Revision 4:af13b985c689, committed 2016-05-09

Comitter:

masahikofukasawa

Date:

Mon May 09 16:59:33 2016 +0000

Parent:

2:11fe67783c4c

Child:

5:4e92a85bbb52

Commit message:

Rev.D Masa

Changed in this revision

--- a/akmirsensor.cpp	Thu May 05 21:11:23 2016 +0000
+++ b/akmirsensor.cpp	Mon May 09 16:59:33 2016 +0000
@@ -79,7 +79,7 @@
     }
     // Gets interrupt status from EEPROM
     AK9750::InterruptStatus intStatus;
-    if ((ak9750->getInterruptStatusFromEEPROM(&intStatus)) != AK9750::SUCCESS) {
+    if ((ak9750->getInterruptEnableFromEEPROM(&intStatus)) != AK9750::SUCCESS) {
         MSG("#Failed to get interrupts of AK9750 from EEPROM.\n");
     }
 
@@ -109,7 +109,7 @@
     
     // Sets interruput status from the red EEPROM values
     AK9750::Status status;
-    if ((status=ak9750->setInterruptStatus(&intStatus)) != AK9750::SUCCESS) {
+    if ((status=ak9750->setInterruptEnable(&intStatus)) != AK9750::SUCCESS) {
         MSG("#Failed to set interrupts of AK9750. Status = 0x%02X\n", status);
     }
     MSG("#Interrupt:(0x%02X,0x%02X,0x%02X,0x%02X,0x%02X)\n",intStatus.drdy,intStatus.ir13h,intStatus.ir13l,intStatus.ir24h,intStatus.ir24l);
@@ -260,7 +260,7 @@
         }
         case Message::CMD_IR_GET_INTERRUPT:
         {
-            if (ak9750->getInterruptStatus(&interrupt) != AK9750::SUCCESS) {
+            if (ak9750->getInterruptEnable(&interrupt) != AK9750::SUCCESS) {
                 status =  AkmSensor::ERROR;
                 MSG("#Failed to set hysteresis to AK9750.\n");
             }
@@ -278,7 +278,7 @@
             interrupt.ir13l = in->getArgument(2);
             interrupt.ir24h = in->getArgument(3);
             interrupt.ir24l = in->getArgument(4);
-            if (ak9750->setInterruptStatus(&interrupt) != AK9750::SUCCESS) {
+            if (ak9750->setInterruptEnable(&interrupt) != AK9750::SUCCESS) {
                 status =  AkmSensor::ERROR;
                 MSG("#Failed to set hysteresis to AK9750.\n");
             }
@@ -360,7 +360,7 @@
         }
         case Message::CMD_IR_GET_INTERRUPT_EEPROM:
         {
-            if (ak9750->getInterruptStatusFromEEPROM(&interrupt) != AK9750::SUCCESS) {
+            if (ak9750->getInterruptEnableFromEEPROM(&interrupt) != AK9750::SUCCESS) {
                 status =  AkmSensor::ERROR;
                 MSG("#Failed to set interrupt to AK9750(EEPROM).\n");
             }
@@ -378,7 +378,7 @@
             interrupt.ir13l = in->getArgument(2);
             interrupt.ir24h = in->getArgument(3);
             interrupt.ir24l = in->getArgument(4);
-            if (ak9750->setInterruptStatusToEEPROM(&interrupt) != AK9750::SUCCESS) {
+            if (ak9750->setInterruptEnableToEEPROM(&interrupt) != AK9750::SUCCESS) {
                 status =  AkmSensor::ERROR;
                 MSG("#Failed to set interrupt to AK9750(EEPROM).\n");
             }

--- a/akmlinearsensor.cpp	Thu May 05 21:11:23 2016 +0000
+++ b/akmlinearsensor.cpp	Mon May 09 16:59:33 2016 +0000
@@ -1,5 +1,8 @@
 #include "akmlinearsensor.h"
 #include "debug.h"
+
+#define WAIT_ADC_MS 1
+
 /**
  * Constructor.
  *
@@ -7,7 +10,7 @@
 AkmLinearSensor::AkmLinearSensor(){
     event = false;
     ain = NULL;
-    i2c = NULL;
+    mcp3428 = NULL;
 }
 
 /**
@@ -16,7 +19,7 @@
  */
 AkmLinearSensor::~AkmLinearSensor(){
     if(ain) delete ain;
-    if(i2c) delete i2c;
+    if(mcp3428) delete mcp3428;
 }
 
 AkmSensor::Status AkmLinearSensor::init(const uint8_t id, const uint8_t subid){
@@ -29,6 +32,14 @@
         
     }else if(primaryId == AKM_PRIMARY_ID_LINEAR_SENSOR){
         // 16bit ADC
+        I2C* i2c = new I2C(I2C_SDA,I2C_SCL);
+        i2c->frequency(I2C_SPEED_100KHZ);
+        
+        // ADC setting
+        mcp3428 = new MCP342X(i2c, MCP342X::SLAVE_ADDRESS_6EH);
+        mcp3428->setChannel(MCP342X::ADC_CH4);
+        mcp3428->setSampleSetting(MCP342X::SAMPLE_15HZ_16BIT);
+        mcp3428->setConversionMode(MCP342X::CONTINUOUS); 
     }
     else{
         return AkmSensor::ERROR;
@@ -61,24 +72,27 @@
 }
 
