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@4:749a21fd9c2d, 2016-05-09 (annotated)
- Committer:
- masahikofukasawa
- Date:
- Mon May 09 17:00:11 2016 +0000
- Revision:
- 4:749a21fd9c2d
- Parent:
- 2:11a5873f8ec0
- Child:
- 7:f1f544deaaa3
Modified IR Sensor methods
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 | 0:c240899240e7 | 7 | #include "akmsensormanager.h" |
masahikofukasawa | 0:c240899240e7 | 8 | #include "debug.h" |
coisme | 2:11a5873f8ec0 | 9 | #include "tca9554a.h" |
masahikofukasawa | 0:c240899240e7 | 10 | |
masahikofukasawa | 0:c240899240e7 | 11 | #define BLE_UUID_TXRX_SERVICE 0x0000 /**< The UUID of the Nordic UART Service. */ |
masahikofukasawa | 0:c240899240e7 | 12 | #define BLE_UUID_TX_CHARACTERISTIC 0x0002 /**< The UUID of the TX Characteristic. */ |
masahikofukasawa | 0:c240899240e7 | 13 | #define BLE_UUIDS_RX_CHARACTERISTIC 0x0003 /**< The UUID of the RX Characteristic. */ |
masahikofukasawa | 0:c240899240e7 | 14 | |
masahikofukasawa | 0:c240899240e7 | 15 | //#define TXRX_LEN UARTService::BLE_UART_SERVICE_MAX_DATA_LEN+1 |
masahikofukasawa | 0:c240899240e7 | 16 | #define TXRX_LEN 50 // Temp |
masahikofukasawa | 0:c240899240e7 | 17 | |
masahikofukasawa | 0:c240899240e7 | 18 | #define CR '\r' |
masahikofukasawa | 0:c240899240e7 | 19 | #define LF '\n' |
masahikofukasawa | 0:c240899240e7 | 20 | |
masahikofukasawa | 0:c240899240e7 | 21 | BLE ble; |
masahikofukasawa | 0:c240899240e7 | 22 | UARTService* uartService; |
coisme | 2:11a5873f8ec0 | 23 | #ifndef REV_D |
coisme | 2:11a5873f8ec0 | 24 | SerialNano serial(P0_28, P0_29); // Rev.C pin configuration |
coisme | 2:11a5873f8ec0 | 25 | #else |
masahikofukasawa | 4:749a21fd9c2d | 26 | //SerialNano serial(P0_4, P0_5); // Rev.D pin configuration |
masahikofukasawa | 4:749a21fd9c2d | 27 | |
masahikofukasawa | 4:749a21fd9c2d | 28 | // for test |
masahikofukasawa | 4:749a21fd9c2d | 29 | SerialNano serial(P0_28, P0_29); // Rev.C pin configuration |
masahikofukasawa | 4:749a21fd9c2d | 30 | DigitalOut dummy_Tx(P0_4); |
masahikofukasawa | 4:749a21fd9c2d | 31 | DigitalIn dummy_Rx(P0_5); |
masahikofukasawa | 4:749a21fd9c2d | 32 | |
coisme | 2:11a5873f8ec0 | 33 | #endif |
masahikofukasawa | 0:c240899240e7 | 34 | AkmSensorManager* manager; |
masahikofukasawa | 0:c240899240e7 | 35 | |
masahikofukasawa | 0:c240899240e7 | 36 | static char commandStr[TXRX_LEN]; |
masahikofukasawa | 0:c240899240e7 | 37 | static uint16_t rx_len=0; |
masahikofukasawa | 0:c240899240e7 | 38 | |
masahikofukasawa | 0:c240899240e7 | 39 | /* |
masahikofukasawa | 0:c240899240e7 | 40 | void WrittenHandler(const GattWriteCallbackParams *Handler) |
masahikofukasawa | 0:c240899240e7 | 41 | { |
masahikofukasawa | 0:c240899240e7 | 42 | uint8_t buf[TXRX_LEN]; |
masahikofukasawa | 0:c240899240e7 | 43 | uint16_t bytesRead; |
masahikofukasawa | 0:c240899240e7 | 44 | if (Handler->handle == uartService->getTXCharacteristicHandle()) |
masahikofukasawa | 0:c240899240e7 | 45 | { |
masahikofukasawa | 0:c240899240e7 | 46 | ble.gattServer().read(uartService->getTXCharacteristicHandle(), buf, &bytesRead); |
masahikofukasawa | 0:c240899240e7 | 47 | int len = 0; |
masahikofukasawa | 0:c240899240e7 | 48 | for(int i=0; i<bytesRead; i++){ |
