Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

akmakd.cpp@42:b48b3ab8690e, 2017-11-03 (annotated)

Committer:
masahikofukasawa
Date:
Fri Nov 03 19:45:33 2017 +0000
Revision:
42:b48b3ab8690e
Parent:
41:a3ea80c594ec
Child:
43:45225713cd58
TBD. Try to change serial baud rate to 1Mbps or 921600bps.

Who changed what in which revision?

UserRevisionLine numberNew 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 42:b48b3ab8690e 4 #include "ak09940.h"
masahikofukasawa 0:7a00359e701e 5 #include "debug.h"
masahikofukasawa 0:7a00359e701e 6
masahikofukasawa 0:7a00359e701e 7 /**
masahikofukasawa 0:7a00359e701e 8 * Constructor.
masahikofukasawa 0:7a00359e701e 9 *
masahikofukasawa 0:7a00359e701e 10 */
masahikofukasawa 27:41aa9fb23a2f 11 AkmAkd::AkmAkd() : AkmSensor(){
masahikofukasawa 0:7a00359e701e 12 compass = NULL;
masahikofukasawa 0:7a00359e701e 13 }
masahikofukasawa 0:7a00359e701e 14
masahikofukasawa 0:7a00359e701e 15 /**
masahikofukasawa 0:7a00359e701e 16 * Destructor.
masahikofukasawa 0:7a00359e701e 17 *
masahikofukasawa 0:7a00359e701e 18 */
masahikofukasawa 0:7a00359e701e 19 AkmAkd::~AkmAkd(){
masahikofukasawa 0:7a00359e701e 20 if (compass) delete compass;
masahikofukasawa 0:7a00359e701e 21 }
masahikofukasawa 0:7a00359e701e 22
masahikofukasawa 20:2fca76521680 23 AkmSensor::Status AkmAkd::checkSensor( const uint8_t primaryid, const uint8_t subid, AkmECompass::DeviceId* devid){
masahikofukasawa 19:8dcc4f323bdc 24 AK099XX* ak099xx;
masahikofukasawa 42:b48b3ab8690e 25 AK09940* ak09940;
masahikofukasawa 19:8dcc4f323bdc 26 AK8963* ak8963;
masahikofukasawa 42:b48b3ab8690e 27 lenOptions = 0;
masahikofukasawa 42:b48b3ab8690e 28
masahikofukasawa 19:8dcc4f323bdc 29 switch(subid){
masahikofukasawa 19:8dcc4f323bdc 30 case AkmAkd::SUB_ID_AK8963N:
masahikofukasawa 19:8dcc4f323bdc 31 case AkmAkd::SUB_ID_AK8963C:
masahikofukasawa 20:2fca76521680 32 *devid = AkmECompass::AK8963;
masahikofukasawa 19:8dcc4f323bdc 33 AkmAkd::sensorName = "AK8963";
masahikofukasawa 19:8dcc4f323bdc 34 ak8963 = new AK8963();
masahikofukasawa 19:8dcc4f323bdc 35 compass = ak8963;
masahikofukasawa 19:8dcc4f323bdc 36 break;
masahikofukasawa 19:8dcc4f323bdc 37 case AkmAkd::SUB_ID_AK09911C:
masahikofukasawa 20:2fca76521680 38 *devid = AkmECompass::AK09911;
masahikofukasawa 19:8dcc4f323bdc 39 AkmAkd::sensorName = "AK09911C";
masahikofukasawa 19:8dcc4f323bdc 40 if(primaryId == AKM_PRIMARY_ID_AKD_SPI)
masahikofukasawa 19:8dcc4f323bdc 41 return AkmSensor::ERROR; // No SPI support
masahikofukasawa 19:8dcc4f323bdc 42 ak099xx = new AK099XX();
masahikofukasawa 19:8dcc4f323bdc 43 compass = ak099xx;
masahikofukasawa 19:8dcc4f323bdc 44 break;
masahikofukasawa 19:8dcc4f323bdc 45 case AkmAkd::SUB_ID_AK09912C:
masahikofukasawa 20:2fca76521680 46 *devid = AkmECompass::AK09912;
masahikofukasawa 19:8dcc4f323bdc 47 AkmAkd::sensorName = "AK09912C";
