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
main.cpp@21:f8f44ad15d13, 2016-09-28 (annotated)
- Committer:
- masahikofukasawa
- Date:
- Wed Sep 28 21:53:16 2016 +0000
- Revision:
- 21:f8f44ad15d13
- Parent:
- 20:15fb57ad4f70
- Child:
- 23:9a404e36feaf
Rev010, debugged for USB COM problem.
Who changed what in which revision?
User | Revision | Line number | New 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 | 12:522a22a23f8a | 7 | #include "akmsensor.h" |
masahikofukasawa | 0:c240899240e7 | 8 | #include "akmsensormanager.h" |
masahikofukasawa | 0:c240899240e7 | 9 | #include "debug.h" |
coisme | 2:11a5873f8ec0 | 10 | #include "tca9554a.h" |
masahikofukasawa | 19:7a6913400380 | 11 | #include "akmakd.h" |
masahikofukasawa | 0:c240899240e7 | 12 | |
masahikofukasawa | 0:c240899240e7 | 13 | #define BLE_UUID_TXRX_SERVICE 0x0000 /**< The UUID of the Nordic UART Service. */ |
masahikofukasawa | 0:c240899240e7 | 14 | #define BLE_UUID_TX_CHARACTERISTIC 0x0002 /**< The UUID of the TX Characteristic. */ |
masahikofukasawa | 0:c240899240e7 | 15 | #define BLE_UUIDS_RX_CHARACTERISTIC 0x0003 /**< The UUID of the RX Characteristic. */ |
masahikofukasawa | 0:c240899240e7 | 16 | |
masahikofukasawa | 10:a710e8c3311c | 17 | #define BLE_BUF_LEN UARTService::BLE_UART_SERVICE_MAX_DATA_LEN+1 |
masahikofukasawa | 10:a710e8c3311c | 18 | #define TXRX_LEN 50 |
masahikofukasawa | 0:c240899240e7 | 19 | |
masahikofukasawa | 0:c240899240e7 | 20 | #define CR '\r' |
masahikofukasawa | 0:c240899240e7 | 21 | #define LF '\n' |
masahikofukasawa | 0:c240899240e7 | 22 | |
masahikofukasawa | 21:f8f44ad15d13 | 23 | #define DEVICE_NAME "AKDP D7.010 " |
masahikofukasawa | 11:53e52f5f1051 | 24 | |
masahikofukasawa | 0:c240899240e7 | 25 | BLE ble; |
masahikofukasawa | 0:c240899240e7 | 26 | UARTService* uartService; |
coisme | 2:11a5873f8ec0 | 27 | #ifndef REV_D |
coisme | 2:11a5873f8ec0 | 28 | SerialNano serial(P0_28, P0_29); // Rev.C pin configuration |
coisme | 2:11a5873f8ec0 | 29 | #else |
masahikofukasawa | 7:f1f544deaaa3 | 30 | SerialNano serial(P0_4, P0_5); // Rev.D pin configuration |
masahikofukasawa | 7:f1f544deaaa3 | 31 | #endif |
masahikofukasawa | 4:749a21fd9c2d | 32 | |
masahikofukasawa | 0:c240899240e7 | 33 | AkmSensorManager* manager; |
masahikofukasawa | 12:522a22a23f8a | 34 | uint8_t id; |
masahikofukasawa | 12:522a22a23f8a | 35 | uint8_t subId; |
masahikofukasawa | 0:c240899240e7 | 36 | |
masahikofukasawa | 18:d75838bceaaf | 37 | enum { |
masahikofukasawa | 18:d75838bceaaf | 38 | UNIT_0_625_MS = 625, |
masahikofukasawa | 18:d75838bceaaf | 39 | UNIT_1_25_MS = 1250, |
masahikofukasawa | 18:d75838bceaaf | 40 | UNIT_10_MS = 10000 |
masahikofukasawa | 18:d75838bceaaf | 41 | }; |
masahikofukasawa | 18:d75838bceaaf | 42 | |
masahikofukasawa | 19:7a6913400380 | 43 | // default setting of Nexus 5X, Motorola Droid Turbo: |
masahikofukasawa | 19:7a6913400380 | 44 | //#define MIN_CONN_INTERVAL MSEC_TO_UNITS(45, UNIT_1_25_MS) /**< Minimum connection interval (45 ms) */ |
masahikofukasawa | 19:7a6913400380 | 45 | //#define MAX_CONN_INTERVAL MSEC_TO_UNITS(45, UNIT_1_25_MS) /**< Maximum connection interval (45 ms). */ |
masahikofukasawa | 19:7a6913400380 | 46 | //#define SLAVE_LATENCY 0 /**< Slave latency. */ |
masahikofukasawa | 19:7a6913400380 | 47 | //#define CONN_SUP_TIMEOUT MSEC_TO_UNITS(20000, UNIT_10_MS) /**< Connection supervisory timeout (20 seconds). */ |
masahikofukasawa | 19:7a6913400380 | 48 | |
masahikofukasawa | 19:7a6913400380 | 49 | /* |
masahikofukasawa | 19:7a6913400380 | 50 | iOS requirement: |
masahikofukasawa | 19:7a6913400380 | 51 | Interval Max * (Slave Latency + 1) ≤ 2 seconds |
masahikofukasawa | 19:7a6913400380 | 52 | Interval Min ≥ 20 ms |
