Modified for compatibility with Rev.E. hardware
Fork of AkmSensor by
akmakd.cpp@41:a3ea80c594ec, 2017-08-17 (annotated)
- Committer:
- masahikofukasawa
- Date:
- Thu Aug 17 19:59:10 2017 +0000
- Revision:
- 41:a3ea80c594ec
- Parent:
- 40:42e48427e4b7
- Child:
- 42:b48b3ab8690e
Modified for AK09940
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
masahikofukasawa | 0:7a00359e701e | 1 | #include "akmakd.h" |
masahikofukasawa | 0:7a00359e701e | 2 | #include "ak8963.h" |
masahikofukasawa | 0:7a00359e701e | 3 | #include "ak099xx.h" |
masahikofukasawa | 0:7a00359e701e | 4 | #include "debug.h" |
masahikofukasawa | 0:7a00359e701e | 5 | |
masahikofukasawa | 0:7a00359e701e | 6 | /** |
masahikofukasawa | 0:7a00359e701e | 7 | * Constructor. |
masahikofukasawa | 0:7a00359e701e | 8 | * |
masahikofukasawa | 0:7a00359e701e | 9 | */ |
masahikofukasawa | 27:41aa9fb23a2f | 10 | AkmAkd::AkmAkd() : AkmSensor(){ |
masahikofukasawa | 0:7a00359e701e | 11 | compass = NULL; |
masahikofukasawa | 0:7a00359e701e | 12 | } |
masahikofukasawa | 0:7a00359e701e | 13 | |
masahikofukasawa | 0:7a00359e701e | 14 | /** |
masahikofukasawa | 0:7a00359e701e | 15 | * Destructor. |
masahikofukasawa | 0:7a00359e701e | 16 | * |
masahikofukasawa | 0:7a00359e701e | 17 | */ |
masahikofukasawa | 0:7a00359e701e | 18 | AkmAkd::~AkmAkd(){ |
masahikofukasawa | 0:7a00359e701e | 19 | if (compass) delete compass; |
masahikofukasawa | 0:7a00359e701e | 20 | } |
masahikofukasawa | 0:7a00359e701e | 21 | |
masahikofukasawa | 20:2fca76521680 | 22 | AkmSensor::Status AkmAkd::checkSensor( const uint8_t primaryid, const uint8_t subid, AkmECompass::DeviceId* devid){ |
masahikofukasawa | 19:8dcc4f323bdc | 23 | AK099XX* ak099xx; |
masahikofukasawa | 19:8dcc4f323bdc | 24 | AK8963* ak8963; |
masahikofukasawa | 19:8dcc4f323bdc | 25 | |
masahikofukasawa | 19:8dcc4f323bdc | 26 | switch(subid){ |
masahikofukasawa | 19:8dcc4f323bdc | 27 | case AkmAkd::SUB_ID_AK8963N: |
masahikofukasawa | 19:8dcc4f323bdc | 28 | case AkmAkd::SUB_ID_AK8963C: |
masahikofukasawa | 20:2fca76521680 | 29 | *devid = AkmECompass::AK8963; |
masahikofukasawa | 19:8dcc4f323bdc | 30 | AkmAkd::sensorName = "AK8963"; |
masahikofukasawa | 19:8dcc4f323bdc | 31 | ak8963 = new AK8963(); |
masahikofukasawa | 19:8dcc4f323bdc | 32 | compass = ak8963; |
masahikofukasawa | 19:8dcc4f323bdc | 33 | break; |
masahikofukasawa | 19:8dcc4f323bdc | 34 | case AkmAkd::SUB_ID_AK09911C: |
masahikofukasawa | 20:2fca76521680 | 35 | *devid = AkmECompass::AK09911; |
masahikofukasawa | 19:8dcc4f323bdc | 36 | AkmAkd::sensorName = "AK09911C"; |
masahikofukasawa | 19:8dcc4f323bdc | 37 | if(primaryId == AKM_PRIMARY_ID_AKD_SPI) |
masahikofukasawa | 19:8dcc4f323bdc | 38 | return AkmSensor::ERROR; // No SPI support |
masahikofukasawa | 19:8dcc4f323bdc | 39 | ak099xx = new AK099XX(); |
masahikofukasawa | 19:8dcc4f323bdc | 40 | compass = ak099xx; |
masahikofukasawa | 19:8dcc4f323bdc | 41 | break; |
masahikofukasawa | 19:8dcc4f323bdc | 42 | case AkmAkd::SUB_ID_AK09912C: |
masahikofukasawa | 20:2fca76521680 | 43 | *devid = AkmECompass::AK09912; |
masahikofukasawa | 19:8dcc4f323bdc | 44 | AkmAkd::sensorName = "AK09912C"; |
