Taylor Street / AkmSensor

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Fork of AkmSensor by AKM Development Platform

akmirsensor.cpp@9:6fa3e7b17c27, 2016-06-16 (annotated)

Committer:
masahikofukasawa
Date:
Thu Jun 16 18:36:26 2016 +0000
Revision:
9:6fa3e7b17c27
Parent:
7:e269411568c9 
AKDP 002; Modified For E-compass Operation Mode Setting

Who changed what in which revision?

UserRevisionLine numberNew contents of line
masahikofukasawa 0:7a00359e701e 1 #include "akmirsensor.h"
masahikofukasawa 0:7a00359e701e 2 #include "debug.h"
masahikofukasawa 0:7a00359e701e 3
masahikofukasawa 1:b46b8653331f 4 #define CONV16I(high,low) ((int16_t)(((high) << 8) | (low)))
masahikofukasawa 1:b46b8653331f 5
masahikofukasawa 0:7a00359e701e 6 /**
masahikofukasawa 0:7a00359e701e 7 * Constructor.
masahikofukasawa 0:7a00359e701e 8 *
masahikofukasawa 0:7a00359e701e 9 */
masahikofukasawa 0:7a00359e701e 10 AkmIrSensor::AkmIrSensor(){
masahikofukasawa 0:7a00359e701e 11 ak9750 = NULL;
masahikofukasawa 0:7a00359e701e 12 event = false;
masahikofukasawa 1:b46b8653331f 13 interrupt = NULL;
masahikofukasawa 0:7a00359e701e 14 }
masahikofukasawa 0:7a00359e701e 15
masahikofukasawa 0:7a00359e701e 16 /**
masahikofukasawa 0:7a00359e701e 17 * Destructor.
masahikofukasawa 0:7a00359e701e 18 *
masahikofukasawa 0:7a00359e701e 19 */
masahikofukasawa 0:7a00359e701e 20 AkmIrSensor::~AkmIrSensor(){
masahikofukasawa 0:7a00359e701e 21 if (ak9750) delete ak9750;
masahikofukasawa 1:b46b8653331f 22 if (interrupt) delete interrupt;
masahikofukasawa 0:7a00359e701e 23 }
masahikofukasawa 0:7a00359e701e 24
masahikofukasawa 0:7a00359e701e 25 AkmSensor::Status AkmIrSensor::init(const uint8_t id, const uint8_t subid){
masahikofukasawa 0:7a00359e701e 26 primaryId = id;
masahikofukasawa 0:7a00359e701e 27 subId = subid;
masahikofukasawa 0:7a00359e701e 28
masahikofukasawa 7:e269411568c9 29 interrupt = new InterruptIn(I2C_DRDY);
masahikofukasawa 0:7a00359e701e 30 I2C* i2c = new I2C(I2C_SDA,I2C_SCL);
masahikofukasawa 0:7a00359e701e 31 i2c->frequency(I2C_SPEED_100KHZ);
masahikofukasawa 0:7a00359e701e 32
masahikofukasawa 0:7a00359e701e 33 if(subId == SUB_ID_AK9750){
masahikofukasawa 1:b46b8653331f 34 ak9750 = new AK9750();
masahikofukasawa 0:7a00359e701e 35 }
masahikofukasawa 0:7a00359e701e 36 else{
masahikofukasawa 0:7a00359e701e 37 return AkmSensor::ERROR;
masahikofukasawa 0:7a00359e701e 38 }
masahikofukasawa 0:7a00359e701e 39
masahikofukasawa 1:b46b8653331f 40 bool foundSensor = false;
masahikofukasawa 1:b46b8653331f 41
masahikofukasawa 1:b46b8653331f 42 AK9750::SlaveAddress slaveAddr[]
masahikofukasawa 1:b46b8653331f 43 = { AK9750::SLAVE_ADDR_1,
masahikofukasawa 1:b46b8653331f 44 AK9750::SLAVE_ADDR_2,
masahikofukasawa 1:b46b8653331f 45 AK9750::SLAVE_ADDR_3};
masahikofukasawa 1:b46b8653331f 46
masahikofukasawa 1:b46b8653331f 47 for(int i=0; i<sizeof(slaveAddr); i++)
masahikofukasawa 1:b46b8653331f 48 {
masahikofukasawa 1:b46b8653331f 49 ak9750->init(i2c, slaveAddr[i]);
masahikofukasawa 1:b46b8653331f 50 // Checks connectivity
masahikofukasawa 1:b46b8653331f 51 if(ak9750->checkConnection() == AkmIrSensor::SUCCESS) {
masahikofukasawa 1:b46b8653331f 52 // found
masahikofukasawa 1:b46b8653331f 53 foundSensor = true;
masahikofukasawa 1:b46b8653331f 54 break;
masahikofukasawa 1:b46b8653331f 55 }
masahikofukasawa 1:b46b8653331f 56 }
masahikofukasawa 1:b46b8653331f 57 if(foundSensor != true) return AkmSensor::ERROR;
masahikofukasawa 1:b46b8653331f 58
masahikofukasawa 1:b46b8653331f 59 // reset
masahikofukasawa 1:b46b8653331f 60 if (ak9750->reset() != AK9750::SUCCESS) {
masahikofukasawa 1:b46b8653331f 61 MSG("#Failed to reset AK9750.\n");
masahikofukasawa 1:b46b8653331f 62 }
masahikofukasawa 1:b46b8653331f 63
masahikofukasawa 1:b46b8653331f 64 // Set to EEPROM mode to EEPROM access
