411 lines
9.8 KiB
C
411 lines
9.8 KiB
C
/******************************************************************************
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* $Id: AKFS_Measure.c 580 2012-03-29 09:56:21Z yamada.rj $
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******************************************************************************
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*
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* Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifdef WIN32
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#include "AK8975_LinuxDriver.h"
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#else
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#include "AK8975Driver.h"
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#endif
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#include "AKFS_Measure.h"
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#include "AKFS_Disp.h"
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#include "AKFS_APIs.h"
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/*!
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Read sensitivity adjustment data from fuse ROM.
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@return If data are read successfully, the return value is #AKM_SUCCESS.
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Otherwise the return value is #AKM_FAIL.
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@param[out] regs The read ASA values. When this function succeeds, ASAX value
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is saved in regs[0], ASAY is saved in regs[1], ASAZ is saved in regs[2].
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*/
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int16 AKFS_ReadAK8975FUSEROM(
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uint8 regs[3]
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)
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{
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/* Set to FUSE ROM access mode */
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if (AKD_SetMode(AK8975_MODE_FUSE_ACCESS) != AKD_SUCCESS) {
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AKMERROR;
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return AKM_FAIL;
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}
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/* Read values. ASAX, ASAY, ASAZ */
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if (AKD_RxData(AK8975_FUSE_ASAX, regs, 3) != AKD_SUCCESS) {
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AKMERROR;
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return AKM_FAIL;
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}
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/* Set to PowerDown mode */
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if (AKD_SetMode(AK8975_MODE_POWERDOWN) != AKD_SUCCESS) {
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AKMERROR;
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return AKM_FAIL;
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}
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AKMDEBUG(DBG_LEVEL2, "%s: asa(dec)=%d,%d,%d\n",
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__FUNCTION__, regs[0], regs[1], regs[2]);
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return AKM_SUCCESS;
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}
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/*!
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Carry out self-test.
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@return If this function succeeds, the return value is #AKM_SUCCESS.
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Otherwise the return value is #AKM_FAIL.
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*/
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int16 AKFS_SelfTest(void)
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{
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BYTE i2cData[SENSOR_DATA_SIZE];
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BYTE asa[3];
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AKFLOAT hdata[3];
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int16 ret;
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/* Set to FUSE ROM access mode */
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if (AKD_SetMode(AK8975_MODE_FUSE_ACCESS) != AKD_SUCCESS) {
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AKMERROR;
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return AKM_FAIL;
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}
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/* Read values from ASAX to ASAZ */
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if (AKD_RxData(AK8975_FUSE_ASAX, asa, 3) != AKD_SUCCESS) {
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AKMERROR;
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return AKM_FAIL;
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}
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/* Set to PowerDown mode */
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if (AKD_SetMode(AK8975_MODE_POWERDOWN) != AKD_SUCCESS) {
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AKMERROR;
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return AKM_FAIL;
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}
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/* Set to self-test mode */
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i2cData[0] = 0x40;
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if (AKD_TxData(AK8975_REG_ASTC, i2cData, 1) != AKD_SUCCESS) {
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AKMERROR;
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return AKM_FAIL;
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}
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/* Set to Self-test mode */
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if (AKD_SetMode(AK8975_MODE_SELF_TEST) != AKD_SUCCESS) {
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AKMERROR;
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return AKM_FAIL;
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}
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/*
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Wait for DRDY pin changes to HIGH.
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Get measurement data from AK8975
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*/
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if (AKD_GetMagneticData(i2cData) != AKD_SUCCESS) {
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AKMERROR;
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return AKM_FAIL;
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}
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hdata[0] = AK8975_HDATA_CONVERTER(i2cData[2], i2cData[1], asa[0]);
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hdata[1] = AK8975_HDATA_CONVERTER(i2cData[4], i2cData[3], asa[1]);
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hdata[2] = AK8975_HDATA_CONVERTER(i2cData[6], i2cData[5], asa[2]);
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/* Test */
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ret = 1;
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if ((hdata[0] < AK8975_SELFTEST_MIN_X) ||
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(AK8975_SELFTEST_MAX_X < hdata[0])) {
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ret = 0;
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}
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if ((hdata[1] < AK8975_SELFTEST_MIN_Y) ||
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(AK8975_SELFTEST_MAX_Y < hdata[1])) {
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ret = 0;
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}
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if ((hdata[2] < AK8975_SELFTEST_MIN_Z) ||
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(AK8975_SELFTEST_MAX_Z < hdata[2])) {
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ret = 0;
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}
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AKMDEBUG(DBG_LEVEL2, "Test(%s):%8.2f, %8.2f, %8.2f\n",
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(ret ? "Success" : "fail"), hdata[0], hdata[1], hdata[2]);
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if (ret) {
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return AKM_SUCCESS;
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} else {
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return AKM_FAIL;
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}
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}
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/*!