masahikofukasawa | 19:7a6913400380 | 53 | Interval Min + 20 ms ≤ Interval Max Slave Latency ≤ 4 |
masahikofukasawa | 19:7a6913400380 | 54 | connSupervisionTimeout ≤ 6 seconds |
masahikofukasawa | 19:7a6913400380 | 55 | Interval Max * (Slave Latency + 1) * 3 < connSupervisionTimeout |
masahikofukasawa | 19:7a6913400380 | 56 | */ |
masahikofukasawa | 19:7a6913400380 | 57 | |
masahikofukasawa | 18:d75838bceaaf | 58 | #define MSEC_TO_UNITS(TIME, RESOLUTION) (((TIME) * 1000) / (RESOLUTION)) |
masahikofukasawa | 18:d75838bceaaf | 59 | #define MIN_CONN_INTERVAL MSEC_TO_UNITS(7.5, UNIT_1_25_MS) /**< Minimum connection interval (7.5 ms) */ |
masahikofukasawa | 18:d75838bceaaf | 60 | #define MAX_CONN_INTERVAL MSEC_TO_UNITS(30, UNIT_1_25_MS) /**< Maximum connection interval (30 ms). */ |
masahikofukasawa | 18:d75838bceaaf | 61 | #define SLAVE_LATENCY 0 /**< Slave latency. */ |
masahikofukasawa | 19:7a6913400380 | 62 | #define CONN_SUP_TIMEOUT MSEC_TO_UNITS(4000, UNIT_10_MS) /**< Connection supervisory timeout (4 seconds). */ |
masahikofukasawa | 18:d75838bceaaf | 63 | |
masahikofukasawa | 21:f8f44ad15d13 | 64 | // Command received from BLE |
masahikofukasawa | 0:c240899240e7 | 65 | void WrittenHandler(const GattWriteCallbackParams *Handler) |
masahikofukasawa | 0:c240899240e7 | 66 | { |
masahikofukasawa | 10:a710e8c3311c | 67 | static char command[TXRX_LEN]=""; |
masahikofukasawa | 10:a710e8c3311c | 68 | static uint16_t len=0; |
masahikofukasawa | 10:a710e8c3311c | 69 | |
masahikofukasawa | 10:a710e8c3311c | 70 | uint8_t buf[BLE_BUF_LEN]; |
masahikofukasawa | 0:c240899240e7 | 71 | uint16_t bytesRead; |
masahikofukasawa | 10:a710e8c3311c | 72 | |
masahikofukasawa | 0:c240899240e7 | 73 | if (Handler->handle == uartService->getTXCharacteristicHandle()) |
masahikofukasawa | 0:c240899240e7 | 74 | { |
masahikofukasawa | 0:c240899240e7 | 75 | ble.gattServer().read(uartService->getTXCharacteristicHandle(), buf, &bytesRead); |
masahikofukasawa | 10:a710e8c3311c | 76 | |
masahikofukasawa | 10:a710e8c3311c | 77 | for(uint16_t i=0; i<bytesRead; i++){ |
masahikofukasawa | 10:a710e8c3311c | 78 | if(buf[i] == CR) |
masahikofukasawa | 10:a710e8c3311c | 79 | { |
masahikofukasawa | 10:a710e8c3311c | 80 | ; // ignore CR |
masahikofukasawa | 10:a710e8c3311c | 81 | } |
masahikofukasawa | 10:a710e8c3311c | 82 | else if(buf[i] == LF || len > TXRX_LEN) |
masahikofukasawa | 0:c240899240e7 | 83 | { |
masahikofukasawa | 10:a710e8c3311c | 84 | manager->commandReceived(command); |
masahikofukasawa | 10:a710e8c3311c | 85 | for(int j=0; j<TXRX_LEN; j++){ |
masahikofukasawa | 10:a710e8c3311c | 86 | command[j] = 0; |
masahikofukasawa | 10:a710e8c3311c | 87 | } |
masahikofukasawa | 10:a710e8c3311c | 88 | len = 0; |
masahikofukasawa | 10:a710e8c3311c | 89 | } |
masahikofukasawa | 10:a710e8c3311c | 90 | else |
masahikofukasawa | 10:a710e8c3311c | 91 | { |
masahikofukasawa | 10:a710e8c3311c | 92 | command[len++] = (char)buf[i]; |
masahikofukasawa | 0:c240899240e7 | 93 | } |
masahikofukasawa | 0:c240899240e7 | 94 | } |
masahikofukasawa | 0:c240899240e7 | 95 | } |
masahikofukasawa | 0:c240899240e7 | 96 | } |
masahikofukasawa | 0:c240899240e7 | 97 | |
masahikofukasawa | 21:f8f44ad15d13 | 98 | |
masahikofukasawa | 21:f8f44ad15d13 | 99 | // Command received from USB |
masahikofukasawa | 18:d75838bceaaf | 100 | static void usbUartCallback(void) |
masahikofukasawa | 0:c240899240e7 | 101 | { |
masahikofukasawa | 10:a710e8c3311c | 102 | static char command[TXRX_LEN] = ""; |
masahikofukasawa | 10:a710e8c3311c | 103 | static uint16_t len=0; |
masahikofukasawa | 10:a710e8c3311c | 104 | |
masahikofukasawa | 0:c240899240e7 | 105 | if(serial.readable()) |
masahikofukasawa | 0:c240899240e7 | 106 | { |