masahikofukasawa 1:b46b8653331f 65 if(ak9750->setOperationMode(AK9750::MODE_EEPROM_ACCESS, AK9750::DF_0P3HZ) != AK9750::SUCCESS) {
masahikofukasawa 1:b46b8653331f 66 MSG("#Error setOperationMode to EEPROM mode. AK9750.\n");
masahikofukasawa 1:b46b8653331f 67 return AkmSensor::ERROR;
masahikofukasawa 1:b46b8653331f 68 }
masahikofukasawa 1:b46b8653331f 69 // Gets threshold from EEPROM
masahikofukasawa 1:b46b8653331f 70 AK9750::Threshold th;
masahikofukasawa 1:b46b8653331f 71 if (ak9750->getThresholdFromEEPROM(&th) != AK9750::SUCCESS) {
masahikofukasawa 1:b46b8653331f 72 MSG("#Failed to get threshold from EEPROM AK9750.\n");
masahikofukasawa 1:b46b8653331f 73 }
masahikofukasawa 1:b46b8653331f 74 // Gets hysteresis from EEPROM
masahikofukasawa 1:b46b8653331f 75 AK9750::Hysteresis hys;
masahikofukasawa 1:b46b8653331f 76 if (ak9750->getHysteresisFromEEPROM(&hys) != AK9750::SUCCESS) {
masahikofukasawa 1:b46b8653331f 77 MSG("#Failed to get hysteresis from EEPROM AK9750.\n");
masahikofukasawa 1:b46b8653331f 78 }
masahikofukasawa 1:b46b8653331f 79 // Gets interrupt status from EEPROM
masahikofukasawa 1:b46b8653331f 80 AK9750::InterruptStatus intStatus;
masahikofukasawa 3:a817a3b3e9ae 81 if ((ak9750->getInterruptEnableFromEEPROM(&intStatus)) != AK9750::SUCCESS) {
masahikofukasawa 1:b46b8653331f 82 MSG("#Failed to get interrupts of AK9750 from EEPROM.\n");
masahikofukasawa 1:b46b8653331f 83 }
masahikofukasawa 1:b46b8653331f 84
masahikofukasawa 1:b46b8653331f 85 // Gets operation mode from EEPROM
masahikofukasawa 1:b46b8653331f 86 if ((ak9750->getOperationModeFromEEPROM(&mode,&filter)) != AK9750::SUCCESS) {
masahikofukasawa 1:b46b8653331f 87 MSG("#Failed to get operation mode of AK9750 from EEPROM.\n");
masahikofukasawa 1:b46b8653331f 88 }
masahikofukasawa 1:b46b8653331f 89 MSG("#Operation Mode:(0x%02X,0x%02X)\n",mode, filter);
masahikofukasawa 1:b46b8653331f 90
masahikofukasawa 1:b46b8653331f 91 // Back to Stand-by Mode for register access
masahikofukasawa 1:b46b8653331f 92 if(ak9750->setOperationMode(AK9750::MODE_STANDBY, filter) != AK9750::SUCCESS) {
masahikofukasawa 1:b46b8653331f 93 MSG("#Error setOperationMode to stand-by mode of AK9750.\n");
masahikofukasawa 1:b46b8653331f 94 return AkmSensor::ERROR;
masahikofukasawa 1:b46b8653331f 95 }
masahikofukasawa 1:b46b8653331f 96
masahikofukasawa 1:b46b8653331f 97 // Sets threshold from the red EEPROM values
masahikofukasawa 1:b46b8653331f 98 if (ak9750->setThreshold(&th) != AK9750::SUCCESS) {
masahikofukasawa 1:b46b8653331f 99 MSG("#Failed to set threshold to AK9750.\n");
masahikofukasawa 1:b46b8653331f 100 }
masahikofukasawa 1:b46b8653331f 101 MSG("#Threshold:(0x%02X,0x%02X,0x%02X,0x%02X)\n",th.eth13h,th.eth13l,th.eth24h,th.eth24l);
masahikofukasawa 1:b46b8653331f 102
masahikofukasawa 1:b46b8653331f 103 // Sets hysteresis from the red EEPROM values
masahikofukasawa 1:b46b8653331f 104 if (ak9750->setHysteresis(&hys) != AK9750::SUCCESS) {
masahikofukasawa 1:b46b8653331f 105 MSG("#Failed to set hysteresis to AK9750.\n");
masahikofukasawa 1:b46b8653331f 106 }
masahikofukasawa 1:b46b8653331f 107 MSG("#Hysteresis:(0x%02X,0x%02X)\n",hys.ehys13,hys.ehys24);
masahikofukasawa 1:b46b8653331f 108
masahikofukasawa 1:b46b8653331f 109 // Sets interruput status from the red EEPROM values
masahikofukasawa 1:b46b8653331f 110 AK9750::Status status;
masahikofukasawa 3:a817a3b3e9ae 111 if ((status=ak9750->setInterruptEnable(&intStatus)) != AK9750::SUCCESS) {
masahikofukasawa 1:b46b8653331f 112 MSG("#Failed to set interrupts of AK9750. Status = 0x%02X\n", status);
masahikofukasawa 1:b46b8653331f 113 }
masahikofukasawa 1:b46b8653331f 114 MSG("#Interrupt:(0x%02X,0x%02X,0x%02X,0x%02X,0x%02X)\n",intStatus.drdy,intStatus.ir13h,intStatus.ir13l,intStatus.ir24h,intStatus.ir24l);
masahikofukasawa 1:b46b8653331f 115
masahikofukasawa 1:b46b8653331f 116 MSG("#Init success AK9750.\n");
