Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

akmsensormanager.cpp@44:0e251c736282, 2017-11-08 (annotated)

Committer:
tkstreet
Date:
Wed Nov 08 23:34:15 2017 +0000
Revision:
44:0e251c736282
Parent:
43:45225713cd58
Child:
45:6af8fdde0ef3
Trivial changes to AkmSensorManager.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
masahikofukasawa 0:7a00359e701e 1 #include "akmsensormanager.h"
masahikofukasawa 0:7a00359e701e 2
masahikofukasawa 0:7a00359e701e 3 #define MAGNETOMETER_ID 0x0A
masahikofukasawa 0:7a00359e701e 4 #define CONV16I(high,low) ((int16_t)(((high) << 8) | (low)))
masahikofukasawa 0:7a00359e701e 5
masahikofukasawa 10:5c69b067d88a 6 const char* AKM_PRIMARY_ID_STR[] = {
masahikofukasawa 7:e269411568c9 7 "AKD Daughter Cards(SPI)",
masahikofukasawa 0:7a00359e701e 8 "Switch, Unipolar",
masahikofukasawa 0:7a00359e701e 9 "Switch, Onmipolar",
masahikofukasawa 0:7a00359e701e 10 "Latch, Bipolar",
masahikofukasawa 0:7a00359e701e 11 "Switch, Dual Output",
masahikofukasawa 0:7a00359e701e 12 "Onechip Encoder",
masahikofukasawa 0:7a00359e701e 13 "TBD1",
masahikofukasawa 37:c76d2edf3426 14 "Current Sensor 3V",
masahikofukasawa 37:c76d2edf3426 15 "Test",
masahikofukasawa 37:c76d2edf3426 16 "Current Sensor 5V",
masahikofukasawa 0:7a00359e701e 17 "MISC(Analog)",
masahikofukasawa 0:7a00359e701e 18 "Linear Sensor",
masahikofukasawa 18:b7182d5ad8d5 19 "Motor Drivers",
masahikofukasawa 1:b46b8653331f 20 "IR Sensor",
masahikofukasawa 7:e269411568c9 21 "Angle Sensor(SPI)",
masahikofukasawa 10:5c69b067d88a 22 "AKD Daughter Cards(I2C)"
masahikofukasawa 0:7a00359e701e 23 };
masahikofukasawa 0:7a00359e701e 24
masahikofukasawa 13:d008249f0359 25 AkmSensorManager::AkmSensorManager(SerialNano* com)
masahikofukasawa 0:7a00359e701e 26 {
masahikofukasawa 0:7a00359e701e 27 serial = com;
tkstreet 43:45225713cd58 28
masahikofukasawa 0:7a00359e701e 29 isEnabledUsb = true;
masahikofukasawa 41:a3ea80c594ec 30 isEnabledBle = false;
masahikofukasawa 0:7a00359e701e 31 eventCommandReceived = false;
masahikofukasawa 0:7a00359e701e 32 eventConnected = false;
masahikofukasawa 0:7a00359e701e 33 eventDisconnected = false;
masahikofukasawa 29:b488d2c89fba 34 interrupt = NULL;
masahikofukasawa 29:b488d2c89fba 35 sensorIndex = 0;
masahikofukasawa 29:b488d2c89fba 36 sensorNum = 0;
masahikofukasawa 29:b488d2c89fba 37 drdyType = AkmAkd::INTERRUPT_DISABLED;
masahikofukasawa 0:7a00359e701e 38 }
masahikofukasawa 0:7a00359e701e 39
masahikofukasawa 10:5c69b067d88a 40 AkmSensorManager::Status AkmSensorManager::init(uint8_t id, uint8_t subid)
masahikofukasawa 0:7a00359e701e 41 {
masahikofukasawa 10:5c69b067d88a 42 primaryId = id;
masahikofukasawa 10:5c69b067d88a 43 subId = subid;
masahikofukasawa 29:b488d2c89fba 44 sensorIndex = 0;
masahikofukasawa 29:b488d2c89fba 45 sensorNum = 0;
masahikofukasawa 27:41aa9fb23a2f 46 if(AkmSensorManager::checkAkmSensor()!= true) return AkmSensorManager::ERROR;
masahikofukasawa 0:7a00359e701e 47 return AkmSensorManager::SUCCESS;
