La Suno / Mbed 2 deprecated afero_poc15_180223

Color sensor reset at the end of calibration added. sensor id auto assignment was changed to be a fixed value assignment to avoid sensor id shift when some sensor is absent.

Dependencies:   UniGraphic mbed vt100

afLib/afLib.h@1:8818b793d147, 2018-02-23 (annotated)

Committer:
Rhyme
Date:
Fri Feb 23 07:51:55 2018 +0000
Revision:
1:8818b793d147
Parent:
0:ce97f6d34336 
Wrong behavior when one of color sensor is missing has been fixed.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Rhyme 0:ce97f6d34336 1 /**
Rhyme 0:ce97f6d34336 2 * Copyright 2015 Afero, Inc.
Rhyme 0:ce97f6d34336 3 *
Rhyme 0:ce97f6d34336 4 * Licensed under the Apache License, Version 2.0 (the "License");
Rhyme 0:ce97f6d34336 5 * you may not use this file except in compliance with the License.
Rhyme 0:ce97f6d34336 6 * You may obtain a copy of the License at
Rhyme 0:ce97f6d34336 7 *
Rhyme 0:ce97f6d34336 8 * http://www.apache.org/licenses/LICENSE-2.0
Rhyme 0:ce97f6d34336 9 *
Rhyme 0:ce97f6d34336 10 * Unless required by applicable law or agreed to in writing, software
Rhyme 0:ce97f6d34336 11 * distributed under the License is distributed on an "AS IS" BASIS,
Rhyme 0:ce97f6d34336 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
Rhyme 0:ce97f6d34336 13 * See the License for the specific language governing permissions and
Rhyme 0:ce97f6d34336 14 * limitations under the License.
Rhyme 0:ce97f6d34336 15 */
Rhyme 0:ce97f6d34336 16
Rhyme 0:ce97f6d34336 17 #ifndef AFLIB_H__
Rhyme 0:ce97f6d34336 18 #define AFLIB_H__
Rhyme 0:ce97f6d34336 19
Rhyme 0:ce97f6d34336 20 #include "mbed.h"
Rhyme 0:ce97f6d34336 21 #include "iafLib.h"
Rhyme 0:ce97f6d34336 22 #include "SPI.h"
Rhyme 0:ce97f6d34336 23 #include "Command.h"
Rhyme 0:ce97f6d34336 24 #include "StatusCommand.h"
Rhyme 0:ce97f6d34336 25 #include "afSPI.h"
Rhyme 0:ce97f6d34336 26 // #include "WatchDogWrapper.hpp"
Rhyme 0:ce97f6d34336 27
Rhyme 0:ce97f6d34336 28 #define STATE_IDLE 0
Rhyme 0:ce97f6d34336 29 #define STATE_STATUS_SYNC 1
Rhyme 0:ce97f6d34336 30 #define STATE_STATUS_ACK 3
Rhyme 0:ce97f6d34336 31 #define STATE_SEND_BYTES 4
Rhyme 0:ce97f6d34336 32 #define STATE_RECV_BYTES 5
Rhyme 0:ce97f6d34336 33 #define STATE_CMD_COMPLETE 6
Rhyme 0:ce97f6d34336 34
Rhyme 0:ce97f6d34336 35 #define SPI_FRAME_LEN 16
Rhyme 0:ce97f6d34336 36
Rhyme 0:ce97f6d34336 37 #define REQUEST_QUEUE_SIZE 10
Rhyme 0:ce97f6d34336 38
Rhyme 0:ce97f6d34336 39 typedef struct {
Rhyme 0:ce97f6d34336 40 uint8_t messageType;
Rhyme 0:ce97f6d34336 41 uint16_t attrId;
Rhyme 0:ce97f6d34336 42 uint8_t requestId;
Rhyme 0:ce97f6d34336 43 uint16_t valueLen;
Rhyme 0:ce97f6d34336 44 uint8_t *p_value;
Rhyme 0:ce97f6d34336 45 } request_t;
Rhyme 0:ce97f6d34336 46
Rhyme 0:ce97f6d34336 47 class afLib : public iafLib {
Rhyme 0:ce97f6d34336 48 public:
Rhyme 0:ce97f6d34336 49 afLib(PinName mcuInterrupt, isr isrWrapper,
Rhyme 0:ce97f6d34336 50 onAttributeSet attrSet, onAttributeSetComplete attrSetComplete, afSPI *theSPI);
Rhyme 0:ce97f6d34336 51 //wsugi 20161128
Rhyme 0:ce97f6d34336 52 ~afLib();
Rhyme 0:ce97f6d34336 53 //wsugi 20161128
Rhyme 0:ce97f6d34336 54
Rhyme 0:ce97f6d34336 55 // motoo tanaka 20171116
Rhyme 0:ce97f6d34336 56 virtual int getRequestId(void) ;
Rhyme 0:ce97f6d34336 57 // motoo tanaka 20171116
Rhyme 0:ce97f6d34336 58 // motoo tanaka 20171229
Rhyme 0:ce97f6d34336 59 virtual void disable_irq(void) { fco.disable_irq() ; }
Rhyme 0:ce97f6d34336 60 virtual void enable_irq(void) { fco.enable_irq() ; }
Rhyme 0:ce97f6d34336 61
Rhyme 0:ce97f6d34336 62 virtual void loop(void);
Rhyme 0:ce97f6d34336 63
Rhyme 0:ce97f6d34336 64 virtual int getAttribute(const uint16_t attrId);
Rhyme 0:ce97f6d34336 65
Rhyme 0:ce97f6d34336 66 virtual int setAttributeBool(const uint16_t attrId, const bool value);
Rhyme 0:ce97f6d34336 67
Rhyme 0:ce97f6d34336 68 virtual int setAttribute8(const uint16_t attrId, const int8_t value);
Rhyme 0:ce97f6d34336 69
Rhyme 0:ce97f6d34336 70 virtual int setAttribute16(const uint16_t attrId, const int16_t value);
Rhyme 0:ce97f6d34336 71
Rhyme 0:ce97f6d34336 72 virtual int setAttribute32(const uint16_t attrId, const int32_t value);
Rhyme 0:ce97f6d34336 73
Rhyme 0:ce97f6d34336 74 virtual int setAttribute64(const uint16_t attrId, const int64_t value);
Rhyme 0:ce97f6d34336 75
Rhyme 0:ce97f6d34336 76 virtual int setAttribute(const uint16_t attrId, const string &value);
Rhyme 0:ce97f6d34336 77
Rhyme 0:ce97f6d34336 78 virtual int setAttribute(const uint16_t attrId, const uint16_t valueLen, const char *value);
Rhyme 0:ce97f6d34336 79
Rhyme 0:ce97f6d34336 80 virtual int setAttribute(const uint16_t attrId, const uint16_t valueLen, const uint8_t *value);
Rhyme 0:ce97f6d34336 81
Rhyme 0:ce97f6d34336 82 virtual int setAttributeComplete(uint8_t requestId, const uint16_t attrId, const uint16_t valueLen, const uint8_t *value);
Rhyme 0:ce97f6d34336 83
Rhyme 0:ce97f6d34336 84 virtual bool isIdle();
Rhyme 0:ce97f6d34336 85
Rhyme 0:ce97f6d34336 86 virtual void mcuISR();
Rhyme 0:ce97f6d34336 87
Rhyme 0:ce97f6d34336 88 private:
Rhyme 0:ce97f6d34336 89 Timeout deathWish;
Rhyme 0:ce97f6d34336 90 Timer *checkLastSync;
Rhyme 0:ce97f6d34336 91 static void kick_the_bucket();
Rhyme 0:ce97f6d34336 92 afSPI *_theSPI;
Rhyme 0:ce97f6d34336 93
Rhyme 0:ce97f6d34336 94 //SPISettings _spiSettings;
Rhyme 0:ce97f6d34336 95 volatile int _interrupts_pending;
Rhyme 0:ce97f6d34336 96 int _state;
Rhyme 0:ce97f6d34336 97 uint16_t _bytesToSend;
Rhyme 0:ce97f6d34336 98 uint16_t _bytesToRecv;
Rhyme 0:ce97f6d34336 99 uint8_t _requestId;
Rhyme 0:ce97f6d34336 100 uint16_t _outstandingSetGetAttrId;
Rhyme 0:ce97f6d34336 101
Rhyme 0:ce97f6d34336 102 // Application Callbacks.
