Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

ak9752ctrl.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 "ak9752ctrl.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 Ak9752Ctrl::Ak9752Ctrl(){
masahikofukasawa 10:5c69b067d88a 11 ak9752 = 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 Ak9752Ctrl::~Ak9752Ctrl(){
masahikofukasawa 10:5c69b067d88a 21 if (ak9752) delete ak9752;
masahikofukasawa 10:5c69b067d88a 22 if (interrupt) delete interrupt;
masahikofukasawa 10:5c69b067d88a 23 }
masahikofukasawa 10:5c69b067d88a 24
masahikofukasawa 10:5c69b067d88a 25 AkmSensor::Status Ak9752Ctrl::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_AK9752){
masahikofukasawa 10:5c69b067d88a 34 ak9752 = new AK9752();
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 AK9752::SlaveAddress slaveAddr[]
masahikofukasawa 10:5c69b067d88a 43 = { AK9752::SLAVE_ADDR_1 };
masahikofukasawa 10:5c69b067d88a 44
masahikofukasawa 10:5c69b067d88a 45 for(int i=0; i<sizeof(slaveAddr); i++)
masahikofukasawa 10:5c69b067d88a 46 {
masahikofukasawa 10:5c69b067d88a 47 ak9752->init(i2c, slaveAddr[i]);
masahikofukasawa 10:5c69b067d88a 48 // Checks connectivity
masahikofukasawa 10:5c69b067d88a 49 if(ak9752->checkConnection() == Ak9752Ctrl::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 50 // found
masahikofukasawa 10:5c69b067d88a 51 foundSensor = true;
masahikofukasawa 10:5c69b067d88a 52 break;
masahikofukasawa 10:5c69b067d88a 53 }
masahikofukasawa 10:5c69b067d88a 54 }
masahikofukasawa 10:5c69b067d88a 55 if(foundSensor != true) return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 56
masahikofukasawa 10:5c69b067d88a 57 // reset
masahikofukasawa 10:5c69b067d88a 58 if (ak9752->reset() != AK9752::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 59 MSG("#Failed to reset AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 60 }
masahikofukasawa 10:5c69b067d88a 61
masahikofukasawa 11:cef8dc1cf010 62 MSG("#Init success AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 63 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 64 }
masahikofukasawa 10:5c69b067d88a 65
masahikofukasawa 10:5c69b067d88a 66 void Ak9752Ctrl::detectINT(){
masahikofukasawa 10:5c69b067d88a 67 event = true;
masahikofukasawa 10:5c69b067d88a 68 }
masahikofukasawa 10:5c69b067d88a 69
masahikofukasawa 10:5c69b067d88a 70 bool Ak9752Ctrl::isEvent(){
masahikofukasawa 10:5c69b067d88a 71 return event;
masahikofukasawa 10:5c69b067d88a 72 }
masahikofukasawa 10:5c69b067d88a 73
masahikofukasawa 10:5c69b067d88a 74 AkmSensor::Status Ak9752Ctrl::startSensor(){
masahikofukasawa 11:cef8dc1cf010 75 // read one data to clear INT pin
masahikofukasawa 11:cef8dc1cf010 76 AK9752::SensorData data;
masahikofukasawa 11:cef8dc1cf010 77 ak9752->getSensorData(&data);
masahikofukasawa 11:cef8dc1cf010 78
masahikofukasawa 11:cef8dc1cf010 79 // enable interrupt
masahikofukasawa 11:cef8dc1cf010 80 interrupt->fall(this, &Ak9752Ctrl::detectINT);
masahikofukasawa 11:cef8dc1cf010 81
masahikofukasawa 11:cef8dc1cf010 82 // set operation mode
masahikofukasawa 10:5c69b067d88a 83 if(ak9752->setOperationMode(mode,fc_tmp, fc_ir) != AK9752::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 84 MSG("#Start sensor failed.\r\n");
masahikofukasawa 10:5c69b067d88a 85 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 86 }
masahikofukasawa 10:5c69b067d88a 87
masahikofukasawa 11:cef8dc1cf010 88 MSG("#Start sensor succceeded.\r\n");
masahikofukasawa 10:5c69b067d88a 89 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 90 }
masahikofukasawa 10:5c69b067d88a 91
masahikofukasawa 10:5c69b067d88a 92 AkmSensor::Status Ak9752Ctrl::startSensor(const float sec){
masahikofukasawa 10:5c69b067d88a 93 interrupt->fall(this, &Ak9752Ctrl::detectINT);
masahikofukasawa 10:5c69b067d88a 94 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 95 }
masahikofukasawa 10:5c69b067d88a 96
masahikofukasawa 10:5c69b067d88a 97 AkmSensor::Status Ak9752Ctrl::stopSensor(){
masahikofukasawa 10:5c69b067d88a 98 event = false;