masahikofukasawa 19:8dcc4f323bdc 48 ak099xx = new AK099XX();
masahikofukasawa 19:8dcc4f323bdc 49 compass = ak099xx;
masahikofukasawa 41:a3ea80c594ec 50 lenOptions = 1;
masahikofukasawa 19:8dcc4f323bdc 51 break;
masahikofukasawa 19:8dcc4f323bdc 52 case AkmAkd::SUB_ID_AK09915C:
masahikofukasawa 20:2fca76521680 53 *devid = AkmECompass::AK09915;
masahikofukasawa 19:8dcc4f323bdc 54 AkmAkd::sensorName = "AK09915C";
masahikofukasawa 19:8dcc4f323bdc 55 ak099xx = new AK099XX();
masahikofukasawa 19:8dcc4f323bdc 56 compass = ak099xx;
masahikofukasawa 41:a3ea80c594ec 57 lenOptions = 2;
masahikofukasawa 19:8dcc4f323bdc 58 break;
masahikofukasawa 19:8dcc4f323bdc 59 case AkmAkd::SUB_ID_AK09915D:
masahikofukasawa 20:2fca76521680 60 *devid = AkmECompass::AK09915;
masahikofukasawa 19:8dcc4f323bdc 61 AkmAkd::sensorName = "AK09915D";
masahikofukasawa 19:8dcc4f323bdc 62 ak099xx = new AK099XX();
masahikofukasawa 19:8dcc4f323bdc 63 compass = ak099xx;
masahikofukasawa 41:a3ea80c594ec 64 lenOptions = 2;
masahikofukasawa 19:8dcc4f323bdc 65 break;
masahikofukasawa 19:8dcc4f323bdc 66 case AkmAkd::SUB_ID_AK09916C:
masahikofukasawa 20:2fca76521680 67 *devid = AkmECompass::AK09916C;
masahikofukasawa 19:8dcc4f323bdc 68 AkmAkd::sensorName = "AK09916C";
masahikofukasawa 19:8dcc4f323bdc 69 if(primaryId == AKM_PRIMARY_ID_AKD_SPI)
masahikofukasawa 19:8dcc4f323bdc 70 return AkmSensor::ERROR; // No SPI support
masahikofukasawa 19:8dcc4f323bdc 71 ak099xx = new AK099XX();
masahikofukasawa 19:8dcc4f323bdc 72 compass = ak099xx;
masahikofukasawa 19:8dcc4f323bdc 73 break;
masahikofukasawa 19:8dcc4f323bdc 74 case AkmAkd::SUB_ID_AK09916D:
masahikofukasawa 20:2fca76521680 75 *devid = AkmECompass::AK09916D;
masahikofukasawa 19:8dcc4f323bdc 76 AkmAkd::sensorName = "AK09916D";
masahikofukasawa 19:8dcc4f323bdc 77 if(primaryId == AKM_PRIMARY_ID_AKD_SPI)
masahikofukasawa 19:8dcc4f323bdc 78 return AkmSensor::ERROR; // No SPI support
masahikofukasawa 19:8dcc4f323bdc 79 ak099xx = new AK099XX();
masahikofukasawa 19:8dcc4f323bdc 80 compass = ak099xx;
masahikofukasawa 19:8dcc4f323bdc 81 break;
masahikofukasawa 19:8dcc4f323bdc 82 case AkmAkd::SUB_ID_AK09918:
masahikofukasawa 20:2fca76521680 83 *devid = AkmECompass::AK09918;
masahikofukasawa 19:8dcc4f323bdc 84 AkmAkd::sensorName = "AK09918";
masahikofukasawa 19:8dcc4f323bdc 85 if(primaryId == AKM_PRIMARY_ID_AKD_SPI)
masahikofukasawa 19:8dcc4f323bdc 86 return AkmSensor::ERROR; // No SPI support
masahikofukasawa 19:8dcc4f323bdc 87 ak099xx = new AK099XX();
masahikofukasawa 19:8dcc4f323bdc 88 compass = ak099xx;
masahikofukasawa 19:8dcc4f323bdc 89 break;
masahikofukasawa 38:e865dadfe54d 90 case AkmAkd::SUB_ID_AK09917:
masahikofukasawa 38:e865dadfe54d 91 *devid = AkmECompass::AK09917;
masahikofukasawa 38:e865dadfe54d 92 AkmAkd::sensorName = "AK09917";