masahikofukasawa 0:7a00359e701e 48 }
masahikofukasawa 0:7a00359e701e 49
masahikofukasawa 13:d008249f0359 50
masahikofukasawa 13:d008249f0359 51 void AkmSensorManager::setBleUartService(UARTService* service)
masahikofukasawa 13:d008249f0359 52 {
masahikofukasawa 13:d008249f0359 53 uartService = service;
masahikofukasawa 13:d008249f0359 54 isEnabledBle = true;
masahikofukasawa 13:d008249f0359 55 }
masahikofukasawa 13:d008249f0359 56
masahikofukasawa 0:7a00359e701e 57 void AkmSensorManager::setEventConnected()
masahikofukasawa 0:7a00359e701e 58 {
masahikofukasawa 0:7a00359e701e 59 eventConnected = true;
masahikofukasawa 0:7a00359e701e 60 }
masahikofukasawa 0:7a00359e701e 61
masahikofukasawa 0:7a00359e701e 62 void AkmSensorManager::setEventDisconnected()
masahikofukasawa 0:7a00359e701e 63 {
masahikofukasawa 0:7a00359e701e 64 eventDisconnected = true;
masahikofukasawa 0:7a00359e701e 65 }
masahikofukasawa 0:7a00359e701e 66
masahikofukasawa 27:41aa9fb23a2f 67 bool AkmSensorManager::checkAkmSensor()
masahikofukasawa 29:b488d2c89fba 68 {
masahikofukasawa 29:b488d2c89fba 69 sensorNum = 0;
masahikofukasawa 29:b488d2c89fba 70
masahikofukasawa 29:b488d2c89fba 71 // int i=0;
masahikofukasawa 29:b488d2c89fba 72 // while(sensor[i] != NULL){
masahikofukasawa 29:b488d2c89fba 73 // delete(sensor[i]);
masahikofukasawa 29:b488d2c89fba 74 // i++;
masahikofukasawa 29:b488d2c89fba 75 // }
masahikofukasawa 39:3821886c902e 76 detachInterrupt();
masahikofukasawa 29:b488d2c89fba 77 drdyType = AkmAkd::INTERRUPT_DISABLED;
masahikofukasawa 0:7a00359e701e 78
masahikofukasawa 10:5c69b067d88a 79 switch(primaryId){
masahikofukasawa 17:9abb7c28709c 80
masahikofukasawa 7:e269411568c9 81 case AkmSensor::AKM_PRIMARY_ID_AKD_SPI:
masahikofukasawa 29:b488d2c89fba 82 {
masahikofukasawa 29:b488d2c89fba 83 MSG("#SPI Interface.\r\n");
masahikofukasawa 29:b488d2c89fba 84 }
masahikofukasawa 0:7a00359e701e 85 case AkmSensor::AKM_PRIMARY_ID_AKD_I2C:
masahikofukasawa 10:5c69b067d88a 86 {
masahikofukasawa 29:b488d2c89fba 87 if(subId == Ak09970Ctrl::SUB_ID_AK09970){
masahikofukasawa 29:b488d2c89fba 88 drdyType = AkmAkd::INTERRUPT_ENABLED_PP; // Only support push-pull
masahikofukasawa 29:b488d2c89fba 89 Ak09970Ctrl* ak09970 = new Ak09970Ctrl();
masahikofukasawa 29:b488d2c89fba 90 sensor[0] = ak09970;
masahikofukasawa 29:b488d2c89fba 91 sensorNum = 1;
masahikofukasawa 29:b488d2c89fba 92 MSG("#AK09970.\r\n");
masahikofukasawa 10:5c69b067d88a 93 }
masahikofukasawa 10:5c69b067d88a 94 else{
masahikofukasawa 29:b488d2c89fba 95 AkmAkd* akd = new AkmAkd();
masahikofukasawa 29:b488d2c89fba 96 drdyType = akd->getInterrupt(primaryId, subId);
masahikofukasawa 29:b488d2c89fba 97 sensor[0] = akd;
masahikofukasawa 29:b488d2c89fba 98 sensorNum = 1;
masahikofukasawa 29:b488d2c89fba 99 MSG("#e-Compass.\r\n");
masahikofukasawa 10:5c69b067d88a 100 }
masahikofukasawa 0:7a00359e701e 101 break;
masahikofukasawa 29:b488d2c89fba 102 }