masahikofukasawa 11:cef8dc1cf010 99 interrupt->fall(NULL);
masahikofukasawa 10:5c69b067d88a 100 if(ak9752->setOperationMode(AK9752::MODE_STANDBY, fc_tmp, fc_ir) != AK9752::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 101 MSG("#Error setOperationMode. AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 102 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 103 }
masahikofukasawa 10:5c69b067d88a 104
masahikofukasawa 10:5c69b067d88a 105 // read one data to clear INT pin
masahikofukasawa 11:cef8dc1cf010 106 AK9752::SensorData data;
masahikofukasawa 11:cef8dc1cf010 107 ak9752->getSensorData(&data);
masahikofukasawa 10:5c69b067d88a 108
masahikofukasawa 10:5c69b067d88a 109 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 110 }
masahikofukasawa 10:5c69b067d88a 111
masahikofukasawa 10:5c69b067d88a 112 AkmSensor::Status Ak9752Ctrl::readSensorData(Message* msg){
masahikofukasawa 10:5c69b067d88a 113 event = false;
masahikofukasawa 10:5c69b067d88a 114
masahikofukasawa 10:5c69b067d88a 115 AK9752::SensorData data;
masahikofukasawa 10:5c69b067d88a 116 AK9752::Status status = ak9752->getSensorData(&data);
masahikofukasawa 10:5c69b067d88a 117 if( status != AK9752::SUCCESS){
masahikofukasawa 11:cef8dc1cf010 118 MSG("#Error getSensorData. AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 119 return AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 120 }
masahikofukasawa 10:5c69b067d88a 121 msg->setCommand(Message::CMD_START_MEASUREMENT);
masahikofukasawa 10:5c69b067d88a 122 msg->setArgument( 0, data.intStatus.irh);
masahikofukasawa 10:5c69b067d88a 123 msg->setArgument( 1, data.intStatus.irl);
masahikofukasawa 10:5c69b067d88a 124 msg->setArgument( 2, data.intStatus.tmph);
masahikofukasawa 10:5c69b067d88a 125 msg->setArgument( 3, data.intStatus.tmpl);
masahikofukasawa 10:5c69b067d88a 126 msg->setArgument( 4, data.intStatus.dr);
masahikofukasawa 10:5c69b067d88a 127 msg->setArgument( 5,(char)((int32_t)(data.ir) >> 8));
masahikofukasawa 10:5c69b067d88a 128 msg->setArgument( 6, (char)((int32_t)(data.ir) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 129 msg->setArgument( 7,(char)((int32_t)(data.temperature) >> 8));
masahikofukasawa 10:5c69b067d88a 130 msg->setArgument( 8, (char)((int32_t)(data.temperature) & 0x00FF) );
masahikofukasawa 10:5c69b067d88a 131 msg->setArgument( 9, data.dor);
masahikofukasawa 10:5c69b067d88a 132
masahikofukasawa 10:5c69b067d88a 133 return AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 134 }
masahikofukasawa 10:5c69b067d88a 135
masahikofukasawa 10:5c69b067d88a 136 AkmSensor::Status Ak9752Ctrl::requestCommand(Message* in, Message* out){
masahikofukasawa 10:5c69b067d88a 137 AkmSensor::Status status = AkmSensor::SUCCESS;
masahikofukasawa 10:5c69b067d88a 138 Message::Command cmd = in->getCommand();
masahikofukasawa 10:5c69b067d88a 139 AK9752::Threshold th;
masahikofukasawa 10:5c69b067d88a 140 AK9752::InterruptStatus interrupt;
masahikofukasawa 10:5c69b067d88a 141
masahikofukasawa 10:5c69b067d88a 142 out->setCommand(cmd);
masahikofukasawa 10:5c69b067d88a 143
masahikofukasawa 10:5c69b067d88a 144 switch(cmd){
masahikofukasawa 10:5c69b067d88a 145 case Message::CMD_IR_GET_THRESHOLD:
masahikofukasawa 10:5c69b067d88a 146 {
masahikofukasawa 10:5c69b067d88a 147 if (ak9752->getThreshold(&th) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 148 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 149 MSG("#Failed to set threshold to AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 150 }
masahikofukasawa 10:5c69b067d88a 151 out->setArgument(0,(char)((int32_t)(th.thirh) >> 8));
masahikofukasawa 10:5c69b067d88a 152 out->setArgument(1,(char)((int32_t)(th.thirh) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 153 out->setArgument(2,(char)((int32_t)(th.thirl) >> 8));
masahikofukasawa 10:5c69b067d88a 154 out->setArgument(3,(char)((int32_t)(th.thirl) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 155 out->setArgument(4,(char)((int32_t)(th.thtmph) >> 8));