masahikofukasawa 38:e865dadfe54d 93 if(primaryId == AKM_PRIMARY_ID_AKD_SPI)
masahikofukasawa 38:e865dadfe54d 94 return AkmSensor::ERROR; // No SPI support
masahikofukasawa 38:e865dadfe54d 95 ak099xx = new AK099XX();
masahikofukasawa 38:e865dadfe54d 96 compass = ak099xx;
masahikofukasawa 41:a3ea80c594ec 97 lenOptions = 2;
masahikofukasawa 41:a3ea80c594ec 98 break;
masahikofukasawa 41:a3ea80c594ec 99 case AkmAkd::SUB_ID_AK09940:
masahikofukasawa 41:a3ea80c594ec 100 *devid = AkmECompass::AK09940;
masahikofukasawa 41:a3ea80c594ec 101 AkmAkd::sensorName = "AK09940";
masahikofukasawa 42:b48b3ab8690e 102 ak09940 = new AK09940();
masahikofukasawa 42:b48b3ab8690e 103 compass = ak09940;
masahikofukasawa 41:a3ea80c594ec 104 lenOptions = 5;
masahikofukasawa 38:e865dadfe54d 105 break;
masahikofukasawa 19:8dcc4f323bdc 106 default:
masahikofukasawa 19:8dcc4f323bdc 107 return AkmSensor::ERROR;
masahikofukasawa 19:8dcc4f323bdc 108 }
masahikofukasawa 41:a3ea80c594ec 109
masahikofukasawa 41:a3ea80c594ec 110 uint8_t options[lenOptions];
masahikofukasawa 41:a3ea80c594ec 111 mode.options = options;
masahikofukasawa 41:a3ea80c594ec 112
masahikofukasawa 19:8dcc4f323bdc 113 return AkmSensor::SUCCESS;
masahikofukasawa 19:8dcc4f323bdc 114 }
masahikofukasawa 19:8dcc4f323bdc 115
masahikofukasawa 20:2fca76521680 116 AkmSensor::Status AkmAkd::init(const uint8_t primaryid, const uint8_t subid){
masahikofukasawa 20:2fca76521680 117 primaryId = primaryid;
masahikofukasawa 0:7a00359e701e 118 subId = subid;
masahikofukasawa 42:b48b3ab8690e 119
masahikofukasawa 20:2fca76521680 120 AkmECompass::DeviceId devid;
masahikofukasawa 19:8dcc4f323bdc 121
masahikofukasawa 41:a3ea80c594ec 122 mode.mode = AkmECompass::MODE_POWER_DOWN;
masahikofukasawa 9:6fa3e7b17c27 123
masahikofukasawa 0:7a00359e701e 124 if(primaryId == AKM_PRIMARY_ID_AKD_I2C){
masahikofukasawa 0:7a00359e701e 125
masahikofukasawa 0:7a00359e701e 126 I2C* i2c = new I2C(I2C_SDA,I2C_SCL);
masahikofukasawa 40:42e48427e4b7 127 i2c->frequency(I2C_SPEED);
masahikofukasawa 0:7a00359e701e 128
masahikofukasawa 20:2fca76521680 129 if( checkSensor(primaryId,subId,&devid) != AkmSensor::SUCCESS ){
masahikofukasawa 19:8dcc4f323bdc 130 return AkmSensor::ERROR;
masahikofukasawa 0:7a00359e701e 131 }
masahikofukasawa 0:7a00359e701e 132
masahikofukasawa 0:7a00359e701e 133 AkmECompass::SlaveAddress slaveAddr[]
masahikofukasawa 0:7a00359e701e 134 = { AkmECompass::SLAVE_ADDR_1,
masahikofukasawa 0:7a00359e701e 135 AkmECompass::SLAVE_ADDR_2,
masahikofukasawa 0:7a00359e701e 136 AkmECompass::SLAVE_ADDR_3,
masahikofukasawa 0:7a00359e701e 137 AkmECompass::SLAVE_ADDR_4};
masahikofukasawa 0:7a00359e701e 138
masahikofukasawa 0:7a00359e701e 139 for(int i=0; i<sizeof(slaveAddr); i++)
masahikofukasawa 0:7a00359e701e 140 {
masahikofukasawa 42:b48b3ab8690e 141 MSG("#look for e-compass.\r\n");
