fd75f 396 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 397 }
masahikofukasawa 10:5c69b067d88a 398 out->setArgument(0,(char)mode);
masahikofukasawa 10:5c69b067d88a 399 out->setArgument(1,(char)filter);
masahikofukasawa 10:5c69b067d88a 400 break;
masahikofukasawa 10:5c69b067d88a 401 }
masahikofukasawa 10:5c69b067d88a 402 case Message::CMD_IR_SET_OPERATION_MODE_EEPROM:
masahikofukasawa 10:5c69b067d88a 403 {
masahikofukasawa 10:5c69b067d88a 404 mode = (AK9750::OperationMode)in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 405 filter = (AK9750::DigitalFilter)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 406 if(ak9750->setOperationModeToEEPROM(mode, filter) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 407 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 408 MSG("#Error setOperationMode. AK9750(EEPROM).\r\n");
masahikofukasawa 10:5c69b067d88a 409 }
masahikofukasawa 10:5c69b067d88a 410 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 411 break;
masahikofukasawa 10:5c69b067d88a 412 }
masahikofukasawa 10:5c69b067d88a 413 case Message::CMD_REG_WRITE:
masahikofukasawa 10:5c69b067d88a 414 case Message::CMD_REG_WRITEN:
masahikofukasawa 10:5c69b067d88a 415 {
masahikofukasawa 10:5c69b067d88a 416 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 417 int len = (int)in->getArgument(1);
masahikofukasawa 15:1238993fd75f 418 if(in->getArgNum() != len+2){
masahikofukasawa 15:1238993fd75f 419 MSG("#Error argument num. Args=%d\r\n",in->getArgNum());
masahikofukasawa 15:1238993fd75f 420 status = AkmSensor::ERROR;
masahikofukasawa 15:1238993fd75f 421 out->setArgument(0,(char)status);
masahikofukasawa 15:1238993fd75f 422 return status;
masahikofukasawa 15:1238993fd75f 423 }
masahikofukasawa 15:1238993fd75f 424
masahikofukasawa 10:5c69b067d88a 425 char data[len];
masahikofukasawa 10:5c69b067d88a 426 for(int i=0; i<len; i++){
masahikofukasawa 15:1238993fd75f 427 data[i] = in->getArgument(i+2);
masahikofukasawa 10:5c69b067d88a 428 }
masahikofukasawa 10:5c69b067d88a 429 if( ak9750->write(address, data, len) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 430 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 431 MSG("#Error register write.\r\n");
masahikofukasawa 10:5c69b067d88a 432 }
masahikofukasawa 10:5c69b067d88a 433 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 434 break;
masahikofukasawa 10:5c69b067d88a 435 }
masahikofukasawa 10:5c69b067d88a 436 case Message::CMD_REG_READ:
masahikofukasawa 10:5c69b067d88a 437 case Message::CMD_REG_READN:
masahikofukasawa 10:5c69b067d88a 438 {
masahikofukasawa 15:1238993fd75f 439 if(in->getArgNum() != 2){
masahikofukasawa 15:1238993fd75f 440 MSG("#Error argument num. Args=%d\r\n",in->getArgNum());
masahikofukasawa 15:1238993fd75f 441 return AkmSensor::ERROR;
masahikofukasawa 15:1238993fd75f 442 }
masahikofukasawa 15:1238993fd75f 443
masahikofukasawa 10:5c69b067d88a 444 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 445 int len = (int)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 446 char data[len];
masahikofukasawa 10:5c69b067d88a 447 if( ak9750->read(address, data, len) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 448 MSG("#Error register read.\r\n");
masahikofukasawa 15:1238993fd75f 449 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 450 }
masahikofukasawa 10:5c69b067d88a 451 for(int i=0; i<len; i++){
masahikofukasawa 10:5c69b067d88a 452 out->setArgument(i, data[i]);
masahikofukasawa 10:5c69b067d88a 453 }
masahikofukasawa 10:5c69b067d88a 454 break;
masahikofukasawa 10:5c69b067d88a 455 }
masahikofukasawa 10:5c69b067d88a 456 default:
masahikofukasawa 10:5c69b067d88a 457 {
masahikofukasawa 11:cef8dc1cf010 458 MSG("#Error no command.\r\n");
masahikofukasawa 10:5c69b067d88a 459 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 460 break;
masahikofukasawa 10:5c69b067d88a 461 }
masahikofukasawa 10:5c69b067d88a 462 }
masahikofukasawa 10:5c69b067d88a 463 return status;
masahikofukasawa 10:5c69b067d88a 464 }