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This function calculate the duration of sleep for maintaining
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the loop keep the period.
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This function calculates "minimum - (end - start)".
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@return The result of above equation in nanosecond.
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@param end The time of after execution.
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@param start The time of before execution.
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@param minimum Loop period of each execution.
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*/
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struct timespec AKFS_CalcSleep(
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const struct timespec* end,
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const struct timespec* start,
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const int64_t minimum
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)
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{
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int64_t endL;
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int64_t startL;
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int64_t diff;
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struct timespec ret;
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endL = (end->tv_sec * 1000000000) + end->tv_nsec;
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startL = (start->tv_sec * 1000000000) + start->tv_nsec;
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diff = minimum;
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diff -= (endL - startL);
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/* Don't allow negative value */
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if (diff < 0) {
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diff = 0;
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}
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/* Convert to timespec */
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if (diff > 1000000000) {
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ret.tv_sec = diff / 1000000000;
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ret.tv_nsec = diff % 1000000000;
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} else {
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ret.tv_sec = 0;
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ret.tv_nsec = diff;
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}
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return ret;
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}
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/*!
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Get interval of each sensors from device driver.
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@return If this function succeeds, the return value is #AKM_SUCCESS.
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Otherwise the return value is #AKM_FAIL.
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@param flag This variable indicates what sensor frequency is updated.
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@param minimum This value show the minimum loop period in all sensors.
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*/
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int16 AKFS_GetInterval(
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uint16* flag,
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int64_t* minimum
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)
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{
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/* Accelerometer, Magnetometer, Orientation */
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/* Delay is in nano second unit. */
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/* Negative value means the sensor is disabled.*/
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int64_t delay[AKM_NUM_SENSORS];
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int i;
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if (AKD_GetDelay(delay) < 0) {
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AKMERROR;
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return AKM_FAIL;
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}
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AKMDATA(AKMDATA_GETINTERVAL,"delay[A,M,O]=%lld,%lld,%lld\n",
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delay[0], delay[1], delay[2]);
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/* update */
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*minimum = 1000000000;
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*flag = 0;
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for (i=0; i<AKM_NUM_SENSORS; i++) {
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/* Set flag */
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if (delay[i] >= 0) {
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*flag |= 1 << i;
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if (*minimum > delay[i]) {
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*minimum = delay[i];
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}
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}
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}
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return AKM_SUCCESS;
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}
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/*!
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If this program run as console mode, measurement result will be displayed
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on console terminal.
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@return If this function succeeds, the return value is #AKM_SUCCESS.
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Otherwise the return value is #AKM_FAIL.
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*/
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void AKFS_OutputResult(
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const uint16 flag,
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const AKSENSOR_DATA* acc,
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const AKSENSOR_DATA* mag,
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const AKSENSOR_DATA* ori
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)
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{
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int buf[YPR_DATA_SIZE];
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/* Store to buffer */
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buf[0] = flag; /* Data flag */
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buf[1] = CONVERT_ACC(acc->x); /* Ax */
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buf[2] = CONVERT_ACC(acc->y); /* Ay */
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buf[3] = CONVERT_ACC(acc->z); /* Az */
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buf[4] = acc->status; /* Acc status */
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buf[5] = CONVERT_MAG(mag->x); /* Mx */
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buf[6] = CONVERT_MAG(mag->y); /* My */
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buf[7] = CONVERT_MAG(mag->z); /* Mz */
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buf[8] = mag->status; /* Mag status */
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buf[9] = CONVERT_ORI(ori->x); /* yaw */
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buf[10] = CONVERT_ORI(ori->y); /* pitch */
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buf[11] = CONVERT_ORI(ori->z); /* roll */
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if (g_opmode & OPMODE_CONSOLE) {
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/* Console mode */
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Disp_Result(buf);
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}
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/* Set result to driver */
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AKD_SetYPR(buf);
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}
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/*!
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This is the main routine of measurement.