masahikofukasawa | 0:c240899240e7 | 107 | uint8_t c = serial.getc(); |
masahikofukasawa | 21:f8f44ad15d13 | 108 | |
masahikofukasawa | 0:c240899240e7 | 109 | // ignore CR |
masahikofukasawa | 21:f8f44ad15d13 | 110 | if(c != CR) |
masahikofukasawa | 0:c240899240e7 | 111 | { |
masahikofukasawa | 21:f8f44ad15d13 | 112 | command[len++] = c; |
masahikofukasawa | 21:f8f44ad15d13 | 113 | if(len>=TXRX_LEN || c == LF) |
masahikofukasawa | 21:f8f44ad15d13 | 114 | { |
masahikofukasawa | 21:f8f44ad15d13 | 115 | manager->commandReceived(command); |
masahikofukasawa | 21:f8f44ad15d13 | 116 | for(int j=0; j<TXRX_LEN; j++){ |
masahikofukasawa | 21:f8f44ad15d13 | 117 | command[j] = 0; |
masahikofukasawa | 21:f8f44ad15d13 | 118 | } |
masahikofukasawa | 21:f8f44ad15d13 | 119 | len = 0; |
masahikofukasawa | 10:a710e8c3311c | 120 | } |
masahikofukasawa | 21:f8f44ad15d13 | 121 | } |
masahikofukasawa | 0:c240899240e7 | 122 | } |
masahikofukasawa | 0:c240899240e7 | 123 | } |
masahikofukasawa | 0:c240899240e7 | 124 | |
masahikofukasawa | 18:d75838bceaaf | 125 | static void connectionCallback(const Gap::ConnectionCallbackParams_t *params) |
masahikofukasawa | 0:c240899240e7 | 126 | { |
masahikofukasawa | 19:7a6913400380 | 127 | MSG("#From central: minConnectionInterval = %d\r\n", params->connectionParams->minConnectionInterval); |
masahikofukasawa | 19:7a6913400380 | 128 | MSG("#From central: maxConnectionInterval = %d\r\n", params->connectionParams->maxConnectionInterval); |
masahikofukasawa | 19:7a6913400380 | 129 | MSG("#From central: slaveLatency = %d\r\n", params->connectionParams->slaveLatency); |
masahikofukasawa | 19:7a6913400380 | 130 | MSG("#From central: connectionSupervisionTimeout = %d\r\n", params->connectionParams->connectionSupervisionTimeout); |
masahikofukasawa | 19:7a6913400380 | 131 | |
masahikofukasawa | 18:d75838bceaaf | 132 | Gap::Handle_t gap_handle = params->handle; |
masahikofukasawa | 18:d75838bceaaf | 133 | Gap::ConnectionParams_t gap_conn_params; |
masahikofukasawa | 19:7a6913400380 | 134 | gap_conn_params.minConnectionInterval = params->connectionParams->minConnectionInterval; |
masahikofukasawa | 19:7a6913400380 | 135 | gap_conn_params.maxConnectionInterval = params->connectionParams->maxConnectionInterval; |
masahikofukasawa | 19:7a6913400380 | 136 | gap_conn_params.slaveLatency = params->connectionParams->slaveLatency; |
masahikofukasawa | 18:d75838bceaaf | 137 | gap_conn_params.connectionSupervisionTimeout = CONN_SUP_TIMEOUT; |
masahikofukasawa | 18:d75838bceaaf | 138 | ble.updateConnectionParams(gap_handle, &gap_conn_params); |
masahikofukasawa | 18:d75838bceaaf | 139 | |
masahikofukasawa | 19:7a6913400380 | 140 | MSG("#From peripheral: minConnectionInterval = %d\r\n", gap_conn_params.minConnectionInterval); |
masahikofukasawa | 19:7a6913400380 | 141 | MSG("#From peripheral: maxConnectionInterval = %d\r\n", gap_conn_params.maxConnectionInterval); |
masahikofukasawa | 19:7a6913400380 | 142 | MSG("#From peripheral: slaveLatency = %d\r\n", gap_conn_params.slaveLatency); |
masahikofukasawa | 19:7a6913400380 | 143 | MSG("#From peripheral: connectionSupervisionTimeout = %d\r\n", gap_conn_params.connectionSupervisionTimeout); |
masahikofukasawa | 19:7a6913400380 | 144 | |
masahikofukasawa | 0:c240899240e7 | 145 | manager->setEventConnected(); |
masahikofukasawa | 14:76205d28fea2 | 146 | MSG("#Connected\r\n"); |
masahikofukasawa | 0:c240899240e7 | 147 | } |
masahikofukasawa | 0:c240899240e7 | 148 | |
masahikofukasawa | 18:d75838bceaaf | 149 | static void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params) |
masahikofukasawa | 0:c240899240e7 | 150 | { |
masahikofukasawa | 0:c240899240e7 | 151 | manager->setEventDisconnected(); |
