AKM Development Platform / Mbed 2 deprecated AKDP-RevD7_014

AKM Development Platform. This is the D7.014 version.

Dependencies:   AK09970 AK099XX AK7401 AK7451 AK8963X AK9750 AK9752 AkmSensor BLE_API I2CNano MCP342x SerialNano SpiNano TCA9554A mbed nRF51822

Fork of AKDP by Masahiko Fukasawa

main.cpp@25:12ed05de91f9, 2016-10-28 (annotated)

Committer:
masahikofukasawa
Date:
Fri Oct 28 21:30:36 2016 +0000
Revision:
25:12ed05de91f9
Parent:
23:9a404e36feaf
Child:
27:24bde7bf7030
debugged AK9750 EEPROM access and others.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
masahikofukasawa 0:c240899240e7 1 #include <stdio.h>
masahikofukasawa 0:c240899240e7 2 #include <stdlib.h>
masahikofukasawa 0:c240899240e7 3 #include "mbed.h"
masahikofukasawa 0:c240899240e7 4 #include "ble/BLE.h"
masahikofukasawa 0:c240899240e7 5 #include "ble/services/UARTService.h"
masahikofukasawa 0:c240899240e7 6 #include "SerialNano.h"
masahikofukasawa 25:12ed05de91f9 7 #include "akdphwinfo.h"
masahikofukasawa 12:522a22a23f8a 8 #include "akmsensor.h"
masahikofukasawa 0:c240899240e7 9 #include "akmsensormanager.h"
masahikofukasawa 0:c240899240e7 10 #include "debug.h"
coisme 2:11a5873f8ec0 11 #include "tca9554a.h"
masahikofukasawa 25:12ed05de91f9 12 #include "mcp342x.h"
masahikofukasawa 19:7a6913400380 13 #include "akmakd.h"
masahikofukasawa 0:c240899240e7 14
masahikofukasawa 0:c240899240e7 15 #define BLE_UUID_TXRX_SERVICE 0x0000 /**< The UUID of the Nordic UART Service. */
masahikofukasawa 0:c240899240e7 16 #define BLE_UUID_TX_CHARACTERISTIC 0x0002 /**< The UUID of the TX Characteristic. */
masahikofukasawa 0:c240899240e7 17 #define BLE_UUIDS_RX_CHARACTERISTIC 0x0003 /**< The UUID of the RX Characteristic. */
masahikofukasawa 10:a710e8c3311c 18 #define BLE_BUF_LEN UARTService::BLE_UART_SERVICE_MAX_DATA_LEN+1
masahikofukasawa 10:a710e8c3311c 19 #define TXRX_LEN 50
masahikofukasawa 0:c240899240e7 20
masahikofukasawa 0:c240899240e7 21 BLE ble;
masahikofukasawa 0:c240899240e7 22 UARTService* uartService;
masahikofukasawa 7:f1f544deaaa3 23 SerialNano serial(P0_4, P0_5); // Rev.D pin configuration
masahikofukasawa 25:12ed05de91f9 24 AkmSensorManager* manager;
masahikofukasawa 4:749a21fd9c2d 25
masahikofukasawa 12:522a22a23f8a 26 uint8_t id;
masahikofukasawa 12:522a22a23f8a 27 uint8_t subId;
masahikofukasawa 0:c240899240e7 28
masahikofukasawa 18:d75838bceaaf 29 enum {
masahikofukasawa 18:d75838bceaaf 30 UNIT_0_625_MS = 625,
masahikofukasawa 18:d75838bceaaf 31 UNIT_1_25_MS = 1250,
masahikofukasawa 18:d75838bceaaf 32 UNIT_10_MS = 10000
masahikofukasawa 18:d75838bceaaf 33 };
masahikofukasawa 18:d75838bceaaf 34
masahikofukasawa 19:7a6913400380 35 // default setting of Nexus 5X, Motorola Droid Turbo:
masahikofukasawa 19:7a6913400380 36 //#define MIN_CONN_INTERVAL MSEC_TO_UNITS(45, UNIT_1_25_MS) /**< Minimum connection interval (45 ms) */
masahikofukasawa 19:7a6913400380 37 //#define MAX_CONN_INTERVAL MSEC_TO_UNITS(45, UNIT_1_25_MS) /**< Maximum connection interval (45 ms). */
masahikofukasawa 19:7a6913400380 38 //#define SLAVE_LATENCY 0 /**< Slave latency. */
masahikofukasawa 19:7a6913400380 39 //#define CONN_SUP_TIMEOUT MSEC_TO_UNITS(20000, UNIT_10_MS) /**< Connection supervisory timeout (20 seconds). */
