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411 lines
9.8 KiB
411 lines
9.8 KiB
/****************************************************************************** |
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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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