masahikofukasawa | 14:76205d28fea2 | 152 | MSG("#Disconnected\r\n"); |
masahikofukasawa | 0:c240899240e7 | 153 | ble.gap().startAdvertising(); |
masahikofukasawa | 0:c240899240e7 | 154 | } |
masahikofukasawa | 0:c240899240e7 | 155 | |
masahikofukasawa | 19:7a6913400380 | 156 | void bleSetup(char* device_name){ |
masahikofukasawa | 0:c240899240e7 | 157 | ble.init(); |
masahikofukasawa | 18:d75838bceaaf | 158 | |
masahikofukasawa | 0:c240899240e7 | 159 | // setup advertising |
masahikofukasawa | 0:c240899240e7 | 160 | ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED); |
masahikofukasawa | 0:c240899240e7 | 161 | ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED); |
masahikofukasawa | 0:c240899240e7 | 162 | ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME, |
masahikofukasawa | 19:7a6913400380 | 163 | (const uint8_t *)device_name, strlen(device_name)); |
masahikofukasawa | 19:7a6913400380 | 164 | // (const uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME) - 1); |
masahikofukasawa | 0:c240899240e7 | 165 | ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS, |
masahikofukasawa | 0:c240899240e7 | 166 | (const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed)); |
masahikofukasawa | 19:7a6913400380 | 167 | |
masahikofukasawa | 18:d75838bceaaf | 168 | |
masahikofukasawa | 18:d75838bceaaf | 169 | // Set desired connection parameters |
masahikofukasawa | 18:d75838bceaaf | 170 | Gap::ConnectionParams_t gap_conn_params; |
masahikofukasawa | 18:d75838bceaaf | 171 | gap_conn_params.minConnectionInterval = MIN_CONN_INTERVAL; |
masahikofukasawa | 18:d75838bceaaf | 172 | gap_conn_params.maxConnectionInterval = MAX_CONN_INTERVAL; |
masahikofukasawa | 18:d75838bceaaf | 173 | gap_conn_params.slaveLatency = SLAVE_LATENCY; |
masahikofukasawa | 18:d75838bceaaf | 174 | gap_conn_params.connectionSupervisionTimeout = CONN_SUP_TIMEOUT; |
masahikofukasawa | 18:d75838bceaaf | 175 | ble.setPreferredConnectionParams(&gap_conn_params); |
masahikofukasawa | 18:d75838bceaaf | 176 | |
masahikofukasawa | 18:d75838bceaaf | 177 | ble.gap().onDisconnection(disconnectionCallback); |
masahikofukasawa | 0:c240899240e7 | 178 | ble.gap().onConnection(connectionCallback); |
masahikofukasawa | 0:c240899240e7 | 179 | ble.gattServer().onDataWritten(WrittenHandler); |
masahikofukasawa | 0:c240899240e7 | 180 | |
masahikofukasawa | 12:522a22a23f8a | 181 | // 100ms; in multiples of 0.625ms. |
masahikofukasawa | 18:d75838bceaaf | 182 | ble.gap().setAdvertisingInterval(160); |
masahikofukasawa | 0:c240899240e7 | 183 | ble.gap().startAdvertising(); |
masahikofukasawa | 12:522a22a23f8a | 184 | } |
masahikofukasawa | 0:c240899240e7 | 185 | |
masahikofukasawa | 12:522a22a23f8a | 186 | |
masahikofukasawa | 12:522a22a23f8a | 187 | #ifdef REV_D |
masahikofukasawa | 12:522a22a23f8a | 188 | int16_t getAdcData(MCP342X *mcp3428, MCP342X::AdcChannel ch, MCP342X::SampleSetting s) { |
masahikofukasawa | 12:522a22a23f8a | 189 | const int WAIT_ADC_MS = 1; |
masahikofukasawa | 12:522a22a23f8a | 190 | |
masahikofukasawa | 12:522a22a23f8a | 191 | // Configure channel and trigger. |
masahikofukasawa | 12:522a22a23f8a | 192 | mcp3428->setChannel(ch); |
masahikofukasawa | 12:522a22a23f8a | 193 | mcp3428->setSampleSetting(s); |
masahikofukasawa | 12:522a22a23f8a | 194 | mcp3428->trigger(); |
masahikofukasawa | 12:522a22a23f8a | 195 | |
masahikofukasawa | 12:522a22a23f8a | 196 | // polling data (!blocking) |
masahikofukasawa | 12:522a22a23f8a | 197 | MCP342X::Data data; |
masahikofukasawa | 12:522a22a23f8a | 198 | do { |
masahikofukasawa | 12:522a22a23f8a | 199 | wait_ms(WAIT_ADC_MS); |
masahikofukasawa | 12:522a22a23f8a | 200 | mcp3428->getData(&data); |
masahikofukasawa | 12:522a22a23f8a | 201 | } while(data.st == MCP342X::DATA_NOT_UPDATED); |
