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@14:76205d28fea2, 2016-07-22 (annotated)
- Committer:
- masahikofukasawa
- Date:
- Fri Jul 22 22:54:45 2016 +0000
- Revision:
- 14:76205d28fea2
- Parent:
- 12:522a22a23f8a
- Child:
- 16:5343a852fea4
RevD7_004
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 | 0:c240899240e7 | 11 | |
masahikofukasawa | 0:c240899240e7 | 12 | #define BLE_UUID_TXRX_SERVICE 0x0000 /**< The UUID of the Nordic UART Service. */ |
masahikofukasawa | 0:c240899240e7 | 13 | #define BLE_UUID_TX_CHARACTERISTIC 0x0002 /**< The UUID of the TX Characteristic. */ |
masahikofukasawa | 0:c240899240e7 | 14 | #define BLE_UUIDS_RX_CHARACTERISTIC 0x0003 /**< The UUID of the RX Characteristic. */ |
masahikofukasawa | 0:c240899240e7 | 15 | |
masahikofukasawa | 10:a710e8c3311c | 16 | #define BLE_BUF_LEN UARTService::BLE_UART_SERVICE_MAX_DATA_LEN+1 |
masahikofukasawa | 10:a710e8c3311c | 17 | #define TXRX_LEN 50 |
masahikofukasawa | 0:c240899240e7 | 18 | |
masahikofukasawa | 0:c240899240e7 | 19 | #define CR '\r' |
masahikofukasawa | 0:c240899240e7 | 20 | #define LF '\n' |
masahikofukasawa | 0:c240899240e7 | 21 | |
masahikofukasawa | 14:76205d28fea2 | 22 | #define DEVICE_NAME "AKDP Rev.D7.004" |
masahikofukasawa | 11:53e52f5f1051 | 23 | |
masahikofukasawa | 0:c240899240e7 | 24 | BLE ble; |
masahikofukasawa | 0:c240899240e7 | 25 | UARTService* uartService; |
coisme | 2:11a5873f8ec0 | 26 | #ifndef REV_D |
coisme | 2:11a5873f8ec0 | 27 | SerialNano serial(P0_28, P0_29); // Rev.C pin configuration |
coisme | 2:11a5873f8ec0 | 28 | #else |
masahikofukasawa | 7:f1f544deaaa3 | 29 | SerialNano serial(P0_4, P0_5); // Rev.D pin configuration |
masahikofukasawa | 7:f1f544deaaa3 | 30 | #endif |
masahikofukasawa | 4:749a21fd9c2d | 31 | |
masahikofukasawa | 0:c240899240e7 | 32 | AkmSensorManager* manager; |
masahikofukasawa | 12:522a22a23f8a | 33 | uint8_t id; |
masahikofukasawa | 12:522a22a23f8a | 34 | uint8_t subId; |
masahikofukasawa | 0:c240899240e7 | 35 | |
masahikofukasawa | 0:c240899240e7 | 36 | void WrittenHandler(const GattWriteCallbackParams *Handler) |
masahikofukasawa | 0:c240899240e7 | 37 | { |
masahikofukasawa | 10:a710e8c3311c | 38 | static char command[TXRX_LEN]=""; |
masahikofukasawa | 10:a710e8c3311c | 39 | static uint16_t len=0; |
masahikofukasawa | 10:a710e8c3311c | 40 | |
masahikofukasawa | 10:a710e8c3311c | 41 | uint8_t buf[BLE_BUF_LEN]; |
masahikofukasawa | 0:c240899240e7 | 42 | uint16_t bytesRead; |
masahikofukasawa | 10:a710e8c3311c | 43 | |
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 | 10:a710e8c3311c | 47 | |
masahikofukasawa | 10:a710e8c3311c | 48 | for(uint16_t i=0; i<bytesRead; i++){ |
masahikofukasawa | 10:a710e8c3311c | 49 | if(buf[i] == CR) |
masahikofukasawa | 10:a710e8c3311c | 50 | { |
masahikofukasawa | 10:a710e8c3311c | 51 | ; // ignore CR |
masahikofukasawa | 10:a710e8c3311c | 52 | } |
masahikofukasawa | 10:a710e8c3311c | 53 | else if(buf[i] == LF || len > TXRX_LEN) |
