diff options
Diffstat (limited to 'peripheral/libupm/src/mpu9150/ak8975.cxx')
| -rw-r--r-- | peripheral/libupm/src/mpu9150/ak8975.cxx | 239 |
1 files changed, 0 insertions, 239 deletions
diff --git a/peripheral/libupm/src/mpu9150/ak8975.cxx b/peripheral/libupm/src/mpu9150/ak8975.cxx deleted file mode 100644 index 7330eb3..0000000 --- a/peripheral/libupm/src/mpu9150/ak8975.cxx +++ /dev/null @@ -1,239 +0,0 @@ -/* - * Author: Jon Trulson <jtrulson@ics.com> - * Copyright (c) 2015 Intel Corporation. - * - * Permission is hereby granted, free of charge, to any person obtaining - * a copy of this software and associated documentation files (the - * "Software"), to deal in the Software without restriction, including - * without limitation the rights to use, copy, modify, merge, publish, - * distribute, sublicense, and/or sell copies of the Software, and to - * permit persons to whom the Software is furnished to do so, subject to - * the following conditions: - * - * The above copyright notice and this permission notice shall be - * included in all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, - * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF - * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND - * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE - * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION - * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION - * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. - */ - -#include <unistd.h> -#include <iostream> -#include <string> -#include <stdexcept> - -#include "ak8975.h" - -using namespace upm; -using namespace std; - - -AK8975::AK8975(int bus, uint8_t address): - m_i2c(bus) -{ - m_addr = address; - m_xCoeff = 0.0; - m_yCoeff = 0.0; - m_zCoeff = 0.0; - - mraa::Result rv; - if ( (rv = m_i2c.address(m_addr)) != mraa::SUCCESS) - { - throw std::runtime_error(std::string(__FUNCTION__) + - ": I2c.address() failed"); - return; - } -} - -AK8975::~AK8975() -{ -} - -bool AK8975::init() -{ - // we put the device in 'fuse mode', and then read the compensation - // coefficients and store them. - - // first, set power down mode - - if (!setMode(CNTL_PWRDWN)) - { - throw std::runtime_error(std::string(__FUNCTION__) + - ": Unable to set PWRDWN mode"); - return false; - } - - if (!setMode(CNTL_FUSE_ACCESS)) - { - throw std::runtime_error(std::string(__FUNCTION__) + - ": Unable to set FUSE mode"); - return false; - } - - // Read each byte and store - m_xCoeff = (float)m_i2c.readReg(REG_ASAX); - m_yCoeff = (float)m_i2c.readReg(REG_ASAY); - m_zCoeff = (float)m_i2c.readReg(REG_ASAZ); - - // now, place back in power down mode - if (!setMode(CNTL_PWRDWN)) - { - throw std::runtime_error(std::string(__FUNCTION__) + - ": Unable to set reset PWRDWN mode"); - return false; - } - - return true; -} - -bool AK8975::setMode(CNTL_MODES_T mode) -{ - mraa::Result rv; - if ((rv = m_i2c.writeReg(REG_CNTL, mode)) != mraa::SUCCESS) - { - throw std::runtime_error(std::string(__FUNCTION__) + - ": I2c.writeReg() failed"); - return false; - } - - // sleep at least 100us for for mode transition to complete - usleep(150); - - return true; -} - -bool AK8975::isReady() -{ - uint8_t rdy = m_i2c.readReg(REG_ST1); - - if (rdy & ST1_DRDY) - return true; - - return false; -} - -bool AK8975::waitforDeviceReady() -{ - const int maxRetries = 20; - - int retries = 0; - - while (retries < maxRetries) - { - if (isReady()) - return true; - - usleep(5000); - retries++; - } - - throw std::runtime_error(std::string(__FUNCTION__) + - ": timeout waiting for device to become ready"); - - return false; -} - -bool AK8975::update(bool selfTest) -{ - // this flag (selfTest) is used so that we can read values without - // specifically taking a measurement. For example, selfTest will - // pass true to this method so that the test results aren't - // overwritten by a measurement. - if (!selfTest) - { - // First set measurement mode (take a measurement) - if (!setMode(CNTL_MEASURE)) - { - throw std::runtime_error(std::string(__FUNCTION__) + - ": Unable to set MEASURE mode"); - return false; - } - } - - if (!waitforDeviceReady()) - return false; - - // hope it worked. Now read out the values and store them (uncompensated) - uint8_t data[6]; - m_i2c.readBytesReg(REG_HXL, data, 6); - - int16_t x, y, z; - x = ( (data[1] << 8) | data[0] ); - y = ( (data[3] << 8) | data[2] ); - z = ( (data[5] << 8) | data[4] ); - - m_xData = float(x); - m_yData = float(y); - m_zData = float(z); - - return true; -} - -bool AK8975::selfTest() -{ - mraa::Result rv; - - // set power down first - if (!setMode(CNTL_PWRDWN)) - { - throw std::runtime_error(std::string(__FUNCTION__) + - ": Unable to set PWRDWN mode"); - return false; - } - - // enable self test bit - if ((rv = m_i2c.writeReg(REG_ASTC, ASTC_SELF)) != mraa::SUCCESS) - { - throw std::runtime_error(std::string(__FUNCTION__) + - ": failed to enable self test"); - return false; - } - - // now set self test mode - if (!setMode(CNTL_SELFTEST)) - { - throw std::runtime_error(std::string(__FUNCTION__) + - ": Unable to set SELFTEST mode"); - return false; - } - - // now update current data (without enabling a measurement) - update(true); - - // Now, reset self test register - uint8_t reg = m_i2c.readReg(REG_ASTC); - reg &= ~ASTC_SELF; - if ((rv = m_i2c.writeReg(REG_ASTC, reg)) != mraa::SUCCESS) - { - throw std::runtime_error(std::string(__FUNCTION__) + - ": failed to disable self test"); - return false; - } - - // after self-test measurement, device transitions to power down mode - return true; -} - -float AK8975::adjustValue(float value, float adj) -{ - // apply the proper compensation to value. This equation is taken - // from the AK8975 datasheet, section 8.3.11 - - return ( value * ((((adj - 128.0) * 0.5) / 128.0) + 1.0) ); -} - -void AK8975::getMagnetometer(float *x, float *y, float *z) -{ - if (x) - *x = adjustValue(m_xData, m_xCoeff); - if (y) - *y = adjustValue(m_yData, m_yCoeff); - if (z) - *z = adjustValue(m_zData, m_zCoeff); -} - |