masahikofukasawa | 12:522a22a23f8a | 202 | |
masahikofukasawa | 12:522a22a23f8a | 203 | return data.value; |
masahikofukasawa | 12:522a22a23f8a | 204 | } |
masahikofukasawa | 12:522a22a23f8a | 205 | #endif |
masahikofukasawa | 12:522a22a23f8a | 206 | |
masahikofukasawa | 12:522a22a23f8a | 207 | uint8_t getId(PinName pin, uint8_t bits) |
masahikofukasawa | 12:522a22a23f8a | 208 | { |
masahikofukasawa | 12:522a22a23f8a | 209 | #ifndef REV_D |
masahikofukasawa | 12:522a22a23f8a | 210 | /* Rev.C */ |
masahikofukasawa | 12:522a22a23f8a | 211 | AnalogIn id(pin); |
masahikofukasawa | 14:76205d28fea2 | 212 | // MSG("#Voltage=%5.2f[V]\r\n",id*3.0); |
masahikofukasawa | 12:522a22a23f8a | 213 | double s = id + 1.0/(double)(pow(2.0,bits+1)); |
masahikofukasawa | 12:522a22a23f8a | 214 | uint8_t value = (uint8_t)(s*pow(2.0,bits)); |
masahikofukasawa | 12:522a22a23f8a | 215 | #else |
masahikofukasawa | 12:522a22a23f8a | 216 | /* Rev.D */ |
masahikofukasawa | 14:76205d28fea2 | 217 | // MSG("#GetID\r\n"); |
masahikofukasawa | 12:522a22a23f8a | 218 | |
masahikofukasawa | 12:522a22a23f8a | 219 | I2C i2c(I2C_SDA, I2C_SCL); |
masahikofukasawa | 12:522a22a23f8a | 220 | // ADC |
masahikofukasawa | 12:522a22a23f8a | 221 | MCP342X mcp342x(&i2c, MCP342X::SLAVE_ADDRESS_6EH); |
masahikofukasawa | 12:522a22a23f8a | 222 | mcp342x.setConversionMode(MCP342X::ONE_SHOT); |
masahikofukasawa | 12:522a22a23f8a | 223 | MCP342X::AdcChannel ch; |
masahikofukasawa | 12:522a22a23f8a | 224 | if (pin == ANALOG_SENSOR_ID) { |
masahikofukasawa | 12:522a22a23f8a | 225 | ch = MCP342X::ADC_CH1; |
masahikofukasawa | 12:522a22a23f8a | 226 | } else { // pin == ANALOG_SENSOR_ID_SUB |
masahikofukasawa | 12:522a22a23f8a | 227 | ch = MCP342X::ADC_CH2; |
masahikofukasawa | 12:522a22a23f8a | 228 | } |
masahikofukasawa | 12:522a22a23f8a | 229 | int16_t val = getAdcData(&mcp342x, ch, MCP342X::SAMPLE_240HZ_12BIT); |
masahikofukasawa | 14:76205d28fea2 | 230 | // MSG("#12bit ADC Val = %d.\r\n", val); |
masahikofukasawa | 12:522a22a23f8a | 231 | |
masahikofukasawa | 12:522a22a23f8a | 232 | const int16_t VAL_MAX = 3000-2048; // Corresponds to 3V |
masahikofukasawa | 12:522a22a23f8a | 233 | const int16_t VAL_MIN = -2048; // Corresponds to 0V |
masahikofukasawa | 12:522a22a23f8a | 234 | |
masahikofukasawa | 12:522a22a23f8a | 235 | uint8_t value = (uint8_t)((val - VAL_MIN)/(float)(VAL_MAX - VAL_MIN) * (1 << bits) + 0.5); |
masahikofukasawa | 14:76205d28fea2 | 236 | // MSG("#ID = %d.\r\n", value); |
masahikofukasawa | 12:522a22a23f8a | 237 | |
masahikofukasawa | 12:522a22a23f8a | 238 | #endif |
masahikofukasawa | 12:522a22a23f8a | 239 | return value; |
masahikofukasawa | 12:522a22a23f8a | 240 | } |
masahikofukasawa | 12:522a22a23f8a | 241 | |
masahikofukasawa | 12:522a22a23f8a | 242 | |
masahikofukasawa | 12:522a22a23f8a | 243 | void releaseTWI(){ |
masahikofukasawa | 12:522a22a23f8a | 244 | NRF_TWI0->ENABLE = TWI_ENABLE_ENABLE_Disabled << TWI_ENABLE_ENABLE_Pos; |
masahikofukasawa | 12:522a22a23f8a | 245 | NRF_TWI0->POWER = 0; |
masahikofukasawa | 12:522a22a23f8a | 246 | NRF_TWI1->ENABLE = TWI_ENABLE_ENABLE_Disabled << TWI_ENABLE_ENABLE_Pos; |
masahikofukasawa | 12:522a22a23f8a | 247 | NRF_TWI1->POWER = 0; |
masahikofukasawa | 12:522a22a23f8a | 248 | } |
masahikofukasawa | 12:522a22a23f8a | 249 | |
masahikofukasawa | 14:76205d28fea2 | 250 | bool initAkdpBoard(){ |
masahikofukasawa | 17:a22b52136eb8 | 251 | MSG("#Init AKDP board.\r\n"); |
masahikofukasawa | 17:a22b52136eb8 | 252 | const int TIME_FOR_OE_MS = 100; |
masahikofukasawa | 17:a22b52136eb8 | 253 | |
masahikofukasawa | 14:76205d28fea2 | 254 | // CSN High to activate I2C_GATE |
masahikofukasawa | 12:522a22a23f8a | 255 | DigitalOut _cs = DigitalOut(SPI_CS); |
