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/******************************************************************************
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*
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* $Id: AK8963Driver.c 325 2011-08-24 09:34:36Z yamada.rj $
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*
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* -- Copyright Notice --
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*
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* Copyright (c) 2004 Asahi Kasei Microdevices Corporation, Japan
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* All Rights Reserved.
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*
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* This software program is proprietary program of Asahi Kasei Microdevices
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* Corporation("AKM") licensed to authorized Licensee under Software License
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* Agreement (SLA) executed between the Licensee and AKM.
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*
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* Use of the software by unauthorized third party, or use of the software
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* beyond the scope of the SLA is strictly prohibited.
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*
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* -- End Asahi Kasei Microdevices Copyright Notice --
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*
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******************************************************************************/
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#include <fcntl.h>
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#include "AKCommon.h" // DBGPRINT()
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#include "AK8963Driver.h"
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#include "Acc_mma8452.h"
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#define MSENSOR_NAME "/dev/akm8963_dev"
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int s_fdDev = -1;
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void Android2AK(const float fData[], int16_t data[3]);
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#if 0
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/* Include proper acceleration file. */
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#ifdef AKMD_ACC_COMBINED
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#include "Acc_adxl34x.c"
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static ACCFNC_INITDEVICE Acc_InitDevice = Acc_InitDevice;
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static ACCFNC_DEINITDEVICE Acc_DeinitDevice = Acc_DeinitDevice;
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static ACCFNC_GETACCDATA Acc_GetAccelerationData = Acc_GetAccelerationData;
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#else
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#include "Acc_aot.c"
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static ACCFNC_INITDEVICE Acc_InitDevice = AOT_InitDevice;
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static ACCFNC_DEINITDEVICE Acc_DeinitDevice = AOT_DeinitDevice;
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static ACCFNC_GETACCDATA Acc_GetAccelerationData = AOT_GetAccelerationData;
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#endif
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#endif
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/*!
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Open device driver.
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This function opens both device drivers of magnetic sensor and acceleration
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sensor. Additionally, some initial hardware settings are done, such as
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measurement range, built-in filter function and etc.
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@return If this function succeeds, the return value is #AKD_SUCCESS.
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Otherwise the return value is #AKD_FAIL.
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*/
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int16_t AKD_InitDevice(void)
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{
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if (s_fdDev < 0) {
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// Open magnetic sensor's device driver.
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if ((s_fdDev = open(MSENSOR_NAME, O_RDWR)) < 0) {
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AKMERROR_STR("open");
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return AKD_FAIL;
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}
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}
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if (Acc_InitDevice() != AKD_SUCCESS) {
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return AKD_FAIL;
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}
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return AKD_SUCCESS;
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}
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/*!
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Close device driver.
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This function closes both device drivers of magnetic sensor and acceleration
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sensor.
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*/
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void AKD_DeinitDevice(void)
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{
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if (s_fdDev >= 0) {
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close(s_fdDev);
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s_fdDev = -1;
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}
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Acc_DeinitDevice();
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}
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/*!
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Writes data to a register of the AK8963. When more than one byte of data is
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specified, the data is written in contiguous locations starting at an address
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specified in \a address.
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@return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise
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the return value is #AKD_FAIL.
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@param[in] address Specify the address of a register in which data is to be
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written.
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@param[in] data Specify data to write or a pointer to a data array containing
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the data. When specifying more than one byte of data, specify the starting
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address of the array.
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@param[in] numberOfBytesToWrite Specify the number of bytes that make up the
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data to write. When a pointer to an array is specified in data, this argument
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equals the number of elements of the array.
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*/
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int16_t AKD_TxData(
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const BYTE address,
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const BYTE * data,
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const uint16_t numberOfBytesToWrite)
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{
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int i;
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char buf[RWBUF_SIZE];
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if (s_fdDev < 0) {
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ALOGE("%s: Device file is not opened.", __FUNCTION__);
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return AKD_FAIL;
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}
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if (numberOfBytesToWrite > (RWBUF_SIZE-2)) {
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ALOGE("%s: Tx size is too large.", __FUNCTION__);
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return AKD_FAIL;
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}
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buf[0] = numberOfBytesToWrite + 1;
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buf[1] = address;
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for (i = 0; i < numberOfBytesToWrite; i++) {
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buf[i + 2] = data[i];
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}
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if (ioctl(s_fdDev, ECS_IOCTL_WRITE, buf) < 0) {
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AKMERROR_STR("ioctl");
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return AKD_FAIL;
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} else {
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#if ENABLE_AKMDEBUG
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AKMDATA(AKMDATA_MAGDRV, "addr(HEX)=%02x data(HEX)=", address);
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for (i = 0; i < numberOfBytesToWrite; i++) {
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AKMDATA(AKMDATA_MAGDRV, " %02x", data[i]);
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}
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AKMDATA(AKMDATA_MAGDRV, "\n");
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#endif
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return AKD_SUCCESS;
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}
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}
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/*!