masahikofukasawa | 19:8dcc4f323bdc | 45 | ak099xx = new AK099XX(); |
masahikofukasawa | 19:8dcc4f323bdc | 46 | compass = ak099xx; |
masahikofukasawa | 41:a3ea80c594ec | 47 | lenOptions = 1; |
masahikofukasawa | 19:8dcc4f323bdc | 48 | break; |
masahikofukasawa | 19:8dcc4f323bdc | 49 | case AkmAkd::SUB_ID_AK09915C: |
masahikofukasawa | 20:2fca76521680 | 50 | *devid = AkmECompass::AK09915; |
masahikofukasawa | 19:8dcc4f323bdc | 51 | AkmAkd::sensorName = "AK09915C"; |
masahikofukasawa | 19:8dcc4f323bdc | 52 | ak099xx = new AK099XX(); |
masahikofukasawa | 19:8dcc4f323bdc | 53 | compass = ak099xx; |
masahikofukasawa | 41:a3ea80c594ec | 54 | lenOptions = 2; |
masahikofukasawa | 19:8dcc4f323bdc | 55 | break; |
masahikofukasawa | 19:8dcc4f323bdc | 56 | case AkmAkd::SUB_ID_AK09915D: |
masahikofukasawa | 20:2fca76521680 | 57 | *devid = AkmECompass::AK09915; |
masahikofukasawa | 19:8dcc4f323bdc | 58 | AkmAkd::sensorName = "AK09915D"; |
masahikofukasawa | 19:8dcc4f323bdc | 59 | ak099xx = new AK099XX(); |
masahikofukasawa | 19:8dcc4f323bdc | 60 | compass = ak099xx; |
masahikofukasawa | 41:a3ea80c594ec | 61 | lenOptions = 2; |
masahikofukasawa | 19:8dcc4f323bdc | 62 | break; |
masahikofukasawa | 19:8dcc4f323bdc | 63 | case AkmAkd::SUB_ID_AK09916C: |
masahikofukasawa | 20:2fca76521680 | 64 | *devid = AkmECompass::AK09916C; |
masahikofukasawa | 19:8dcc4f323bdc | 65 | AkmAkd::sensorName = "AK09916C"; |
masahikofukasawa | 19:8dcc4f323bdc | 66 | if(primaryId == AKM_PRIMARY_ID_AKD_SPI) |
masahikofukasawa | 19:8dcc4f323bdc | 67 | return AkmSensor::ERROR; // No SPI support |
masahikofukasawa | 19:8dcc4f323bdc | 68 | ak099xx = new AK099XX(); |
masahikofukasawa | 19:8dcc4f323bdc | 69 | compass = ak099xx; |
masahikofukasawa | 19:8dcc4f323bdc | 70 | break; |
masahikofukasawa | 19:8dcc4f323bdc | 71 | case AkmAkd::SUB_ID_AK09916D: |
masahikofukasawa | 20:2fca76521680 | 72 | *devid = AkmECompass::AK09916D; |
masahikofukasawa | 19:8dcc4f323bdc | 73 | AkmAkd::sensorName = "AK09916D"; |
masahikofukasawa | 19:8dcc4f323bdc | 74 | if(primaryId == AKM_PRIMARY_ID_AKD_SPI) |
masahikofukasawa | 19:8dcc4f323bdc | 75 | return AkmSensor::ERROR; // No SPI support |
masahikofukasawa | 19:8dcc4f323bdc | 76 | ak099xx = new AK099XX(); |
masahikofukasawa | 19:8dcc4f323bdc | 77 | compass = ak099xx; |
masahikofukasawa | 19:8dcc4f323bdc | 78 | break; |
masahikofukasawa | 19:8dcc4f323bdc | 79 | case AkmAkd::SUB_ID_AK09918: |
masahikofukasawa | 20:2fca76521680 | 80 | *devid = AkmECompass::AK09918; |
masahikofukasawa | 19:8dcc4f323bdc | 81 | AkmAkd::sensorName = "AK09918"; |
masahikofukasawa | 19:8dcc4f323bdc | 82 | if(primaryId == AKM_PRIMARY_ID_AKD_SPI) |
masahikofukasawa | 19:8dcc4f323bdc | 83 | return AkmSensor::ERROR; // No SPI support |
masahikofukasawa | 19:8dcc4f323bdc | 84 | ak099xx = new AK099XX(); |
masahikofukasawa | 19:8dcc4f323bdc | 85 | compass = ak099xx; |
masahikofukasawa | 19:8dcc4f323bdc | 86 | break; |
masahikofukasawa | 38:e865dadfe54d | 87 | case AkmAkd::SUB_ID_AK09917: |
masahikofukasawa | 38:e865dadfe54d | 88 | *devid = AkmECompass::AK09917; |
masahikofukasawa | 38:e865dadfe54d | 89 | AkmAkd::sensorName = "AK09917"; |