masahikofukasawa 19:7a6913400380 40
masahikofukasawa 19:7a6913400380 41 /*
masahikofukasawa 19:7a6913400380 42 iOS requirement:
masahikofukasawa 19:7a6913400380 43 Interval Max * (Slave Latency + 1) ≤ 2 seconds
masahikofukasawa 19:7a6913400380 44 Interval Min ≥ 20 ms
masahikofukasawa 19:7a6913400380 45 Interval Min + 20 ms ≤ Interval Max Slave Latency ≤ 4
masahikofukasawa 19:7a6913400380 46 connSupervisionTimeout ≤ 6 seconds
masahikofukasawa 19:7a6913400380 47 Interval Max * (Slave Latency + 1) * 3 < connSupervisionTimeout
masahikofukasawa 19:7a6913400380 48 */
masahikofukasawa 19:7a6913400380 49
masahikofukasawa 18:d75838bceaaf 50 #define MSEC_TO_UNITS(TIME, RESOLUTION) (((TIME) * 1000) / (RESOLUTION))
masahikofukasawa 18:d75838bceaaf 51 #define MIN_CONN_INTERVAL MSEC_TO_UNITS(7.5, UNIT_1_25_MS) /**< Minimum connection interval (7.5 ms) */
masahikofukasawa 18:d75838bceaaf 52 #define MAX_CONN_INTERVAL MSEC_TO_UNITS(30, UNIT_1_25_MS) /**< Maximum connection interval (30 ms). */
masahikofukasawa 18:d75838bceaaf 53 #define SLAVE_LATENCY 0 /**< Slave latency. */
masahikofukasawa 19:7a6913400380 54 #define CONN_SUP_TIMEOUT MSEC_TO_UNITS(4000, UNIT_10_MS) /**< Connection supervisory timeout (4 seconds). */
masahikofukasawa 18:d75838bceaaf 55
masahikofukasawa 21:f8f44ad15d13 56 // Command received from BLE
masahikofukasawa 0:c240899240e7 57 void WrittenHandler(const GattWriteCallbackParams *Handler)
masahikofukasawa 0:c240899240e7 58 {
masahikofukasawa 10:a710e8c3311c 59 static char command[TXRX_LEN]="";
masahikofukasawa 10:a710e8c3311c 60 static uint16_t len=0;
masahikofukasawa 10:a710e8c3311c 61
masahikofukasawa 10:a710e8c3311c 62 uint8_t buf[BLE_BUF_LEN];
masahikofukasawa 0:c240899240e7 63 uint16_t bytesRead;
masahikofukasawa 10:a710e8c3311c 64
masahikofukasawa 0:c240899240e7 65 if (Handler->handle == uartService->getTXCharacteristicHandle())
masahikofukasawa 0:c240899240e7 66 {
masahikofukasawa 0:c240899240e7 67 ble.gattServer().read(uartService->getTXCharacteristicHandle(), buf, &bytesRead);
masahikofukasawa 10:a710e8c3311c 68
masahikofukasawa 10:a710e8c3311c 69 for(uint16_t i=0; i<bytesRead; i++){
masahikofukasawa 10:a710e8c3311c 70 if(buf[i] == CR)
masahikofukasawa 10:a710e8c3311c 71 {
masahikofukasawa 10:a710e8c3311c 72 ; // ignore CR
masahikofukasawa 10:a710e8c3311c 73 }
masahikofukasawa 10:a710e8c3311c 74 else if(buf[i] == LF || len > TXRX_LEN)
masahikofukasawa 0:c240899240e7 75 {
masahikofukasawa 10:a710e8c3311c 76 manager->commandReceived(command);
masahikofukasawa 10:a710e8c3311c 77 for(int j=0; j<TXRX_LEN; j++){
masahikofukasawa 10:a710e8c3311c 78 command[j] = 0;
masahikofukasawa 10:a710e8c3311c 79 }
masahikofukasawa 10:a710e8c3311c 80 len = 0;
masahikofukasawa 10:a710e8c3311c 81 }
masahikofukasawa 10:a710e8c3311c 82 else
masahikofukasawa 10:a710e8c3311c 83 {
masahikofukasawa 10:a710e8c3311c 84 command[len++] = (char)buf[i];
masahikofukasawa 0:c240899240e7 85 }
masahikofukasawa 0:c240899240e7 86 }
masahikofukasawa 0:c240899240e7 87 }
masahikofukasawa 0:c240899240e7 88 }
masahikofukasawa 0:c240899240e7 89
masahikofukasawa 21:f8f44ad15d13 90
masahikofukasawa 21:f8f44ad15d13 91 // Command received from USB
masahikofukasawa 18:d75838bceaaf 92 static void usbUartCallback(void)