masahikofukasawa 0:7a00359e701e 103 case AkmSensor::AKM_PRIMARY_ID_ANGLE_SENSOR:
masahikofukasawa 10:5c69b067d88a 104 {
masahikofukasawa 11:cef8dc1cf010 105 if(subId == Ak7451Ctrl::SUB_ID_AK7451){
masahikofukasawa 11:cef8dc1cf010 106 Ak7451Ctrl* ak7451ctrl = new Ak7451Ctrl();
masahikofukasawa 27:41aa9fb23a2f 107 sensor[0] = ak7451ctrl;
masahikofukasawa 29:b488d2c89fba 108 sensorNum = 1;
masahikofukasawa 10:5c69b067d88a 109 }
masahikofukasawa 10:5c69b067d88a 110 else if(subId == Ak7401Ctrl::SUB_ID_AK7401){
masahikofukasawa 10:5c69b067d88a 111 Ak7401Ctrl* ak7401ctrl = new Ak7401Ctrl();
masahikofukasawa 27:41aa9fb23a2f 112 sensor[0] = ak7401ctrl;
masahikofukasawa 29:b488d2c89fba 113 sensorNum = 1;
masahikofukasawa 10:5c69b067d88a 114 }
masahikofukasawa 0:7a00359e701e 115 break;
masahikofukasawa 29:b488d2c89fba 116 }
masahikofukasawa 17:9abb7c28709c 117
masahikofukasawa 0:7a00359e701e 118 case AkmSensor::AKM_PRIMARY_ID_UNIPOLAR:
masahikofukasawa 0:7a00359e701e 119 case AkmSensor::AKM_PRIMARY_ID_OMNIPOLAR:
masahikofukasawa 0:7a00359e701e 120 case AkmSensor::AKM_PRIMARY_ID_LATCH:
masahikofukasawa 0:7a00359e701e 121 case AkmSensor::AKM_PRIMARY_ID_DUAL_OUTPUT:
masahikofukasawa 0:7a00359e701e 122 case AkmSensor::AKM_PRIMARY_ID_ONECHIP_ENCODER:
masahikofukasawa 10:5c69b067d88a 123 {
masahikofukasawa 10:5c69b067d88a 124 AkmHallSwitch* hallswitch = new AkmHallSwitch();
masahikofukasawa 27:41aa9fb23a2f 125 sensor[0] = hallswitch;
masahikofukasawa 29:b488d2c89fba 126 sensorNum = 1;
masahikofukasawa 0:7a00359e701e 127 break;
masahikofukasawa 10:5c69b067d88a 128 }
masahikofukasawa 27:41aa9fb23a2f 129 case AkmSensor::AKM_PRIMARY_ID_DEMO:
masahikofukasawa 27:41aa9fb23a2f 130 {
masahikofukasawa 29:b488d2c89fba 131 if(subId == 0x08){
masahikofukasawa 29:b488d2c89fba 132 drdyType = AkmAkd::INTERRUPT_ENABLED_OD; // Only support open drain type DRDY
masahikofukasawa 29:b488d2c89fba 133
masahikofukasawa 29:b488d2c89fba 134 Ak09970Ctrl* ak09970 = new Ak09970Ctrl();
masahikofukasawa 29:b488d2c89fba 135 sensor[0] = ak09970;
masahikofukasawa 29:b488d2c89fba 136 if(sensor[0]->init(AkmSensor::AKM_PRIMARY_ID_AKD_I2C, Ak09970Ctrl::SUB_ID_AK09970) != AkmSensor::SUCCESS){
masahikofukasawa 39:3821886c902e 137 MSG("#Error: sensor[0]->init failed.\r\n");
masahikofukasawa 27:41aa9fb23a2f 138 return false; // couldn't find
masahikofukasawa 29:b488d2c89fba 139 }
masahikofukasawa 29:b488d2c89fba 140
masahikofukasawa 29:b488d2c89fba 141 Ak9752Ctrl* ak9752ctrl = new Ak9752Ctrl();
masahikofukasawa 29:b488d2c89fba 142 sensor[1] = ak9752ctrl;
masahikofukasawa 29:b488d2c89fba 143 if(sensor[1]->init(AkmSensor::AKM_PRIMARY_ID_IR_SENSOR, Ak9752Ctrl::SUB_ID_AK9752) != AkmSensor::SUCCESS){
masahikofukasawa 39:3821886c902e 144 MSG("#Error: sensor[1]->init failed.\r\n");
masahikofukasawa 27:41aa9fb23a2f 145 return false; // couldn't find
masahikofukasawa 29:b488d2c89fba 146 }
masahikofukasawa 29:b488d2c89fba 147 sensorNum = 2;
masahikofukasawa 27:41aa9fb23a2f 148 }