masahikofukasawa | 0:c240899240e7 | 54 | { |
masahikofukasawa | 10:a710e8c3311c | 55 | manager->commandReceived(command); |
masahikofukasawa | 10:a710e8c3311c | 56 | for(int j=0; j<TXRX_LEN; j++){ |
masahikofukasawa | 10:a710e8c3311c | 57 | command[j] = 0; |
masahikofukasawa | 10:a710e8c3311c | 58 | } |
masahikofukasawa | 10:a710e8c3311c | 59 | len = 0; |
masahikofukasawa | 10:a710e8c3311c | 60 | } |
masahikofukasawa | 10:a710e8c3311c | 61 | else |
masahikofukasawa | 10:a710e8c3311c | 62 | { |
masahikofukasawa | 10:a710e8c3311c | 63 | command[len++] = (char)buf[i]; |
masahikofukasawa | 0:c240899240e7 | 64 | } |
masahikofukasawa | 0:c240899240e7 | 65 | } |
masahikofukasawa | 0:c240899240e7 | 66 | } |
masahikofukasawa | 0:c240899240e7 | 67 | } |
masahikofukasawa | 0:c240899240e7 | 68 | |
masahikofukasawa | 0:c240899240e7 | 69 | void usbUartCallback(void) |
masahikofukasawa | 0:c240899240e7 | 70 | { |
masahikofukasawa | 10:a710e8c3311c | 71 | static char command[TXRX_LEN] = ""; |
masahikofukasawa | 10:a710e8c3311c | 72 | static uint16_t len=0; |
masahikofukasawa | 10:a710e8c3311c | 73 | |
masahikofukasawa | 0:c240899240e7 | 74 | if(serial.readable()) |
masahikofukasawa | 0:c240899240e7 | 75 | { |
masahikofukasawa | 0:c240899240e7 | 76 | uint8_t c = serial.getc(); |
masahikofukasawa | 0:c240899240e7 | 77 | |
masahikofukasawa | 0:c240899240e7 | 78 | // ignore CR |
masahikofukasawa | 0:c240899240e7 | 79 | if(c==CR) return; |
masahikofukasawa | 0:c240899240e7 | 80 | |
masahikofukasawa | 10:a710e8c3311c | 81 | command[len++] = c; |
masahikofukasawa | 10:a710e8c3311c | 82 | if(len>=TXRX_LEN || c == LF) |
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 | 0:c240899240e7 | 89 | } |
masahikofukasawa | 0:c240899240e7 | 90 | } |
masahikofukasawa | 0:c240899240e7 | 91 | } |
masahikofukasawa | 0:c240899240e7 | 92 | |
masahikofukasawa | 0:c240899240e7 | 93 | void connectionCallback(const Gap::ConnectionCallbackParams_t *params) |
masahikofukasawa | 0:c240899240e7 | 94 | { |
masahikofukasawa | 0:c240899240e7 | 95 | manager->setEventConnected(); |
masahikofukasawa | 14:76205d28fea2 | 96 | MSG("#Connected\r\n"); |
masahikofukasawa | 0:c240899240e7 | 97 | } |
masahikofukasawa | 0:c240899240e7 | 98 | |
masahikofukasawa | 0:c240899240e7 | 99 | void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params) |
masahikofukasawa | 0:c240899240e7 | 100 | { |
masahikofukasawa | 0:c240899240e7 | 101 | manager->setEventDisconnected(); |
masahikofukasawa | 14:76205d28fea2 | 102 | MSG("#Disconnected\r\n"); |
masahikofukasawa | 0:c240899240e7 | 103 | ble.gap().startAdvertising(); |
masahikofukasawa | 0:c240899240e7 | 104 | } |
masahikofukasawa | 0:c240899240e7 | 105 | |
masahikofukasawa | 12:522a22a23f8a | 106 | void bleSetup(){ |
masahikofukasawa | 0:c240899240e7 | 107 | ble.init(); |
masahikofukasawa | 0:c240899240e7 | 108 | // setup advertising |
masahikofukasawa | 0:c240899240e7 | 109 | ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED); |