masahikofukasawa 0:7a00359e701e 117 return AkmSensor::SUCCESS;
masahikofukasawa 0:7a00359e701e 118 }
masahikofukasawa 0:7a00359e701e 119
masahikofukasawa 0:7a00359e701e 120 void AkmIrSensor::detectINT(){
masahikofukasawa 0:7a00359e701e 121 event = true;
masahikofukasawa 0:7a00359e701e 122 }
masahikofukasawa 0:7a00359e701e 123
masahikofukasawa 0:7a00359e701e 124 bool AkmIrSensor::isEvent(){
masahikofukasawa 0:7a00359e701e 125 return event;
masahikofukasawa 0:7a00359e701e 126 }
masahikofukasawa 0:7a00359e701e 127
masahikofukasawa 1:b46b8653331f 128 void AkmIrSensor::checkINT(){
masahikofukasawa 1:b46b8653331f 129
masahikofukasawa 1:b46b8653331f 130 }
masahikofukasawa 1:b46b8653331f 131
masahikofukasawa 0:7a00359e701e 132 AkmSensor::Status AkmIrSensor::startSensor(){
masahikofukasawa 1:b46b8653331f 133 if(ak9750->setOperationMode(mode,filter) != AK9750::SUCCESS) {
masahikofukasawa 1:b46b8653331f 134 MSG("#Error setOperationMode. AK9750.\n");
masahikofukasawa 1:b46b8653331f 135 return AkmSensor::ERROR;
masahikofukasawa 1:b46b8653331f 136 }
masahikofukasawa 1:b46b8653331f 137
masahikofukasawa 1:b46b8653331f 138 interrupt->fall(this, &AkmIrSensor::detectINT);
masahikofukasawa 1:b46b8653331f 139 MSG("#Start Sensor success AK9750.\n");
masahikofukasawa 0:7a00359e701e 140 return AkmSensor::SUCCESS;
masahikofukasawa 0:7a00359e701e 141 }
masahikofukasawa 0:7a00359e701e 142
masahikofukasawa 0:7a00359e701e 143 AkmSensor::Status AkmIrSensor::startSensor(const float sec){
masahikofukasawa 1:b46b8653331f 144 interrupt->fall(this, &AkmIrSensor::detectINT);
masahikofukasawa 0:7a00359e701e 145 return AkmSensor::ERROR;
masahikofukasawa 0:7a00359e701e 146 }
masahikofukasawa 0:7a00359e701e 147
masahikofukasawa 0:7a00359e701e 148 AkmSensor::Status AkmIrSensor::stopSensor(){
masahikofukasawa 0:7a00359e701e 149 event = false;
masahikofukasawa 1:b46b8653331f 150 interrupt->fall(0);
masahikofukasawa 1:b46b8653331f 151 if(ak9750->setOperationMode(AK9750::MODE_STANDBY, filter) != AK9750::SUCCESS) {
masahikofukasawa 1:b46b8653331f 152 MSG("#Error setOperationMode. AK9750.\n");
masahikofukasawa 1:b46b8653331f 153 return AkmSensor::ERROR;
masahikofukasawa 1:b46b8653331f 154 }
masahikofukasawa 1:b46b8653331f 155
masahikofukasawa 1:b46b8653331f 156 // read one data to clear INT pin
masahikofukasawa 1:b46b8653331f 157 Message msg;
masahikofukasawa 1:b46b8653331f 158 AkmIrSensor::readSensorData(&msg);
masahikofukasawa 1:b46b8653331f 159
masahikofukasawa 0:7a00359e701e 160 return AkmSensor::SUCCESS;
masahikofukasawa 0:7a00359e701e 161 }
masahikofukasawa 0:7a00359e701e 162
masahikofukasawa 0:7a00359e701e 163 AkmSensor::Status AkmIrSensor::readSensorData(Message* msg){
masahikofukasawa 0:7a00359e701e 164 event = false;
masahikofukasawa 1:b46b8653331f 165
masahikofukasawa 1:b46b8653331f 166 // check interrupt status to release INT pin status
masahikofukasawa 1:b46b8653331f 167 AK9750::InterruptStatus interrupt;
masahikofukasawa 1:b46b8653331f 168 AK9750::Status status = ak9750->getInterruptStatus(&interrupt);
masahikofukasawa 1:b46b8653331f 169 if( status != AK9750::SUCCESS){
masahikofukasawa 1:b46b8653331f 170 MSG("#Error getInterruptStatus. AK9750.\n");
masahikofukasawa 1:b46b8653331f 171 return AkmSensor::ERROR;
masahikofukasawa 1:b46b8653331f 172 }
masahikofukasawa 1:b46b8653331f 173
masahikofukasawa 1:b46b8653331f 174 AK9750::SensorData data;
masahikofukasawa 1:b46b8653331f 175 status = ak9750->getSensorData(&data);
masahikofukasawa 1:b46b8653331f 176 if( status != AK9750::SUCCESS){
masahikofukasawa 1:b46b8653331f 177 MSG("#Error getSensorData. AK9750.\n");
masahikofukasawa 1:b46b8653331f 178 return AkmSensor::ERROR;
masahikofukasawa 1:b46b8653331f 179 }
masahikofukasawa 1:b46b8653331f 180 msg->setCommand(Message::CMD_START_MEASUREMENT);
masahikofukasawa 1:b46b8653331f 181 msg->setArgument( 0, interrupt.drdy);