masahikofukasawa | 38:e865dadfe54d | 90 | if(primaryId == AKM_PRIMARY_ID_AKD_SPI) |
masahikofukasawa | 38:e865dadfe54d | 91 | return AkmSensor::ERROR; // No SPI support |
masahikofukasawa | 38:e865dadfe54d | 92 | ak099xx = new AK099XX(); |
masahikofukasawa | 38:e865dadfe54d | 93 | compass = ak099xx; |
masahikofukasawa | 41:a3ea80c594ec | 94 | lenOptions = 2; |
masahikofukasawa | 41:a3ea80c594ec | 95 | break; |
masahikofukasawa | 41:a3ea80c594ec | 96 | case AkmAkd::SUB_ID_AK09940: |
masahikofukasawa | 41:a3ea80c594ec | 97 | *devid = AkmECompass::AK09940; |
masahikofukasawa | 41:a3ea80c594ec | 98 | AkmAkd::sensorName = "AK09940"; |
masahikofukasawa | 41:a3ea80c594ec | 99 | ak099xx = new AK099XX(); |
masahikofukasawa | 41:a3ea80c594ec | 100 | compass = ak099xx; |
masahikofukasawa | 41:a3ea80c594ec | 101 | lenOptions = 5; |
masahikofukasawa | 38:e865dadfe54d | 102 | break; |
masahikofukasawa | 19:8dcc4f323bdc | 103 | default: |
masahikofukasawa | 19:8dcc4f323bdc | 104 | return AkmSensor::ERROR; |
masahikofukasawa | 19:8dcc4f323bdc | 105 | } |
masahikofukasawa | 41:a3ea80c594ec | 106 | |
masahikofukasawa | 41:a3ea80c594ec | 107 | uint8_t options[lenOptions]; |
masahikofukasawa | 41:a3ea80c594ec | 108 | mode.options = options; |
masahikofukasawa | 41:a3ea80c594ec | 109 | |
masahikofukasawa | 19:8dcc4f323bdc | 110 | return AkmSensor::SUCCESS; |
masahikofukasawa | 19:8dcc4f323bdc | 111 | } |
masahikofukasawa | 19:8dcc4f323bdc | 112 | |
masahikofukasawa | 20:2fca76521680 | 113 | AkmSensor::Status AkmAkd::init(const uint8_t primaryid, const uint8_t subid){ |
masahikofukasawa | 20:2fca76521680 | 114 | primaryId = primaryid; |
masahikofukasawa | 0:7a00359e701e | 115 | subId = subid; |
masahikofukasawa | 0:7a00359e701e | 116 | |
masahikofukasawa | 20:2fca76521680 | 117 | AkmECompass::DeviceId devid; |
masahikofukasawa | 19:8dcc4f323bdc | 118 | |
masahikofukasawa | 41:a3ea80c594ec | 119 | mode.mode = AkmECompass::MODE_POWER_DOWN; |
masahikofukasawa | 41:a3ea80c594ec | 120 | lenOptions = 0; |
masahikofukasawa | 9:6fa3e7b17c27 | 121 | |
masahikofukasawa | 0:7a00359e701e | 122 | if(primaryId == AKM_PRIMARY_ID_AKD_I2C){ |
masahikofukasawa | 0:7a00359e701e | 123 | |
masahikofukasawa | 0:7a00359e701e | 124 | I2C* i2c = new I2C(I2C_SDA,I2C_SCL); |
masahikofukasawa | 40:42e48427e4b7 | 125 | i2c->frequency(I2C_SPEED); |
masahikofukasawa | 0:7a00359e701e | 126 | |
masahikofukasawa | 20:2fca76521680 | 127 | if( checkSensor(primaryId,subId,&devid) != AkmSensor::SUCCESS ){ |
masahikofukasawa | 19:8dcc4f323bdc | 128 | return AkmSensor::ERROR; |
masahikofukasawa | 0:7a00359e701e | 129 | } |
masahikofukasawa | 0:7a00359e701e | 130 | |
masahikofukasawa | 0:7a00359e701e | 131 | AkmECompass::SlaveAddress slaveAddr[] |
masahikofukasawa | 0:7a00359e701e | 132 | = { AkmECompass::SLAVE_ADDR_1, |
masahikofukasawa | 0:7a00359e701e | 133 | AkmECompass::SLAVE_ADDR_2, |
masahikofukasawa | 0:7a00359e701e | 134 | AkmECompass::SLAVE_ADDR_3, |
masahikofukasawa | 0:7a00359e701e | 135 | AkmECompass::SLAVE_ADDR_4}; |
masahikofukasawa | 0:7a00359e701e | 136 | |
masahikofukasawa | 0:7a00359e701e | 137 | for(int i=0; i<sizeof(slaveAddr); i++) |
masahikofukasawa | 0:7a00359e701e | 138 | { |