masahikofukasawa | 0:c240899240e7 | 110 | ble.gap().setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED); |
masahikofukasawa | 0:c240899240e7 | 111 | ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME, |
masahikofukasawa | 11:53e52f5f1051 | 112 | (const uint8_t *)DEVICE_NAME, sizeof(DEVICE_NAME) - 1); |
masahikofukasawa | 0:c240899240e7 | 113 | ble.gap().accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS, |
masahikofukasawa | 0:c240899240e7 | 114 | (const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed)); |
masahikofukasawa | 0:c240899240e7 | 115 | ble.gap().onConnection(connectionCallback); |
masahikofukasawa | 0:c240899240e7 | 116 | ble.gap().onDisconnection(disconnectionCallback); |
masahikofukasawa | 0:c240899240e7 | 117 | ble.gattServer().onDataWritten(WrittenHandler); |
masahikofukasawa | 0:c240899240e7 | 118 | |
masahikofukasawa | 12:522a22a23f8a | 119 | // 100ms; in multiples of 0.625ms. |
masahikofukasawa | 12:522a22a23f8a | 120 | ble.gap().setAdvertisingInterval(100); |
masahikofukasawa | 0:c240899240e7 | 121 | ble.gap().startAdvertising(); |
masahikofukasawa | 12:522a22a23f8a | 122 | } |
masahikofukasawa | 0:c240899240e7 | 123 | |
masahikofukasawa | 12:522a22a23f8a | 124 | |
masahikofukasawa | 12:522a22a23f8a | 125 | #ifdef REV_D |
masahikofukasawa | 12:522a22a23f8a | 126 | int16_t getAdcData(MCP342X *mcp3428, MCP342X::AdcChannel ch, MCP342X::SampleSetting s) { |
masahikofukasawa | 12:522a22a23f8a | 127 | const int WAIT_ADC_MS = 1; |
masahikofukasawa | 12:522a22a23f8a | 128 | |
masahikofukasawa | 12:522a22a23f8a | 129 | // Configure channel and trigger. |
masahikofukasawa | 12:522a22a23f8a | 130 | mcp3428->setChannel(ch); |
masahikofukasawa | 12:522a22a23f8a | 131 | mcp3428->setSampleSetting(s); |
masahikofukasawa | 12:522a22a23f8a | 132 | mcp3428->trigger(); |
masahikofukasawa | 12:522a22a23f8a | 133 | |
masahikofukasawa | 12:522a22a23f8a | 134 | // polling data (!blocking) |
masahikofukasawa | 12:522a22a23f8a | 135 | MCP342X::Data data; |
masahikofukasawa | 12:522a22a23f8a | 136 | do { |
masahikofukasawa | 12:522a22a23f8a | 137 | wait_ms(WAIT_ADC_MS); |
masahikofukasawa | 12:522a22a23f8a | 138 | mcp3428->getData(&data); |
masahikofukasawa | 12:522a22a23f8a | 139 | } while(data.st == MCP342X::DATA_NOT_UPDATED); |
masahikofukasawa | 12:522a22a23f8a | 140 | |
masahikofukasawa | 12:522a22a23f8a | 141 | return data.value; |
masahikofukasawa | 12:522a22a23f8a | 142 | } |
masahikofukasawa | 12:522a22a23f8a | 143 | #endif |
masahikofukasawa | 12:522a22a23f8a | 144 | |
masahikofukasawa | 12:522a22a23f8a | 145 | uint8_t getId(PinName pin, uint8_t bits) |
masahikofukasawa | 12:522a22a23f8a | 146 | { |
masahikofukasawa | 12:522a22a23f8a | 147 | #ifndef REV_D |
masahikofukasawa | 12:522a22a23f8a | 148 | /* Rev.C */ |
masahikofukasawa | 12:522a22a23f8a | 149 | AnalogIn id(pin); |
masahikofukasawa | 14:76205d28fea2 | 150 | // MSG("#Voltage=%5.2f[V]\r\n",id*3.0); |
masahikofukasawa | 12:522a22a23f8a | 151 | double s = id + 1.0/(double)(pow(2.0,bits+1)); |