masahikofukasawa | 12:522a22a23f8a | 256 | _cs.write(1); |
masahikofukasawa | 18:d75838bceaaf | 257 | |
masahikofukasawa | 18:d75838bceaaf | 258 | // I2C communication ports to HIGH(just in case). |
masahikofukasawa | 17:a22b52136eb8 | 259 | DigitalOut _scl = DigitalOut(I2C_SCL); |
masahikofukasawa | 17:a22b52136eb8 | 260 | _scl.write(1); |
masahikofukasawa | 17:a22b52136eb8 | 261 | DigitalOut _sda = DigitalOut(I2C_SDA); |
masahikofukasawa | 17:a22b52136eb8 | 262 | _sda.write(1); |
masahikofukasawa | 17:a22b52136eb8 | 263 | MSG("#SCL,SDA port high.\r\n"); |
masahikofukasawa | 17:a22b52136eb8 | 264 | wait_ms(TIME_FOR_OE_MS); |
masahikofukasawa | 17:a22b52136eb8 | 265 | |
masahikofukasawa | 12:522a22a23f8a | 266 | const TCA9554A::Port PORT_OE_LVS1 = TCA9554A::PORT_7; |
masahikofukasawa | 12:522a22a23f8a | 267 | const TCA9554A::Port PORT_OE_LVS2 = TCA9554A::PORT_6; |
masahikofukasawa | 12:522a22a23f8a | 268 | const TCA9554A::Port PORT_SPIN = TCA9554A::PORT_5; |
masahikofukasawa | 12:522a22a23f8a | 269 | const TCA9554A::Port PORT_RSV_RSTN = TCA9554A::PORT_0; |
masahikofukasawa | 12:522a22a23f8a | 270 | |
masahikofukasawa | 12:522a22a23f8a | 271 | I2C i2c(I2C_SDA, I2C_SCL); |
masahikofukasawa | 17:a22b52136eb8 | 272 | |
masahikofukasawa | 17:a22b52136eb8 | 273 | // call I2C general reset only once |
masahikofukasawa | 17:a22b52136eb8 | 274 | char cmd[] = {0x06}; // general reset code |
masahikofukasawa | 17:a22b52136eb8 | 275 | i2c.write(0x00, cmd, 1); |
masahikofukasawa | 17:a22b52136eb8 | 276 | MSG("#General Reset.\r\n"); |
masahikofukasawa | 17:a22b52136eb8 | 277 | wait_ms(TIME_FOR_OE_MS); |
masahikofukasawa | 17:a22b52136eb8 | 278 | |
masahikofukasawa | 12:522a22a23f8a | 279 | TCA9554A tca9554a(&i2c, TCA9554A::SLAVE_ADDRESS_38H); |
masahikofukasawa | 12:522a22a23f8a | 280 | |
masahikofukasawa | 12:522a22a23f8a | 281 | // Initializes TCA9554A (I2C GPIO Expander) |
masahikofukasawa | 12:522a22a23f8a | 282 | tca9554a.configurePort(PORT_OE_LVS1, TCA9554A::DIR_OUTPUT); |
masahikofukasawa | 12:522a22a23f8a | 283 | tca9554a.configurePort(PORT_OE_LVS2, TCA9554A::DIR_OUTPUT); |
masahikofukasawa | 12:522a22a23f8a | 284 | tca9554a.configurePort(PORT_SPIN, TCA9554A::DIR_OUTPUT); |
masahikofukasawa | 12:522a22a23f8a | 285 | tca9554a.configurePort(PORT_RSV_RSTN, TCA9554A::DIR_OUTPUT); |
masahikofukasawa | 12:522a22a23f8a | 286 | |
masahikofukasawa | 18:d75838bceaaf | 287 | // enable LVS1 and LVS2 level shifter |
masahikofukasawa | 12:522a22a23f8a | 288 | tca9554a.setPortLevel(PORT_OE_LVS1, TCA9554A::HIGH); |
masahikofukasawa | 12:522a22a23f8a | 289 | tca9554a.setPortLevel(PORT_OE_LVS2, TCA9554A::HIGH); |
masahikofukasawa | 12:522a22a23f8a | 290 | tca9554a.setPortLevel(PORT_RSV_RSTN, TCA9554A::HIGH); |
masahikofukasawa | 12:522a22a23f8a | 291 | tca9554a.setPortLevel(PORT_SPIN, TCA9554A::HIGH); |
masahikofukasawa | 14:76205d28fea2 | 292 | wait_ms(TIME_FOR_OE_MS); |
masahikofukasawa | 12:522a22a23f8a | 293 | |
masahikofukasawa | 18:d75838bceaaf | 294 | // reset LVS2 |
masahikofukasawa | 18:d75838bceaaf | 295 | tca9554a.setPortLevel(PORT_OE_LVS2, TCA9554A::LOW); |
masahikofukasawa | 18:d75838bceaaf | 296 | wait_ms(TIME_FOR_OE_MS); |
masahikofukasawa | 18:d75838bceaaf | 297 | tca9554a.setPortLevel(PORT_OE_LVS2, TCA9554A::HIGH); |
masahikofukasawa | 12:522a22a23f8a | 298 | wait_ms(TIME_FOR_OE_MS); |
masahikofukasawa | 16:5343a852fea4 | 299 | |
masahikofukasawa | 18:d75838bceaaf | 300 | // reset LVS1 |
masahikofukasawa | 18:d75838bceaaf | 301 | tca9554a.setPortLevel(PORT_OE_LVS1, TCA9554A::LOW); |
masahikofukasawa | 18:d75838bceaaf | 302 | wait_ms(TIME_FOR_OE_MS); |
masahikofukasawa | 16:5343a852fea4 | 303 | tca9554a.setPortLevel(PORT_OE_LVS1, TCA9554A::HIGH); |