masahikofukasawa 20:2fca76521680 142 compass->init(i2c, slaveAddr[i], devid);
masahikofukasawa 0:7a00359e701e 143 // Checks connectivity
masahikofukasawa 42:b48b3ab8690e 144 MSG("#checkConnection.\r\n");
masahikofukasawa 0:7a00359e701e 145 if(compass->checkConnection() == AkmECompass::SUCCESS) {
masahikofukasawa 19:8dcc4f323bdc 146 MSG("#%s detected.\r\n", AkmAkd::sensorName);
masahikofukasawa 19:8dcc4f323bdc 147 return AkmSensor::SUCCESS;
masahikofukasawa 0:7a00359e701e 148 }
masahikofukasawa 0:7a00359e701e 149 }
masahikofukasawa 0:7a00359e701e 150 }else if(primaryId == AKM_PRIMARY_ID_AKD_SPI){
masahikofukasawa 7:e269411568c9 151
masahikofukasawa 7:e269411568c9 152 SPI* spi = new SPI(SPI_MOSI, SPI_MISO, SPI_SCK);
masahikofukasawa 7:e269411568c9 153 spi->format(8,3); // 8bit, Mode=3
masahikofukasawa 41:a3ea80c594ec 154 spi->frequency(SPI_SPEED);
masahikofukasawa 7:e269411568c9 155
masahikofukasawa 7:e269411568c9 156 DigitalOut* cs = new DigitalOut(SPI_CS);
masahikofukasawa 19:8dcc4f323bdc 157
masahikofukasawa 20:2fca76521680 158 if( checkSensor(primaryId,subId,&devid) != AkmSensor::SUCCESS ){
masahikofukasawa 19:8dcc4f323bdc 159 return AkmSensor::ERROR;
masahikofukasawa 7:e269411568c9 160 }
masahikofukasawa 7:e269411568c9 161
masahikofukasawa 20:2fca76521680 162 compass->init(spi, cs, devid);
masahikofukasawa 7:e269411568c9 163 if(compass->checkConnection() == AkmECompass::SUCCESS) {
masahikofukasawa 19:8dcc4f323bdc 164 MSG("#%s detected.\r\n", AkmAkd::sensorName);
masahikofukasawa 19:8dcc4f323bdc 165 return AkmSensor::SUCCESS;
masahikofukasawa 7:e269411568c9 166 }
masahikofukasawa 0:7a00359e701e 167 }
masahikofukasawa 42:b48b3ab8690e 168 MSG("#ERROR: couldn't detected.\r\n");
masahikofukasawa 19:8dcc4f323bdc 169 return AkmSensor::ERROR;
masahikofukasawa 0:7a00359e701e 170 }
masahikofukasawa 0:7a00359e701e 171
masahikofukasawa 29:b488d2c89fba 172 void AkmAkd::setEvent(){
masahikofukasawa 41:a3ea80c594ec 173 AkmECompass::Status status = compass->isDataReady();
masahikofukasawa 41:a3ea80c594ec 174 if( status == AkmECompass::DATA_READY ){
masahikofukasawa 29:b488d2c89fba 175 base::setEvent();
masahikofukasawa 29:b488d2c89fba 176 }
masahikofukasawa 0:7a00359e701e 177 }
masahikofukasawa 0:7a00359e701e 178
masahikofukasawa 19:8dcc4f323bdc 179 AkmAkd::InterruptMode AkmAkd::getInterrupt(uint8_t primaryId, uint8_t subId){
masahikofukasawa 19:8dcc4f323bdc 180 AkmAkd::InterruptMode ret = AkmAkd::INTERRUPT_DISABLED;
masahikofukasawa 19:8dcc4f323bdc 181
masahikofukasawa 19:8dcc4f323bdc 182 if( primaryId == AKM_PRIMARY_ID_AKD_I2C &&
masahikofukasawa 19:8dcc4f323bdc 183 (subId == AkmAkd::SUB_ID_AK8963N ||
masahikofukasawa 19:8dcc4f323bdc 184 subId == AkmAkd::SUB_ID_AK8963C ||
masahikofukasawa 19:8dcc4f323bdc 185 subId == AkmAkd::SUB_ID_AK09912C ||
masahikofukasawa 41:a3ea80c594ec 186 subId == AkmAkd::SUB_ID_AK09915C ||