masahikofukasawa 0:c240899240e7 93 {
masahikofukasawa 10:a710e8c3311c 94 static char command[TXRX_LEN] = "";
masahikofukasawa 10:a710e8c3311c 95 static uint16_t len=0;
masahikofukasawa 10:a710e8c3311c 96
masahikofukasawa 23:9a404e36feaf 97 while(serial.readable())
masahikofukasawa 0:c240899240e7 98 {
masahikofukasawa 0:c240899240e7 99 uint8_t c = serial.getc();
masahikofukasawa 21:f8f44ad15d13 100
masahikofukasawa 0:c240899240e7 101 // ignore CR
masahikofukasawa 21:f8f44ad15d13 102 if(c != CR)
masahikofukasawa 0:c240899240e7 103 {
masahikofukasawa 21:f8f44ad15d13 104 command[len++] = c;
masahikofukasawa 21:f8f44ad15d13 105 if(len>=TXRX_LEN || c == LF)
masahikofukasawa 21:f8f44ad15d13 106 {
masahikofukasawa 21:f8f44ad15d13 107 manager->commandReceived(command);
masahikofukasawa 21:f8f44ad15d13 108 for(int j=0; j<TXRX_LEN; j++){
masahikofukasawa 21:f8f44ad15d13 109 command[j] = 0;
masahikofukasawa 21:f8f44ad15d13 110 }
masahikofukasawa 21:f8f44ad15d13 111 len = 0;
masahikofukasawa 10:a710e8c3311c 112 }
masahikofukasawa 21:f8f44ad15d13 113 }
masahikofukasawa 0:c240899240e7 114 }
masahikofukasawa 0:c240899240e7 115 }
masahikofukasawa 0:c240899240e7 116
masahikofukasawa 18:d75838bceaaf 117 static void connectionCallback(const Gap::ConnectionCallbackParams_t *params)
masahikofukasawa 0:c240899240e7 118 {
masahikofukasawa 19:7a6913400380 119 MSG("#From central: minConnectionInterval = %d\r\n", params->connectionParams->minConnectionInterval);
masahikofukasawa 19:7a6913400380 120 MSG("#From central: maxConnectionInterval = %d\r\n", params->connectionParams->maxConnectionInterval);
masahikofukasawa 19:7a6913400380 121 MSG("#From central: slaveLatency = %d\r\n", params->connectionParams->slaveLatency);
masahikofukasawa 19:7a6913400380 122 MSG("#From central: connectionSupervisionTimeout = %d\r\n", params->connectionParams->connectionSupervisionTimeout);
masahikofukasawa 19:7a6913400380 123
masahikofukasawa 18:d75838bceaaf 124 Gap::Handle_t gap_handle = params->handle;
masahikofukasawa 18:d75838bceaaf 125 Gap::ConnectionParams_t gap_conn_params;
masahikofukasawa 19:7a6913400380 126 gap_conn_params.minConnectionInterval = params->connectionParams->minConnectionInterval;
masahikofukasawa 19:7a6913400380 127 gap_conn_params.maxConnectionInterval = params->connectionParams->maxConnectionInterval;
masahikofukasawa 19:7a6913400380 128 gap_conn_params.slaveLatency = params->connectionParams->slaveLatency;
masahikofukasawa 18:d75838bceaaf 129 gap_conn_params.connectionSupervisionTimeout = CONN_SUP_TIMEOUT;
masahikofukasawa 18:d75838bceaaf 130 ble.updateConnectionParams(gap_handle, &gap_conn_params);
masahikofukasawa 18:d75838bceaaf 131
masahikofukasawa 19:7a6913400380 132 MSG("#From peripheral: minConnectionInterval = %d\r\n", gap_conn_params.minConnectionInterval);
masahikofukasawa 19:7a6913400380 133 MSG("#From peripheral: maxConnectionInterval = %d\r\n", gap_conn_params.maxConnectionInterval);
masahikofukasawa 19:7a6913400380 134 MSG("#From peripheral: slaveLatency = %d\r\n", gap_conn_params.slaveLatency);
masahikofukasawa 19:7a6913400380 135 MSG("#From peripheral: connectionSupervisionTimeout = %d\r\n", gap_conn_params.connectionSupervisionTimeout);
masahikofukasawa 19:7a6913400380 136
