Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

ak9750ctrl.cpp@11:cef8dc1cf010, 2016-07-22 (annotated)

Committer:
masahikofukasawa
Date:
Fri Jul 22 22:54:11 2016 +0000
Revision:
11:cef8dc1cf010
Parent:
10:5c69b067d88a
Child:
13:d008249f0359
RevD7_004

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 10:5c69b067d88a 10 Ak9750Ctrl::Ak9750Ctrl(){
masahikofukasawa 10:5c69b067d88a 11 ak9750 = NULL;
masahikofukasawa 10:5c69b067d88a 12 event = false;
masahikofukasawa 10:5c69b067d88a 13 interrupt = NULL;
masahikofukasawa 10:5c69b067d88a 14 }
masahikofukasawa 10:5c69b067d88a 15
masahikofukasawa 10:5c69b067d88a 16 /**
masahikofukasawa 10:5c69b067d88a 17 * Destructor.
masahikofukasawa 10:5c69b067d88a 18 *
masahikofukasawa 10:5c69b067d88a 19 */
masahikofukasawa 10:5c69b067d88a 20 Ak9750Ctrl::~Ak9750Ctrl(){
masahikofukasawa 10:5c69b067d88a 21 if (ak9750) delete ak9750;
masahikofukasawa 10:5c69b067d88a 22 if (interrupt) delete interrupt;
masahikofukasawa 10:5c69b067d88a 23 }
masahikofukasawa 10:5c69b067d88a 24
masahikofukasawa 10:5c69b067d88a 25 AkmSensor::Status Ak9750Ctrl::init(const uint8_t id, const uint8_t subid){
masahikofukasawa 10:5c69b067d88a 26 primaryId = id;
masahikofukasawa 10:5c69b067d88a 27 subId = subid;
masahikofukasawa 10:5c69b067d88a 28
masahikofukasawa 10:5c69b067d88a 29 interrupt = new InterruptIn(I2C_DRDY);
masahikofukasawa 10:5c69b067d88a 30 I2C* i2c = new I2C(I2C_SDA,I2C_SCL);
masahikofukasawa 10:5c69b067d88a 31 i2c->frequency(I2C_SPEED_100KHZ);
masahikofukasawa 10:5c69b067d88a 32
masahikofukasawa 10:5c69b067d88a 33 if(subId == SUB_ID_AK9750){
masahikofukasawa 10:5c69b067d88a 34 ak9750 = new AK9750();
masahikofukasawa 10:5c69b067d88a 35 }
masahikofukasawa 10:5c69b067d88a 36 else{
masahikofukasawa 10:5c69b067d88a 37 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 38 }
masahikofukasawa 10:5c69b067d88a 39
masahikofukasawa 10:5c69b067d88a 40 bool foundSensor = false;
masahikofukasawa 10:5c69b067d88a 41
masahikofukasawa 10:5c69b067d88a 42 AK9750::SlaveAddress slaveAddr[]
masahikofukasawa 10:5c69b067d88a 43 = { AK9750::SLAVE_ADDR_1,
masahikofukasawa 10:5c69b067d88a 44 AK9750::SLAVE_ADDR_2,
masahikofukasawa 10:5c69b067d88a 45 AK9750::SLAVE_ADDR_3};
masahikofukasawa 10:5c69b067d88a 46
masahikofukasawa 10:5c69b067d88a 47 for(int i=0; i<sizeof(slaveAddr); i++)
masahikofukasawa 10:5c69b067d88a 48 {
masahikofukasawa 10:5c69b067d88a 49 ak9750->init(i2c, slaveAddr[i]);
masahikofukasawa 10:5c69b067d88a 50 // Checks connectivity
masahikofukasawa 10:5c69b067d88a 51 if(ak9750->checkConnection() == Ak9750Ctrl::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 52 // found
masahikofukasawa 10:5c69b067d88a 53 foundSensor = true;
masahikofukasawa 10:5c69b067d88a 54 break;
masahikofukasawa 10:5c69b067d88a 55 }
masahikofukasawa 10:5c69b067d88a 56 }
masahikofukasawa 10:5c69b067d88a 57 if(foundSensor != true){
masahikofukasawa 11:cef8dc1cf010 58 MSG("#Failed to checkConnection AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 59 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 60 }
masahikofukasawa 10:5c69b067d88a 61
masahikofukasawa 10:5c69b067d88a 62 // reset
masahikofukasawa 10:5c69b067d88a 63 if (ak9750->reset() != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 64 MSG("#Failed to reset AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 65 }
masahikofukasawa 10:5c69b067d88a 66
masahikofukasawa 10:5c69b067d88a 67 // Set to EEPROM mode to EEPROM access
masahikofukasawa 10:5c69b067d88a 68 if(ak9750->setOperationMode(AK9750::MODE_EEPROM_ACCESS, AK9750::DF_0P3HZ) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 69 MSG("#Error setOperationMode to EEPROM mode. AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 70 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 71 }