masahikofukasawa 10:5c69b067d88a 156 out->setArgument(5,(char)((int32_t)(th.thtmph) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 157 out->setArgument(6,(char)((int32_t)(th.thtmpl) >> 8));
masahikofukasawa 10:5c69b067d88a 158 out->setArgument(7,(char)((int32_t)(th.thtmpl) & 0x00FF));
masahikofukasawa 10:5c69b067d88a 159 break;
masahikofukasawa 10:5c69b067d88a 160 }
masahikofukasawa 10:5c69b067d88a 161 case Message::CMD_IR_SET_THRESHOLD:
masahikofukasawa 10:5c69b067d88a 162 {
masahikofukasawa 10:5c69b067d88a 163 th.thirh = CONV16I(in->getArgument(0), in->getArgument(1));
masahikofukasawa 10:5c69b067d88a 164 th.thirl = CONV16I(in->getArgument(2), in->getArgument(3));
masahikofukasawa 10:5c69b067d88a 165 th.thtmph = CONV16I(in->getArgument(4), in->getArgument(5));
masahikofukasawa 10:5c69b067d88a 166 th.thtmpl = CONV16I(in->getArgument(6), in->getArgument(7));
masahikofukasawa 10:5c69b067d88a 167 if (ak9752->setThreshold(&th) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 168 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 169 MSG("#Failed to set threshold to AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 170 }
masahikofukasawa 10:5c69b067d88a 171 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 172 break;
masahikofukasawa 10:5c69b067d88a 173 }
masahikofukasawa 10:5c69b067d88a 174 case Message::CMD_IR_GET_INTERRUPT:
masahikofukasawa 10:5c69b067d88a 175 {
masahikofukasawa 10:5c69b067d88a 176 if (ak9752->getInterruptEnable(&interrupt) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 177 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 178 MSG("#Failed to set hysteresis to AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 179 }
masahikofukasawa 10:5c69b067d88a 180 out->setArgument(0, interrupt.irh);
masahikofukasawa 10:5c69b067d88a 181 out->setArgument(1, interrupt.irl);
masahikofukasawa 10:5c69b067d88a 182 out->setArgument(2, interrupt.tmph);
masahikofukasawa 10:5c69b067d88a 183 out->setArgument(3, interrupt.tmpl);
masahikofukasawa 10:5c69b067d88a 184 out->setArgument(4, interrupt.dr);
masahikofukasawa 10:5c69b067d88a 185 break;
masahikofukasawa 10:5c69b067d88a 186 }
masahikofukasawa 10:5c69b067d88a 187 case Message::CMD_IR_SET_INTERRUPT:
masahikofukasawa 10:5c69b067d88a 188 {
masahikofukasawa 10:5c69b067d88a 189 interrupt.irh = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 190 interrupt.irl = in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 191 interrupt.tmph = in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 192 interrupt.tmpl = in->getArgument(3);
masahikofukasawa 10:5c69b067d88a 193 interrupt.dr = in->getArgument(4);
masahikofukasawa 10:5c69b067d88a 194 if (ak9752->setInterruptEnable(&interrupt) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 195 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 196 MSG("#Failed to set hysteresis to AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 197 }
masahikofukasawa 10:5c69b067d88a 198 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 199 break;
masahikofukasawa 10:5c69b067d88a 200 }
masahikofukasawa 10:5c69b067d88a 201 case Message::CMD_IR_GET_OPERATION_MODE:
masahikofukasawa 10:5c69b067d88a 202 {
masahikofukasawa 10:5c69b067d88a 203 if(ak9752->getOperationMode(&mode, &fc_tmp, &fc_ir) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 204 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 205 MSG("#Error setOperationMode. AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 206 }
masahikofukasawa 10:5c69b067d88a 207 out->setArgument(0,(char)mode);
masahikofukasawa 10:5c69b067d88a 208 out->setArgument(1,(char)fc_tmp);
masahikofukasawa 10:5c69b067d88a 209 out->setArgument(2,(char)fc_ir);
masahikofukasawa 10:5c69b067d88a 210 break;
masahikofukasawa 10:5c69b067d88a 211 }
masahikofukasawa 10:5c69b067d88a 212 case Message::CMD_IR_SET_OPERATION_MODE:
masahikofukasawa 10:5c69b067d88a 213 {