masahikofukasawa 0:c240899240e7 137 manager->setEventConnected();
masahikofukasawa 14:76205d28fea2 138 MSG("#Connected\r\n");
masahikofukasawa 0:c240899240e7 139 }
masahikofukasawa 0:c240899240e7 140
masahikofukasawa 18:d75838bceaaf 141 static void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
masahikofukasawa 0:c240899240e7 142 {
masahikofukasawa 0:c240899240e7 143 manager->setEventDisconnected();
masahikofukasawa 14:76205d28fea2 144 MSG("#Disconnected\r\n");
masahikofukasawa 0:c240899240e7 145 ble.gap().startAdvertising();
masahikofukasawa 0:c240899240e7 146 }
masahikofukasawa 0:c240899240e7 147
masahikofukasawa 19:7a6913400380 148 void bleSetup(char* device_name){
masahikofukasawa 0:c240899240e7 149 ble.init();
masahikofukasawa 18:d75838bceaaf 150
masahikofukasawa 0:c240899240e7 151 // setup advertising
masahikofukasawa 0:c240899240e7 152 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
masahikofukasawa 0:c240899240e7 153 ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
masahikofukasawa 0:c240899240e7 154 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
masahikofukasawa 19:7a6913400380 155 (const uint8_t *)device_name, strlen(device_name));
masahikofukasawa 19:7a6913400380 156 // (const uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME) - 1);
masahikofukasawa 0:c240899240e7 157 ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
masahikofukasawa 0:c240899240e7 158 (const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed));
masahikofukasawa 19:7a6913400380 159
masahikofukasawa 18:d75838bceaaf 160
masahikofukasawa 18:d75838bceaaf 161 // Set desired connection parameters
masahikofukasawa 18:d75838bceaaf 162 Gap::ConnectionParams_t gap_conn_params;
masahikofukasawa 18:d75838bceaaf 163 gap_conn_params.minConnectionInterval = MIN_CONN_INTERVAL;
masahikofukasawa 18:d75838bceaaf 164 gap_conn_params.maxConnectionInterval = MAX_CONN_INTERVAL;
masahikofukasawa 18:d75838bceaaf 165 gap_conn_params.slaveLatency = SLAVE_LATENCY;
masahikofukasawa 18:d75838bceaaf 166 gap_conn_params.connectionSupervisionTimeout = CONN_SUP_TIMEOUT;
masahikofukasawa 18:d75838bceaaf 167 ble.setPreferredConnectionParams(&gap_conn_params);
masahikofukasawa 18:d75838bceaaf 168
masahikofukasawa 18:d75838bceaaf 169 ble.gap().onDisconnection(disconnectionCallback);
masahikofukasawa 0:c240899240e7 170 ble.gap().onConnection(connectionCallback);
masahikofukasawa 0:c240899240e7 171 ble.gattServer().onDataWritten(WrittenHandler);
masahikofukasawa 0:c240899240e7 172
masahikofukasawa 12:522a22a23f8a 173 // 100ms; in multiples of 0.625ms.
masahikofukasawa 18:d75838bceaaf 174 ble.gap().setAdvertisingInterval(160);
masahikofukasawa 0:c240899240e7 175 ble.gap().startAdvertising();
masahikofukasawa 12:522a22a23f8a 176 }
masahikofukasawa 0:c240899240e7 177
masahikofukasawa 12:522a22a23f8a 178
masahikofukasawa 12:522a22a23f8a 179 int16_t getAdcData(MCP342X *mcp3428, MCP342X::AdcChannel ch, MCP342X::SampleSetting s) {
masahikofukasawa 12:522a22a23f8a 180 const int WAIT_ADC_MS = 1;
masahikofukasawa 12:522a22a23f8a 181
masahikofukasawa 12:522a22a23f8a 182 // Configure channel and trigger.
masahikofukasawa 12:522a22a23f8a 183 mcp3428->setChannel(ch);
masahikofukasawa 12:522a22a23f8a 184 mcp3428->setSampleSetting(s);