masahikofukasawa 10:5c69b067d88a 72 // Gets threshold from EEPROM
masahikofukasawa 10:5c69b067d88a 73 AK9750::Threshold th;
masahikofukasawa 10:5c69b067d88a 74 if (ak9750->getThresholdFromEEPROM(&th) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 75 MSG("#Failed to get threshold from EEPROM AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 76 }
masahikofukasawa 10:5c69b067d88a 77 // Gets hysteresis from EEPROM
masahikofukasawa 10:5c69b067d88a 78 AK9750::Hysteresis hys;
masahikofukasawa 10:5c69b067d88a 79 if (ak9750->getHysteresisFromEEPROM(&hys) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 80 MSG("#Failed to get hysteresis from EEPROM AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 81 }
masahikofukasawa 10:5c69b067d88a 82 // Gets interrupt status from EEPROM
masahikofukasawa 10:5c69b067d88a 83 AK9750::InterruptStatus intStatus;
masahikofukasawa 10:5c69b067d88a 84 if ((ak9750->getInterruptEnableFromEEPROM(&intStatus)) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 85 MSG("#Failed to get interrupts of AK9750 from EEPROM.\r\n");
masahikofukasawa 10:5c69b067d88a 86 }
masahikofukasawa 10:5c69b067d88a 87
masahikofukasawa 10:5c69b067d88a 88 // Gets operation mode from EEPROM
masahikofukasawa 10:5c69b067d88a 89 if ((ak9750->getOperationModeFromEEPROM(&mode,&filter)) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 90 MSG("#Failed to get operation mode of AK9750 from EEPROM.\r\n");
masahikofukasawa 10:5c69b067d88a 91 }
masahikofukasawa 11:cef8dc1cf010 92 MSG("#Operation Mode:(0x%02X,0x%02X)\r\n",mode, filter);
masahikofukasawa 10:5c69b067d88a 93
masahikofukasawa 10:5c69b067d88a 94 // Back to Stand-by Mode for register access
masahikofukasawa 10:5c69b067d88a 95 if(ak9750->setOperationMode(AK9750::MODE_STANDBY, filter) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 96 MSG("#Error setOperationMode to stand-by mode of AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 97 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 98 }
masahikofukasawa 10:5c69b067d88a 99
masahikofukasawa 10:5c69b067d88a 100 // Sets threshold from the red EEPROM values
masahikofukasawa 10:5c69b067d88a 101 if (ak9750->setThreshold(&th) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 102 MSG("#Failed to set threshold to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 103 }
masahikofukasawa 11:cef8dc1cf010 104 MSG("#Threshold:(0x%02X,0x%02X,0x%02X,0x%02X)\r\n",th.eth13h,th.eth13l,th.eth24h,th.eth24l);
masahikofukasawa 10:5c69b067d88a 105
masahikofukasawa 10:5c69b067d88a 106 // Sets hysteresis from the red EEPROM values
masahikofukasawa 10:5c69b067d88a 107 if (ak9750->setHysteresis(&hys) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 108 MSG("#Failed to set hysteresis to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 109 }
masahikofukasawa 11:cef8dc1cf010 110 MSG("#Hysteresis:(0x%02X,0x%02X)\r\n",hys.ehys13,hys.ehys24);
masahikofukasawa 10:5c69b067d88a 111
masahikofukasawa 10:5c69b067d88a 112 // Sets interruput status from the red EEPROM values
masahikofukasawa 10:5c69b067d88a 113 AK9750::Status status = ak9750->setInterruptEnable(&intStatus);
masahikofukasawa 10:5c69b067d88a 114 if (status != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 115 MSG("#Failed to set interrupts of AK9750. Status = 0x%02X\r\n", status);
masahikofukasawa 10:5c69b067d88a 116 }
masahikofukasawa 11:cef8dc1cf010 117 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 118
masahikofukasawa 11:cef8dc1cf010 119 MSG("#Init success AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 120 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 121 }
masahikofukasawa 10:5c69b067d88a 122
masahikofukasawa 10:5c69b067d88a 123 void Ak9750Ctrl::detectINT(){