masahikofukasawa | 0:c240899240e7 | 49 | commandStr[len++] = buf[i]; |
masahikofukasawa | 0:c240899240e7 | 50 | if(i>=TXRX_LEN || buf[i]==LF ) |
masahikofukasawa | 0:c240899240e7 | 51 | { |
masahikofukasawa | 0:c240899240e7 | 52 | manager->commandReceived(commandStr); |
masahikofukasawa | 0:c240899240e7 | 53 | return; |
masahikofukasawa | 0:c240899240e7 | 54 | } |
masahikofukasawa | 0:c240899240e7 | 55 | } |
masahikofukasawa | 0:c240899240e7 | 56 | } |
masahikofukasawa | 0:c240899240e7 | 57 | } |
masahikofukasawa | 0:c240899240e7 | 58 | */ |
masahikofukasawa | 0:c240899240e7 | 59 | |
masahikofukasawa | 0:c240899240e7 | 60 | void WrittenHandler(const GattWriteCallbackParams *Handler) |
masahikofukasawa | 0:c240899240e7 | 61 | { |
masahikofukasawa | 0:c240899240e7 | 62 | uint8_t buf[TXRX_LEN]; |
masahikofukasawa | 0:c240899240e7 | 63 | uint16_t bytesRead; |
masahikofukasawa | 0:c240899240e7 | 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 | 0:c240899240e7 | 68 | char command[TXRX_LEN]; |
masahikofukasawa | 0:c240899240e7 | 69 | int len = 0; |
masahikofukasawa | 0:c240899240e7 | 70 | for(int i=0; i<bytesRead; i++){ |
masahikofukasawa | 0:c240899240e7 | 71 | if(i>=TXRX_LEN || buf[i]==CR ) |
masahikofukasawa | 0:c240899240e7 | 72 | { |
masahikofukasawa | 0:c240899240e7 | 73 | break; |
masahikofukasawa | 0:c240899240e7 | 74 | } |
masahikofukasawa | 0:c240899240e7 | 75 | else |
masahikofukasawa | 0:c240899240e7 | 76 | { |
masahikofukasawa | 0:c240899240e7 | 77 | if(buf[i] != LF) |
masahikofukasawa | 0:c240899240e7 | 78 | { |
masahikofukasawa | 0:c240899240e7 | 79 | command[len++] = (char)buf[i]; |
masahikofukasawa | 0:c240899240e7 | 80 | } |
masahikofukasawa | 0:c240899240e7 | 81 | } |
masahikofukasawa | 0:c240899240e7 | 82 | } |
masahikofukasawa | 0:c240899240e7 | 83 | manager->commandReceived(command); |
masahikofukasawa | 0:c240899240e7 | 84 | } |
masahikofukasawa | 0:c240899240e7 | 85 | } |
masahikofukasawa | 0:c240899240e7 | 86 | |
masahikofukasawa | 0:c240899240e7 | 87 | |
masahikofukasawa | 0:c240899240e7 | 88 | /* |
masahikofukasawa | 0:c240899240e7 | 89 | void usbUartCallback(void) |
masahikofukasawa | 0:c240899240e7 | 90 | { |
masahikofukasawa | 0:c240899240e7 | 91 | if(serial.readable()) |
masahikofukasawa | 0:c240899240e7 | 92 | { |
masahikofukasawa | 0:c240899240e7 | 93 | uint8_t c = serial.getc(); |
masahikofukasawa | 0:c240899240e7 | 94 | if(rx_len>=TXRX_LEN || c == CR ) |
masahikofukasawa | 0:c240899240e7 | 95 | { |
masahikofukasawa | 0:c240899240e7 | 96 | manager->commandReceived(commandStr); |
masahikofukasawa | 0:c240899240e7 | 97 | rx_len = 0; |
masahikofukasawa | 0:c240899240e7 | 98 | } |
masahikofukasawa | 0:c240899240e7 | 99 | else{ |
masahikofukasawa | 0:c240899240e7 | 100 | if(c != LF) |
masahikofukasawa | 0:c240899240e7 | 101 | { |
masahikofukasawa | 0:c240899240e7 | 102 | commandStr[rx_len++] = c; |
masahikofukasawa | 0:c240899240e7 | 103 | } |
masahikofukasawa | 0:c240899240e7 | 104 | } |
masahikofukasawa | 0:c240899240e7 | 105 | } |
masahikofukasawa | 0:c240899240e7 | 106 | } |
masahikofukasawa | 0:c240899240e7 | 107 | */ |
masahikofukasawa | 0:c240899240e7 | 108 | void usbUartCallback(void) |
masahikofukasawa | 0:c240899240e7 | 109 | { |