masahikofukasawa 12:522a22a23f8a 185 mcp3428->trigger();
masahikofukasawa 12:522a22a23f8a 186
masahikofukasawa 12:522a22a23f8a 187 // polling data (!blocking)
masahikofukasawa 12:522a22a23f8a 188 MCP342X::Data data;
masahikofukasawa 12:522a22a23f8a 189 do {
masahikofukasawa 12:522a22a23f8a 190 wait_ms(WAIT_ADC_MS);
masahikofukasawa 12:522a22a23f8a 191 mcp3428->getData(&data);
masahikofukasawa 12:522a22a23f8a 192 } while(data.st == MCP342X::DATA_NOT_UPDATED);
masahikofukasawa 12:522a22a23f8a 193
masahikofukasawa 12:522a22a23f8a 194 return data.value;
masahikofukasawa 12:522a22a23f8a 195 }
masahikofukasawa 12:522a22a23f8a 196
masahikofukasawa 12:522a22a23f8a 197 uint8_t getId(PinName pin, uint8_t bits)
masahikofukasawa 12:522a22a23f8a 198 {
masahikofukasawa 12:522a22a23f8a 199 I2C i2c(I2C_SDA, I2C_SCL);
masahikofukasawa 12:522a22a23f8a 200 // ADC
masahikofukasawa 12:522a22a23f8a 201 MCP342X mcp342x(&i2c, MCP342X::SLAVE_ADDRESS_6EH);
masahikofukasawa 12:522a22a23f8a 202 mcp342x.setConversionMode(MCP342X::ONE_SHOT);
masahikofukasawa 12:522a22a23f8a 203 MCP342X::AdcChannel ch;
masahikofukasawa 12:522a22a23f8a 204 if (pin == ANALOG_SENSOR_ID) {
masahikofukasawa 12:522a22a23f8a 205 ch = MCP342X::ADC_CH1;
masahikofukasawa 12:522a22a23f8a 206 } else { // pin == ANALOG_SENSOR_ID_SUB
masahikofukasawa 12:522a22a23f8a 207 ch = MCP342X::ADC_CH2;
masahikofukasawa 12:522a22a23f8a 208 }
masahikofukasawa 12:522a22a23f8a 209 int16_t val = getAdcData(&mcp342x, ch, MCP342X::SAMPLE_240HZ_12BIT);
masahikofukasawa 14:76205d28fea2 210 // MSG("#12bit ADC Val = %d.\r\n", val);
masahikofukasawa 12:522a22a23f8a 211
masahikofukasawa 12:522a22a23f8a 212 const int16_t VAL_MAX = 3000-2048; // Corresponds to 3V
masahikofukasawa 12:522a22a23f8a 213 const int16_t VAL_MIN = -2048; // Corresponds to 0V
masahikofukasawa 12:522a22a23f8a 214
masahikofukasawa 12:522a22a23f8a 215 uint8_t value = (uint8_t)((val - VAL_MIN)/(float)(VAL_MAX - VAL_MIN) * (1 << bits) + 0.5);
masahikofukasawa 14:76205d28fea2 216 // MSG("#ID = %d.\r\n", value);
masahikofukasawa 12:522a22a23f8a 217
masahikofukasawa 12:522a22a23f8a 218 return value;
masahikofukasawa 12:522a22a23f8a 219 }
masahikofukasawa 12:522a22a23f8a 220
masahikofukasawa 12:522a22a23f8a 221
masahikofukasawa 12:522a22a23f8a 222 void releaseTWI(){
masahikofukasawa 12:522a22a23f8a 223 NRF_TWI0->ENABLE = TWI_ENABLE_ENABLE_Disabled << TWI_ENABLE_ENABLE_Pos;
masahikofukasawa 12:522a22a23f8a 224 NRF_TWI0->POWER = 0;
masahikofukasawa 12:522a22a23f8a 225 NRF_TWI1->ENABLE = TWI_ENABLE_ENABLE_Disabled << TWI_ENABLE_ENABLE_Pos;
masahikofukasawa 12:522a22a23f8a 226 NRF_TWI1->POWER = 0;
masahikofukasawa 12:522a22a23f8a 227 }
masahikofukasawa 12:522a22a23f8a 228
masahikofukasawa 14:76205d28fea2 229 bool initAkdpBoard(){
masahikofukasawa 17:a22b52136eb8 230 MSG("#Init AKDP board.\r\n");
masahikofukasawa 17:a22b52136eb8 231 const int TIME_FOR_OE_MS = 100;
masahikofukasawa 17:a22b52136eb8 232
masahikofukasawa 14:76205d28fea2 233 // CSN High to activate I2C_GATE
masahikofukasawa 12:522a22a23f8a 234 DigitalOut _cs = DigitalOut(SPI_CS);
masahikofukasawa 12:522a22a23f8a 235 _cs.write(1);
masahikofukasawa 18:d75838bceaaf 236
masahikofukasawa 18:d75838bceaaf 237 // I2C communication ports to HIGH(just in case).
