/******************************************************************************
* $Id: AK8975Driver.c 580 2012-03-29 09:56:21Z yamada.rj $
******************************************************************************
*
* 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.
*/
#include <fcntl.h>
#include "AKFS_Common.h"
#include "AK8975Driver.h"
#define MSENSOR_NAME "/dev/akm8975_dev"
static int s_fdDev = -1;
/*!
Open device driver.
This function opens both device drivers of magnetic sensor and acceleration
sensor. Additionally, some initial hardware settings are done, such as
measurement range, built-in filter function and etc.
@return If this function succeeds, the return value is #AKD_SUCCESS.
Otherwise the return value is #AKD_FAIL.
*/
int16_t AKD_InitDevice(void)
{
if (s_fdDev < 0) {
/* Open magnetic sensor's device driver. */
if ((s_fdDev = open(MSENSOR_NAME, O_RDWR)) < 0) {
AKMERROR_STR("open");
return AKD_FAIL;
}
}
return AKD_SUCCESS;
}
/*!
Close device driver.
This function closes both device drivers of magnetic sensor and acceleration
sensor.
*/
void AKD_DeinitDevice(void)
{
if (s_fdDev >= 0) {
close(s_fdDev);
s_fdDev = -1;
}
}
/*!
Writes data to a register of the AK8975. When more than one byte of data is
specified, the data is written in contiguous locations starting at an address
specified in \a address.
@return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise
the return value is #AKD_FAIL.
@param[in] address Specify the address of a register in which data is to be
written.
@param[in] data Specify data to write or a pointer to a data array containing
the data. When specifying more than one byte of data, specify the starting
address of the array.
@param[in] numberOfBytesToWrite Specify the number of bytes that make up the
data to write. When a pointer to an array is specified in data, this argument
equals the number of elements of the array.
*/
int16_t AKD_TxData(
const BYTE address,
const BYTE * data,
const uint16_t numberOfBytesToWrite)
{
int i;
char buf[RWBUF_SIZE];
if (s_fdDev < 0) {
ALOGE("%s: Device file is not opened.", __FUNCTION__);
return AKD_FAIL;
}
if (numberOfBytesToWrite > (RWBUF_SIZE-2)) {
ALOGE("%s: Tx size is too large.", __FUNCTION__);
return AKD_FAIL;
}
buf[0] = numberOfBytesToWrite + 1;
buf[1] = address;
for (i = 0; i < numberOfBytesToWrite; i++) {
buf[i + 2] = data[i];
}
if (ioctl(s_fdDev, ECS_IOCTL_WRITE, buf) < 0) {
AKMERROR_STR("ioctl");
return AKD_FAIL;
} else {
#if ENABLE_AKMDEBUG
AKMDATA(AKMDATA_DRV, "addr(HEX)=%02x data(HEX)=", address);
for (i = 0; i < numberOfBytesToWrite; i++) {
AKMDATA(AKMDATA_DRV, " %02x", data[i]);
}
AKMDATA(AKMDATA_DRV, "\n");
#endif
return AKD_SUCCESS;
}
}
/*!
Acquires data from a register or the EEPROM of the AK8975.
@return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise
the return value is #AKD_FAIL.
@param[in] address Specify the address of a register from which data is to be
read.
@param[out] data Specify a pointer to a data array which the read data are
stored.
@param[in] numberOfBytesToRead Specify the number of bytes that make up the
data to read. When a pointer to an array is specified in data, this argument
equals the number of elements of the array.
*/
int16_t AKD_RxData(
const BYTE address,
BYTE * data,
const uint16_t numberOfBytesToRead)
{
int i;
char buf[RWBUF_SIZE];
memset(data, 0, numberOfBytesToRead);
if (s_fdDev < 0) {
ALOGE("%s: Device file is not opened.", __FUNCTION__);
return AKD_FAIL;
}
if (numberOfBytesToRead > (RWBUF_SIZE-1)) {
ALOGE("%s: Rx size is too large.", __FUNCTION__);
return AKD_FAIL;
}
buf[0] = numberOfBytesToRead;
buf[1] = address;
if (ioctl(s_fdDev, ECS_IOCTL_READ, buf) < 0) {
AKMERROR_STR("ioctl");
return AKD_FAIL;
} else {
for (i = 0; i < numberOfBytesToRead; i++) {
data[i] = buf[i + 1];
}
#if ENABLE_AKMDEBUG
AKMDATA(AKMDATA_DRV, "addr(HEX)=%02x len=%d data(HEX)=",
address, numberOfBytesToRead);
for (i = 0; i < numberOfBytesToRead; i++) {
AKMDATA(AKMDATA_DRV, " %02x", data[i]);
}
AKMDATA(AKMDATA_DRV, "\n");
#endif
return AKD_SUCCESS;
}
}
/*!
