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-rw-r--r--libsensors/akmdfs/AKFS_Measure.c410
1 files changed, 0 insertions, 410 deletions
diff --git a/libsensors/akmdfs/AKFS_Measure.c b/libsensors/akmdfs/AKFS_Measure.c
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index 84c0843..0000000
--- a/libsensors/akmdfs/AKFS_Measure.c
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-/******************************************************************************
- *
- * Copyright (C) 2012 Asahi Kasei Microdevices Corporation, Japan
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- ******************************************************************************/
-#ifdef WIN32
-#include "AK8975_LinuxDriver.h"
-#else
-#include "AK8975Driver.h"
-#endif
-
-#include "AKFS_Measure.h"
-#include "AKFS_Disp.h"
-#include "AKFS_APIs.h"
-
-/*!
- Read sensitivity adjustment data from fuse ROM.
- @return If data are read successfully, the return value is #AKM_SUCCESS.
- Otherwise the return value is #AKM_FAIL.
- @param[out] regs The read ASA values. When this function succeeds, ASAX value
- is saved in regs[0], ASAY is saved in regs[1], ASAZ is saved in regs[2].
- */
-int16 AKFS_ReadAK8975FUSEROM(
- uint8 regs[3]
-)
-{
- /* Set to FUSE ROM access mode */
- if (AKD_SetMode(AK8975_MODE_FUSE_ACCESS) != AKD_SUCCESS) {
- AKMERROR;
- return AKM_FAIL;
- }
-
- /* Read values. ASAX, ASAY, ASAZ */
- if (AKD_RxData(AK8975_FUSE_ASAX, regs, 3) != AKD_SUCCESS) {
- AKMERROR;
- return AKM_FAIL;
- }
-
- /* Set to PowerDown mode */
- if (AKD_SetMode(AK8975_MODE_POWERDOWN) != AKD_SUCCESS) {
- AKMERROR;
- return AKM_FAIL;
- }
-
- AKMDEBUG(DBG_LEVEL2, "%s: asa(dec)=%d,%d,%d\n",
- __FUNCTION__, regs[0], regs[1], regs[2]);
-
- return AKM_SUCCESS;
-}
-
-/*!
- Carry out self-test.
- @return If this function succeeds, the return value is #AKM_SUCCESS.
- Otherwise the return value is #AKM_FAIL.
- */
-int16 AKFS_SelfTest(void)
-{
- BYTE i2cData[SENSOR_DATA_SIZE];
- BYTE asa[3];
- AKFLOAT hdata[3];
- int16 ret;
-
- /* Set to FUSE ROM access mode */
- if (AKD_SetMode(AK8975_MODE_FUSE_ACCESS) != AKD_SUCCESS) {
- AKMERROR;
- return AKM_FAIL;
- }
-
- /* Read values from ASAX to ASAZ */
- if (AKD_RxData(AK8975_FUSE_ASAX, asa, 3) != AKD_SUCCESS) {
- AKMERROR;
- return AKM_FAIL;
- }
-
- /* Set to PowerDown mode */
- if (AKD_SetMode(AK8975_MODE_POWERDOWN) != AKD_SUCCESS) {
- AKMERROR;
- return AKM_FAIL;
- }
-
- /* Set to self-test mode */
- i2cData[0] = 0x40;
- if (AKD_TxData(AK8975_REG_ASTC, i2cData, 1) != AKD_SUCCESS) {
- AKMERROR;
- return AKM_FAIL;
- }
-
- /* Set to Self-test mode */
- if (AKD_SetMode(AK8975_MODE_SELF_TEST) != AKD_SUCCESS) {
- AKMERROR;
- return AKM_FAIL;
- }
-
- /*
- Wait for DRDY pin changes to HIGH.
- Get measurement data from AK8975
- */
- if (AKD_GetMagneticData(i2cData) != AKD_SUCCESS) {
- AKMERROR;
- return AKM_FAIL;
- }
-
- hdata[0] = AK8975_HDATA_CONVERTER(i2cData[2], i2cData[1], asa[0]);
- hdata[1] = AK8975_HDATA_CONVERTER(i2cData[4], i2cData[3], asa[1]);
- hdata[2] = AK8975_HDATA_CONVERTER(i2cData[6], i2cData[5], asa[2]);
-
- /* Test */
- ret = 1;
- if ((hdata[0] < AK8975_SELFTEST_MIN_X) ||
- (AK8975_SELFTEST_MAX_X < hdata[0])) {
- ret = 0;
- }
- if ((hdata[1] < AK8975_SELFTEST_MIN_Y) ||
- (AK8975_SELFTEST_MAX_Y < hdata[1])) {
- ret = 0;
- }
- if ((hdata[2] < AK8975_SELFTEST_MIN_Z) ||
- (AK8975_SELFTEST_MAX_Z < hdata[2])) {
- ret = 0;
- }
-
- AKMDEBUG(DBG_LEVEL2, "Test(%s):%8.2f, %8.2f, %8.2f\n",
- (ret ? "Success" : "fail"), hdata[0], hdata[1], hdata[2]);
-
- if (ret) {
- return AKM_SUCCESS;
- } else {
- return AKM_FAIL;
- }
-}
-
-/*!
