void AKM8973_2_6_29::measure() {
SUCCEED(gettimeofday(&next_update, NULL) == 0);
/* Measuring puts readable state to 0. It is going to take
* some time before the values are ready. Not using SET_MODE
* because it contains mdelay(1) which makes measurements spin CPU! */
char akm_data[5] = { 2, AKECS_REG_MS1, AKECS_MODE_MEASURE };
SUCCEED(ioctl(fd, ECS_IOCTL_WRITE, &akm_data) == 0);
/* Sleep for 300 us, which is the measurement interval. */
struct timespec interval;
interval.tv_sec = 0;
interval.tv_nsec = 300000;
SUCCEED(nanosleep(&interval, NULL) == 0);
/* Significance and range of values can be extracted from
* online AK 8973 manual. The kernel driver just passes the data on. */
SUCCEED(ioctl(fd, ECS_IOCTL_GETDATA, &akm_data) == 0);
temperature = (signed char) akm_data[1];
mbuf[index] = Vector(127 - (unsigned char) akm_data[2], 127 - (unsigned char) akm_data[3], 127 - (unsigned char) akm_data[4]);
index = (index + 1) & 1;
m = mbuf[0].add(mbuf[1]).multiply(0.5f);
calibrate_magnetometer_analog();
calibrate();
}
void AK8973B::measure() {
SUCCEED(gettimeofday(&next_update, NULL) == 0);
/* Measuring puts readable state to 0. It is going to take
* some time before the values are ready. Not using SET_MODE
* because it contains mdelay(1) which makes measurements spin CPU! */
char akm_data[5] = { 2, AKECS_REG_MS1, AKECS_MODE_MEASURE, 0, 0};
SUCCEED(ioctl(fd, ECS_IOCTL_WRITE, &akm_data) == 0);
/* Sleep for 300 us, which is the measurement interval. */
struct timespec interval;
interval.tv_sec = 0;
interval.tv_nsec = 300000;
SUCCEED(nanosleep(&interval, NULL) == 0);
akm_data[0] = 4;
akm_data[1] = AKECS_REG_TMPS;
akm_data[2] = 0;
akm_data[3] = 0;
akm_data[4] = 0;
SUCCEED(ioctl(fd, ECS_IOCTL_READ, &akm_data) == 0);
temperature = 110 - (unsigned char)akm_data[1]*0.625;
//because every 2nd measure iz 0 0 0
if(akm_data[2]!=0 && akm_data[3]!=0 && akm_data[4]!=0 )
m = mbuf = mbuf.multiply(0.5f).add( Vector(
127 - (unsigned char)akm_data[2],
127 - (unsigned char)akm_data[3],
127 - (unsigned char)akm_data[4]
).multiply(0.5f));
else m = mbuf;
// LOGD("mf x=%d y=%d z=%d",(int)mbuf.x,(int)mbuf.y,(int)mbuf.z);
calibrate_magnetometer_analog();
calibrate();
}