masahikofukasawa 10:5c69b067d88a 124 event = true;
masahikofukasawa 10:5c69b067d88a 125 }
masahikofukasawa 10:5c69b067d88a 126
masahikofukasawa 10:5c69b067d88a 127 bool Ak9750Ctrl::isEvent(){
masahikofukasawa 10:5c69b067d88a 128 return event;
masahikofukasawa 10:5c69b067d88a 129 }
masahikofukasawa 10:5c69b067d88a 130
masahikofukasawa 10:5c69b067d88a 131 AkmSensor::Status Ak9750Ctrl::startSensor(){
masahikofukasawa 11:cef8dc1cf010 132 // read one data to clear INT pin
masahikofukasawa 11:cef8dc1cf010 133 AK9750::SensorData data;
masahikofukasawa 11:cef8dc1cf010 134 ak9750->getSensorData(&data);
masahikofukasawa 11:cef8dc1cf010 135
masahikofukasawa 11:cef8dc1cf010 136 // enable interrupt
masahikofukasawa 11:cef8dc1cf010 137 interrupt->fall(this, &Ak9750Ctrl::detectINT);
masahikofukasawa 11:cef8dc1cf010 138
masahikofukasawa 11:cef8dc1cf010 139 // set operation mode
masahikofukasawa 10:5c69b067d88a 140 if(ak9750->setOperationMode(mode,filter) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 141 MSG("#Start sensor failed.\r\n");
masahikofukasawa 10:5c69b067d88a 142 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 143 }
masahikofukasawa 11:cef8dc1cf010 144
masahikofukasawa 11:cef8dc1cf010 145 MSG("#Start sensor succceeded.\r\n");
masahikofukasawa 10:5c69b067d88a 146 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 147 }
masahikofukasawa 10:5c69b067d88a 148
masahikofukasawa 10:5c69b067d88a 149 AkmSensor::Status Ak9750Ctrl::startSensor(const float sec){
masahikofukasawa 10:5c69b067d88a 150 interrupt->fall(this, &Ak9750Ctrl::detectINT);
masahikofukasawa 10:5c69b067d88a 151 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 152 }
masahikofukasawa 10:5c69b067d88a 153
masahikofukasawa 10:5c69b067d88a 154 AkmSensor::Status Ak9750Ctrl::stopSensor(){
masahikofukasawa 10:5c69b067d88a 155 event = false;
masahikofukasawa 11:cef8dc1cf010 156 interrupt->fall(NULL);
masahikofukasawa 10:5c69b067d88a 157 if(ak9750->setOperationMode(AK9750::MODE_STANDBY, filter) != AK9750::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 158 MSG("#Error setOperationMode. AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 159 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 160 }
masahikofukasawa 10:5c69b067d88a 161
masahikofukasawa 10:5c69b067d88a 162 // read one data to clear INT pin
masahikofukasawa 11:cef8dc1cf010 163 AK9750::SensorData data;
masahikofukasawa 11:cef8dc1cf010 164 ak9750->getSensorData(&data);
masahikofukasawa 10:5c69b067d88a 165
masahikofukasawa 10:5c69b067d88a 166 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 167 }
masahikofukasawa 10:5c69b067d88a 168
masahikofukasawa 10:5c69b067d88a 169 AkmSensor::Status Ak9750Ctrl::readSensorData(Message* msg){
masahikofukasawa 10:5c69b067d88a 170 event = false;
masahikofukasawa 10:5c69b067d88a 171
masahikofukasawa 10:5c69b067d88a 172 AK9750::SensorData data;
masahikofukasawa 10:5c69b067d88a 173 AK9750::Status status = ak9750->getSensorData(&data);
masahikofukasawa 10:5c69b067d88a 174 if( status != AK9750::SUCCESS){
masahikofukasawa 11:cef8dc1cf010 175 MSG("#Error getSensorData. AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 176 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 177 }
masahikofukasawa 10:5c69b067d88a 178 msg->setCommand(Message::CMD_START_MEASUREMENT);
masahikofukasawa 10:5c69b067d88a 179 msg->setArgument( 0, data.intStatus.ir13h);
masahikofukasawa 10:5c69b067d88a 180 msg->setArgument( 1, data.intStatus.ir13l);
masahikofukasawa 10:5c69b067d88a 181 msg->setArgument( 2, data.intStatus.ir24h);
masahikofukasawa 10:5c69b067d88a 182 msg->setArgument( 3, data.intStatus.ir24l);
masahikofukasawa 10:5c69b067d88a 183 msg->setArgument( 4, data.intStatus.drdy);