masahikofukasawa 1:b46b8653331f 182 msg->setArgument( 1, interrupt.ir13h);
masahikofukasawa 1:b46b8653331f 183 msg->setArgument( 2, interrupt.ir13l);
masahikofukasawa 1:b46b8653331f 184 msg->setArgument( 3, interrupt.ir24h);
masahikofukasawa 1:b46b8653331f 185 msg->setArgument( 4, interrupt.ir24l);
masahikofukasawa 1:b46b8653331f 186 msg->setArgument( 5,(char)((int32_t)(data.ir1) >> 8));
masahikofukasawa 1:b46b8653331f 187 msg->setArgument( 6, (char)((int32_t)(data.ir1) & 0x00FF) );
masahikofukasawa 1:b46b8653331f 188 msg->setArgument( 7,(char)((int32_t)(data.ir2) >> 8));
masahikofukasawa 1:b46b8653331f 189 msg->setArgument( 8, (char)((int32_t)(data.ir2) & 0x00FF) );
masahikofukasawa 1:b46b8653331f 190 msg->setArgument( 9,(char)((int32_t)(data.ir3) >> 8));
masahikofukasawa 1:b46b8653331f 191 msg->setArgument( 10, (char)((int32_t)(data.ir3) & 0x00FF) );
masahikofukasawa 1:b46b8653331f 192 msg->setArgument( 11,(char)((int32_t)(data.ir4) >> 8));
masahikofukasawa 1:b46b8653331f 193 msg->setArgument( 12, (char)((int32_t)(data.ir4) & 0x00FF) );
masahikofukasawa 1:b46b8653331f 194 msg->setArgument( 13,(char)((int32_t)(data.temperature) >> 8));
masahikofukasawa 1:b46b8653331f 195 msg->setArgument( 14, (char)((int32_t)(data.temperature) & 0x00FF) );
masahikofukasawa 1:b46b8653331f 196
masahikofukasawa 0:7a00359e701e 197 return AkmSensor::SUCCESS;
masahikofukasawa 0:7a00359e701e 198 }
masahikofukasawa 0:7a00359e701e 199
masahikofukasawa 0:7a00359e701e 200 AkmSensor::Status AkmIrSensor::requestCommand(Message* in, Message* out){
masahikofukasawa 0:7a00359e701e 201 AkmSensor::Status status = AkmSensor::SUCCESS;
masahikofukasawa 1:b46b8653331f 202 Message::Command cmd = in->getCommand();
masahikofukasawa 1:b46b8653331f 203 AK9750::Threshold th;
masahikofukasawa 1:b46b8653331f 204 AK9750::Hysteresis hys;
masahikofukasawa 1:b46b8653331f 205 AK9750::InterruptStatus interrupt;
masahikofukasawa 1:b46b8653331f 206
masahikofukasawa 1:b46b8653331f 207 out->setCommand(cmd);
masahikofukasawa 1:b46b8653331f 208
masahikofukasawa 1:b46b8653331f 209 switch(cmd){
masahikofukasawa 1:b46b8653331f 210 case Message::CMD_IR_GET_THRESHOLD:
masahikofukasawa 1:b46b8653331f 211 {
masahikofukasawa 1:b46b8653331f 212 if (ak9750->getThreshold(&th) != AK9750::SUCCESS) {
masahikofukasawa 1:b46b8653331f 213 status = AkmSensor::ERROR;
masahikofukasawa 1:b46b8653331f 214 MSG("#Failed to set threshold to AK9750.\n");
masahikofukasawa 1:b46b8653331f 215 }
masahikofukasawa 1:b46b8653331f 216 out->setArgument(0,(char)((int32_t)(th.eth13h) >> 8));
masahikofukasawa 1:b46b8653331f 217 out->setArgument(1,(char)((int32_t)(th.eth13h) & 0x00FF));
masahikofukasawa 1:b46b8653331f 218 out->setArgument(2,(char)((int32_t)(th.eth13l) >> 8));
masahikofukasawa 1:b46b8653331f 219 out->setArgument(3,(char)((int32_t)(th.eth13l) & 0x00FF));
masahikofukasawa 1:b46b8653331f 220 out->setArgument(4,(char)((int32_t)(th.eth24h) >> 8));
masahikofukasawa 1:b46b8653331f 221 out->setArgument(5,(char)((int32_t)(th.eth24h) & 0x00FF));
masahikofukasawa 1:b46b8653331f 222 out->setArgument(6,(char)((int32_t)(th.eth24l) >> 8));
masahikofukasawa 1:b46b8653331f 223 out->setArgument(7,(char)((int32_t)(th.eth24l) & 0x00FF));
masahikofukasawa 1:b46b8653331f 224 break;
masahikofukasawa 1:b46b8653331f 225 }
masahikofukasawa 1:b46b8653331f 226 case Message::CMD_IR_SET_THRESHOLD:
masahikofukasawa 1:b46b8653331f 227 {
masahikofukasawa 1:b46b8653331f 228 th.eth13h = CONV16I(in->getArgument(0), in->getArgument(1));
masahikofukasawa 1:b46b8653331f 229 th.eth13l = CONV16I(in->getArgument(2), in->getArgument(3));
masahikofukasawa 1:b46b8653331f 230 th.eth24h = CONV16I(in->getArgument(4), in->getArgument(5));
masahikofukasawa 1:b46b8653331f 231 th.eth24l = CONV16I(in->getArgument(6), in->getArgument(7));