masahikofukasawa 29:b488d2c89fba 149 break;
masahikofukasawa 27:41aa9fb23a2f 150 }
masahikofukasawa 4:af13b985c689 151 case AkmSensor::AKM_PRIMARY_ID_LINEAR_SENSOR:
masahikofukasawa 37:c76d2edf3426 152 case AkmSensor::AKM_PRIMARY_ID_CURRENT_SENSOR_3V:
masahikofukasawa 37:c76d2edf3426 153 case AkmSensor::AKM_PRIMARY_ID_CURRENT_SENSOR_5V:
masahikofukasawa 10:5c69b067d88a 154 case AkmSensor::AKM_PRIMARY_ID_MISC_ANALOG:
masahikofukasawa 10:5c69b067d88a 155 {
masahikofukasawa 11:cef8dc1cf010 156 AkmAnalogSensor* analogsensor = new AkmAnalogSensor();
masahikofukasawa 27:41aa9fb23a2f 157 sensor[0] = analogsensor;
masahikofukasawa 29:b488d2c89fba 158 sensorNum = 1;
masahikofukasawa 0:7a00359e701e 159 break;
masahikofukasawa 10:5c69b067d88a 160 }
masahikofukasawa 17:9abb7c28709c 161
masahikofukasawa 1:b46b8653331f 162 case AkmSensor::AKM_PRIMARY_ID_IR_SENSOR:
masahikofukasawa 10:5c69b067d88a 163 {
masahikofukasawa 29:b488d2c89fba 164 drdyType = AkmAkd::INTERRUPT_ENABLED_OD;
masahikofukasawa 29:b488d2c89fba 165
masahikofukasawa 10:5c69b067d88a 166 if(subId == Ak9750Ctrl::SUB_ID_AK9750){
masahikofukasawa 10:5c69b067d88a 167 Ak9750Ctrl* ak9750ctrl = new Ak9750Ctrl();
masahikofukasawa 27:41aa9fb23a2f 168 sensor[0] = ak9750ctrl;
masahikofukasawa 29:b488d2c89fba 169 sensorNum = 1;
masahikofukasawa 15:1238993fd75f 170 }else if(subId == Ak9750Ctrl::SUB_ID_AK9753){
masahikofukasawa 15:1238993fd75f 171 Ak9750Ctrl* ak9753ctrl = new Ak9750Ctrl();
masahikofukasawa 27:41aa9fb23a2f 172 sensor[0] = ak9753ctrl;
masahikofukasawa 29:b488d2c89fba 173 sensorNum = 1;
masahikofukasawa 10:5c69b067d88a 174 }else if(subId == Ak9752Ctrl::SUB_ID_AK9752){
masahikofukasawa 10:5c69b067d88a 175 Ak9752Ctrl* ak9752ctrl = new Ak9752Ctrl();
masahikofukasawa 27:41aa9fb23a2f 176 sensor[0] = ak9752ctrl;
masahikofukasawa 29:b488d2c89fba 177 sensorNum = 1;
masahikofukasawa 10:5c69b067d88a 178 }else{
masahikofukasawa 27:41aa9fb23a2f 179 return false; // couldn't find
masahikofukasawa 10:5c69b067d88a 180 }
masahikofukasawa 1:b46b8653331f 181 break;
masahikofukasawa 10:5c69b067d88a 182 }
tkstreet 33:d3e1e9eb2ef9 183 case AkmSensor::AKM_PRIMARY_ID_MOTOR_DRIVER:
tkstreet 33:d3e1e9eb2ef9 184 { // TODO: Other motor driver cases
tkstreet 33:d3e1e9eb2ef9 185 if(subId == Ap1017Ctrl::SUB_ID_AP1017){
tkstreet 33:d3e1e9eb2ef9 186 Ap1017Ctrl* ap1017ctrl = new Ap1017Ctrl();
tkstreet 34:1ea3357c8d9a 187 sensor[0] = ap1017ctrl;
tkstreet 34:1ea3357c8d9a 188 sensorNum = 1;
tkstreet 33:d3e1e9eb2ef9 189 }else{
tkstreet 33:d3e1e9eb2ef9 190 return NULL;
tkstreet 33:d3e1e9eb2ef9 191 }
tkstreet 33:d3e1e9eb2ef9 192 break;
tkstreet 33:d3e1e9eb2ef9 193 }
masahikofukasawa 0:7a00359e701e 194 default:
masahikofukasawa 10:5c69b067d88a 195 {
masahikofukasawa 39:3821886c902e 196 MSG("#Error: Can't find ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
masahikofukasawa 27:41aa9fb23a2f 197 return false; // couldn't find
masahikofukasawa 10:5c69b067d88a 198 }
masahikofukasawa 0:7a00359e701e 199 }