masahikofukasawa 10:5c69b067d88a 184 msg->setArgument( 5,(char)((int32_t)(data.ir1) >> 8));
masahikofukasawa 10:5c69b067d88a 185 msg->setArgument( 6, (char)((int32_t)(data.ir1) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 186 msg->setArgument( 7,(char)((int32_t)(data.ir2) >> 8));
masahikofukasawa 10:5c69b067d88a 187 msg->setArgument( 8, (char)((int32_t)(data.ir2) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 188 msg->setArgument( 9,(char)((int32_t)(data.ir3) >> 8));
masahikofukasawa 10:5c69b067d88a 189 msg->setArgument( 10, (char)((int32_t)(data.ir3) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 190 msg->setArgument( 11,(char)((int32_t)(data.ir4) >> 8));
masahikofukasawa 10:5c69b067d88a 191 msg->setArgument( 12, (char)((int32_t)(data.ir4) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 192 msg->setArgument( 13,(char)((int32_t)(data.temperature) >> 8));
masahikofukasawa 10:5c69b067d88a 193 msg->setArgument( 14, (char)((int32_t)(data.temperature) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 194 msg->setArgument( 15, data.dor);
masahikofukasawa 10:5c69b067d88a 195
masahikofukasawa 10:5c69b067d88a 196 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 197 }
masahikofukasawa 10:5c69b067d88a 198
masahikofukasawa 10:5c69b067d88a 199 AkmSensor::Status Ak9750Ctrl::requestCommand(Message* in, Message* out){
masahikofukasawa 10:5c69b067d88a 200 AkmSensor::Status status = AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 201 Message::Command cmd = in->getCommand();
masahikofukasawa 10:5c69b067d88a 202 AK9750::Threshold th;
masahikofukasawa 10:5c69b067d88a 203 AK9750::Hysteresis hys;
masahikofukasawa 10:5c69b067d88a 204 AK9750::InterruptStatus interrupt;
masahikofukasawa 10:5c69b067d88a 205
masahikofukasawa 10:5c69b067d88a 206 out->setCommand(cmd);
masahikofukasawa 10:5c69b067d88a 207
masahikofukasawa 10:5c69b067d88a 208 switch(cmd){
masahikofukasawa 10:5c69b067d88a 209 case Message::CMD_IR_GET_THRESHOLD:
masahikofukasawa 10:5c69b067d88a 210 {
masahikofukasawa 10:5c69b067d88a 211 if (ak9750->getThreshold(&th) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 212 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 213 MSG("#Failed to set threshold to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 214 }
masahikofukasawa 10:5c69b067d88a 215 out->setArgument(0,(char)((int32_t)(th.eth13h) >> 8));
masahikofukasawa 10:5c69b067d88a 216 out->setArgument(1,(char)((int32_t)(th.eth13h) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 217 out->setArgument(2,(char)((int32_t)(th.eth13l) >> 8));
masahikofukasawa 10:5c69b067d88a 218 out->setArgument(3,(char)((int32_t)(th.eth13l) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 219 out->setArgument(4,(char)((int32_t)(th.eth24h) >> 8));
masahikofukasawa 10:5c69b067d88a 220 out->setArgument(5,(char)((int32_t)(th.eth24h) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 221 out->setArgument(6,(char)((int32_t)(th.eth24l) >> 8));
masahikofukasawa 10:5c69b067d88a 222 out->setArgument(7,(char)((int32_t)(th.eth24l) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 223 break;
masahikofukasawa 10:5c69b067d88a 224 }
masahikofukasawa 10:5c69b067d88a 225 case Message::CMD_IR_SET_THRESHOLD:
masahikofukasawa 10:5c69b067d88a 226 {
masahikofukasawa 10:5c69b067d88a 227 th.eth13h = CONV16I(in->getArgument(0), in->getArgument(1));
masahikofukasawa 10:5c69b067d88a 228 th.eth13l = CONV16I(in->getArgument(2), in->getArgument(3));
masahikofukasawa 10:5c69b067d88a 229 th.eth24h = CONV16I(in->getArgument(4), in->getArgument(5));
masahikofukasawa 10:5c69b067d88a 230 th.eth24l = CONV16I(in->getArgument(6), in->getArgument(7));