masahikofukasawa 1:b46b8653331f 232 if (ak9750->setThreshold(&th) != AK9750::SUCCESS) {
masahikofukasawa 1:b46b8653331f 233 status = AkmSensor::ERROR;
masahikofukasawa 1:b46b8653331f 234 MSG("#Failed to set threshold to AK9750.\n");
masahikofukasawa 1:b46b8653331f 235 }
masahikofukasawa 1:b46b8653331f 236 out->setArgument(0,(char)status);
masahikofukasawa 1:b46b8653331f 237 break;
masahikofukasawa 1:b46b8653331f 238 }
masahikofukasawa 1:b46b8653331f 239 case Message::CMD_IR_GET_HYSTERESIS:
masahikofukasawa 1:b46b8653331f 240 {
masahikofukasawa 1:b46b8653331f 241 if (ak9750->getHysteresis(&hys) != AK9750::SUCCESS) {
masahikofukasawa 1:b46b8653331f 242 status = AkmSensor::ERROR;
masahikofukasawa 1:b46b8653331f 243 MSG("#Failed to set hysteresis to AK9750.\n");
masahikofukasawa 1:b46b8653331f 244 }
masahikofukasawa 1:b46b8653331f 245 out->setArgument(0,hys.ehys13);
masahikofukasawa 1:b46b8653331f 246 out->setArgument(1,hys.ehys24);
masahikofukasawa 1:b46b8653331f 247 break;
masahikofukasawa 1:b46b8653331f 248 }
masahikofukasawa 1:b46b8653331f 249 case Message::CMD_IR_SET_HYSTERESIS:
masahikofukasawa 1:b46b8653331f 250 {
masahikofukasawa 1:b46b8653331f 251 hys.ehys13 = in->getArgument(0);
masahikofukasawa 1:b46b8653331f 252 hys.ehys24 = in->getArgument(1);
masahikofukasawa 1:b46b8653331f 253 if (ak9750->setHysteresis(&hys) != AK9750::SUCCESS) {
masahikofukasawa 1:b46b8653331f 254 status = AkmSensor::ERROR;
masahikofukasawa 1:b46b8653331f 255 MSG("#Failed to set hysteresis to AK9750.\n");
masahikofukasawa 1:b46b8653331f 256 }
masahikofukasawa 1:b46b8653331f 257 out->setArgument(0,(char)status);
masahikofukasawa 1:b46b8653331f 258 break;
masahikofukasawa 1:b46b8653331f 259 }
masahikofukasawa 1:b46b8653331f 260 case Message::CMD_IR_GET_INTERRUPT:
masahikofukasawa 1:b46b8653331f 261 {
masahikofukasawa 3:a817a3b3e9ae 262 if (ak9750->getInterruptEnable(&interrupt) != AK9750::SUCCESS) {
masahikofukasawa 1:b46b8653331f 263 status = AkmSensor::ERROR;
masahikofukasawa 1:b46b8653331f 264 MSG("#Failed to set hysteresis to AK9750.\n");
masahikofukasawa 1:b46b8653331f 265 }
masahikofukasawa 1:b46b8653331f 266 out->setArgument(0, interrupt.drdy);
masahikofukasawa 1:b46b8653331f 267 out->setArgument(1, interrupt.ir13h);
masahikofukasawa 1:b46b8653331f 268 out->setArgument(2, interrupt.ir13l);
masahikofukasawa 1:b46b8653331f 269 out->setArgument(3, interrupt.ir24h);
masahikofukasawa 1:b46b8653331f 270 out->setArgument(4, interrupt.ir24l);
masahikofukasawa 1:b46b8653331f 271 break;
masahikofukasawa 1:b46b8653331f 272 }
masahikofukasawa 1:b46b8653331f 273 case Message::CMD_IR_SET_INTERRUPT:
masahikofukasawa 1:b46b8653331f 274 {
masahikofukasawa 1:b46b8653331f 275 interrupt.drdy = in->getArgument(0);
masahikofukasawa 1:b46b8653331f 276 interrupt.ir13h = in->getArgument(1);
masahikofukasawa 1:b46b8653331f 277 interrupt.ir13l = in->getArgument(2);
masahikofukasawa 1:b46b8653331f 278 interrupt.ir24h = in->getArgument(3);
masahikofukasawa 1:b46b8653331f 279 interrupt.ir24l = in->getArgument(4);
masahikofukasawa 3:a817a3b3e9ae 280 if (ak9750->setInterruptEnable(&interrupt) != AK9750::SUCCESS) {
masahikofukasawa 1:b46b8653331f 281 status = AkmSensor::ERROR;
masahikofukasawa 1:b46b8653331f 282 MSG("#Failed to set hysteresis to AK9750.\n");
masahikofukasawa 1:b46b8653331f 283 }
masahikofukasawa 1:b46b8653331f 284 out->setArgument(0,(char)status);
masahikofukasawa 1:b46b8653331f 285 break;
masahikofukasawa 1:b46b8653331f 286 }
masahikofukasawa 1:b46b8653331f 287 case Message::CMD_IR_GET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 288 {
masahikofukasawa 9:6fa3e7b17c27 289 // AK9750::OperationMode mode;
masahikofukasawa 9:6fa3e7b17c27 290 // AK9750::DigitalFilter filter;
masahikofukasawa 1:b46b8653331f 291 if(ak9750->getOperationMode(&mode, &filter) != AK9750::SUCCESS) {