masahikofukasawa 17:a22b52136eb8 238 DigitalOut _scl = DigitalOut(I2C_SCL);
masahikofukasawa 17:a22b52136eb8 239 _scl.write(1);
masahikofukasawa 17:a22b52136eb8 240 DigitalOut _sda = DigitalOut(I2C_SDA);
masahikofukasawa 17:a22b52136eb8 241 _sda.write(1);
masahikofukasawa 17:a22b52136eb8 242 MSG("#SCL,SDA port high.\r\n");
masahikofukasawa 17:a22b52136eb8 243 wait_ms(TIME_FOR_OE_MS);
masahikofukasawa 17:a22b52136eb8 244
masahikofukasawa 12:522a22a23f8a 245 const TCA9554A::Port PORT_OE_LVS1 = TCA9554A::PORT_7;
masahikofukasawa 12:522a22a23f8a 246 const TCA9554A::Port PORT_OE_LVS2 = TCA9554A::PORT_6;
masahikofukasawa 12:522a22a23f8a 247 const TCA9554A::Port PORT_SPIN = TCA9554A::PORT_5;
masahikofukasawa 12:522a22a23f8a 248 const TCA9554A::Port PORT_RSV_RSTN = TCA9554A::PORT_0;
masahikofukasawa 12:522a22a23f8a 249
masahikofukasawa 12:522a22a23f8a 250 I2C i2c(I2C_SDA, I2C_SCL);
masahikofukasawa 17:a22b52136eb8 251
masahikofukasawa 17:a22b52136eb8 252 // call I2C general reset only once
masahikofukasawa 17:a22b52136eb8 253 char cmd[] = {0x06}; // general reset code
masahikofukasawa 17:a22b52136eb8 254 i2c.write(0x00, cmd, 1);
masahikofukasawa 17:a22b52136eb8 255 MSG("#General Reset.\r\n");
masahikofukasawa 17:a22b52136eb8 256 wait_ms(TIME_FOR_OE_MS);
masahikofukasawa 17:a22b52136eb8 257
masahikofukasawa 12:522a22a23f8a 258 TCA9554A tca9554a(&i2c, TCA9554A::SLAVE_ADDRESS_38H);
masahikofukasawa 12:522a22a23f8a 259
masahikofukasawa 12:522a22a23f8a 260 // Initializes TCA9554A (I2C GPIO Expander)
masahikofukasawa 12:522a22a23f8a 261 tca9554a.configurePort(PORT_OE_LVS1, TCA9554A::DIR_OUTPUT);
masahikofukasawa 12:522a22a23f8a 262 tca9554a.configurePort(PORT_OE_LVS2, TCA9554A::DIR_OUTPUT);
masahikofukasawa 12:522a22a23f8a 263 tca9554a.configurePort(PORT_SPIN, TCA9554A::DIR_OUTPUT);
masahikofukasawa 12:522a22a23f8a 264 tca9554a.configurePort(PORT_RSV_RSTN, TCA9554A::DIR_OUTPUT);
masahikofukasawa 12:522a22a23f8a 265
masahikofukasawa 18:d75838bceaaf 266 // enable LVS1 and LVS2 level shifter
masahikofukasawa 12:522a22a23f8a 267 tca9554a.setPortLevel(PORT_OE_LVS1, TCA9554A::HIGH);
masahikofukasawa 12:522a22a23f8a 268 tca9554a.setPortLevel(PORT_OE_LVS2, TCA9554A::HIGH);
masahikofukasawa 12:522a22a23f8a 269 tca9554a.setPortLevel(PORT_RSV_RSTN, TCA9554A::HIGH);
masahikofukasawa 12:522a22a23f8a 270 tca9554a.setPortLevel(PORT_SPIN, TCA9554A::HIGH);
masahikofukasawa 14:76205d28fea2 271 wait_ms(TIME_FOR_OE_MS);
masahikofukasawa 12:522a22a23f8a 272
masahikofukasawa 18:d75838bceaaf 273 // reset LVS2
masahikofukasawa 18:d75838bceaaf 274 tca9554a.setPortLevel(PORT_OE_LVS2, TCA9554A::LOW);
masahikofukasawa 18:d75838bceaaf 275 wait_ms(TIME_FOR_OE_MS);
masahikofukasawa 18:d75838bceaaf 276 tca9554a.setPortLevel(PORT_OE_LVS2, TCA9554A::HIGH);
masahikofukasawa 12:522a22a23f8a 277 wait_ms(TIME_FOR_OE_MS);
masahikofukasawa 16:5343a852fea4 278
masahikofukasawa 18:d75838bceaaf 279 // reset LVS1
masahikofukasawa 18:d75838bceaaf 280 tca9554a.setPortLevel(PORT_OE_LVS1, TCA9554A::LOW);
masahikofukasawa 18:d75838bceaaf 281 wait_ms(TIME_FOR_OE_MS);
masahikofukasawa 16:5343a852fea4 282 tca9554a.setPortLevel(PORT_OE_LVS1, TCA9554A::HIGH);
masahikofukasawa 16:5343a852fea4 283 wait_ms(TIME_FOR_OE_MS);
masahikofukasawa 16:5343a852fea4 284
masahikofukasawa 18:d75838bceaaf 285 // disable LVS1 level shifter to read ID
masahikofukasawa 16:5343a852fea4 286 tca9554a.setPortLevel(PORT_OE_LVS1, TCA9554A::LOW);