masahikofukasawa 10:5c69b067d88a 231 if (ak9750->setThreshold(&th) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 232 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 233 MSG("#Failed to set threshold to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 234 }
masahikofukasawa 10:5c69b067d88a 235 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 236 break;
masahikofukasawa 10:5c69b067d88a 237 }
masahikofukasawa 10:5c69b067d88a 238 case Message::CMD_IR_GET_HYSTERESIS:
masahikofukasawa 10:5c69b067d88a 239 {
masahikofukasawa 10:5c69b067d88a 240 if (ak9750->getHysteresis(&hys) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 241 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 242 MSG("#Failed to set hysteresis to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 243 }
masahikofukasawa 10:5c69b067d88a 244 out->setArgument(0,hys.ehys13);
masahikofukasawa 10:5c69b067d88a 245 out->setArgument(1,hys.ehys24);
masahikofukasawa 10:5c69b067d88a 246 break;
masahikofukasawa 10:5c69b067d88a 247 }
masahikofukasawa 10:5c69b067d88a 248 case Message::CMD_IR_SET_HYSTERESIS:
masahikofukasawa 10:5c69b067d88a 249 {
masahikofukasawa 10:5c69b067d88a 250 hys.ehys13 = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 251 hys.ehys24 = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 252 if (ak9750->setHysteresis(&hys) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 253 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 254 MSG("#Failed to set hysteresis to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 255 }
masahikofukasawa 10:5c69b067d88a 256 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 257 break;
masahikofukasawa 10:5c69b067d88a 258 }
masahikofukasawa 10:5c69b067d88a 259 case Message::CMD_IR_GET_INTERRUPT:
masahikofukasawa 10:5c69b067d88a 260 {
masahikofukasawa 10:5c69b067d88a 261 if (ak9750->getInterruptEnable(&interrupt) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 262 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 263 MSG("#Failed to set hysteresis to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 264 }
masahikofukasawa 10:5c69b067d88a 265 out->setArgument(0, interrupt.ir13h);
masahikofukasawa 10:5c69b067d88a 266 out->setArgument(1, interrupt.ir13l);
masahikofukasawa 10:5c69b067d88a 267 out->setArgument(2, interrupt.ir24h);
masahikofukasawa 10:5c69b067d88a 268 out->setArgument(3, interrupt.ir24l);
masahikofukasawa 10:5c69b067d88a 269 out->setArgument(4, interrupt.drdy);
masahikofukasawa 10:5c69b067d88a 270 break;
masahikofukasawa 10:5c69b067d88a 271 }
masahikofukasawa 10:5c69b067d88a 272 case Message::CMD_IR_SET_INTERRUPT:
masahikofukasawa 10:5c69b067d88a 273 {
masahikofukasawa 10:5c69b067d88a 274 interrupt.ir13h = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 275 interrupt.ir13l = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 276 interrupt.ir24h = in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 277 interrupt.ir24l = in->getArgument(3);
masahikofukasawa 10:5c69b067d88a 278 interrupt.drdy = in->getArgument(4);
masahikofukasawa 10:5c69b067d88a 279 if (ak9750->setInterruptEnable(&interrupt) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 280 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 281 MSG("#Failed to set hysteresis to AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 282 }
masahikofukasawa 10:5c69b067d88a 283 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 284 break;
masahikofukasawa 10:5c69b067d88a 285 }
masahikofukasawa 10:5c69b067d88a 286 case Message::CMD_IR_GET_OPERATION_MODE:
masahikofukasawa 10:5c69b067d88a 287 {
masahikofukasawa 10:5c69b067d88a 288 if(ak9750->getOperationMode(&mode, &filter) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 289 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 290 MSG("#Error setOperationMode. AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 291 }