Rhyme 0:ce97f6d34336 103 onAttributeSet _onAttrSet;
Rhyme 0:ce97f6d34336 104 onAttributeSetComplete _onAttrSetComplete;
Rhyme 0:ce97f6d34336 105
Rhyme 0:ce97f6d34336 106 Command *_writeCmd;
Rhyme 0:ce97f6d34336 107 uint16_t _writeBufferLen;
Rhyme 0:ce97f6d34336 108 uint8_t *_writeBuffer;
Rhyme 0:ce97f6d34336 109
Rhyme 0:ce97f6d34336 110 Command *_readCmd;
Rhyme 0:ce97f6d34336 111 uint16_t _readBufferLen;
Rhyme 0:ce97f6d34336 112 uint8_t *_readBuffer;
Rhyme 0:ce97f6d34336 113
Rhyme 0:ce97f6d34336 114 int _writeCmdOffset;
Rhyme 0:ce97f6d34336 115 int _readCmdOffset;
Rhyme 0:ce97f6d34336 116
Rhyme 0:ce97f6d34336 117 StatusCommand *_txStatus;
Rhyme 0:ce97f6d34336 118 StatusCommand *_rxStatus;
Rhyme 0:ce97f6d34336 119
Rhyme 0:ce97f6d34336 120 request_t _request;
Rhyme 0:ce97f6d34336 121 request_t _requestQueue[REQUEST_QUEUE_SIZE];
Rhyme 0:ce97f6d34336 122
Rhyme 0:ce97f6d34336 123 #ifdef ATTRIBUTE_CLI
Rhyme 0:ce97f6d34336 124 int parseCommand(const char *cmd);
Rhyme 0:ce97f6d34336 125 #endif
Rhyme 0:ce97f6d34336 126
Rhyme 0:ce97f6d34336 127 void sendCommand(void);
Rhyme 0:ce97f6d34336 128
Rhyme 0:ce97f6d34336 129 void runStateMachine(void);
Rhyme 0:ce97f6d34336 130
Rhyme 0:ce97f6d34336 131 void printState(int state);
Rhyme 0:ce97f6d34336 132
Rhyme 0:ce97f6d34336 133 //void beginSPI();
Rhyme 0:ce97f6d34336 134
Rhyme 0:ce97f6d34336 135 //void endSPI();
Rhyme 0:ce97f6d34336 136
Rhyme 0:ce97f6d34336 137 int exchangeStatus(StatusCommand *tx, StatusCommand *rx);
Rhyme 0:ce97f6d34336 138
Rhyme 0:ce97f6d34336 139 bool inSync(StatusCommand *tx, StatusCommand *rx);
Rhyme 0:ce97f6d34336 140
Rhyme 0:ce97f6d34336 141 int writeStatus(StatusCommand *c);
Rhyme 0:ce97f6d34336 142
Rhyme 0:ce97f6d34336 143 void sendBytes();
Rhyme 0:ce97f6d34336 144
Rhyme 0:ce97f6d34336 145 void recvBytes();
Rhyme 0:ce97f6d34336 146
Rhyme 0:ce97f6d34336 147 void dumpBytes(char *label, int len, uint8_t *bytes);
Rhyme 0:ce97f6d34336 148
Rhyme 0:ce97f6d34336 149 void updateIntsPending(int amount);
Rhyme 0:ce97f6d34336 150
Rhyme 0:ce97f6d34336 151 void queueInit(void);
Rhyme 0:ce97f6d34336 152
Rhyme 0:ce97f6d34336 153 int queuePut(uint8_t messageType, uint8_t requestId, const uint16_t attributeId, uint16_t valueLen, const uint8_t *value);
Rhyme 0:ce97f6d34336 154
Rhyme 0:ce97f6d34336 155 int queueGet(uint8_t *messageType, uint8_t *requestId, uint16_t *attributeId, uint16_t *valueLen, uint8_t **value);
Rhyme 0:ce97f6d34336 156
Rhyme 0:ce97f6d34336 157 int doGetAttribute(uint8_t requestId, uint16_t attrId);
Rhyme 0:ce97f6d34336 158
Rhyme 0:ce97f6d34336 159 int doSetAttribute(uint8_t requestId, uint16_t attrId, uint16_t valueLen, uint8_t *value);
Rhyme 0:ce97f6d34336 160
Rhyme 0:ce97f6d34336 161 int doUpdateAttribute(uint8_t requestId, uint16_t attrId, uint8_t status, uint16_t valueLen, uint8_t *value);
Rhyme 0:ce97f6d34336 162
Rhyme 0:ce97f6d34336 163 void onStateIdle(void);
Rhyme 0:ce97f6d34336 164 void onStateSync(void);
Rhyme 0:ce97f6d34336 165 void onStateAck(void);
Rhyme 0:ce97f6d34336 166 void onStateSendBytes(void);
Rhyme 0:ce97f6d34336 167 void onStateRecvBytes(void);
Rhyme 0:ce97f6d34336 168 void onStateCmdComplete(void);
Rhyme 0:ce97f6d34336 169 void printTransaction(uint8_t *rbytes, int len);
Rhyme 0:ce97f6d34336 170 InterruptIn fco;
Rhyme 0:ce97f6d34336 171 };
Rhyme 0:ce97f6d34336 172
Rhyme 0:ce97f6d34336 173 #endif // AFLIB_H__