masahikofukasawa 41:a3ea80c594ec 187 subId == AkmAkd::SUB_ID_AK09940 ) ){
masahikofukasawa 19:8dcc4f323bdc 188 ret = AkmAkd::INTERRUPT_ENABLED_PP;
masahikofukasawa 19:8dcc4f323bdc 189 }
masahikofukasawa 19:8dcc4f323bdc 190 else if( primaryId == AKM_PRIMARY_ID_AKD_I2C &&
masahikofukasawa 19:8dcc4f323bdc 191 (subId == AkmAkd::SUB_ID_AK09915D ||
masahikofukasawa 38:e865dadfe54d 192 subId == AkmAkd::SUB_ID_AK09916D ||
masahikofukasawa 38:e865dadfe54d 193 subId == AkmAkd::SUB_ID_AK09917 ) ){
masahikofukasawa 19:8dcc4f323bdc 194 ret = AkmAkd::INTERRUPT_ENABLED_OD;
masahikofukasawa 19:8dcc4f323bdc 195 }
masahikofukasawa 19:8dcc4f323bdc 196 else{
masahikofukasawa 19:8dcc4f323bdc 197 // No DRDY
masahikofukasawa 19:8dcc4f323bdc 198 // No DRDY use for SPI interface
masahikofukasawa 19:8dcc4f323bdc 199 }
masahikofukasawa 19:8dcc4f323bdc 200 return ret;
masahikofukasawa 19:8dcc4f323bdc 201 }
masahikofukasawa 19:8dcc4f323bdc 202
masahikofukasawa 0:7a00359e701e 203 AkmSensor::Status AkmAkd::startSensor(){
masahikofukasawa 11:cef8dc1cf010 204 // read one data to clear DRDY
masahikofukasawa 41:a3ea80c594ec 205 AkmECompass::MagneticVectorLsb mag;
masahikofukasawa 41:a3ea80c594ec 206 compass->getMagneticVectorLsb(&mag);
masahikofukasawa 9:6fa3e7b17c27 207
masahikofukasawa 19:8dcc4f323bdc 208 AkmAkd::InterruptMode int_mode = getInterrupt(primaryId,subId);
masahikofukasawa 39:3821886c902e 209 if( int_mode == AkmAkd::INTERRUPT_DISABLED ){
masahikofukasawa 39:3821886c902e 210 // No DRDY, attach timer and start
masahikofukasawa 29:b488d2c89fba 211 ticker.attach(callback(this, &AkmAkd::setEvent), 1.0/AKDP_POLLING_FREQUENCY);
masahikofukasawa 0:7a00359e701e 212 }
masahikofukasawa 11:cef8dc1cf010 213
masahikofukasawa 11:cef8dc1cf010 214 // set operation mode
masahikofukasawa 41:a3ea80c594ec 215 if(compass->setOperationMode(mode) != AkmECompass::SUCCESS) {
masahikofukasawa 41:a3ea80c594ec 216 MSG("#Error: Start sensor failed %s\r\n", sensorName);
masahikofukasawa 41:a3ea80c594ec 217 return AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 218 }
masahikofukasawa 11:cef8dc1cf010 219
masahikofukasawa 29:b488d2c89fba 220 MSG("#Start sensor %s.\r\n",sensorName);
masahikofukasawa 0:7a00359e701e 221 return AkmSensor::SUCCESS;
masahikofukasawa 0:7a00359e701e 222 }
masahikofukasawa 0:7a00359e701e 223
masahikofukasawa 0:7a00359e701e 224 AkmSensor::Status AkmAkd::startSensor(const float sec){
masahikofukasawa 11:cef8dc1cf010 225 return AkmSensor::ERROR;
masahikofukasawa 0:7a00359e701e 226 }
masahikofukasawa 0:7a00359e701e 227
masahikofukasawa 0:7a00359e701e 228 AkmSensor::Status AkmAkd::stopSensor(){
masahikofukasawa 0:7a00359e701e 229 ticker.detach();
masahikofukasawa 29:b488d2c89fba 230 AkmSensor::clearEvent();
masahikofukasawa 41:a3ea80c594ec 231
masahikofukasawa 41:a3ea80c594ec 232 AkmECompass::Mode temp;