masahikofukasawa 10:5c69b067d88a 214 mode = (AK9752::OperationMode)in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 215 fc_tmp = (AK9752::FcTmp)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 216 fc_ir = (AK9752::FcIr)in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 217 if(ak9752->setOperationMode(mode, fc_tmp, fc_ir) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 218 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 219 MSG("#Error setOperationMode. AK9752.\r\n");
masahikofukasawa 10:5c69b067d88a 220 }
masahikofukasawa 10:5c69b067d88a 221 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 222 break;
masahikofukasawa 10:5c69b067d88a 223 }
masahikofukasawa 10:5c69b067d88a 224 case Message::CMD_REG_WRITE:
masahikofukasawa 10:5c69b067d88a 225 {
masahikofukasawa 10:5c69b067d88a 226 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 227 int len = (int)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 228 const char data = in->getArgument(2);
masahikofukasawa 10:5c69b067d88a 229 if( ak9752->write(address, &data, len) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 230 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 231 MSG("#Error register write.\r\n");
masahikofukasawa 10:5c69b067d88a 232 }
masahikofukasawa 10:5c69b067d88a 233 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 234 break;
masahikofukasawa 10:5c69b067d88a 235 }
masahikofukasawa 10:5c69b067d88a 236 case Message::CMD_REG_WRITEN:
masahikofukasawa 10:5c69b067d88a 237 {
masahikofukasawa 10:5c69b067d88a 238 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 239 int len = (int)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 240 char data[len];
masahikofukasawa 10:5c69b067d88a 241 for(int i=0; i<len; i++){
masahikofukasawa 10:5c69b067d88a 242 data[i] = in->getArgument(i);
masahikofukasawa 10:5c69b067d88a 243 }
masahikofukasawa 10:5c69b067d88a 244 if( ak9752->write(address, data, len) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 245 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 246 MSG("#Error register write.\r\n");
masahikofukasawa 10:5c69b067d88a 247 }
masahikofukasawa 10:5c69b067d88a 248 out->setArgument(0,(char)status);
masahikofukasawa 10:5c69b067d88a 249 break;
masahikofukasawa 10:5c69b067d88a 250 }
masahikofukasawa 10:5c69b067d88a 251 case Message::CMD_REG_READ:
masahikofukasawa 10:5c69b067d88a 252 {
masahikofukasawa 10:5c69b067d88a 253 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 254 int len = (int)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 255 char data;
masahikofukasawa 10:5c69b067d88a 256 if( ak9752->read(address, &data, len) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 257 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 258 MSG("#Error register read.\r\n");
masahikofukasawa 10:5c69b067d88a 259 }
masahikofukasawa 10:5c69b067d88a 260 out->setArgument(0,data);
masahikofukasawa 10:5c69b067d88a 261 break;
masahikofukasawa 10:5c69b067d88a 262 }
masahikofukasawa 10:5c69b067d88a 263 case Message::CMD_REG_READN:
masahikofukasawa 10:5c69b067d88a 264 {
masahikofukasawa 10:5c69b067d88a 265 char address = in->getArgument(0);
masahikofukasawa 10:5c69b067d88a 266 int len = (int)in->getArgument(1);
masahikofukasawa 10:5c69b067d88a 267 char data[len];
masahikofukasawa 10:5c69b067d88a 268 if( ak9752->read(address, data, len) != AK9752::SUCCESS) {
masahikofukasawa 10:5c69b067d88a 269 status = AkmSensor::ERROR;
masahikofukasawa 11:cef8dc1cf010 270 MSG("#Error register read.\r\n");
masahikofukasawa 10:5c69b067d88a 271 }
masahikofukasawa 10:5c69b067d88a 272 for(int i=0; i<len; i++){
masahikofukasawa 10:5c69b067d88a 273 out->setArgument(i, data[i]);
masahikofukasawa 10:5c69b067d88a 274 }
masahikofukasawa 10:5c69b067d88a 275 break;
masahikofukasawa 10:5c69b067d88a 276 }
masahikofukasawa 10:5c69b067d88a 277 default:
masahikofukasawa 10:5c69b067d88a 278 {
masahikofukasawa 11:cef8dc1cf010 279 MSG("#Error no command.\r\n");
masahikofukasawa 10:5c69b067d88a 280 status = AkmSensor::ERROR;
masahikofukasawa 10:5c69b067d88a 281 break;
masahikofukasawa 10:5c69b067d88a 282 }
masahikofukasawa 10:5c69b067d88a 283 }
masahikofukasawa 10:5c69b067d88a 284 return status;
masahikofukasawa 10:5c69b067d88a 285 }