masahikofukasawa | 12:522a22a23f8a | 152 | uint8_t value = (uint8_t)(s*pow(2.0,bits)); |
masahikofukasawa | 12:522a22a23f8a | 153 | #else |
masahikofukasawa | 12:522a22a23f8a | 154 | /* Rev.D */ |
masahikofukasawa | 14:76205d28fea2 | 155 | // MSG("#GetID\r\n"); |
masahikofukasawa | 12:522a22a23f8a | 156 | |
masahikofukasawa | 12:522a22a23f8a | 157 | I2C i2c(I2C_SDA, I2C_SCL); |
masahikofukasawa | 12:522a22a23f8a | 158 | // ADC |
masahikofukasawa | 12:522a22a23f8a | 159 | MCP342X mcp342x(&i2c, MCP342X::SLAVE_ADDRESS_6EH); |
masahikofukasawa | 12:522a22a23f8a | 160 | mcp342x.setConversionMode(MCP342X::ONE_SHOT); |
masahikofukasawa | 12:522a22a23f8a | 161 | MCP342X::AdcChannel ch; |
masahikofukasawa | 12:522a22a23f8a | 162 | if (pin == ANALOG_SENSOR_ID) { |
masahikofukasawa | 12:522a22a23f8a | 163 | ch = MCP342X::ADC_CH1; |
masahikofukasawa | 12:522a22a23f8a | 164 | } else { // pin == ANALOG_SENSOR_ID_SUB |
masahikofukasawa | 12:522a22a23f8a | 165 | ch = MCP342X::ADC_CH2; |
masahikofukasawa | 12:522a22a23f8a | 166 | } |
masahikofukasawa | 12:522a22a23f8a | 167 | int16_t val = getAdcData(&mcp342x, ch, MCP342X::SAMPLE_240HZ_12BIT); |
masahikofukasawa | 14:76205d28fea2 | 168 | // MSG("#12bit ADC Val = %d.\r\n", val); |
masahikofukasawa | 12:522a22a23f8a | 169 | |
masahikofukasawa | 12:522a22a23f8a | 170 | const int16_t VAL_MAX = 3000-2048; // Corresponds to 3V |
masahikofukasawa | 12:522a22a23f8a | 171 | const int16_t VAL_MIN = -2048; // Corresponds to 0V |
masahikofukasawa | 12:522a22a23f8a | 172 | |
masahikofukasawa | 12:522a22a23f8a | 173 | uint8_t value = (uint8_t)((val - VAL_MIN)/(float)(VAL_MAX - VAL_MIN) * (1 << bits) + 0.5); |
masahikofukasawa | 14:76205d28fea2 | 174 | // MSG("#ID = %d.\r\n", value); |
masahikofukasawa | 12:522a22a23f8a | 175 | |
masahikofukasawa | 12:522a22a23f8a | 176 | #endif |
masahikofukasawa | 12:522a22a23f8a | 177 | return value; |
masahikofukasawa | 12:522a22a23f8a | 178 | } |
masahikofukasawa | 12:522a22a23f8a | 179 | |
masahikofukasawa | 12:522a22a23f8a | 180 | |
masahikofukasawa | 12:522a22a23f8a | 181 | void releaseTWI(){ |
masahikofukasawa | 12:522a22a23f8a | 182 | NRF_TWI0->ENABLE = TWI_ENABLE_ENABLE_Disabled << TWI_ENABLE_ENABLE_Pos; |
masahikofukasawa | 12:522a22a23f8a | 183 | NRF_TWI0->POWER = 0; |
masahikofukasawa | 12:522a22a23f8a | 184 | NRF_TWI1->ENABLE = TWI_ENABLE_ENABLE_Disabled << TWI_ENABLE_ENABLE_Pos; |
masahikofukasawa | 12:522a22a23f8a | 185 | NRF_TWI1->POWER = 0; |
masahikofukasawa | 12:522a22a23f8a | 186 | } |
masahikofukasawa | 12:522a22a23f8a | 187 | |
masahikofukasawa | 14:76205d28fea2 | 188 | bool initAkdpBoard(){ |
masahikofukasawa | 12:522a22a23f8a | 189 | |
masahikofukasawa | 14:76205d28fea2 | 190 | // CSN High to activate I2C_GATE |
masahikofukasawa | 12:522a22a23f8a | 191 | DigitalOut _cs = DigitalOut(SPI_CS); |
masahikofukasawa | 12:522a22a23f8a | 192 | _cs.write(1); |
masahikofukasawa | 14:76205d28fea2 | 193 | DigitalOut _sck = DigitalOut(SPI_SCK); |