masahikofukasawa 41:a3ea80c594ec 233 temp.mode = AkmECompass::MODE_POWER_DOWN;
masahikofukasawa 42:b48b3ab8690e 234 uint8_t options[lenOptions];
masahikofukasawa 41:a3ea80c594ec 235 for(int i=0; i<lenOptions; i++){
masahikofukasawa 42:b48b3ab8690e 236 options[i] = mode.options[i];
masahikofukasawa 41:a3ea80c594ec 237 }
masahikofukasawa 42:b48b3ab8690e 238 temp.options = options;
masahikofukasawa 41:a3ea80c594ec 239 if(compass->setOperationMode(temp) != AkmECompass::SUCCESS) {
masahikofukasawa 41:a3ea80c594ec 240 return AkmSensor::ERROR;
masahikofukasawa 0:7a00359e701e 241 }
masahikofukasawa 20:2fca76521680 242
masahikofukasawa 11:cef8dc1cf010 243 // read one data to clear DRDY
masahikofukasawa 41:a3ea80c594ec 244 AkmECompass::MagneticVectorLsb mag;
masahikofukasawa 41:a3ea80c594ec 245 compass->getMagneticVectorLsb(&mag);
masahikofukasawa 11:cef8dc1cf010 246
masahikofukasawa 0:7a00359e701e 247 return AkmSensor::SUCCESS;
masahikofukasawa 0:7a00359e701e 248 }
masahikofukasawa 0:7a00359e701e 249
masahikofukasawa 0:7a00359e701e 250 AkmSensor::Status AkmAkd::readSensorData(Message* msg){
masahikofukasawa 29:b488d2c89fba 251 AkmSensor::clearEvent();
masahikofukasawa 0:7a00359e701e 252
masahikofukasawa 41:a3ea80c594ec 253 AkmECompass::MagneticVectorLsb lsb;
masahikofukasawa 41:a3ea80c594ec 254 AkmECompass::Status status = compass->getMagneticVectorLsb(&lsb);
masahikofukasawa 0:7a00359e701e 255 if( status != AkmECompass::SUCCESS){
masahikofukasawa 0:7a00359e701e 256 return AkmSensor::ERROR;
masahikofukasawa 0:7a00359e701e 257 }
masahikofukasawa 0:7a00359e701e 258 msg->setCommand(Message::CMD_START_MEASUREMENT);
masahikofukasawa 41:a3ea80c594ec 259 msg->setArgument( 0, (lsb.isOverflow ? 1 : 0) );
masahikofukasawa 41:a3ea80c594ec 260 if(subId == AkmAkd::SUB_ID_AK09940)
masahikofukasawa 41:a3ea80c594ec 261 {
masahikofukasawa 41:a3ea80c594ec 262 msg->setArgument( 1,(char)( lsb.lsbX>>16 ) );
masahikofukasawa 41:a3ea80c594ec 263 msg->setArgument( 2,(char)( lsb.lsbX>>8 ) );
masahikofukasawa 41:a3ea80c594ec 264 msg->setArgument( 3,(char)( lsb.lsbX ) );
masahikofukasawa 41:a3ea80c594ec 265 msg->setArgument( 4,(char)( lsb.lsbY>>16 ) );
masahikofukasawa 41:a3ea80c594ec 266 msg->setArgument( 5,(char)( lsb.lsbY>>8 ) );
masahikofukasawa 41:a3ea80c594ec 267 msg->setArgument( 6,(char)( lsb.lsbY ) );
masahikofukasawa 41:a3ea80c594ec 268 msg->setArgument( 7,(char)( lsb.lsbZ>>16 ) );
masahikofukasawa 41:a3ea80c594ec 269 msg->setArgument( 8,(char)( lsb.lsbZ>>8 ) );
masahikofukasawa 41:a3ea80c594ec 270 msg->setArgument( 9,(char)( lsb.lsbZ ) );
masahikofukasawa 41:a3ea80c594ec 271 msg->setArgument(10,(char)( lsb.lsbTemp ) );
masahikofukasawa 41:a3ea80c594ec 272 }
masahikofukasawa 41:a3ea80c594ec 273 else
masahikofukasawa 41:a3ea80c594ec 274 {
masahikofukasawa 41:a3ea80c594ec 275 msg->setArgument( 1,(char)( lsb.lsbX>>8 ) );