masahikofukasawa 16:5343a852fea4 287 wait_ms(TIME_FOR_OE_MS);
masahikofukasawa 12:522a22a23f8a 288
masahikofukasawa 12:522a22a23f8a 289 // read ID and subId from ADC
masahikofukasawa 12:522a22a23f8a 290 id = getId(ANALOG_SENSOR_ID,4);
masahikofukasawa 12:522a22a23f8a 291 uint8_t subid_bitlen = 4;
masahikofukasawa 12:522a22a23f8a 292 if(id == AkmSensor::AKM_PRIMARY_ID_AKD_SPI || id == AkmSensor::AKM_PRIMARY_ID_AKD_I2C){
masahikofukasawa 14:76205d28fea2 293 // MSG("#5 bit sub ID.\r\n");
masahikofukasawa 12:522a22a23f8a 294 subid_bitlen = 5;
masahikofukasawa 12:522a22a23f8a 295 }
masahikofukasawa 12:522a22a23f8a 296 subId = getId(ANALOG_SENSOR_ID_SUB,subid_bitlen);
masahikofukasawa 12:522a22a23f8a 297
masahikofukasawa 14:76205d28fea2 298 if( (id == 11 && subId == 11) || (id == 55 && subId == 55) ){
masahikofukasawa 14:76205d28fea2 299 return true;
masahikofukasawa 14:76205d28fea2 300 }
masahikofukasawa 14:76205d28fea2 301
masahikofukasawa 12:522a22a23f8a 302 // enable 1.8V level shifter
masahikofukasawa 12:522a22a23f8a 303 tca9554a.setPortLevel(PORT_OE_LVS1, TCA9554A::HIGH);
masahikofukasawa 17:a22b52136eb8 304 MSG("#LVS1 High.\r\n");
masahikofukasawa 12:522a22a23f8a 305 wait_ms(TIME_FOR_OE_MS);
masahikofukasawa 12:522a22a23f8a 306
masahikofukasawa 12:522a22a23f8a 307 // RSTN control
masahikofukasawa 12:522a22a23f8a 308 if(id == AkmSensor::AKM_PRIMARY_ID_AKD_SPI || id == AkmSensor::AKM_PRIMARY_ID_AKD_I2C){
masahikofukasawa 12:522a22a23f8a 309 tca9554a.setPortLevel(PORT_RSV_RSTN, TCA9554A::LOW);
masahikofukasawa 12:522a22a23f8a 310 wait_ms(TIME_FOR_OE_MS);
masahikofukasawa 12:522a22a23f8a 311 tca9554a.setPortLevel(PORT_RSV_RSTN, TCA9554A::HIGH);
masahikofukasawa 14:76205d28fea2 312 // MSG("#Detect AKD, RSTN control.\r\n");
masahikofukasawa 12:522a22a23f8a 313 }
masahikofukasawa 12:522a22a23f8a 314
masahikofukasawa 12:522a22a23f8a 315 // SPI disable/enable
masahikofukasawa 12:522a22a23f8a 316 if( id == AkmSensor::AKM_PRIMARY_ID_AKD_SPI || id == AkmSensor::AKM_PRIMARY_ID_ANGLE_SENSOR ){
masahikofukasawa 12:522a22a23f8a 317 tca9554a.setPortLevel(PORT_SPIN, TCA9554A::LOW);
masahikofukasawa 12:522a22a23f8a 318 // Disable 5.0V level shifter in order to ADC doesn't respond.
masahikofukasawa 12:522a22a23f8a 319 tca9554a.setPortLevel(PORT_OE_LVS2, TCA9554A::LOW);
masahikofukasawa 14:76205d28fea2 320 // MSG("#Detect SPI, set SPIN low.\r\n");
masahikofukasawa 12:522a22a23f8a 321 }
masahikofukasawa 12:522a22a23f8a 322 else{
masahikofukasawa 12:522a22a23f8a 323 tca9554a.setPortLevel(PORT_SPIN, TCA9554A::HIGH);
masahikofukasawa 12:522a22a23f8a 324 tca9554a.setPortLevel(PORT_OE_LVS2, TCA9554A::HIGH);
masahikofukasawa 12:522a22a23f8a 325 }
masahikofukasawa 12:522a22a23f8a 326
masahikofukasawa 12:522a22a23f8a 327 wait_ms(TIME_FOR_OE_MS);
masahikofukasawa 12:522a22a23f8a 328
masahikofukasawa 12:522a22a23f8a 329 releaseTWI();
masahikofukasawa 14:76205d28fea2 330
masahikofukasawa 14:76205d28fea2 331 return false;
masahikofukasawa 12:522a22a23f8a 332 }
masahikofukasawa 12:522a22a23f8a 333
masahikofukasawa 19:7a6913400380 334 char* my_strcat(char* str1, char* str2)
masahikofukasawa 19:7a6913400380 335 {
masahikofukasawa 19:7a6913400380 336 int num1;
masahikofukasawa 19:7a6913400380 337 char* str;
masahikofukasawa 19:7a6913400380 338
masahikofukasawa 19:7a6913400380 339 num1=strlen(str1) + strlen(str2);
masahikofukasawa 19:7a6913400380 340 str = (char *)malloc(num1 + 1);