Acquire magnetic data from AK8975. If measurement is not done, this function
waits until measurement completion.
@return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise
the return value is #AKD_FAIL.
@param[out] data A magnetic data array. The size should be larger than #SENSOR_DATA_SIZE.
*/
int16_t AKD_GetMagneticData(BYTE data[SENSOR_DATA_SIZE])
{
memset(data, 0, SENSOR_DATA_SIZE);
if (s_fdDev < 0) {
ALOGE("%s: Device file is not opened.", __FUNCTION__);
return AKD_FAIL;
}
if (ioctl(s_fdDev, ECS_IOCTL_GETDATA, data) < 0) {
AKMERROR_STR("ioctl");
return AKD_FAIL;
}
AKMDATA(AKMDATA_DRV,
"bdata(HEX)= %02x %02x %02x %02x %02x %02x %02x %02x\n",
data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
return AKD_SUCCESS;
}
/*!
Set calculated data to device driver.
@param[in] buf The order of input data depends on driver's specification.
*/
void AKD_SetYPR(const int buf[YPR_DATA_SIZE])
{
if (s_fdDev < 0) {
ALOGE("%s: Device file is not opened.", __FUNCTION__);
} else {
if (ioctl(s_fdDev, ECS_IOCTL_SET_YPR, buf) < 0) {
AKMERROR_STR("ioctl");
}
}
}
/*!
*/
int AKD_GetOpenStatus(int* status)
{
if (s_fdDev < 0) {
ALOGE("%s: Device file is not opened.", __FUNCTION__);
return AKD_FAIL;
}
if (ioctl(s_fdDev, ECS_IOCTL_GET_OPEN_STATUS, status) < 0) {
AKMERROR_STR("ioctl");
return AKD_FAIL;
}
return AKD_SUCCESS;
}
/*!
*/
int AKD_GetCloseStatus(int* status)
{
if (s_fdDev < 0) {
ALOGE("%s: Device file is not opened.", __FUNCTION__);
return AKD_FAIL;
}
if (ioctl(s_fdDev, ECS_IOCTL_GET_CLOSE_STATUS, status) < 0) {
AKMERROR_STR("ioctl");
return AKD_FAIL;
}
return AKD_SUCCESS;
}
/*!
Set AK8975 to the specific mode.
@return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise
the return value is #AKD_FAIL.
@param[in] mode This value should be one of the AK8975_Mode which is defined in
akm8975.h file.
*/
int16_t AKD_SetMode(const BYTE mode)
{
if (s_fdDev < 0) {
ALOGE("%s: Device file is not opened.", __FUNCTION__);
return AKD_FAIL;
}
if (ioctl(s_fdDev, ECS_IOCTL_SET_MODE, &mode) < 0) {
AKMERROR_STR("ioctl");
return AKD_FAIL;
}
return AKD_SUCCESS;
}
/*!
Acquire delay
@return If this function succeeds, the return value is #AKD_SUCCESS. Otherwise
the return value is #AKD_FAIL.
@param[out] delay A delay in nanosecond.
*/
int16_t AKD_GetDelay(int64_t delay[AKM_NUM_SENSORS])
{
if (s_fdDev < 0) {
ALOGE("%s: Device file is not opened.\n", __FUNCTION__);
return AKD_FAIL;
}
if (ioctl(s_fdDev, ECS_IOCTL_GET_DELAY, delay) < 0) {
AKMERROR_STR("ioctl");
return AKD_FAIL;
}
return AKD_SUCCESS;
}
/*!
Get layout information from device driver, i.e. platform data.
*/
int16_t AKD_GetLayout(int16_t* layout)
{
char tmp;
if (s_fdDev < 0) {
ALOGE("%s: Device file is not opened.", __FUNCTION__);
return AKD_FAIL;
}
if (ioctl(s_fdDev, ECS_IOCTL_GET_LAYOUT, &tmp) < 0) {
AKMERROR_STR("ioctl");
return AKD_FAIL;
}
*layout = tmp;
return AKD_SUCCESS;
}
/* Get acceleration data. */
int16_t AKD_GetAccelerationData(int16_t data[3])
{
if (s_fdDev < 0) {
ALOGE("%s: Device file is not opened.", __FUNCTION__);
return AKD_FAIL;
}
if (ioctl(s_fdDev, ECS_IOCTL_GET_ACCEL, data) < 0) {
AKMERROR_STR("ioctl");
return AKD_FAIL;
}
AKMDATA(AKMDATA_DRV, "%s: acc=%d, %d, %d\n",
__FUNCTION__, data[0], data[1], data[2]);
return AKD_SUCCESS;
}