masahikofukasawa | 0:c240899240e7 | 110 | if(serial.readable()) |
masahikofukasawa | 0:c240899240e7 | 111 | { |
masahikofukasawa | 0:c240899240e7 | 112 | uint8_t c = serial.getc(); |
masahikofukasawa | 0:c240899240e7 | 113 | |
masahikofukasawa | 0:c240899240e7 | 114 | // ignore CR |
masahikofukasawa | 0:c240899240e7 | 115 | if(c==CR) return; |
masahikofukasawa | 0:c240899240e7 | 116 | |
masahikofukasawa | 0:c240899240e7 | 117 | commandStr[rx_len++] = c; |
masahikofukasawa | 0:c240899240e7 | 118 | if(rx_len>=TXRX_LEN || c == LF) |
masahikofukasawa | 0:c240899240e7 | 119 | { |
masahikofukasawa | 0:c240899240e7 | 120 | manager->commandReceived(commandStr); |
masahikofukasawa | 0:c240899240e7 | 121 | rx_len = 0; |
masahikofukasawa | 0:c240899240e7 | 122 | } |
masahikofukasawa | 0:c240899240e7 | 123 | } |
masahikofukasawa | 0:c240899240e7 | 124 | } |
masahikofukasawa | 0:c240899240e7 | 125 | |
masahikofukasawa | 0:c240899240e7 | 126 | void connectionCallback(const Gap::ConnectionCallbackParams_t *params) |
masahikofukasawa | 0:c240899240e7 | 127 | { |
masahikofukasawa | 0:c240899240e7 | 128 | manager->setEventConnected(); |
masahikofukasawa | 0:c240899240e7 | 129 | MSG("#Connected\r\n"); |
masahikofukasawa | 0:c240899240e7 | 130 | } |
masahikofukasawa | 0:c240899240e7 | 131 | |
masahikofukasawa | 0:c240899240e7 | 132 | void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params) |
masahikofukasawa | 0:c240899240e7 | 133 | { |
masahikofukasawa | 0:c240899240e7 | 134 | manager->setEventDisconnected(); |
masahikofukasawa | 0:c240899240e7 | 135 | MSG("#Disconnected \r\n"); |
masahikofukasawa | 0:c240899240e7 | 136 | ble.gap().startAdvertising(); |
masahikofukasawa | 0:c240899240e7 | 137 | } |
masahikofukasawa | 0:c240899240e7 | 138 | |
masahikofukasawa | 0:c240899240e7 | 139 | int main(void) |
masahikofukasawa | 0:c240899240e7 | 140 | { |
masahikofukasawa | 0:c240899240e7 | 141 | // USB serial |
masahikofukasawa | 0:c240899240e7 | 142 | serial.baud(115200); |
masahikofukasawa | 0:c240899240e7 | 143 | |
masahikofukasawa | 0:c240899240e7 | 144 | #ifdef DEBUG |
masahikofukasawa | 0:c240899240e7 | 145 | Debug::setSerial(&serial); |
masahikofukasawa | 0:c240899240e7 | 146 | MSG("#Debug Mode.\n"); |
masahikofukasawa | 0:c240899240e7 | 147 | #endif |
masahikofukasawa | 0:c240899240e7 | 148 | |
masahikofukasawa | 0:c240899240e7 | 149 | ble.init(); |
masahikofukasawa | 0:c240899240e7 | 150 | // setup advertising |
masahikofukasawa | 0:c240899240e7 | 151 | ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED); |
masahikofukasawa | 0:c240899240e7 | 152 | ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED); |
masahikofukasawa | 0:c240899240e7 | 153 | ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME, |
coisme | 2:11a5873f8ec0 | 154 | (const uint8_t *)"AKDP RevD 001", sizeof("AKDP RevD 001") - 1); |
masahikofukasawa | 0:c240899240e7 | 155 | ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS, |
masahikofukasawa | 0:c240899240e7 | 156 | (const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed)); |
masahikofukasawa | 0:c240899240e7 | 157 | ble.gap().onConnection(connectionCallback); |
masahikofukasawa | 0:c240899240e7 | 158 | ble.gap().onDisconnection(disconnectionCallback); |