masahikofukasawa | 16:5343a852fea4 | 304 | wait_ms(TIME_FOR_OE_MS); |
masahikofukasawa | 16:5343a852fea4 | 305 | |
masahikofukasawa | 18:d75838bceaaf | 306 | // disable LVS1 level shifter to read ID |
masahikofukasawa | 16:5343a852fea4 | 307 | tca9554a.setPortLevel(PORT_OE_LVS1, TCA9554A::LOW); |
masahikofukasawa | 16:5343a852fea4 | 308 | wait_ms(TIME_FOR_OE_MS); |
masahikofukasawa | 12:522a22a23f8a | 309 | |
masahikofukasawa | 12:522a22a23f8a | 310 | // read ID and subId from ADC |
masahikofukasawa | 12:522a22a23f8a | 311 | id = getId(ANALOG_SENSOR_ID,4); |
masahikofukasawa | 12:522a22a23f8a | 312 | uint8_t subid_bitlen = 4; |
masahikofukasawa | 12:522a22a23f8a | 313 | if(id == AkmSensor::AKM_PRIMARY_ID_AKD_SPI || id == AkmSensor::AKM_PRIMARY_ID_AKD_I2C){ |
masahikofukasawa | 14:76205d28fea2 | 314 | // MSG("#5 bit sub ID.\r\n"); |
masahikofukasawa | 12:522a22a23f8a | 315 | subid_bitlen = 5; |
masahikofukasawa | 12:522a22a23f8a | 316 | } |
masahikofukasawa | 12:522a22a23f8a | 317 | subId = getId(ANALOG_SENSOR_ID_SUB,subid_bitlen); |
masahikofukasawa | 12:522a22a23f8a | 318 | |
masahikofukasawa | 14:76205d28fea2 | 319 | if( (id == 11 && subId == 11) || (id == 55 && subId == 55) ){ |
masahikofukasawa | 14:76205d28fea2 | 320 | return true; |
masahikofukasawa | 14:76205d28fea2 | 321 | } |
masahikofukasawa | 14:76205d28fea2 | 322 | |
masahikofukasawa | 12:522a22a23f8a | 323 | // enable 1.8V level shifter |
masahikofukasawa | 12:522a22a23f8a | 324 | tca9554a.setPortLevel(PORT_OE_LVS1, TCA9554A::HIGH); |
masahikofukasawa | 17:a22b52136eb8 | 325 | MSG("#LVS1 High.\r\n"); |
masahikofukasawa | 12:522a22a23f8a | 326 | wait_ms(TIME_FOR_OE_MS); |
masahikofukasawa | 12:522a22a23f8a | 327 | |
masahikofukasawa | 12:522a22a23f8a | 328 | // RSTN control |
masahikofukasawa | 12:522a22a23f8a | 329 | if(id == AkmSensor::AKM_PRIMARY_ID_AKD_SPI || id == AkmSensor::AKM_PRIMARY_ID_AKD_I2C){ |
masahikofukasawa | 12:522a22a23f8a | 330 | tca9554a.setPortLevel(PORT_RSV_RSTN, TCA9554A::LOW); |
masahikofukasawa | 12:522a22a23f8a | 331 | wait_ms(TIME_FOR_OE_MS); |
masahikofukasawa | 12:522a22a23f8a | 332 | tca9554a.setPortLevel(PORT_RSV_RSTN, TCA9554A::HIGH); |
masahikofukasawa | 14:76205d28fea2 | 333 | // MSG("#Detect AKD, RSTN control.\r\n"); |
masahikofukasawa | 12:522a22a23f8a | 334 | } |
masahikofukasawa | 12:522a22a23f8a | 335 | |
masahikofukasawa | 12:522a22a23f8a | 336 | // SPI disable/enable |
masahikofukasawa | 12:522a22a23f8a | 337 | if( id == AkmSensor::AKM_PRIMARY_ID_AKD_SPI || id == AkmSensor::AKM_PRIMARY_ID_ANGLE_SENSOR ){ |
masahikofukasawa | 12:522a22a23f8a | 338 | tca9554a.setPortLevel(PORT_SPIN, TCA9554A::LOW); |
masahikofukasawa | 12:522a22a23f8a | 339 | // Disable 5.0V level shifter in order to ADC doesn't respond. |
masahikofukasawa | 12:522a22a23f8a | 340 | tca9554a.setPortLevel(PORT_OE_LVS2, TCA9554A::LOW); |
masahikofukasawa | 14:76205d28fea2 | 341 | // MSG("#Detect SPI, set SPIN low.\r\n"); |
masahikofukasawa | 12:522a22a23f8a | 342 | } |
masahikofukasawa | 12:522a22a23f8a | 343 | else{ |
masahikofukasawa | 12:522a22a23f8a | 344 | tca9554a.setPortLevel(PORT_SPIN, TCA9554A::HIGH); |
masahikofukasawa | 12:522a22a23f8a | 345 | tca9554a.setPortLevel(PORT_OE_LVS2, TCA9554A::HIGH); |
masahikofukasawa | 12:522a22a23f8a | 346 | } |
masahikofukasawa | 12:522a22a23f8a | 347 | |
masahikofukasawa | 12:522a22a23f8a | 348 | wait_ms(TIME_FOR_OE_MS); |
masahikofukasawa | 12:522a22a23f8a | 349 | |
masahikofukasawa | 12:522a22a23f8a | 350 | releaseTWI(); |
masahikofukasawa | 14:76205d28fea2 | 351 | |
masahikofukasawa | 14:76205d28fea2 | 352 | return false; |
masahikofukasawa | 12:522a22a23f8a | 353 | } |
masahikofukasawa | 12:522a22a23f8a | 354 | |