masahikofukasawa | 20:2fca76521680 | 139 | compass->init(i2c, slaveAddr[i], devid); |
masahikofukasawa | 0:7a00359e701e | 140 | // Checks connectivity |
masahikofukasawa | 0:7a00359e701e | 141 | if(compass->checkConnection() == AkmECompass::SUCCESS) { |
masahikofukasawa | 19:8dcc4f323bdc | 142 | MSG("#%s detected.\r\n", AkmAkd::sensorName); |
masahikofukasawa | 19:8dcc4f323bdc | 143 | return AkmSensor::SUCCESS; |
masahikofukasawa | 0:7a00359e701e | 144 | } |
masahikofukasawa | 0:7a00359e701e | 145 | } |
masahikofukasawa | 0:7a00359e701e | 146 | }else if(primaryId == AKM_PRIMARY_ID_AKD_SPI){ |
masahikofukasawa | 7:e269411568c9 | 147 | |
masahikofukasawa | 7:e269411568c9 | 148 | SPI* spi = new SPI(SPI_MOSI, SPI_MISO, SPI_SCK); |
masahikofukasawa | 7:e269411568c9 | 149 | spi->format(8,3); // 8bit, Mode=3 |
masahikofukasawa | 41:a3ea80c594ec | 150 | spi->frequency(SPI_SPEED); |
masahikofukasawa | 7:e269411568c9 | 151 | |
masahikofukasawa | 7:e269411568c9 | 152 | DigitalOut* cs = new DigitalOut(SPI_CS); |
masahikofukasawa | 19:8dcc4f323bdc | 153 | |
masahikofukasawa | 20:2fca76521680 | 154 | if( checkSensor(primaryId,subId,&devid) != AkmSensor::SUCCESS ){ |
masahikofukasawa | 19:8dcc4f323bdc | 155 | return AkmSensor::ERROR; |
masahikofukasawa | 7:e269411568c9 | 156 | } |
masahikofukasawa | 7:e269411568c9 | 157 | |
masahikofukasawa | 20:2fca76521680 | 158 | compass->init(spi, cs, devid); |
masahikofukasawa | 7:e269411568c9 | 159 | if(compass->checkConnection() == AkmECompass::SUCCESS) { |
masahikofukasawa | 19:8dcc4f323bdc | 160 | MSG("#%s detected.\r\n", AkmAkd::sensorName); |
masahikofukasawa | 19:8dcc4f323bdc | 161 | return AkmSensor::SUCCESS; |
masahikofukasawa | 7:e269411568c9 | 162 | } |
masahikofukasawa | 0:7a00359e701e | 163 | } |
masahikofukasawa | 19:8dcc4f323bdc | 164 | return AkmSensor::ERROR; |
masahikofukasawa | 0:7a00359e701e | 165 | } |
masahikofukasawa | 0:7a00359e701e | 166 | |
masahikofukasawa | 29:b488d2c89fba | 167 | void AkmAkd::setEvent(){ |
masahikofukasawa | 41:a3ea80c594ec | 168 | AkmECompass::Status status = compass->isDataReady(); |
masahikofukasawa | 41:a3ea80c594ec | 169 | if( status == AkmECompass::DATA_READY ){ |
masahikofukasawa | 29:b488d2c89fba | 170 | base::setEvent(); |
masahikofukasawa | 29:b488d2c89fba | 171 | } |
masahikofukasawa | 0:7a00359e701e | 172 | } |
masahikofukasawa | 0:7a00359e701e | 173 | |
masahikofukasawa | 19:8dcc4f323bdc | 174 | AkmAkd::InterruptMode AkmAkd::getInterrupt(uint8_t primaryId, uint8_t subId){ |
masahikofukasawa | 19:8dcc4f323bdc | 175 | AkmAkd::InterruptMode ret = AkmAkd::INTERRUPT_DISABLED; |
masahikofukasawa | 19:8dcc4f323bdc | 176 | |
masahikofukasawa | 19:8dcc4f323bdc | 177 | if( primaryId == AKM_PRIMARY_ID_AKD_I2C && |
masahikofukasawa | 19:8dcc4f323bdc | 178 | (subId == AkmAkd::SUB_ID_AK8963N || |
masahikofukasawa | 19:8dcc4f323bdc | 179 | subId == AkmAkd::SUB_ID_AK8963C || |
masahikofukasawa | 19:8dcc4f323bdc | 180 | subId == AkmAkd::SUB_ID_AK09912C || |
masahikofukasawa | 41:a3ea80c594ec | 181 | subId == AkmAkd::SUB_ID_AK09915C || |
masahikofukasawa | 41:a3ea80c594ec | 182 | subId == AkmAkd::SUB_ID_AK09940 ) ){ |