masahikofukasawa 1:b46b8653331f 292 status = AkmSensor::ERROR;
masahikofukasawa 1:b46b8653331f 293 MSG("#Error setOperationMode. AK9750.\n");
masahikofukasawa 1:b46b8653331f 294 }
masahikofukasawa 1:b46b8653331f 295 out->setArgument(0,(char)mode);
masahikofukasawa 1:b46b8653331f 296 out->setArgument(1,(char)filter);
masahikofukasawa 1:b46b8653331f 297 break;
masahikofukasawa 1:b46b8653331f 298 }
masahikofukasawa 1:b46b8653331f 299 case Message::CMD_IR_SET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 300 {
masahikofukasawa 9:6fa3e7b17c27 301 mode = (AK9750::OperationMode)in->getArgument(0);
masahikofukasawa 9:6fa3e7b17c27 302 filter = (AK9750::DigitalFilter)in->getArgument(1);
masahikofukasawa 9:6fa3e7b17c27 303 if(ak9750->setOperationMode(mode, filter) != AK9750::SUCCESS) {
masahikofukasawa 1:b46b8653331f 304 status = AkmSensor::ERROR;
masahikofukasawa 1:b46b8653331f 305 MSG("#Error setOperationMode. AK9750.\n");
masahikofukasawa 1:b46b8653331f 306 }
masahikofukasawa 1:b46b8653331f 307 out->setArgument(0,(char)status);
masahikofukasawa 1:b46b8653331f 308 break;
masahikofukasawa 1:b46b8653331f 309 }
masahikofukasawa 1:b46b8653331f 310 case Message::CMD_IR_GET_THRESHOLD_EEPROM:
masahikofukasawa 1:b46b8653331f 311 {
masahikofukasawa 1:b46b8653331f 312 if (ak9750->getThresholdFromEEPROM(&th) != AK9750::SUCCESS) {
masahikofukasawa 1:b46b8653331f 313 status = AkmSensor::ERROR;
masahikofukasawa 1:b46b8653331f 314 MSG("#Failed to set threshold to AK9750(EEPROM).\n");
masahikofukasawa 1:b46b8653331f 315 }
masahikofukasawa 1:b46b8653331f 316 out->setArgument(0,(char)((int32_t)(th.eth13h) >> 8));
masahikofukasawa 1:b46b8653331f 317 out->setArgument(1,(char)((int32_t)(th.eth13h) & 0x00FF));
masahikofukasawa 1:b46b8653331f 318 out->setArgument(2,(char)((int32_t)(th.eth13l) >> 8));
masahikofukasawa 1:b46b8653331f 319 out->setArgument(3,(char)((int32_t)(th.eth13l) & 0x00FF));
masahikofukasawa 1:b46b8653331f 320 out->setArgument(4,(char)((int32_t)(th.eth24h) >> 8));
masahikofukasawa 1:b46b8653331f 321 out->setArgument(5,(char)((int32_t)(th.eth24h) & 0x00FF));
masahikofukasawa 1:b46b8653331f 322 out->setArgument(6,(char)((int32_t)(th.eth24l) >> 8));
masahikofukasawa 1:b46b8653331f 323 out->setArgument(7,(char)((int32_t)(th.eth24l) & 0x00FF));
masahikofukasawa 1:b46b8653331f 324 break;
masahikofukasawa 1:b46b8653331f 325 }
masahikofukasawa 1:b46b8653331f 326 case Message::CMD_IR_SET_THRESHOLD_EEPROM:
masahikofukasawa 1:b46b8653331f 327 {
masahikofukasawa 1:b46b8653331f 328 th.eth13h = CONV16I(in->getArgument(0), in->getArgument(1));
masahikofukasawa 1:b46b8653331f 329 th.eth13l = CONV16I(in->getArgument(2), in->getArgument(3));
masahikofukasawa 1:b46b8653331f 330 th.eth24h = CONV16I(in->getArgument(4), in->getArgument(5));
masahikofukasawa 1:b46b8653331f 331 th.eth24l = CONV16I(in->getArgument(6), in->getArgument(7));
masahikofukasawa 1:b46b8653331f 332 if (ak9750->setThresholdToEEPROM(&th) != AK9750::SUCCESS) {
masahikofukasawa 1:b46b8653331f 333 status = AkmSensor::ERROR;
masahikofukasawa 1:b46b8653331f 334 MSG("#Failed to set threshold to AK9750(EEPROM).\n");
masahikofukasawa 1:b46b8653331f 335 }
masahikofukasawa 1:b46b8653331f 336 out->setArgument(0,(char)status);
masahikofukasawa 1:b46b8653331f 337 break;
masahikofukasawa 1:b46b8653331f 338 }
masahikofukasawa 1:b46b8653331f 339 case Message::CMD_IR_GET_HYSTERESIS_EEPROM:
masahikofukasawa 1:b46b8653331f 340 {
masahikofukasawa 1:b46b8653331f 341 if (ak9750->getHysteresisFromEEPROM(&hys) != AK9750::SUCCESS) {
masahikofukasawa 1:b46b8653331f 342 status = AkmSensor::ERROR;
masahikofukasawa 1:b46b8653331f 343 MSG("#Failed to set hysteresis to AK9750(EEPROM).\n");
masahikofukasawa 1:b46b8653331f 344 }
masahikofukasawa 1:b46b8653331f 345 out->setArgument(0,hys.ehys13);
masahikofukasawa 1:b46b8653331f 346 out->setArgument(1,hys.ehys24);