masahikofukasawa 10:5c69b067d88a 292 out->setArgument(0,(char)mode);
masahikofukasawa 10:5c69b067d88a 293 out->setArgument(1,(char)filter);
masahikofukasawa 10:5c69b067d88a 294 break;
masahikofukasawa 10:5c69b067d88a 295 }
masahikofukasawa 10:5c69b067d88a 296 case Message::CMD_IR_SET_OPERATION_MODE:
masahikofukasawa 10:5c69b067d88a 297 {
masahikofukasawa 10:5c69b067d88a 298 mode = (AK9750::OperationMode)in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 299 filter = (AK9750::DigitalFilter)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 300 if(ak9750->setOperationMode(mode, filter) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 301 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 302 MSG("#Error setOperationMode. AK9750.\r\n");
masahikofukasawa 10:5c69b067d88a 303 }
masahikofukasawa 10:5c69b067d88a 304 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 305 break;
masahikofukasawa 10:5c69b067d88a 306 }
masahikofukasawa 10:5c69b067d88a 307 case Message::CMD_IR_GET_THRESHOLD_EEPROM:
masahikofukasawa 10:5c69b067d88a 308 {
masahikofukasawa 10:5c69b067d88a 309 if (ak9750->getThresholdFromEEPROM(&th) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 310 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 311 MSG("#Failed to set threshold to AK9750(EEPROM).\r\n");
masahikofukasawa 10:5c69b067d88a 312 }
masahikofukasawa 10:5c69b067d88a 313 out->setArgument(0,(char)((int32_t)(th.eth13h) >> 8));
masahikofukasawa 10:5c69b067d88a 314 out->setArgument(1,(char)((int32_t)(th.eth13h) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 315 out->setArgument(2,(char)((int32_t)(th.eth13l) >> 8));
masahikofukasawa 10:5c69b067d88a 316 out->setArgument(3,(char)((int32_t)(th.eth13l) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 317 out->setArgument(4,(char)((int32_t)(th.eth24h) >> 8));
masahikofukasawa 10:5c69b067d88a 318 out->setArgument(5,(char)((int32_t)(th.eth24h) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 319 out->setArgument(6,(char)((int32_t)(th.eth24l) >> 8));
masahikofukasawa 10:5c69b067d88a 320 out->setArgument(7,(char)((int32_t)(th.eth24l) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 321 break;
masahikofukasawa 10:5c69b067d88a 322 }
masahikofukasawa 10:5c69b067d88a 323 case Message::CMD_IR_SET_THRESHOLD_EEPROM:
masahikofukasawa 10:5c69b067d88a 324 {
masahikofukasawa 10:5c69b067d88a 325 th.eth13h = CONV16I(in->getArgument(0), in->getArgument(1));
masahikofukasawa 10:5c69b067d88a 326 th.eth13l = CONV16I(in->getArgument(2), in->getArgument(3));
masahikofukasawa 10:5c69b067d88a 327 th.eth24h = CONV16I(in->getArgument(4), in->getArgument(5));
masahikofukasawa 10:5c69b067d88a 328 th.eth24l = CONV16I(in->getArgument(6), in->getArgument(7));
masahikofukasawa 10:5c69b067d88a 329 if (ak9750->setThresholdToEEPROM(&th) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 330 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 331 MSG("#Failed to set threshold to AK9750(EEPROM).\r\n");
masahikofukasawa 10:5c69b067d88a 332 }
masahikofukasawa 10:5c69b067d88a 333 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 334 break;
masahikofukasawa 10:5c69b067d88a 335 }
masahikofukasawa 10:5c69b067d88a 336 case Message::CMD_IR_GET_HYSTERESIS_EEPROM:
masahikofukasawa 10:5c69b067d88a 337 {
masahikofukasawa 10:5c69b067d88a 338 if (ak9750->getHysteresisFromEEPROM(&hys) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 339 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 340 MSG("#Failed to set hysteresis to AK9750(EEPROM).\r\n");
masahikofukasawa 10:5c69b067d88a 341 }
masahikofukasawa 10:5c69b067d88a 342 out->setArgument(0,hys.ehys13);
masahikofukasawa 10:5c69b067d88a 343 out->setArgument(1,hys.ehys24);