masahikofukasawa | 19:8dcc4f323bdc | 183 | ret = AkmAkd::INTERRUPT_ENABLED_PP; |
masahikofukasawa | 19:8dcc4f323bdc | 184 | } |
masahikofukasawa | 19:8dcc4f323bdc | 185 | else if( primaryId == AKM_PRIMARY_ID_AKD_I2C && |
masahikofukasawa | 19:8dcc4f323bdc | 186 | (subId == AkmAkd::SUB_ID_AK09915D || |
masahikofukasawa | 38:e865dadfe54d | 187 | subId == AkmAkd::SUB_ID_AK09916D || |
masahikofukasawa | 38:e865dadfe54d | 188 | subId == AkmAkd::SUB_ID_AK09917 ) ){ |
masahikofukasawa | 19:8dcc4f323bdc | 189 | ret = AkmAkd::INTERRUPT_ENABLED_OD; |
masahikofukasawa | 19:8dcc4f323bdc | 190 | } |
masahikofukasawa | 19:8dcc4f323bdc | 191 | else{ |
masahikofukasawa | 19:8dcc4f323bdc | 192 | // No DRDY |
masahikofukasawa | 19:8dcc4f323bdc | 193 | // No DRDY use for SPI interface |
masahikofukasawa | 19:8dcc4f323bdc | 194 | } |
masahikofukasawa | 19:8dcc4f323bdc | 195 | return ret; |
masahikofukasawa | 19:8dcc4f323bdc | 196 | } |
masahikofukasawa | 19:8dcc4f323bdc | 197 | |
masahikofukasawa | 0:7a00359e701e | 198 | AkmSensor::Status AkmAkd::startSensor(){ |
masahikofukasawa | 11:cef8dc1cf010 | 199 | // read one data to clear DRDY |
masahikofukasawa | 41:a3ea80c594ec | 200 | AkmECompass::MagneticVectorLsb mag; |
masahikofukasawa | 41:a3ea80c594ec | 201 | compass->getMagneticVectorLsb(&mag); |
masahikofukasawa | 9:6fa3e7b17c27 | 202 | |
masahikofukasawa | 19:8dcc4f323bdc | 203 | AkmAkd::InterruptMode int_mode = getInterrupt(primaryId,subId); |
masahikofukasawa | 39:3821886c902e | 204 | if( int_mode == AkmAkd::INTERRUPT_DISABLED ){ |
masahikofukasawa | 39:3821886c902e | 205 | // No DRDY, attach timer and start |
masahikofukasawa | 29:b488d2c89fba | 206 | ticker.attach(callback(this, &AkmAkd::setEvent), 1.0/AKDP_POLLING_FREQUENCY); |
masahikofukasawa | 0:7a00359e701e | 207 | } |
masahikofukasawa | 11:cef8dc1cf010 | 208 | |
masahikofukasawa | 11:cef8dc1cf010 | 209 | // set operation mode |
masahikofukasawa | 41:a3ea80c594ec | 210 | if(compass->setOperationMode(mode) != AkmECompass::SUCCESS) { |
masahikofukasawa | 41:a3ea80c594ec | 211 | MSG("#Error: Start sensor failed %s\r\n", sensorName); |
masahikofukasawa | 41:a3ea80c594ec | 212 | return AkmSensor::ERROR; |
masahikofukasawa | 11:cef8dc1cf010 | 213 | } |
masahikofukasawa | 11:cef8dc1cf010 | 214 | |
masahikofukasawa | 29:b488d2c89fba | 215 | MSG("#Start sensor %s.\r\n",sensorName); |
masahikofukasawa | 0:7a00359e701e | 216 | return AkmSensor::SUCCESS; |
masahikofukasawa | 0:7a00359e701e | 217 | } |
masahikofukasawa | 0:7a00359e701e | 218 | |
masahikofukasawa | 0:7a00359e701e | 219 | AkmSensor::Status AkmAkd::startSensor(const float sec){ |
masahikofukasawa | 11:cef8dc1cf010 | 220 | return AkmSensor::ERROR; |
masahikofukasawa | 0:7a00359e701e | 221 | } |
masahikofukasawa | 0:7a00359e701e | 222 | |
masahikofukasawa | 0:7a00359e701e | 223 | AkmSensor::Status AkmAkd::stopSensor(){ |
masahikofukasawa | 0:7a00359e701e | 224 | ticker.detach(); |
masahikofukasawa | 29:b488d2c89fba | 225 | AkmSensor::clearEvent(); |
masahikofukasawa | 41:a3ea80c594ec | 226 | |
masahikofukasawa | 41:a3ea80c594ec | 227 | AkmECompass::Mode temp; |
masahikofukasawa | 41:a3ea80c594ec | 228 | temp.mode = AkmECompass::MODE_POWER_DOWN; |