masahikofukasawa | 14:76205d28fea2 | 194 | _sck.write(1); |
masahikofukasawa | 12:522a22a23f8a | 195 | |
masahikofukasawa | 12:522a22a23f8a | 196 | const int TIME_FOR_OE_MS = 100; |
masahikofukasawa | 12:522a22a23f8a | 197 | const TCA9554A::Port PORT_OE_LVS1 = TCA9554A::PORT_7; |
masahikofukasawa | 12:522a22a23f8a | 198 | const TCA9554A::Port PORT_OE_LVS2 = TCA9554A::PORT_6; |
masahikofukasawa | 12:522a22a23f8a | 199 | const TCA9554A::Port PORT_SPIN = TCA9554A::PORT_5; |
masahikofukasawa | 12:522a22a23f8a | 200 | const TCA9554A::Port PORT_RSV_RSTN = TCA9554A::PORT_0; |
masahikofukasawa | 12:522a22a23f8a | 201 | |
masahikofukasawa | 12:522a22a23f8a | 202 | I2C i2c(I2C_SDA, I2C_SCL); |
masahikofukasawa | 12:522a22a23f8a | 203 | TCA9554A tca9554a(&i2c, TCA9554A::SLAVE_ADDRESS_38H); |
masahikofukasawa | 12:522a22a23f8a | 204 | |
masahikofukasawa | 12:522a22a23f8a | 205 | // Initializes TCA9554A (I2C GPIO Expander) |
masahikofukasawa | 12:522a22a23f8a | 206 | tca9554a.configurePort(PORT_OE_LVS1, TCA9554A::DIR_OUTPUT); |
masahikofukasawa | 12:522a22a23f8a | 207 | tca9554a.configurePort(PORT_OE_LVS2, TCA9554A::DIR_OUTPUT); |
masahikofukasawa | 12:522a22a23f8a | 208 | tca9554a.configurePort(PORT_SPIN, TCA9554A::DIR_OUTPUT); |
masahikofukasawa | 12:522a22a23f8a | 209 | tca9554a.configurePort(PORT_RSV_RSTN, TCA9554A::DIR_OUTPUT); |
masahikofukasawa | 12:522a22a23f8a | 210 | |
masahikofukasawa | 12:522a22a23f8a | 211 | // enable 5V level shifter |
masahikofukasawa | 12:522a22a23f8a | 212 | tca9554a.setPortLevel(PORT_OE_LVS1, TCA9554A::HIGH); |
masahikofukasawa | 12:522a22a23f8a | 213 | tca9554a.setPortLevel(PORT_OE_LVS2, TCA9554A::HIGH); |
masahikofukasawa | 12:522a22a23f8a | 214 | tca9554a.setPortLevel(PORT_RSV_RSTN, TCA9554A::HIGH); |
masahikofukasawa | 12:522a22a23f8a | 215 | tca9554a.setPortLevel(PORT_SPIN, TCA9554A::HIGH); |
masahikofukasawa | 14:76205d28fea2 | 216 | wait_ms(TIME_FOR_OE_MS); |
masahikofukasawa | 12:522a22a23f8a | 217 | |
masahikofukasawa | 12:522a22a23f8a | 218 | // disable 1.8V level shifter to read ID |
masahikofukasawa | 12:522a22a23f8a | 219 | tca9554a.setPortLevel(PORT_OE_LVS1, TCA9554A::LOW); |
masahikofukasawa | 12:522a22a23f8a | 220 | wait_ms(TIME_FOR_OE_MS); |
masahikofukasawa | 14:76205d28fea2 | 221 | // MSG("#LVS1 Low.\r\n"); |
masahikofukasawa | 12:522a22a23f8a | 222 | |
masahikofukasawa | 12:522a22a23f8a | 223 | // read ID and subId from ADC |
masahikofukasawa | 12:522a22a23f8a | 224 | id = getId(ANALOG_SENSOR_ID,4); |
masahikofukasawa | 12:522a22a23f8a | 225 | uint8_t subid_bitlen = 4; |
masahikofukasawa | 12:522a22a23f8a | 226 | if(id == AkmSensor::AKM_PRIMARY_ID_AKD_SPI || id == AkmSensor::AKM_PRIMARY_ID_AKD_I2C){ |
masahikofukasawa | 14:76205d28fea2 | 227 | // MSG("#5 bit sub ID.\r\n"); |
masahikofukasawa | 12:522a22a23f8a | 228 | subid_bitlen = 5; |
masahikofukasawa | 12:522a22a23f8a | 229 | } |
masahikofukasawa | 12:522a22a23f8a | 230 | subId = getId(ANALOG_SENSOR_ID_SUB,subid_bitlen); |