masahikofukasawa 10:5c69b067d88a 344 break;
masahikofukasawa 10:5c69b067d88a 345 }
masahikofukasawa 10:5c69b067d88a 346 case Message::CMD_IR_SET_HYSTERESIS_EEPROM:
masahikofukasawa 10:5c69b067d88a 347 {
masahikofukasawa 10:5c69b067d88a 348 hys.ehys13 = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 349 hys.ehys24 = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 350 if (ak9750->setHysteresisToEEPROM(&hys) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 351 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 352 MSG("#Failed to set hysteresis to AK9750(EEPROM).\r\n");
masahikofukasawa 10:5c69b067d88a 353 }
masahikofukasawa 10:5c69b067d88a 354 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 355 break;
masahikofukasawa 10:5c69b067d88a 356 }
masahikofukasawa 10:5c69b067d88a 357 case Message::CMD_IR_GET_INTERRUPT_EEPROM:
masahikofukasawa 10:5c69b067d88a 358 {
masahikofukasawa 10:5c69b067d88a 359 if (ak9750->getInterruptEnableFromEEPROM(&interrupt) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 360 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 361 MSG("#Failed to set interrupt to AK9750(EEPROM).\r\n");
masahikofukasawa 10:5c69b067d88a 362 }
masahikofukasawa 10:5c69b067d88a 363 out->setArgument(0, interrupt.ir13h);
masahikofukasawa 10:5c69b067d88a 364 out->setArgument(1, interrupt.ir13l);
masahikofukasawa 10:5c69b067d88a 365 out->setArgument(2, interrupt.ir24h);
masahikofukasawa 10:5c69b067d88a 366 out->setArgument(3, interrupt.ir24l);
masahikofukasawa 10:5c69b067d88a 367 out->setArgument(4, interrupt.drdy);
masahikofukasawa 10:5c69b067d88a 368 break;
masahikofukasawa 10:5c69b067d88a 369 }
masahikofukasawa 10:5c69b067d88a 370 case Message::CMD_IR_SET_INTERRUPT_EEPROM:
masahikofukasawa 10:5c69b067d88a 371 {
masahikofukasawa 10:5c69b067d88a 372 interrupt.ir13h = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 373 interrupt.ir13l = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 374 interrupt.ir24h = in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 375 interrupt.ir24l = in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 376 interrupt.drdy = in->getArgument(4);
masahikofukasawa 10:5c69b067d88a 377 if (ak9750->setInterruptEnableToEEPROM(&interrupt) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 378 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 379 MSG("#Failed to set interrupt to AK9750(EEPROM).\r\n");
masahikofukasawa 10:5c69b067d88a 380 }
masahikofukasawa 10:5c69b067d88a 381 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 382 break;
masahikofukasawa 10:5c69b067d88a 383 }
masahikofukasawa 10:5c69b067d88a 384 case Message::CMD_IR_GET_OPERATION_MODE_EEPROM:
masahikofukasawa 10:5c69b067d88a 385 {
masahikofukasawa 10:5c69b067d88a 386 if(ak9750->getOperationModeFromEEPROM(&mode, &filter) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 387 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 388 MSG("#Error getOperationMode. AK9750(EEPROM).\r\n");
masahikofukasawa 10:5c69b067d88a 389 }
masahikofukasawa 10:5c69b067d88a 390 out->setArgument(0,(char)mode);
masahikofukasawa 10:5c69b067d88a 391 out->setArgument(1,(char)filter);
masahikofukasawa 10:5c69b067d88a 392 break;
masahikofukasawa 10:5c69b067d88a 393 }
masahikofukasawa 10:5c69b067d88a 394 case Message::CMD_IR_SET_OPERATION_MODE_EEPROM:
masahikofukasawa 10:5c69b067d88a 395 {
masahikofukasawa 10:5c69b067d88a 396 mode = (AK9750::OperationMode)in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 397 filter = (AK9750::DigitalFilter)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 398 if(ak9750->setOperationModeToEEPROM(mode, filter) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 399 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 400 MSG("#Error setOperationMode. AK9750(EEPROM).\r\n");