- This function calculate the duration of sleep for maintaining
- the loop keep the period.
- This function calculates "minimum - (end - start)".
- @return The result of above equation in nanosecond.
- @param end The time of after execution.
- @param start The time of before execution.
- @param minimum Loop period of each execution.
- */
-struct timespec AKFS_CalcSleep(
- const struct timespec* end,
- const struct timespec* start,
- const int64_t minimum
-)
-{
- int64_t endL;
- int64_t startL;
- int64_t diff;
-
- struct timespec ret;
-
- endL = (end->tv_sec * 1000000000) + end->tv_nsec;
- startL = (start->tv_sec * 1000000000) + start->tv_nsec;
- diff = minimum;
-
- diff -= (endL - startL);
-
- /* Don't allow negative value */
- if (diff < 0) {
- diff = 0;
- }
-
- /* Convert to timespec */
- if (diff > 1000000000) {
- ret.tv_sec = diff / 1000000000;
- ret.tv_nsec = diff % 1000000000;
- } else {
- ret.tv_sec = 0;
- ret.tv_nsec = diff;
- }
- return ret;
-}
-
-/*!
- Get interval of each sensors from device driver.
- @return If this function succeeds, the return value is #AKM_SUCCESS.
- Otherwise the return value is #AKM_FAIL.
- @param flag This variable indicates what sensor frequency is updated.
- @param minimum This value show the minimum loop period in all sensors.
- */
-int16 AKFS_GetInterval(
- uint16* flag,
- int64_t* minimum
-)
-{
- /* Accelerometer, Magnetometer, Orientation */
- /* Delay is in nano second unit. */
- /* Negative value means the sensor is disabled.*/
- int64_t delay[AKM_NUM_SENSORS];
- int i;
-
- if (AKD_GetDelay(delay) < 0) {
- AKMERROR;
- return AKM_FAIL;
- }
- AKMDATA(AKMDATA_GETINTERVAL,"delay[A,M,O]=%lld,%lld,%lld\n",
- delay[0], delay[1], delay[2]);
-
- /* update */
- *minimum = 1000000000;
- *flag = 0;
- for (i=0; i<AKM_NUM_SENSORS; i++) {
- /* Set flag */
- if (delay[i] >= 0) {
- *flag |= 1 << i;
- if (*minimum > delay[i]) {
- *minimum = delay[i];
- }
- }
- }
- return AKM_SUCCESS;
-}
-
-/*!
- If this program run as console mode, measurement result will be displayed
- on console terminal.
- @return If this function succeeds, the return value is #AKM_SUCCESS.
- Otherwise the return value is #AKM_FAIL.
- */
-void AKFS_OutputResult(
- const uint16 flag,
- const AKSENSOR_DATA* acc,
- const AKSENSOR_DATA* mag,
- const AKSENSOR_DATA* ori
-)
-{
- int buf[YPR_DATA_SIZE];
-
- /* Store to buffer */
- buf[0] = flag; /* Data flag */
- buf[1] = CONVERT_ACC(acc->x); /* Ax */
- buf[2] = CONVERT_ACC(acc->y); /* Ay */
- buf[3] = CONVERT_ACC(acc->z); /* Az */
- buf[4] = acc->status; /* Acc status */
- buf[5] = CONVERT_MAG(mag->x); /* Mx */
- buf[6] = CONVERT_MAG(mag->y); /* My */
- buf[7] = CONVERT_MAG(mag->z); /* Mz */
- buf[8] = mag->status; /* Mag status */
- buf[9] = CONVERT_ORI(ori->x); /* yaw */
- buf[10] = CONVERT_ORI(ori->y); /* pitch */
- buf[11] = CONVERT_ORI(ori->z); /* roll */
-
- if (g_opmode & OPMODE_CONSOLE) {
- /* Console mode */
- Disp_Result(buf);
- }
-
- /* Set result to driver */
- AKD_SetYPR(buf);
-}
-
-/*!
- This is the main routine of measurement.