masahikofukasawa 41:a3ea80c594ec 276 msg->setArgument( 2,(char)( lsb.lsbX ) );
masahikofukasawa 41:a3ea80c594ec 277 msg->setArgument( 3,(char)( lsb.lsbY>>8 ) );
masahikofukasawa 41:a3ea80c594ec 278 msg->setArgument( 4,(char)( lsb.lsbY ) );
masahikofukasawa 41:a3ea80c594ec 279 msg->setArgument( 5,(char)( lsb.lsbZ>>8 ) );
masahikofukasawa 41:a3ea80c594ec 280 msg->setArgument( 6,(char)( lsb.lsbZ ) );
masahikofukasawa 41:a3ea80c594ec 281 }
masahikofukasawa 0:7a00359e701e 282 return AkmSensor::SUCCESS;
masahikofukasawa 0:7a00359e701e 283 }
masahikofukasawa 0:7a00359e701e 284
masahikofukasawa 0:7a00359e701e 285 AkmSensor::Status AkmAkd::requestCommand(Message* in, Message* out){
masahikofukasawa 9:6fa3e7b17c27 286 AkmSensor::Status status = AkmSensor::SUCCESS;
masahikofukasawa 9:6fa3e7b17c27 287 Message::Command cmd = in->getCommand();
masahikofukasawa 9:6fa3e7b17c27 288 out->setCommand(cmd);
masahikofukasawa 9:6fa3e7b17c27 289
masahikofukasawa 9:6fa3e7b17c27 290 switch(cmd){
masahikofukasawa 9:6fa3e7b17c27 291 case Message::CMD_COMPASS_GET_OPERATION_MODE:
masahikofukasawa 41:a3ea80c594ec 292 {
masahikofukasawa 41:a3ea80c594ec 293 if(compass->getOperationMode(&mode) != AkmECompass::SUCCESS) {
masahikofukasawa 41:a3ea80c594ec 294 status = AkmSensor::ERROR;
masahikofukasawa 41:a3ea80c594ec 295 MSG("#Error: set operation mode.\r\n");
masahikofukasawa 15:1238993fd75f 296 }else{
masahikofukasawa 41:a3ea80c594ec 297 out->setArgument(0,mode.mode);
masahikofukasawa 41:a3ea80c594ec 298 for(int i=0; i<lenOptions; i++){
masahikofukasawa 41:a3ea80c594ec 299 out->setArgument(i+1,mode.options[i]);
masahikofukasawa 41:a3ea80c594ec 300 }
masahikofukasawa 9:6fa3e7b17c27 301 }
masahikofukasawa 9:6fa3e7b17c27 302 break;
masahikofukasawa 9:6fa3e7b17c27 303 }
masahikofukasawa 9:6fa3e7b17c27 304 case Message::CMD_COMPASS_SET_OPERATION_MODE:
masahikofukasawa 9:6fa3e7b17c27 305 {
masahikofukasawa 41:a3ea80c594ec 306 mode.mode = (AkmECompass::OperationMode)in->getArgument(0);
masahikofukasawa 41:a3ea80c594ec 307 for(int i=0; i<lenOptions; i++){
masahikofukasawa 41:a3ea80c594ec 308 mode.options[i] = in->getArgument(i+1);
masahikofukasawa 9:6fa3e7b17c27 309 }
masahikofukasawa 41:a3ea80c594ec 310 if(compass->setOperationMode(mode) != AkmECompass::SUCCESS) {
masahikofukasawa 41:a3ea80c594ec 311 status = AkmSensor::ERROR;
masahikofukasawa 41:a3ea80c594ec 312 MSG("#Error: set operation mode.\r\n");
masahikofukasawa 9:6fa3e7b17c27 313 }
masahikofukasawa 41:a3ea80c594ec 314 out->setArgument(0,(char)status);
masahikofukasawa 9:6fa3e7b17c27 315 break;
masahikofukasawa 15:1238993fd75f 316 }
masahikofukasawa 15:1238993fd75f 317 case Message::CMD_REG_WRITE:
masahikofukasawa 9:6fa3e7b17c27 318 case Message::CMD_REG_WRITEN:
masahikofukasawa 9:6fa3e7b17c27 319 {
masahikofukasawa 9:6fa3e7b17c27 320 char address = in->getArgument(0);