 AkmSensor::Status AkmLinearSensor::readSensorData(Message* msg){
-    uint16_t value;
     event = false;
     
     msg->setCommand(Message::CMD_START_MEASUREMENT);
 
     if(primaryId == AKM_PRIMARY_ID_LINEAR_SENSOR_LEGACY){
+        uint16_t value;
         float s = *ain;
         value = s*1024;
-//        sprintf(str, "$B%X%04d\r\n",primaryId, value);
         msg->setArgument( 0, (char)( value >> 8) );
         msg->setArgument( 1, (char)( value & 0x00FF) );
     }else if(primaryId == AKM_PRIMARY_ID_LINEAR_SENSOR){
-        // 16bit ADC
-//        sprintf(str, "$B%X%04d\r\n",primaryId, value);
-        msg->setArgument( 0, (char)( value >> 8) );
-        msg->setArgument( 1, (char)( value & 0x00FF) );
+        MCP342X::Data data;
+        do {
+            mcp3428->getData(&data);
+            wait_ms(WAIT_ADC_MS);
+        } while(data.st == MCP342X::DATA_NOT_UPDATED);
+        MSG("#value=%d st=%d.\n",data.value,data.st);
+        
+        msg->setArgument( 0, (char)( (data.value&0xFF00) >> 8) );
+        msg->setArgument( 1, (char)( data.value & 0x00FF) );
     }else{
-//        sprintf(str, "$B%X%0000\r\n",primaryId);
         msg->setArgument( 0, 0);
         msg->setArgument( 1, 0);
         return AkmSensor::ERROR;

--- a/akmlinearsensor.h	Thu May 05 21:11:23 2016 +0000
+++ b/akmlinearsensor.h	Mon May 09 16:59:33 2016 +0000
@@ -4,6 +4,7 @@
 #include "mbed.h"
 #include "SerialNano.h"
 #include "akmsensor.h"
+#include "mcp342x.h"
 
 class AkmLinearSensor : public AkmSensor
 {
@@ -43,7 +44,7 @@
     
     Ticker          ticker;
     AnalogIn*       ain;
-    I2C*            i2c;
+    MCP342X*        mcp3428;
 };
 
 #endif

--- a/akmsensor.h	Thu May 05 21:11:23 2016 +0000
+++ b/akmsensor.h	Mon May 09 16:59:33 2016 +0000
@@ -8,7 +8,7 @@
 #define SPI_SCK                          P0_8       //SPI, SCK
 #define SPI_MISO                         P0_9       //SPI, MISO
 #define SPI_MOSI                         P0_10      //SPI, MOSI
-#define SPI_CS                           P0_4       //SPI, CS
+#define SPI_CS                           P0_11      //SPI, CS
 
 // I2C
 #define I2C_SCL                          P0_8       //I2C, SCL
@@ -51,8 +51,8 @@
         AKM_PRIMARY_ID_CURRENT_SENSOR       = 0x9,
         AKM_PRIMARY_ID_MISC_ANALOG          = 0xA,
         AKM_PRIMARY_ID_LINEAR_SENSOR        = 0xB,
-        AKM_PRIMARY_ID_IR_SENSOR                 = 0xC,
-        AKM_PRIMARY_ID_TBD3            = 0xD,
+        AKM_PRIMARY_ID_TBD3                 = 0xC,
+        AKM_PRIMARY_ID_IR_SENSOR            = 0xD,
         AKM_PRIMARY_ID_ANGLE_SENSOR         = 0xE,
         AKM_PRIMARY_ID_AKD_I2C              = 0xF,
     } SensorPrimaryId;

--- a/akmsensormanager.cpp	Thu May 05 21:11:23 2016 +0000
+++ b/akmsensormanager.cpp	Mon May 09 16:59:33 2016 +0000
@@ -30,8 +30,8 @@
                                     "Current Sensor",
                                     "MISC(Analog)",
                                     "Linear Sensor",
+                                    "TBD3",
                                     "IR Sensor",
-                                    "TBD3",
                                     "Angle Sensor(SPI)",        // Temporary
                                     "AKD Daughter Cards(I2C)",
                                      };
@@ -99,6 +99,7 @@
             break;
         
         case AkmSensor::AKM_PRIMARY_ID_LINEAR_SENSOR_LEGACY:
+        case AkmSensor::AKM_PRIMARY_ID_LINEAR_SENSOR:
             subId = AkmSensorManager::getId(ANALOG_SENSOR_ID_SUB,4);    // 4bit sub id
             AkmLinearSensor* linearsensor;
             linearsensor = new AkmLinearSensor();
@@ -171,7 +172,7 @@
     uint8_t value = (uint8_t)(s*pow(2.0,bits));
 #else
     /* Rev.D */
-    MSG("GetID\n");
+    MSG("#GetID\n");
     I2C i2c(I2C_SDA0, I2C_SCL0);
     // ADC
     MCP342X mcp342x(&i2c, MCP342X::SLAVE_ADDRESS_6EH);
@@ -189,7 +190,7 @@
     const int16_t VAL_MIN = -2048;       // Corresponds to 0V
     
     uint8_t value = (uint8_t)((val - VAL_MIN)/(float)(VAL_MAX - VAL_MIN) * (1 << bits));
-    MSG("ID = %d.", value);
+    MSG("#ID = %d.\n", value);
 #endif    
     return value;
 }