masahikofukasawa 29:b488d2c89fba 200
masahikofukasawa 29:b488d2c89fba 201 if(primaryId != AkmSensor::AKM_PRIMARY_ID_DEMO){
masahikofukasawa 29:b488d2c89fba 202 for(int i=0; i<sensorNum; i++){
masahikofukasawa 29:b488d2c89fba 203 if(sensor[i]->init(primaryId, subId) != AkmSensor::SUCCESS){
masahikofukasawa 39:3821886c902e 204 MSG("#Error: sensor[i]->init failed. ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
masahikofukasawa 29:b488d2c89fba 205 return false; // couldn't find
masahikofukasawa 29:b488d2c89fba 206 }
masahikofukasawa 29:b488d2c89fba 207 }
masahikofukasawa 27:41aa9fb23a2f 208 MSG("#ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
masahikofukasawa 0:7a00359e701e 209 }
masahikofukasawa 29:b488d2c89fba 210
masahikofukasawa 39:3821886c902e 211 attachInterrupt();
masahikofukasawa 39:3821886c902e 212
masahikofukasawa 27:41aa9fb23a2f 213 return true;
masahikofukasawa 0:7a00359e701e 214 }
masahikofukasawa 0:7a00359e701e 215
masahikofukasawa 29:b488d2c89fba 216 void AkmSensorManager::detectDRDY(){
masahikofukasawa 29:b488d2c89fba 217 // MSG("#detect DRDY.\r\n");
masahikofukasawa 29:b488d2c89fba 218 for(int i=0; i<sensorNum; i++){
masahikofukasawa 29:b488d2c89fba 219 sensor[i]->setEvent();
masahikofukasawa 29:b488d2c89fba 220 }
masahikofukasawa 29:b488d2c89fba 221 }
masahikofukasawa 29:b488d2c89fba 222
masahikofukasawa 16:d85be9bafb80 223 void AkmSensorManager::dummyCallbackForCommandReceived(){}
masahikofukasawa 16:d85be9bafb80 224
tkstreet 33:d3e1e9eb2ef9 225
tkstreet 33:d3e1e9eb2ef9 226 // For commands received via BLE
masahikofukasawa 0:7a00359e701e 227 AkmSensorManager::Status AkmSensorManager::commandReceived(char* buf){
masahikofukasawa 0:7a00359e701e 228 // Construct message
masahikofukasawa 0:7a00359e701e 229 Status status = SUCCESS;
masahikofukasawa 0:7a00359e701e 230
masahikofukasawa 10:5c69b067d88a 231 if ((Message::parse(&msg, buf)) != Message::SUCCESS) {
masahikofukasawa 39:3821886c902e 232 MSG("#Error: Failed to parse message. %s\r\n", buf);
masahikofukasawa 0:7a00359e701e 233 status = ERROR;
tkstreet 33:d3e1e9eb2ef9 234 eventCommandReceived = false; // Reset flag
masahikofukasawa 15:1238993fd75f 235 }else{
tkstreet 33:d3e1e9eb2ef9 236 eventCommandReceived = true; // Set flag
masahikofukasawa 16:d85be9bafb80 237 // MSG("#Parsed message. %s\r\n", buf);
masahikofukasawa 0:7a00359e701e 238 }
masahikofukasawa 16:d85be9bafb80 239 t.attach(callback(this, &AkmSensorManager::dummyCallbackForCommandReceived),0); // wake-up from ble.waitForEvent
masahikofukasawa 0:7a00359e701e 240 return status;
masahikofukasawa 0:7a00359e701e 241 }
masahikofukasawa 0:7a00359e701e 242
tkstreet 33:d3e1e9eb2ef9 243
coisme 2:11fe67783c4c 244 int16_t AkmSensorManager::getAdcData(MCP342X *mcp3428, MCP342X::AdcChannel ch, MCP342X::SampleSetting s) {
coisme 2:11fe67783c4c 245 const int WAIT_ADC_MS = 1;
coisme 2:11fe67783c4c 246
coisme 2:11fe67783c4c 247 // Configure channel and trigger.