masahikofukasawa | 41:a3ea80c594ec | 229 | for(int i=0; i<lenOptions; i++){ |
masahikofukasawa | 41:a3ea80c594ec | 230 | temp.options[i] = mode.options[i]; |
masahikofukasawa | 41:a3ea80c594ec | 231 | } |
masahikofukasawa | 41:a3ea80c594ec | 232 | if(compass->setOperationMode(temp) != AkmECompass::SUCCESS) { |
masahikofukasawa | 41:a3ea80c594ec | 233 | return AkmSensor::ERROR; |
masahikofukasawa | 0:7a00359e701e | 234 | } |
masahikofukasawa | 20:2fca76521680 | 235 | |
masahikofukasawa | 11:cef8dc1cf010 | 236 | // read one data to clear DRDY |
masahikofukasawa | 41:a3ea80c594ec | 237 | AkmECompass::MagneticVectorLsb mag; |
masahikofukasawa | 41:a3ea80c594ec | 238 | compass->getMagneticVectorLsb(&mag); |
masahikofukasawa | 11:cef8dc1cf010 | 239 | |
masahikofukasawa | 0:7a00359e701e | 240 | return AkmSensor::SUCCESS; |
masahikofukasawa | 0:7a00359e701e | 241 | } |
masahikofukasawa | 0:7a00359e701e | 242 | |
masahikofukasawa | 0:7a00359e701e | 243 | AkmSensor::Status AkmAkd::readSensorData(Message* msg){ |
masahikofukasawa | 29:b488d2c89fba | 244 | AkmSensor::clearEvent(); |
masahikofukasawa | 0:7a00359e701e | 245 | |
masahikofukasawa | 41:a3ea80c594ec | 246 | AkmECompass::MagneticVectorLsb lsb; |
masahikofukasawa | 41:a3ea80c594ec | 247 | AkmECompass::Status status = compass->getMagneticVectorLsb(&lsb); |
masahikofukasawa | 0:7a00359e701e | 248 | if( status != AkmECompass::SUCCESS){ |
masahikofukasawa | 0:7a00359e701e | 249 | return AkmSensor::ERROR; |
masahikofukasawa | 0:7a00359e701e | 250 | } |
masahikofukasawa | 0:7a00359e701e | 251 | msg->setCommand(Message::CMD_START_MEASUREMENT); |
masahikofukasawa | 41:a3ea80c594ec | 252 | msg->setArgument( 0, (lsb.isOverflow ? 1 : 0) ); |
masahikofukasawa | 41:a3ea80c594ec | 253 | if(subId == AkmAkd::SUB_ID_AK09940) |
masahikofukasawa | 41:a3ea80c594ec | 254 | { |
masahikofukasawa | 41:a3ea80c594ec | 255 | msg->setArgument( 1,(char)( lsb.lsbX>>16 ) ); |
masahikofukasawa | 41:a3ea80c594ec | 256 | msg->setArgument( 2,(char)( lsb.lsbX>>8 ) ); |
masahikofukasawa | 41:a3ea80c594ec | 257 | msg->setArgument( 3,(char)( lsb.lsbX ) ); |
masahikofukasawa | 41:a3ea80c594ec | 258 | msg->setArgument( 4,(char)( lsb.lsbY>>16 ) ); |
masahikofukasawa | 41:a3ea80c594ec | 259 | msg->setArgument( 5,(char)( lsb.lsbY>>8 ) ); |
masahikofukasawa | 41:a3ea80c594ec | 260 | msg->setArgument( 6,(char)( lsb.lsbY ) ); |
masahikofukasawa | 41:a3ea80c594ec | 261 | msg->setArgument( 7,(char)( lsb.lsbZ>>16 ) ); |
masahikofukasawa | 41:a3ea80c594ec | 262 | msg->setArgument( 8,(char)( lsb.lsbZ>>8 ) ); |
masahikofukasawa | 41:a3ea80c594ec | 263 | msg->setArgument( 9,(char)( lsb.lsbZ ) ); |
masahikofukasawa | 41:a3ea80c594ec | 264 | msg->setArgument(10,(char)( lsb.lsbTemp ) ); |
masahikofukasawa | 41:a3ea80c594ec | 265 | } |
masahikofukasawa | 41:a3ea80c594ec | 266 | else |
masahikofukasawa | 41:a3ea80c594ec | 267 | { |
masahikofukasawa | 41:a3ea80c594ec | 268 | msg->setArgument( 1,(char)( lsb.lsbX>>8 ) ); |
masahikofukasawa | 41:a3ea80c594ec | 269 | msg->setArgument( 2,(char)( lsb.lsbX ) ); |
masahikofukasawa | 41:a3ea80c594ec | 270 | msg->setArgument( 3,(char)( lsb.lsbY>>8 ) ); |