masahikofukasawa | 12:522a22a23f8a | 355 | |
masahikofukasawa | 19:7a6913400380 | 356 | char* my_strcat(char* str1, char* str2) |
masahikofukasawa | 19:7a6913400380 | 357 | { |
masahikofukasawa | 19:7a6913400380 | 358 | int num1; |
masahikofukasawa | 19:7a6913400380 | 359 | char* str; |
masahikofukasawa | 19:7a6913400380 | 360 | |
masahikofukasawa | 19:7a6913400380 | 361 | num1=strlen(str1) + strlen(str2); |
masahikofukasawa | 19:7a6913400380 | 362 | str = (char *)malloc(num1 + 1); |
masahikofukasawa | 19:7a6913400380 | 363 | sprintf(str,"%s%s",str1,str2); |
masahikofukasawa | 19:7a6913400380 | 364 | return str; |
masahikofukasawa | 19:7a6913400380 | 365 | } |
masahikofukasawa | 12:522a22a23f8a | 366 | |
masahikofukasawa | 12:522a22a23f8a | 367 | int main(void) |
masahikofukasawa | 14:76205d28fea2 | 368 | { |
masahikofukasawa | 12:522a22a23f8a | 369 | // USB serial |
masahikofukasawa | 12:522a22a23f8a | 370 | serial.baud(115200); |
masahikofukasawa | 12:522a22a23f8a | 371 | |
masahikofukasawa | 12:522a22a23f8a | 372 | // serial port RX event |
masahikofukasawa | 12:522a22a23f8a | 373 | serial.attach(&usbUartCallback); |
masahikofukasawa | 12:522a22a23f8a | 374 | |
masahikofukasawa | 12:522a22a23f8a | 375 | #ifdef DEBUG |
masahikofukasawa | 12:522a22a23f8a | 376 | Debug::setSerial(&serial); |
masahikofukasawa | 14:76205d28fea2 | 377 | MSG("#Debug Mode.\r\n"); |
masahikofukasawa | 12:522a22a23f8a | 378 | #endif |
masahikofukasawa | 12:522a22a23f8a | 379 | |
masahikofukasawa | 12:522a22a23f8a | 380 | // initialize AKDP board |
masahikofukasawa | 14:76205d28fea2 | 381 | if( initAkdpBoard() ){ |
masahikofukasawa | 14:76205d28fea2 | 382 | MSG("#Error: AKDP boot failed.\r\n"); |
masahikofukasawa | 14:76205d28fea2 | 383 | } |
masahikofukasawa | 19:7a6913400380 | 384 | |
masahikofukasawa | 19:7a6913400380 | 385 | // create sensor manager |
masahikofukasawa | 19:7a6913400380 | 386 | manager = new AkmSensorManager(&serial); |
masahikofukasawa | 19:7a6913400380 | 387 | |
masahikofukasawa | 19:7a6913400380 | 388 | if( manager->init(id, subId) == AkmSensorManager::ERROR){ |
masahikofukasawa | 19:7a6913400380 | 389 | MSG("#Error: sensor is NULL\r\n"); |
masahikofukasawa | 19:7a6913400380 | 390 | } |
masahikofukasawa | 19:7a6913400380 | 391 | |
masahikofukasawa | 19:7a6913400380 | 392 | // create BLE device name |
masahikofukasawa | 19:7a6913400380 | 393 | char* name = my_strcat(DEVICE_NAME, manager->getSensorName()); |
masahikofukasawa | 19:7a6913400380 | 394 | |
masahikofukasawa | 19:7a6913400380 | 395 | // BLE initialize |
masahikofukasawa | 19:7a6913400380 | 396 | bleSetup(name); |
masahikofukasawa | 12:522a22a23f8a | 397 | |
masahikofukasawa | 0:c240899240e7 | 398 | // BLE UART service |
masahikofukasawa | 0:c240899240e7 | 399 | uartService = new UARTService(ble); |
masahikofukasawa | 12:522a22a23f8a | 400 | |
masahikofukasawa | 19:7a6913400380 | 401 | // set BLE UART service |
masahikofukasawa | 19:7a6913400380 | 402 | manager->setBleUartService(uartService); |
masahikofukasawa | 11:53e52f5f1051 | 403 | |
masahikofukasawa | 14:76205d28fea2 | 404 | MSG("#Connecting...\r\n"); |
masahikofukasawa | 19:7a6913400380 | 405 | |
masahikofukasawa | 0:c240899240e7 | 406 | // main loop |
masahikofukasawa | 0:c240899240e7 | 407 | while(1) |
masahikofukasawa | 0:c240899240e7 | 408 | { |
masahikofukasawa | 0:c240899240e7 | 409 | if(manager->isEvent()){ |
masahikofukasawa | 0:c240899240e7 | 410 | manager->processEvent(); |
masahikofukasawa | 0:c240899240e7 | 411 | }else{ |
masahikofukasawa | 0:c240899240e7 | 412 | ble.waitForEvent(); |
masahikofukasawa | 0:c240899240e7 | 413 | } |
masahikofukasawa | 0:c240899240e7 | 414 | } |
masahikofukasawa | 0:c240899240e7 | 415 | } |