masahikofukasawa 19:7a6913400380 341 sprintf(str,"%s%s",str1,str2);
masahikofukasawa 19:7a6913400380 342 return str;
masahikofukasawa 19:7a6913400380 343 }
masahikofukasawa 12:522a22a23f8a 344
masahikofukasawa 12:522a22a23f8a 345 int main(void)
masahikofukasawa 14:76205d28fea2 346 {
masahikofukasawa 12:522a22a23f8a 347 // USB serial
masahikofukasawa 12:522a22a23f8a 348 serial.baud(115200);
masahikofukasawa 12:522a22a23f8a 349
masahikofukasawa 12:522a22a23f8a 350 // serial port RX event
masahikofukasawa 12:522a22a23f8a 351 serial.attach(&usbUartCallback);
masahikofukasawa 12:522a22a23f8a 352
masahikofukasawa 12:522a22a23f8a 353 #ifdef DEBUG
masahikofukasawa 12:522a22a23f8a 354 Debug::setSerial(&serial);
masahikofukasawa 14:76205d28fea2 355 MSG("#Debug Mode.\r\n");
masahikofukasawa 12:522a22a23f8a 356 #endif
masahikofukasawa 12:522a22a23f8a 357
masahikofukasawa 12:522a22a23f8a 358 // initialize AKDP board
masahikofukasawa 14:76205d28fea2 359 if( initAkdpBoard() ){
masahikofukasawa 14:76205d28fea2 360 MSG("#Error: AKDP boot failed.\r\n");
masahikofukasawa 14:76205d28fea2 361 }
masahikofukasawa 19:7a6913400380 362
masahikofukasawa 19:7a6913400380 363 // create sensor manager
masahikofukasawa 19:7a6913400380 364 manager = new AkmSensorManager(&serial);
masahikofukasawa 19:7a6913400380 365
masahikofukasawa 19:7a6913400380 366 if( manager->init(id, subId) == AkmSensorManager::ERROR){
masahikofukasawa 19:7a6913400380 367 MSG("#Error: sensor is NULL\r\n");
masahikofukasawa 19:7a6913400380 368 }
masahikofukasawa 19:7a6913400380 369
masahikofukasawa 25:12ed05de91f9 370 // create device name
masahikofukasawa 25:12ed05de91f9 371 // "AKDP D7.0XX SENSOR_NAME"
masahikofukasawa 25:12ed05de91f9 372 char fw_version[5];
masahikofukasawa 25:12ed05de91f9 373 sprintf(fw_version, "%03d", FIRMWARE_VERSION);
masahikofukasawa 25:12ed05de91f9 374 char* name = my_strcat(MOTHER_BOARD_NAME, " ");
masahikofukasawa 25:12ed05de91f9 375 name = my_strcat(name, MOTHER_BOARD_VERSION);
masahikofukasawa 25:12ed05de91f9 376 name = my_strcat(name, ".");
masahikofukasawa 25:12ed05de91f9 377 name = my_strcat(name, fw_version);
masahikofukasawa 25:12ed05de91f9 378 name = my_strcat(name, " ");
masahikofukasawa 25:12ed05de91f9 379 name = my_strcat(name, manager->getSensorName());
masahikofukasawa 19:7a6913400380 380
masahikofukasawa 19:7a6913400380 381 // BLE initialize
masahikofukasawa 19:7a6913400380 382 bleSetup(name);
masahikofukasawa 12:522a22a23f8a 383
masahikofukasawa 0:c240899240e7 384 // BLE UART service
masahikofukasawa 0:c240899240e7 385 uartService = new UARTService(ble);
masahikofukasawa 12:522a22a23f8a 386
masahikofukasawa 19:7a6913400380 387 // set BLE UART service
masahikofukasawa 19:7a6913400380 388 manager->setBleUartService(uartService);
masahikofukasawa 11:53e52f5f1051 389
masahikofukasawa 14:76205d28fea2 390 MSG("#Connecting...\r\n");
masahikofukasawa 19:7a6913400380 391
masahikofukasawa 0:c240899240e7 392 // main loop
masahikofukasawa 0:c240899240e7 393 while(1)
masahikofukasawa 0:c240899240e7 394 {
masahikofukasawa 0:c240899240e7 395 if(manager->isEvent()){
masahikofukasawa 0:c240899240e7 396 manager->processEvent();
masahikofukasawa 0:c240899240e7 397 }else{
masahikofukasawa 0:c240899240e7 398 ble.waitForEvent();
masahikofukasawa 0:c240899240e7 399 }
masahikofukasawa 0:c240899240e7 400 }
masahikofukasawa 0:c240899240e7 401 }