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*/
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void AKFS_MeasureLoop(void)
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{
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BYTE i2cData[SENSOR_DATA_SIZE]; /* ST1 ~ ST2 */
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int16 mag[3];
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int16 mstat;
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int16 acc[3];
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struct timespec tsstart= {0, 0};
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struct timespec tsend = {0, 0};
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struct timespec doze;
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int64_t minimum;
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uint16 flag;
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AKSENSOR_DATA sv_acc;
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AKSENSOR_DATA sv_mag;
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AKSENSOR_DATA sv_ori;
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AKFLOAT tmpx, tmpy, tmpz;
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int16 tmp_accuracy;
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minimum = -1;
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#ifdef WIN32
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clock_init_time();
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#endif
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/* Initialize library functions and device */
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if (AKFS_Start(CSPEC_SETTING_FILE) != AKM_SUCCESS) {
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AKMERROR;
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goto MEASURE_END;
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}
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while (g_stopRequest != AKM_TRUE) {
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/* Beginning time */
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if (clock_gettime(CLOCK_MONOTONIC, &tsstart) < 0) {
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AKMERROR;
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goto MEASURE_END;
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}
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/* Get interval */
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if (AKFS_GetInterval(&flag, &minimum) != AKM_SUCCESS) {
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AKMERROR;
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goto MEASURE_END;
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}
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if ((flag & ACC_DATA_READY) || (flag & ORI_DATA_READY)) {
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/* Get accelerometer */
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if (AKD_GetAccelerationData(acc) != AKD_SUCCESS) {
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AKMERROR;
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goto MEASURE_END;
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}
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/* Calculate accelerometer vector */
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if (AKFS_Get_ACCELEROMETER(acc, 0, &tmpx, &tmpy, &tmpz, &tmp_accuracy) == AKM_SUCCESS) {
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sv_acc.x = tmpx;
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sv_acc.y = tmpy;
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sv_acc.z = tmpz;
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sv_acc.status = tmp_accuracy;
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} else {
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flag &= ~ACC_DATA_READY;
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flag &= ~ORI_DATA_READY;
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}
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}
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if ((flag & MAG_DATA_READY) || (flag & ORI_DATA_READY)) {
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/* Set to measurement mode */
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if (AKD_SetMode(AK8975_MODE_SNG_MEASURE) != AKD_SUCCESS) {
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AKMERROR;
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goto MEASURE_END;
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}
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/* Wait for DRDY and get data from device */
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if (AKD_GetMagneticData(i2cData) != AKD_SUCCESS) {
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AKMERROR;
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goto MEASURE_END;
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}
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/* raw data to x,y,z value */
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mag[0] = (int)((int16_t)(i2cData[2]<<8)+((int16_t)i2cData[1]));
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mag[1] = (int)((int16_t)(i2cData[4]<<8)+((int16_t)i2cData[3]));
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mag[2] = (int)((int16_t)(i2cData[6]<<8)+((int16_t)i2cData[5]));
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mstat = i2cData[0] | i2cData[7];
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AKMDATA(AKMDATA_BDATA,
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"bData=%02X,%02X,%02X,%02X,%02X,%02X,%02X,%02X\n",
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i2cData[0], i2cData[1], i2cData[2], i2cData[3],
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i2cData[4], i2cData[5], i2cData[6], i2cData[7]);
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/* Calculate magnetic field vector */
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if (AKFS_Get_MAGNETIC_FIELD(mag, mstat, &tmpx, &tmpy, &tmpz, &tmp_accuracy) == AKM_SUCCESS) {
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sv_mag.x = tmpx;
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sv_mag.y = tmpy;
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sv_mag.z = tmpz;
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sv_mag.status = tmp_accuracy;
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} else {
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flag &= ~MAG_DATA_READY;
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flag &= ~ORI_DATA_READY;
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}
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}
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if (flag & ORI_DATA_READY) {
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if (AKFS_Get_ORIENTATION(&tmpx, &tmpy, &tmpz, &tmp_accuracy) == AKM_SUCCESS) {
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sv_ori.x = tmpx;
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sv_ori.y = tmpy;
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sv_ori.z = tmpz;
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sv_ori.status = tmp_accuracy;
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} else {
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flag &= ~ORI_DATA_READY;
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}
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}
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/* Output result */
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AKFS_OutputResult(flag, &sv_acc, &sv_mag, &sv_ori);
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/* Ending time */
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if (clock_gettime(CLOCK_MONOTONIC, &tsend) < 0) {
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AKMERROR;
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goto MEASURE_END;
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}
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/* Calculate duration */
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doze = AKFS_CalcSleep(&tsend, &tsstart, minimum);
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AKMDATA(AKMDATA_LOOP, "Sleep: %6.2f msec\n", (doze.tv_nsec/1000000.0f));
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nanosleep(&doze, NULL);
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#ifdef WIN32
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if (_kbhit()) {
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_getch();
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break;
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}
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#endif
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}
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MEASURE_END:
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/* Set to PowerDown mode */
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if (AKD_SetMode(AK8975_MODE_POWERDOWN) != AKD_SUCCESS) {
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AKMERROR;
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return;
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}
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/* Save parameters */
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if (AKFS_Stop(CSPEC_SETTING_FILE) != AKM_SUCCESS) {
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AKMERROR;
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}
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}
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