masahikofukasawa 1:b46b8653331f 347 break;
masahikofukasawa 1:b46b8653331f 348 }
masahikofukasawa 1:b46b8653331f 349 case Message::CMD_IR_SET_HYSTERESIS_EEPROM:
masahikofukasawa 1:b46b8653331f 350 {
masahikofukasawa 1:b46b8653331f 351 hys.ehys13 = in->getArgument(0);
masahikofukasawa 1:b46b8653331f 352 hys.ehys24 = in->getArgument(1);
masahikofukasawa 1:b46b8653331f 353 if (ak9750->setHysteresisToEEPROM(&hys) != AK9750::SUCCESS) {
masahikofukasawa 1:b46b8653331f 354 status = AkmSensor::ERROR;
masahikofukasawa 1:b46b8653331f 355 MSG("#Failed to set hysteresis to AK9750(EEPROM).\n");
masahikofukasawa 1:b46b8653331f 356 }
masahikofukasawa 1:b46b8653331f 357 out->setArgument(0,(char)status);
masahikofukasawa 1:b46b8653331f 358 break;
masahikofukasawa 1:b46b8653331f 359 }
masahikofukasawa 1:b46b8653331f 360 case Message::CMD_IR_GET_INTERRUPT_EEPROM:
masahikofukasawa 1:b46b8653331f 361 {
masahikofukasawa 3:a817a3b3e9ae 362 if (ak9750->getInterruptEnableFromEEPROM(&interrupt) != AK9750::SUCCESS) {
masahikofukasawa 1:b46b8653331f 363 status = AkmSensor::ERROR;
masahikofukasawa 1:b46b8653331f 364 MSG("#Failed to set interrupt to AK9750(EEPROM).\n");
masahikofukasawa 1:b46b8653331f 365 }
masahikofukasawa 1:b46b8653331f 366 out->setArgument(0, interrupt.drdy);
masahikofukasawa 1:b46b8653331f 367 out->setArgument(1, interrupt.ir13h);
masahikofukasawa 1:b46b8653331f 368 out->setArgument(2, interrupt.ir13l);
masahikofukasawa 1:b46b8653331f 369 out->setArgument(3, interrupt.ir24h);
masahikofukasawa 1:b46b8653331f 370 out->setArgument(4, interrupt.ir24l);
masahikofukasawa 1:b46b8653331f 371 break;
masahikofukasawa 1:b46b8653331f 372 }
masahikofukasawa 1:b46b8653331f 373 case Message::CMD_IR_SET_INTERRUPT_EEPROM:
masahikofukasawa 1:b46b8653331f 374 {
masahikofukasawa 1:b46b8653331f 375 interrupt.drdy = in->getArgument(0);
masahikofukasawa 1:b46b8653331f 376 interrupt.ir13h = in->getArgument(1);
masahikofukasawa 1:b46b8653331f 377 interrupt.ir13l = in->getArgument(2);
masahikofukasawa 1:b46b8653331f 378 interrupt.ir24h = in->getArgument(3);
masahikofukasawa 1:b46b8653331f 379 interrupt.ir24l = in->getArgument(4);
masahikofukasawa 3:a817a3b3e9ae 380 if (ak9750->setInterruptEnableToEEPROM(&interrupt) != AK9750::SUCCESS) {
masahikofukasawa 1:b46b8653331f 381 status = AkmSensor::ERROR;
masahikofukasawa 1:b46b8653331f 382 MSG("#Failed to set interrupt to AK9750(EEPROM).\n");
masahikofukasawa 1:b46b8653331f 383 }
masahikofukasawa 1:b46b8653331f 384 out->setArgument(0,(char)status);
masahikofukasawa 1:b46b8653331f 385 break;
masahikofukasawa 1:b46b8653331f 386 }
masahikofukasawa 1:b46b8653331f 387 case Message::CMD_IR_GET_OPERATION_MODE_EEPROM:
masahikofukasawa 1:b46b8653331f 388 {
masahikofukasawa 9:6fa3e7b17c27 389 // AK9750::OperationMode mode;
masahikofukasawa 9:6fa3e7b17c27 390 // AK9750::DigitalFilter filter;
masahikofukasawa 1:b46b8653331f 391 if(ak9750->getOperationModeFromEEPROM(&mode, &filter) != AK9750::SUCCESS) {
masahikofukasawa 1:b46b8653331f 392 status = AkmSensor::ERROR;
masahikofukasawa 1:b46b8653331f 393 MSG("#Error getOperationMode. AK9750(EEPROM).\n");
masahikofukasawa 1:b46b8653331f 394 }
masahikofukasawa 1:b46b8653331f 395 out->setArgument(0,(char)mode);
masahikofukasawa 1:b46b8653331f 396 out->setArgument(1,(char)filter);
masahikofukasawa 1:b46b8653331f 397 break;
masahikofukasawa 1:b46b8653331f 398 }
masahikofukasawa 1:b46b8653331f 399 case Message::CMD_IR_SET_OPERATION_MODE_EEPROM:
masahikofukasawa 1:b46b8653331f 400 {
masahikofukasawa 9:6fa3e7b17c27 401 mode = (AK9750::OperationMode)in->getArgument(0);
masahikofukasawa 9:6fa3e7b17c27 402 filter = (AK9750::DigitalFilter)in->getArgument(1);
masahikofukasawa 9:6fa3e7b17c27 403 if(ak9750->setOperationModeToEEPROM(mode, filter) != AK9750::SUCCESS) {
masahikofukasawa 1:b46b8653331f 404 status = AkmSensor::ERROR;