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Acquires data from a register or the EEPROM of the AK8963.
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@return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise
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the return value is #AKD_FAIL.
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@param[in] address Specify the address of a register from which data is to be
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read.
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@param[out] data Specify a pointer to a data array which the read data are
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stored.
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@param[in] numberOfBytesToRead Specify the number of bytes that make up the
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data to read. When a pointer to an array is specified in data, this argument
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equals the number of elements of the array.
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*/
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int16_t AKD_RxData(
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const BYTE address,
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BYTE * data,
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const uint16_t numberOfBytesToRead)
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{
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int i;
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char buf[RWBUF_SIZE];
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memset(data, 0, numberOfBytesToRead);
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if (s_fdDev < 0) {
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ALOGE("%s: Device file is not opened.", __FUNCTION__);
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return AKD_FAIL;
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}
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if (numberOfBytesToRead > (RWBUF_SIZE-1)) {
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ALOGE("%s: Rx size is too large.", __FUNCTION__);
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return AKD_FAIL;
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}
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buf[0] = numberOfBytesToRead;
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buf[1] = address;
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if (ioctl(s_fdDev, ECS_IOCTL_READ, buf) < 0) {
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AKMERROR_STR("ioctl");
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return AKD_FAIL;
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} else {
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for (i = 0; i < numberOfBytesToRead; i++) {
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data[i] = buf[i + 1];
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}
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#if ENABLE_AKMDEBUG
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AKMDATA(AKMDATA_MAGDRV, "addr(HEX)=%02x len=%d data(HEX)=",
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address, numberOfBytesToRead);
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for (i = 0; i < numberOfBytesToRead; i++) {
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AKMDATA(AKMDATA_MAGDRV, " %02x", data[i]);
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}
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AKMDATA(AKMDATA_MAGDRV, "\n");
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#endif
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return AKD_SUCCESS;
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}
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}
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/*!
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Reset the e-compass.
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@return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise
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the return value is #AKD_FAIL.
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*/
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int16_t AKD_ResetAK8963(void) {
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if (s_fdDev < 0) {
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ALOGE("Magnetometer is not opened.\n");
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return AKD_FAIL;
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}
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if (ioctl(s_fdDev, ECS_IOCTL_RESET, NULL) < 0) {
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AKMERROR_STR("ioctl");
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return AKD_FAIL;
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}
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return AKD_SUCCESS;
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}
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/*!
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Acquire magnetic data from AK8963. If measurement is not done, this function
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waits until measurement completion.
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@return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise
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the return value is #AKD_FAIL.
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@param[out] data A magnetic data array. The size should be larger than #SENSOR_DATA_SIZE.
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*/
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int16_t AKD_GetMagneticData(BYTE data[SENSOR_DATA_SIZE])
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{
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memset(data, 0, SENSOR_DATA_SIZE);
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if (s_fdDev < 0) {
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ALOGE("%s: Device file is not opened.", __FUNCTION__);
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return AKD_FAIL;
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}
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if (ioctl(s_fdDev, ECS_IOCTL_GETDATA, data) < 0) {
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AKMERROR_STR("ioctl");
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return AKD_FAIL;
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}
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AKMDATA(AKMDATA_MAGDRV,
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"bdata(HEX)= %02x %02x %02x %02x %02x %02x %02x %02x\n",
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data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
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return AKD_SUCCESS;
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}
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/*!
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Set calculated data to device driver.
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@param[in] buf
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*/
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void AKD_SetYPR(const int buf[YPR_DATA_SIZE])
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{
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if (ioctl(s_fdDev, ECS_IOCTL_SET_YPR, buf) < 0) {
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AKMERROR_STR("ioctl");
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}
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}
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/*!
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*/
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int AKD_GetOpenStatus(int* status)
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{
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if (ioctl(s_fdDev, ECS_IOCTL_GET_OPEN_STATUS, status) < 0) {
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AKMERROR_STR("ioctl");
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return AKD_FAIL;
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}
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return AKD_SUCCESS;
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}
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/*!