masahikofukasawa | 0:c240899240e7 | 159 | ble.gattServer().onDataWritten(WrittenHandler); |
masahikofukasawa | 0:c240899240e7 | 160 | |
masahikofukasawa | 0:c240899240e7 | 161 | // 100ms; in multiples of 0.625ms. |
masahikofukasawa | 0:c240899240e7 | 162 | ble.gap().setAdvertisingInterval(80); |
masahikofukasawa | 0:c240899240e7 | 163 | ble.gap().startAdvertising(); |
masahikofukasawa | 0:c240899240e7 | 164 | |
masahikofukasawa | 0:c240899240e7 | 165 | // BLE UART service |
masahikofukasawa | 0:c240899240e7 | 166 | uartService = new UARTService(ble); |
masahikofukasawa | 0:c240899240e7 | 167 | |
masahikofukasawa | 0:c240899240e7 | 168 | // serial port RX event |
masahikofukasawa | 0:c240899240e7 | 169 | serial.attach(&usbUartCallback); |
masahikofukasawa | 0:c240899240e7 | 170 | |
masahikofukasawa | 0:c240899240e7 | 171 | // create sensor manager |
masahikofukasawa | 0:c240899240e7 | 172 | manager = new AkmSensorManager(&serial, uartService); |
masahikofukasawa | 0:c240899240e7 | 173 | if( manager->init() == AkmSensorManager::ERROR){ |
masahikofukasawa | 0:c240899240e7 | 174 | MSG("#Error: sensor is NULL\n"); |
masahikofukasawa | 0:c240899240e7 | 175 | } |
masahikofukasawa | 0:c240899240e7 | 176 | |
coisme | 2:11a5873f8ec0 | 177 | #ifdef REV_D |
coisme | 2:11a5873f8ec0 | 178 | /* Rev.D */ |
coisme | 2:11a5873f8ec0 | 179 | { |
coisme | 2:11a5873f8ec0 | 180 | const int TIME_FOR_OE_MS = 100; |
coisme | 2:11a5873f8ec0 | 181 | const TCA9554A::Port PORT_OE_LVS1 = TCA9554A::PORT_7; |
coisme | 2:11a5873f8ec0 | 182 | const TCA9554A::Port PORT_OE_LVS2 = TCA9554A::PORT_6; |
coisme | 2:11a5873f8ec0 | 183 | I2C i2c(I2C_SDA0, I2C_SCL0); |
coisme | 2:11a5873f8ec0 | 184 | TCA9554A tca9554a(&i2c, TCA9554A::SLAVE_ADDRESS_38H); |
coisme | 2:11a5873f8ec0 | 185 | // Initializes TCA9554A (I2C GPIO Expander) |
coisme | 2:11a5873f8ec0 | 186 | tca9554a.configurePort(PORT_OE_LVS1, TCA9554A::DIR_OUTPUT); |
coisme | 2:11a5873f8ec0 | 187 | tca9554a.configurePort(PORT_OE_LVS2, TCA9554A::DIR_OUTPUT); |
coisme | 2:11a5873f8ec0 | 188 | // Makes sure that the OE is low first. |
coisme | 2:11a5873f8ec0 | 189 | tca9554a.setPortLevel(PORT_OE_LVS1, TCA9554A::LOW); |
coisme | 2:11a5873f8ec0 | 190 | tca9554a.setPortLevel(PORT_OE_LVS2, TCA9554A::LOW); |
coisme | 2:11a5873f8ec0 | 191 | wait_ms(TIME_FOR_OE_MS); |
coisme | 2:11a5873f8ec0 | 192 | // Sets the OE pins high. |
coisme | 2:11a5873f8ec0 | 193 | tca9554a.setPortLevel(PORT_OE_LVS1, TCA9554A::HIGH); |
coisme | 2:11a5873f8ec0 | 194 | tca9554a.setPortLevel(PORT_OE_LVS2, TCA9554A::HIGH); |
coisme | 2:11a5873f8ec0 | 195 | } |
coisme | 2:11a5873f8ec0 | 196 | #endif |
masahikofukasawa | 0:c240899240e7 | 197 | // main loop |
masahikofukasawa | 0:c240899240e7 | 198 | while(1) |
masahikofukasawa | 0:c240899240e7 | 199 | { |
masahikofukasawa | 0:c240899240e7 | 200 | if(manager->isEvent()){ |
masahikofukasawa | 0:c240899240e7 | 201 | manager->processEvent(); |
masahikofukasawa | 0:c240899240e7 | 202 | }else{ |
masahikofukasawa | 0:c240899240e7 | 203 | ble.waitForEvent(); |
masahikofukasawa | 0:c240899240e7 | 204 | } |
masahikofukasawa | 0:c240899240e7 | 205 | } |
masahikofukasawa | 0:c240899240e7 | 206 | } |