masahikofukasawa 1:b46b8653331f 405 MSG("#Error setOperationMode. AK9750(EEPROM).\n");
masahikofukasawa 1:b46b8653331f 406 }
masahikofukasawa 1:b46b8653331f 407 out->setArgument(0,(char)status);
masahikofukasawa 1:b46b8653331f 408 break;
masahikofukasawa 1:b46b8653331f 409 }
masahikofukasawa 9:6fa3e7b17c27 410 case Message::CMD_REG_WRITE:
masahikofukasawa 9:6fa3e7b17c27 411 {
masahikofukasawa 9:6fa3e7b17c27 412 char address = in->getArgument(0);
masahikofukasawa 9:6fa3e7b17c27 413 int len = (int)in->getArgument(1);
masahikofukasawa 9:6fa3e7b17c27 414 const char data = in->getArgument(2);
masahikofukasawa 9:6fa3e7b17c27 415 if( ak9750->write(address, &data, len) != AK9750::SUCCESS) {
masahikofukasawa 9:6fa3e7b17c27 416 status = AkmSensor::ERROR;
masahikofukasawa 9:6fa3e7b17c27 417 MSG("#Error register write.\n");
masahikofukasawa 9:6fa3e7b17c27 418 }
masahikofukasawa 9:6fa3e7b17c27 419 out->setArgument(0,(char)status);
masahikofukasawa 9:6fa3e7b17c27 420 break;
masahikofukasawa 9:6fa3e7b17c27 421 }
masahikofukasawa 9:6fa3e7b17c27 422 case Message::CMD_REG_WRITEN:
masahikofukasawa 9:6fa3e7b17c27 423 {
masahikofukasawa 9:6fa3e7b17c27 424 char address = in->getArgument(0);
masahikofukasawa 9:6fa3e7b17c27 425 int len = (int)in->getArgument(1);
masahikofukasawa 9:6fa3e7b17c27 426 char data[len];
masahikofukasawa 9:6fa3e7b17c27 427 for(int i=0; i<len; i++){
masahikofukasawa 9:6fa3e7b17c27 428 data[i] = in->getArgument(i);
masahikofukasawa 9:6fa3e7b17c27 429 }
masahikofukasawa 9:6fa3e7b17c27 430 if( ak9750->write(address, data, len) != AK9750::SUCCESS) {
masahikofukasawa 9:6fa3e7b17c27 431 status = AkmSensor::ERROR;
masahikofukasawa 9:6fa3e7b17c27 432 MSG("#Error register write.\n");
masahikofukasawa 9:6fa3e7b17c27 433 }
masahikofukasawa 9:6fa3e7b17c27 434 out->setArgument(0,(char)status);
masahikofukasawa 9:6fa3e7b17c27 435 break;
masahikofukasawa 9:6fa3e7b17c27 436 }
masahikofukasawa 9:6fa3e7b17c27 437 case Message::CMD_REG_READ:
masahikofukasawa 9:6fa3e7b17c27 438 {
masahikofukasawa 9:6fa3e7b17c27 439 char address = in->getArgument(0);
masahikofukasawa 9:6fa3e7b17c27 440 int len = (int)in->getArgument(1);
masahikofukasawa 9:6fa3e7b17c27 441 char data;
masahikofukasawa 9:6fa3e7b17c27 442 if( ak9750->read(address, &data, len) != AK9750::SUCCESS) {
masahikofukasawa 9:6fa3e7b17c27 443 status = AkmSensor::ERROR;
masahikofukasawa 9:6fa3e7b17c27 444 MSG("#Error register read.\n");
masahikofukasawa 9:6fa3e7b17c27 445 }
masahikofukasawa 9:6fa3e7b17c27 446 out->setArgument(0,data);
masahikofukasawa 9:6fa3e7b17c27 447 break;
masahikofukasawa 9:6fa3e7b17c27 448 }
masahikofukasawa 9:6fa3e7b17c27 449 case Message::CMD_REG_READN:
masahikofukasawa 9:6fa3e7b17c27 450 {
masahikofukasawa 9:6fa3e7b17c27 451 char address = in->getArgument(0);
masahikofukasawa 9:6fa3e7b17c27 452 int len = (int)in->getArgument(1);
masahikofukasawa 9:6fa3e7b17c27 453 char data[len];
masahikofukasawa 9:6fa3e7b17c27 454 if( ak9750->read(address, data, len) != AK9750::SUCCESS) {
masahikofukasawa 9:6fa3e7b17c27 455 status = AkmSensor::ERROR;
masahikofukasawa 9:6fa3e7b17c27 456 MSG("#Error register read.\n");
masahikofukasawa 9:6fa3e7b17c27 457 }
masahikofukasawa 9:6fa3e7b17c27 458 for(int i=0; i<len; i++){
masahikofukasawa 9:6fa3e7b17c27 459 out->setArgument(i, data[i]);
masahikofukasawa 9:6fa3e7b17c27 460 }
masahikofukasawa 9:6fa3e7b17c27 461 break;
masahikofukasawa 9:6fa3e7b17c27 462 }
masahikofukasawa 1:b46b8653331f 463 default:
masahikofukasawa 1:b46b8653331f 464 {
masahikofukasawa 1:b46b8653331f 465 MSG("#Error no command.\n");
masahikofukasawa 1:b46b8653331f 466 status = AkmSensor::ERROR;
masahikofukasawa 1:b46b8653331f 467 break;
masahikofukasawa 1:b46b8653331f 468 }
masahikofukasawa 1:b46b8653331f 469 }
masahikofukasawa 0:7a00359e701e 470 return status;
masahikofukasawa 0:7a00359e701e 471 }