masahikofukasawa 10:5c69b067d88a 401 }
masahikofukasawa 10:5c69b067d88a 402 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 403 break;
masahikofukasawa 10:5c69b067d88a 404 }
masahikofukasawa 10:5c69b067d88a 405 case Message::CMD_REG_WRITE:
masahikofukasawa 10:5c69b067d88a 406 {
masahikofukasawa 10:5c69b067d88a 407 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 408 int len = (int)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 409 const char data = in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 410 if( ak9750->write(address, &data, len) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 411 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 412 MSG("#Error register write.\r\n");
masahikofukasawa 10:5c69b067d88a 413 }
masahikofukasawa 10:5c69b067d88a 414 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 415 break;
masahikofukasawa 10:5c69b067d88a 416 }
masahikofukasawa 10:5c69b067d88a 417 case Message::CMD_REG_WRITEN:
masahikofukasawa 10:5c69b067d88a 418 {
masahikofukasawa 10:5c69b067d88a 419 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 420 int len = (int)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 421 char data[len];
masahikofukasawa 10:5c69b067d88a 422 for(int i=0; i<len; i++){
masahikofukasawa 10:5c69b067d88a 423 data[i] = in->getArgument(i);
masahikofukasawa 10:5c69b067d88a 424 }
masahikofukasawa 10:5c69b067d88a 425 if( ak9750->write(address, data, len) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 426 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 427 MSG("#Error register write.\r\n");
masahikofukasawa 10:5c69b067d88a 428 }
masahikofukasawa 10:5c69b067d88a 429 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 430 break;
masahikofukasawa 10:5c69b067d88a 431 }
masahikofukasawa 10:5c69b067d88a 432 case Message::CMD_REG_READ:
masahikofukasawa 10:5c69b067d88a 433 {
masahikofukasawa 10:5c69b067d88a 434 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 435 int len = (int)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 436 char data;
masahikofukasawa 10:5c69b067d88a 437 if( ak9750->read(address, &data, len) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 438 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 439 MSG("#Error register read.\r\n");
masahikofukasawa 10:5c69b067d88a 440 }
masahikofukasawa 10:5c69b067d88a 441 out->setArgument(0,data);
masahikofukasawa 10:5c69b067d88a 442 break;
masahikofukasawa 10:5c69b067d88a 443 }
masahikofukasawa 10:5c69b067d88a 444 case Message::CMD_REG_READN:
masahikofukasawa 10:5c69b067d88a 445 {
masahikofukasawa 10:5c69b067d88a 446 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 447 int len = (int)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 448 char data[len];
masahikofukasawa 10:5c69b067d88a 449 if( ak9750->read(address, data, len) != AK9750::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 450 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 451 MSG("#Error register read.\r\n");
masahikofukasawa 10:5c69b067d88a 452 }
masahikofukasawa 10:5c69b067d88a 453 for(int i=0; i<len; i++){
masahikofukasawa 10:5c69b067d88a 454 out->setArgument(i, data[i]);
masahikofukasawa 10:5c69b067d88a 455 }
masahikofukasawa 10:5c69b067d88a 456 break;
masahikofukasawa 10:5c69b067d88a 457 }
masahikofukasawa 10:5c69b067d88a 458 default:
masahikofukasawa 10:5c69b067d88a 459 {
masahikofukasawa 11:cef8dc1cf010 460 MSG("#Error no command.\r\n");
masahikofukasawa 10:5c69b067d88a 461 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 462 break;
masahikofukasawa 10:5c69b067d88a 463 }
masahikofukasawa 10:5c69b067d88a 464 }
masahikofukasawa 10:5c69b067d88a 465 return status;
masahikofukasawa 10:5c69b067d88a 466 }