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*/
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int AKD_GetCloseStatus(int* status)
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{
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if (ioctl(s_fdDev, ECS_IOCTL_GET_CLOSE_STATUS, status) < 0) {
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AKMERROR_STR("ioctl");
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return AKD_FAIL;
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}
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return AKD_SUCCESS;
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}
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/*!
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Set AK8963 to the specific mode.
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@return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise
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the return value is #AKD_FAIL.
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@param[in] mode This value should be one of the AK8963_Mode which is defined in
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akm8963.h file.
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*/
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int16_t AKD_SetMode(const BYTE mode)
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{
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if (s_fdDev < 0) {
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ALOGE("%s: Device file is not opened.", __FUNCTION__);
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return AKD_FAIL;
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}
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if (ioctl(s_fdDev, ECS_IOCTL_SET_MODE, &mode) < 0) {
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AKMERROR_STR("ioctl");
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return AKD_FAIL;
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}
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return AKD_SUCCESS;
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}
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/*!
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Acquire delay
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@return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise
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the return value is #AKD_FAIL.
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@param[out] delay A delay in microsecond.
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*/
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int16_t AKD_GetDelay(int64_t delay[AKM_NUM_SENSORS])
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{
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if (s_fdDev < 0) {
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ALOGE("%s: Device file is not opened.\n", __FUNCTION__);
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return AKD_FAIL;
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}
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if (ioctl(s_fdDev, ECS_IOCTL_GET_DELAY, delay) < 0) {
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AKMERROR_STR("ioctl");
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return AKD_FAIL;
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}
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return AKD_SUCCESS;
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}
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/*!
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Get layout information from device driver, i.e. platform data.
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*/
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int16_t AKD_GetLayout(int16_t* layout)
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{
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char tmp;
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if (s_fdDev < 0) {
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ALOGE("%s: Device file is not opened.", __FUNCTION__);
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return AKD_FAIL;
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}
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if (ioctl(s_fdDev, ECS_IOCTL_GET_LAYOUT, &tmp) < 0) {
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AKMERROR_STR("ioctl");
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return AKD_FAIL;
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}
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*layout = tmp;
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return AKD_SUCCESS;
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}
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/*!
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Get outbit information from device driver, i.e. platform data.
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*/
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int16_t AKD_GetOutbit(int16_t* outbit)
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{
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char tmp;
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if (s_fdDev < 0) {
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ALOGE("%s: Device file is not opened.", __FUNCTION__);
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return AKD_FAIL;
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}
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if (ioctl(s_fdDev, ECS_IOCTL_GET_OUTBIT, &tmp) < 0) {
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AKMERROR_STR("ioctl");
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return AKD_FAIL;
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}
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*outbit = tmp;
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return AKD_SUCCESS;
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}
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#if 0
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/* Get measurement data. See "AK8963Driver.h" */
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int16_t AKD_GetAccelerationData(int16_t data[3])
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{
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return Acc_GetAccelerationData(data);
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}
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#endif
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/*!
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Acquire acceleration data from acceleration sensor.
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@return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise
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the return value is #AKD_FAIL.
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@param[out] data A acceleration data array. The coordinate system of the
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acquired data follows the definition of AK.
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*/
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int16_t AKD_GetAccelerationData(int16_t data[3])
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{
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float fData[3];
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if (Acc_GetAccelerationData(fData) != AKD_SUCCESS) {
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return AKD_FAIL;
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} else {
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Android2AK(fData, data);
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return AKD_SUCCESS;
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}
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}
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/*!
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Convert Acceleration sensor coordinate system from Android's one to AK's one.
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In Android coordinate system, 1G = 9.8f (m/s^2). In AK coordinate system,
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1G = 720 (LSB).
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@param[in] fData A acceleration data array. The coordinate system of this data
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should follows the definition of Android.
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@param[out] data A acceleration data array. The coordinate system of the
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acquired data follows the definition of AK.
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*/
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void Android2AK(const float fData[], int16_t data[3])
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{
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/*
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* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> AKSC_DirectionS3() <20><> acc <20><><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9> SmartCompass <20><><EFBFBD><EFBFBD>ϵ, ...
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* .! : <20><><EFBFBD><EFBFBD> acc <20><><EFBFBD><EFBFBD><EFBFBD>궨<EFBFBD><EAB6A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʵ<EFBFBD><CAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȷ<EFBFBD><C8B7>.
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*/
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data[0] = fData[0] / 9.8f * 720;
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data[1] = fData[1] / 9.8f * 720;
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data[2] = fData[2] / 9.8f * 720;
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}
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