masahikofukasawa | 41:a3ea80c594ec | 271 | msg->setArgument( 4,(char)( lsb.lsbY ) ); |
masahikofukasawa | 41:a3ea80c594ec | 272 | msg->setArgument( 5,(char)( lsb.lsbZ>>8 ) ); |
masahikofukasawa | 41:a3ea80c594ec | 273 | msg->setArgument( 6,(char)( lsb.lsbZ ) ); |
masahikofukasawa | 41:a3ea80c594ec | 274 | } |
masahikofukasawa | 0:7a00359e701e | 275 | return AkmSensor::SUCCESS; |
masahikofukasawa | 0:7a00359e701e | 276 | } |
masahikofukasawa | 0:7a00359e701e | 277 | |
masahikofukasawa | 0:7a00359e701e | 278 | AkmSensor::Status AkmAkd::requestCommand(Message* in, Message* out){ |
masahikofukasawa | 9:6fa3e7b17c27 | 279 | AkmSensor::Status status = AkmSensor::SUCCESS; |
masahikofukasawa | 9:6fa3e7b17c27 | 280 | Message::Command cmd = in->getCommand(); |
masahikofukasawa | 9:6fa3e7b17c27 | 281 | out->setCommand(cmd); |
masahikofukasawa | 9:6fa3e7b17c27 | 282 | |
masahikofukasawa | 9:6fa3e7b17c27 | 283 | switch(cmd){ |
masahikofukasawa | 9:6fa3e7b17c27 | 284 | case Message::CMD_COMPASS_GET_OPERATION_MODE: |
masahikofukasawa | 41:a3ea80c594ec | 285 | { |
masahikofukasawa | 41:a3ea80c594ec | 286 | if(compass->getOperationMode(&mode) != AkmECompass::SUCCESS) { |
masahikofukasawa | 41:a3ea80c594ec | 287 | status = AkmSensor::ERROR; |
masahikofukasawa | 41:a3ea80c594ec | 288 | MSG("#Error: set operation mode.\r\n"); |
masahikofukasawa | 15:1238993fd75f | 289 | }else{ |
masahikofukasawa | 41:a3ea80c594ec | 290 | out->setArgument(0,mode.mode); |
masahikofukasawa | 41:a3ea80c594ec | 291 | for(int i=0; i<lenOptions; i++){ |
masahikofukasawa | 41:a3ea80c594ec | 292 | out->setArgument(i+1,mode.options[i]); |
masahikofukasawa | 41:a3ea80c594ec | 293 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 294 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 295 | break; |
masahikofukasawa | 9:6fa3e7b17c27 | 296 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 297 | case Message::CMD_COMPASS_SET_OPERATION_MODE: |
masahikofukasawa | 9:6fa3e7b17c27 | 298 | { |
masahikofukasawa | 41:a3ea80c594ec | 299 | mode.mode = (AkmECompass::OperationMode)in->getArgument(0); |
masahikofukasawa | 41:a3ea80c594ec | 300 | for(int i=0; i<lenOptions; i++){ |
masahikofukasawa | 41:a3ea80c594ec | 301 | mode.options[i] = in->getArgument(i+1); |
masahikofukasawa | 9:6fa3e7b17c27 | 302 | } |
masahikofukasawa | 41:a3ea80c594ec | 303 | if(compass->setOperationMode(mode) != AkmECompass::SUCCESS) { |
masahikofukasawa | 41:a3ea80c594ec | 304 | status = AkmSensor::ERROR; |
masahikofukasawa | 41:a3ea80c594ec | 305 | MSG("#Error: set operation mode.\r\n"); |
masahikofukasawa | 9:6fa3e7b17c27 | 306 | } |
masahikofukasawa | 41:a3ea80c594ec | 307 | out->setArgument(0,(char)status); |
masahikofukasawa | 9:6fa3e7b17c27 | 308 | break; |
masahikofukasawa | 15:1238993fd75f | 309 | } |
masahikofukasawa | 15:1238993fd75f | 310 | case Message::CMD_REG_WRITE: |
masahikofukasawa | 9:6fa3e7b17c27 | 311 | case Message::CMD_REG_WRITEN: |
masahikofukasawa | 9:6fa3e7b17c27 | 312 | { |
masahikofukasawa | 9:6fa3e7b17c27 | 313 | char address = in->getArgument(0); |
masahikofukasawa | 9:6fa3e7b17c27 | 314 | int len = (int)in->getArgument(1); |