masahikofukasawa | 12:522a22a23f8a | 231 | |
masahikofukasawa | 14:76205d28fea2 | 232 | if( (id == 11 && subId == 11) || (id == 55 && subId == 55) ){ |
masahikofukasawa | 14:76205d28fea2 | 233 | return true; |
masahikofukasawa | 14:76205d28fea2 | 234 | } |
masahikofukasawa | 14:76205d28fea2 | 235 | |
masahikofukasawa | 12:522a22a23f8a | 236 | // enable 1.8V level shifter |
masahikofukasawa | 12:522a22a23f8a | 237 | tca9554a.setPortLevel(PORT_OE_LVS1, TCA9554A::HIGH); |
masahikofukasawa | 14:76205d28fea2 | 238 | // MSG("#LVS1 High.\r\n"); |
masahikofukasawa | 12:522a22a23f8a | 239 | wait_ms(TIME_FOR_OE_MS); |
masahikofukasawa | 12:522a22a23f8a | 240 | |
masahikofukasawa | 12:522a22a23f8a | 241 | // RSTN control |
masahikofukasawa | 12:522a22a23f8a | 242 | if(id == AkmSensor::AKM_PRIMARY_ID_AKD_SPI || id == AkmSensor::AKM_PRIMARY_ID_AKD_I2C){ |
masahikofukasawa | 12:522a22a23f8a | 243 | tca9554a.setPortLevel(PORT_RSV_RSTN, TCA9554A::LOW); |
masahikofukasawa | 12:522a22a23f8a | 244 | wait_ms(TIME_FOR_OE_MS); |
masahikofukasawa | 12:522a22a23f8a | 245 | tca9554a.setPortLevel(PORT_RSV_RSTN, TCA9554A::HIGH); |
masahikofukasawa | 14:76205d28fea2 | 246 | // MSG("#Detect AKD, RSTN control.\r\n"); |
masahikofukasawa | 12:522a22a23f8a | 247 | } |
masahikofukasawa | 12:522a22a23f8a | 248 | |
masahikofukasawa | 12:522a22a23f8a | 249 | // SPI disable/enable |
masahikofukasawa | 12:522a22a23f8a | 250 | if( id == AkmSensor::AKM_PRIMARY_ID_AKD_SPI || id == AkmSensor::AKM_PRIMARY_ID_ANGLE_SENSOR ){ |
masahikofukasawa | 12:522a22a23f8a | 251 | tca9554a.setPortLevel(PORT_SPIN, TCA9554A::LOW); |
masahikofukasawa | 12:522a22a23f8a | 252 | // Disable 5.0V level shifter in order to ADC doesn't respond. |
masahikofukasawa | 12:522a22a23f8a | 253 | tca9554a.setPortLevel(PORT_OE_LVS2, TCA9554A::LOW); |
masahikofukasawa | 14:76205d28fea2 | 254 | // MSG("#Detect SPI, set SPIN low.\r\n"); |
masahikofukasawa | 12:522a22a23f8a | 255 | } |
masahikofukasawa | 12:522a22a23f8a | 256 | else{ |
masahikofukasawa | 12:522a22a23f8a | 257 | tca9554a.setPortLevel(PORT_SPIN, TCA9554A::HIGH); |
masahikofukasawa | 12:522a22a23f8a | 258 | tca9554a.setPortLevel(PORT_OE_LVS2, TCA9554A::HIGH); |
masahikofukasawa | 12:522a22a23f8a | 259 | } |
masahikofukasawa | 12:522a22a23f8a | 260 | |
masahikofukasawa | 12:522a22a23f8a | 261 | wait_ms(TIME_FOR_OE_MS); |
masahikofukasawa | 12:522a22a23f8a | 262 | |
masahikofukasawa | 12:522a22a23f8a | 263 | releaseTWI(); |
masahikofukasawa | 14:76205d28fea2 | 264 | |
masahikofukasawa | 14:76205d28fea2 | 265 | return false; |
masahikofukasawa | 12:522a22a23f8a | 266 | } |
masahikofukasawa | 12:522a22a23f8a | 267 | |
masahikofukasawa | 12:522a22a23f8a | 268 | |
masahikofukasawa | 12:522a22a23f8a | 269 | |
masahikofukasawa | 12:522a22a23f8a | 270 | int main(void) |
masahikofukasawa | 14:76205d28fea2 | 271 | { |
masahikofukasawa | 14:76205d28fea2 | 272 | // bool isFailedBoot = false; |
masahikofukasawa | 14:76205d28fea2 | 273 | |