masahikofukasawa 9:6fa3e7b17c27 321 int len = (int)in->getArgument(1);
masahikofukasawa 15:1238993fd75f 322 if(in->getArgNum() != len+2){
masahikofukasawa 39:3821886c902e 323 MSG("#Error: argument num. Args=%d\r\n",in->getArgNum());
masahikofukasawa 15:1238993fd75f 324 status = AkmSensor::ERROR;
masahikofukasawa 15:1238993fd75f 325 out->setArgument(0,(char)status);
masahikofukasawa 15:1238993fd75f 326 return status;
masahikofukasawa 15:1238993fd75f 327 }
masahikofukasawa 15:1238993fd75f 328
masahikofukasawa 9:6fa3e7b17c27 329 char data[len];
masahikofukasawa 9:6fa3e7b17c27 330 for(int i=0; i<len; i++){
masahikofukasawa 15:1238993fd75f 331 data[i] = in->getArgument(i+2);
masahikofukasawa 9:6fa3e7b17c27 332 }
masahikofukasawa 9:6fa3e7b17c27 333 if( compass->write(address, data, len) != AkmECompass::SUCCESS) {
masahikofukasawa 9:6fa3e7b17c27 334 status = AkmSensor::ERROR;
masahikofukasawa 39:3821886c902e 335 MSG("#Error: register write.\r\n");
masahikofukasawa 9:6fa3e7b17c27 336 }
masahikofukasawa 9:6fa3e7b17c27 337 out->setArgument(0,(char)status);
masahikofukasawa 9:6fa3e7b17c27 338 break;
masahikofukasawa 15:1238993fd75f 339 }
masahikofukasawa 9:6fa3e7b17c27 340 case Message::CMD_REG_READ:
masahikofukasawa 9:6fa3e7b17c27 341 case Message::CMD_REG_READN:
masahikofukasawa 9:6fa3e7b17c27 342 {
masahikofukasawa 15:1238993fd75f 343 if(in->getArgNum() != 2){
masahikofukasawa 39:3821886c902e 344 MSG("#Error: argument num. Args=%d\r\n",in->getArgNum());
masahikofukasawa 15:1238993fd75f 345 status = AkmSensor::ERROR;
masahikofukasawa 15:1238993fd75f 346 return status;
masahikofukasawa 15:1238993fd75f 347 }
masahikofukasawa 15:1238993fd75f 348
masahikofukasawa 9:6fa3e7b17c27 349 char address = in->getArgument(0);
masahikofukasawa 9:6fa3e7b17c27 350 int len = (int)in->getArgument(1);
masahikofukasawa 9:6fa3e7b17c27 351 char data[len];
masahikofukasawa 9:6fa3e7b17c27 352 if( compass->read(address, data, len) != AkmECompass::SUCCESS) {
masahikofukasawa 9:6fa3e7b17c27 353 status = AkmSensor::ERROR;
masahikofukasawa 39:3821886c902e 354 MSG("#Error: register read.\r\n");
masahikofukasawa 9:6fa3e7b17c27 355 }
masahikofukasawa 9:6fa3e7b17c27 356 for(int i=0; i<len; i++){
masahikofukasawa 9:6fa3e7b17c27 357 out->setArgument(i, data[i]);
masahikofukasawa 9:6fa3e7b17c27 358 }
masahikofukasawa 9:6fa3e7b17c27 359 break;
masahikofukasawa 9:6fa3e7b17c27 360 }
masahikofukasawa 9:6fa3e7b17c27 361 default:
masahikofukasawa 9:6fa3e7b17c27 362 {
masahikofukasawa 39:3821886c902e 363 MSG("#Error: no command.\r\n");
masahikofukasawa 9:6fa3e7b17c27 364 status = AkmSensor::ERROR;
masahikofukasawa 9:6fa3e7b17c27 365 break;
masahikofukasawa 9:6fa3e7b17c27 366 }
masahikofukasawa 9:6fa3e7b17c27 367 }
masahikofukasawa 15:1238993fd75f 368 return status;
masahikofukasawa 0:7a00359e701e 369 }