- */
-void AKFS_MeasureLoop(void)
-{
- BYTE i2cData[SENSOR_DATA_SIZE]; /* ST1 ~ ST2 */
- int16 mag[3];
- int16 mstat;
- int16 acc[3];
- struct timespec tsstart= {0, 0};
- struct timespec tsend = {0, 0};
- struct timespec doze;
- int64_t minimum;
- uint16 flag;
- AKSENSOR_DATA sv_acc;
- AKSENSOR_DATA sv_mag;
- AKSENSOR_DATA sv_ori;
- AKFLOAT tmpx, tmpy, tmpz;
- int16 tmp_accuracy;
-
- minimum = -1;
-
-#ifdef WIN32
- clock_init_time();
-#endif
-
- /* Initialize library functions and device */
- if (AKFS_Start(CSPEC_SETTING_FILE) != AKM_SUCCESS) {
- AKMERROR;
- goto MEASURE_END;
- }
-
- while (g_stopRequest != AKM_TRUE) {
- /* Beginning time */
- if (clock_gettime(CLOCK_MONOTONIC, &tsstart) < 0) {
- AKMERROR;
- goto MEASURE_END;
- }
-
- /* Get interval */
- if (AKFS_GetInterval(&flag, &minimum) != AKM_SUCCESS) {
- AKMERROR;
- goto MEASURE_END;
- }
-
- if ((flag & ACC_DATA_READY) || (flag & ORI_DATA_READY)) {
- /* Get accelerometer */
- if (AKD_GetAccelerationData(acc) != AKD_SUCCESS) {
- AKMERROR;
- goto MEASURE_END;
- }
-
- /* Calculate accelerometer vector */
- if (AKFS_Get_ACCELEROMETER(acc, 0, &tmpx, &tmpy, &tmpz, &tmp_accuracy) == AKM_SUCCESS) {
- sv_acc.x = tmpx;
- sv_acc.y = tmpy;
- sv_acc.z = tmpz;
- sv_acc.status = tmp_accuracy;
- } else {
- flag &= ~ACC_DATA_READY;
- flag &= ~ORI_DATA_READY;
- }
- }
-
- if ((flag & MAG_DATA_READY) || (flag & ORI_DATA_READY)) {
- /* Set to measurement mode */
- if (AKD_SetMode(AK8975_MODE_SNG_MEASURE) != AKD_SUCCESS) {
- AKMERROR;
- goto MEASURE_END;
- }
-
- /* Wait for DRDY and get data from device */
- if (AKD_GetMagneticData(i2cData) != AKD_SUCCESS) {
- AKMERROR;
- goto MEASURE_END;
- }
- /* raw data to x,y,z value */
- mag[0] = (int)((int16_t)(i2cData[2]<<8)+((int16_t)i2cData[1]));
- mag[1] = (int)((int16_t)(i2cData[4]<<8)+((int16_t)i2cData[3]));
- mag[2] = (int)((int16_t)(i2cData[6]<<8)+((int16_t)i2cData[5]));
- mstat = i2cData[0] | i2cData[7];
-
- AKMDATA(AKMDATA_BDATA,
- "bData=%02X,%02X,%02X,%02X,%02X,%02X,%02X,%02X\n",
- i2cData[0], i2cData[1], i2cData[2], i2cData[3],
- i2cData[4], i2cData[5], i2cData[6], i2cData[7]);
-
- /* Calculate magnetic field vector */
- if (AKFS_Get_MAGNETIC_FIELD(mag, mstat, &tmpx, &tmpy, &tmpz, &tmp_accuracy) == AKM_SUCCESS) {
- sv_mag.x = tmpx;
- sv_mag.y = tmpy;
- sv_mag.z = tmpz;
- sv_mag.status = tmp_accuracy;
- } else {
- flag &= ~MAG_DATA_READY;
- flag &= ~ORI_DATA_READY;
- }
- }
-
- if (flag & ORI_DATA_READY) {
- if (AKFS_Get_ORIENTATION(&tmpx, &tmpy, &tmpz, &tmp_accuracy) == AKM_SUCCESS) {
- sv_ori.x = tmpx;
- sv_ori.y = tmpy;
- sv_ori.z = tmpz;
- sv_ori.status = tmp_accuracy;
- } else {
- flag &= ~ORI_DATA_READY;
- }
- }
-
- /* Output result */
- AKFS_OutputResult(flag, &sv_acc, &sv_mag, &sv_ori);
-
- /* Ending time */
- if (clock_gettime(CLOCK_MONOTONIC, &tsend) < 0) {
- AKMERROR;
- goto MEASURE_END;
- }
-
- /* Calculate duration */
- doze = AKFS_CalcSleep(&tsend, &tsstart, minimum);
- AKMDATA(AKMDATA_LOOP, "Sleep: %6.2f msec\n", (doze.tv_nsec/1000000.0f));
- nanosleep(&doze, NULL);
-
-#ifdef WIN32
- if (_kbhit()) {
- _getch();
- break;
- }
-#endif
- }
-
-MEASURE_END:
- /* Set to PowerDown mode */
- if (AKD_SetMode(AK8975_MODE_POWERDOWN) != AKD_SUCCESS) {
- AKMERROR;
- return;
- }
-
- /* Save parameters */
- if (AKFS_Stop(CSPEC_SETTING_FILE) != AKM_SUCCESS) {
- AKMERROR;
- }
-}
-
-
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