masahikofukasawa | 12:522a22a23f8a | 274 | // USB serial |
masahikofukasawa | 12:522a22a23f8a | 275 | serial.baud(115200); |
masahikofukasawa | 12:522a22a23f8a | 276 | |
masahikofukasawa | 12:522a22a23f8a | 277 | // serial port RX event |
masahikofukasawa | 12:522a22a23f8a | 278 | serial.attach(&usbUartCallback); |
masahikofukasawa | 12:522a22a23f8a | 279 | |
masahikofukasawa | 12:522a22a23f8a | 280 | #ifdef DEBUG |
masahikofukasawa | 12:522a22a23f8a | 281 | Debug::setSerial(&serial); |
masahikofukasawa | 14:76205d28fea2 | 282 | MSG("#Debug Mode.\r\n"); |
masahikofukasawa | 12:522a22a23f8a | 283 | #endif |
masahikofukasawa | 12:522a22a23f8a | 284 | |
masahikofukasawa | 12:522a22a23f8a | 285 | // initialize AKDP board |
masahikofukasawa | 14:76205d28fea2 | 286 | if( initAkdpBoard() ){ |
masahikofukasawa | 14:76205d28fea2 | 287 | // isFailedBoot = true; |
masahikofukasawa | 14:76205d28fea2 | 288 | MSG("#Error: AKDP boot failed.\r\n"); |
masahikofukasawa | 14:76205d28fea2 | 289 | } |
masahikofukasawa | 12:522a22a23f8a | 290 | |
masahikofukasawa | 12:522a22a23f8a | 291 | // ble initialize |
masahikofukasawa | 12:522a22a23f8a | 292 | bleSetup(); |
masahikofukasawa | 12:522a22a23f8a | 293 | |
masahikofukasawa | 0:c240899240e7 | 294 | // BLE UART service |
masahikofukasawa | 0:c240899240e7 | 295 | uartService = new UARTService(ble); |
masahikofukasawa | 12:522a22a23f8a | 296 | |
masahikofukasawa | 0:c240899240e7 | 297 | // create sensor manager |
masahikofukasawa | 0:c240899240e7 | 298 | manager = new AkmSensorManager(&serial, uartService); |
masahikofukasawa | 12:522a22a23f8a | 299 | |
masahikofukasawa | 12:522a22a23f8a | 300 | if( manager->init(id, subId) == AkmSensorManager::ERROR){ |
masahikofukasawa | 14:76205d28fea2 | 301 | // isFailedBoot = true; |
masahikofukasawa | 14:76205d28fea2 | 302 | MSG("#Error: sensor is NULL\r\n"); |
masahikofukasawa | 0:c240899240e7 | 303 | } |
masahikofukasawa | 11:53e52f5f1051 | 304 | |
masahikofukasawa | 14:76205d28fea2 | 305 | MSG("#Connecting...\r\n"); |
masahikofukasawa | 14:76205d28fea2 | 306 | /* |
masahikofukasawa | 14:76205d28fea2 | 307 | Message msg; |
masahikofukasawa | 14:76205d28fea2 | 308 | msg.setCommand(Message::CMD_BOOT_STATUS); |
masahikofukasawa | 14:76205d28fea2 | 309 | msg.setArgument( 0, isFailedBoot ? 1 : 0 ); |
masahikofukasawa | 14:76205d28fea2 | 310 | manager->throwMessage(&msg); |
masahikofukasawa | 14:76205d28fea2 | 311 | */ |
masahikofukasawa | 0:c240899240e7 | 312 | // main loop |
masahikofukasawa | 0:c240899240e7 | 313 | while(1) |
masahikofukasawa | 0:c240899240e7 | 314 | { |
masahikofukasawa | 0:c240899240e7 | 315 | if(manager->isEvent()){ |
masahikofukasawa | 0:c240899240e7 | 316 | manager->processEvent(); |
masahikofukasawa | 0:c240899240e7 | 317 | }else{ |
masahikofukasawa | 0:c240899240e7 | 318 | ble.waitForEvent(); |
masahikofukasawa | 0:c240899240e7 | 319 | } |
masahikofukasawa | 0:c240899240e7 | 320 | } |
masahikofukasawa | 0:c240899240e7 | 321 | } |