masahikofukasawa | 15:1238993fd75f | 315 | if(in->getArgNum() != len+2){ |
masahikofukasawa | 39:3821886c902e | 316 | MSG("#Error: argument num. Args=%d\r\n",in->getArgNum()); |
masahikofukasawa | 15:1238993fd75f | 317 | status = AkmSensor::ERROR; |
masahikofukasawa | 15:1238993fd75f | 318 | out->setArgument(0,(char)status); |
masahikofukasawa | 15:1238993fd75f | 319 | return status; |
masahikofukasawa | 15:1238993fd75f | 320 | } |
masahikofukasawa | 15:1238993fd75f | 321 | |
masahikofukasawa | 9:6fa3e7b17c27 | 322 | char data[len]; |
masahikofukasawa | 9:6fa3e7b17c27 | 323 | for(int i=0; i<len; i++){ |
masahikofukasawa | 15:1238993fd75f | 324 | data[i] = in->getArgument(i+2); |
masahikofukasawa | 9:6fa3e7b17c27 | 325 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 326 | if( compass->write(address, data, len) != AkmECompass::SUCCESS) { |
masahikofukasawa | 9:6fa3e7b17c27 | 327 | status = AkmSensor::ERROR; |
masahikofukasawa | 39:3821886c902e | 328 | MSG("#Error: register write.\r\n"); |
masahikofukasawa | 9:6fa3e7b17c27 | 329 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 330 | out->setArgument(0,(char)status); |
masahikofukasawa | 9:6fa3e7b17c27 | 331 | break; |
masahikofukasawa | 15:1238993fd75f | 332 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 333 | case Message::CMD_REG_READ: |
masahikofukasawa | 9:6fa3e7b17c27 | 334 | case Message::CMD_REG_READN: |
masahikofukasawa | 9:6fa3e7b17c27 | 335 | { |
masahikofukasawa | 15:1238993fd75f | 336 | if(in->getArgNum() != 2){ |
masahikofukasawa | 39:3821886c902e | 337 | MSG("#Error: argument num. Args=%d\r\n",in->getArgNum()); |
masahikofukasawa | 15:1238993fd75f | 338 | status = AkmSensor::ERROR; |
masahikofukasawa | 15:1238993fd75f | 339 | return status; |
masahikofukasawa | 15:1238993fd75f | 340 | } |
masahikofukasawa | 15:1238993fd75f | 341 | |
masahikofukasawa | 9:6fa3e7b17c27 | 342 | char address = in->getArgument(0); |
masahikofukasawa | 9:6fa3e7b17c27 | 343 | int len = (int)in->getArgument(1); |
masahikofukasawa | 9:6fa3e7b17c27 | 344 | char data[len]; |
masahikofukasawa | 9:6fa3e7b17c27 | 345 | if( compass->read(address, data, len) != AkmECompass::SUCCESS) { |
masahikofukasawa | 9:6fa3e7b17c27 | 346 | status = AkmSensor::ERROR; |
masahikofukasawa | 39:3821886c902e | 347 | MSG("#Error: register read.\r\n"); |
masahikofukasawa | 9:6fa3e7b17c27 | 348 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 349 | for(int i=0; i<len; i++){ |
masahikofukasawa | 9:6fa3e7b17c27 | 350 | out->setArgument(i, data[i]); |
masahikofukasawa | 9:6fa3e7b17c27 | 351 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 352 | break; |
masahikofukasawa | 9:6fa3e7b17c27 | 353 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 354 | default: |
masahikofukasawa | 9:6fa3e7b17c27 | 355 | { |
masahikofukasawa | 39:3821886c902e | 356 | MSG("#Error: no command.\r\n"); |
masahikofukasawa | 9:6fa3e7b17c27 | 357 | status = AkmSensor::ERROR; |
masahikofukasawa | 9:6fa3e7b17c27 | 358 | break; |
masahikofukasawa | 9:6fa3e7b17c27 | 359 | } |
masahikofukasawa | 9:6fa3e7b17c27 | 360 | } |
masahikofukasawa | 15:1238993fd75f | 361 | return status; |
masahikofukasawa | 0:7a00359e701e | 362 | } |