coisme 2:11fe67783c4c 248 mcp3428->setChannel(ch);
coisme 2:11fe67783c4c 249 mcp3428->setSampleSetting(s);
coisme 2:11fe67783c4c 250 mcp3428->trigger();
coisme 2:11fe67783c4c 251
coisme 2:11fe67783c4c 252 // polling data (!blocking)
coisme 2:11fe67783c4c 253 MCP342X::Data data;
coisme 2:11fe67783c4c 254 do {
coisme 2:11fe67783c4c 255 wait_ms(WAIT_ADC_MS);
coisme 2:11fe67783c4c 256 mcp3428->getData(&data);
coisme 2:11fe67783c4c 257 } while(data.st == MCP342X::DATA_NOT_UPDATED);
coisme 2:11fe67783c4c 258
coisme 2:11fe67783c4c 259 return data.value;
coisme 2:11fe67783c4c 260 }
masahikofukasawa 0:7a00359e701e 261
tkstreet 33:d3e1e9eb2ef9 262
masahikofukasawa 0:7a00359e701e 263 uint8_t AkmSensorManager::getId(PinName pin, uint8_t bits)
masahikofukasawa 0:7a00359e701e 264 {
masahikofukasawa 11:cef8dc1cf010 265 MSG("#GetID\r\n");
masahikofukasawa 6:c4401549d68f 266
tkstreet 21:966724730ce6 267 I2C i2c(I2C_SDA, I2C_SCL); // establish I2C to read ID
tkstreet 21:966724730ce6 268
coisme 2:11fe67783c4c 269 // ADC
tkstreet 21:966724730ce6 270 MCP342X mcp342x(&i2c, MCP342X::SLAVE_ADDRESS_6EH); // ADC to convert voltage
tkstreet 21:966724730ce6 271 mcp342x.setConversionMode(MCP342X::ONE_SHOT); // Set to single sample
coisme 2:11fe67783c4c 272 MCP342X::AdcChannel ch;
tkstreet 21:966724730ce6 273
tkstreet 21:966724730ce6 274 if (pin == ANALOG_SENSOR_ID) { // Primary ID
coisme 2:11fe67783c4c 275 ch = MCP342X::ADC_CH1;
tkstreet 21:966724730ce6 276 } else { // pin == ANALOG_SENSOR_ID_SUB
tkstreet 21:966724730ce6 277 ch = MCP342X::ADC_CH2; // Secondary ID
coisme 2:11fe67783c4c 278 }
tkstreet 21:966724730ce6 279
coisme 2:11fe67783c4c 280 int16_t val = getAdcData(&mcp342x, ch, MCP342X::SAMPLE_240HZ_12BIT);
masahikofukasawa 11:cef8dc1cf010 281 MSG("#12bit ADC Val = %d.\r\n", val);
coisme 2:11fe67783c4c 282
tkstreet 21:966724730ce6 283 // Voltage boundaries for ID voltage divider system
coisme 2:11fe67783c4c 284 const int16_t VAL_MAX = 3000-2048; // Corresponds to 3V
coisme 2:11fe67783c4c 285 const int16_t VAL_MIN = -2048; // Corresponds to 0V
coisme 2:11fe67783c4c 286
tkstreet 21:966724730ce6 287 // Convert voltage to ID value
masahikofukasawa 6:c4401549d68f 288 uint8_t value = (uint8_t)((val - VAL_MIN)/(float)(VAL_MAX - VAL_MIN) * (1 << bits) + 0.5);
masahikofukasawa 11:cef8dc1cf010 289 MSG("#ID = %d.\r\n", value);
masahikofukasawa 6:c4401549d68f 290
masahikofukasawa 0:7a00359e701e 291 return value;
masahikofukasawa 0:7a00359e701e 292 }
masahikofukasawa 0:7a00359e701e 293
tkstreet 33:d3e1e9eb2ef9 294
masahikofukasawa 0:7a00359e701e 295 bool AkmSensorManager::isEvent()
masahikofukasawa 0:7a00359e701e 296 {
masahikofukasawa 29:b488d2c89fba 297 // check sensor related event
masahikofukasawa 29:b488d2c89fba 298 for(int i=0; i<sensorNum; i++){
masahikofukasawa 29:b488d2c89fba 299 if(sensor[i]->isEvent()){
masahikofukasawa 29:b488d2c89fba 300 return true;
masahikofukasawa 29:b488d2c89fba 301 }
masahikofukasawa 29:b488d2c89fba 302 }
masahikofukasawa 29:b488d2c89fba 303
masahikofukasawa 29:b488d2c89fba 304 // other events
masahikofukasawa 29:b488d2c89fba 305 return (
masahikofukasawa 0:7a00359e701e 306 eventCommandReceived ||
masahikofukasawa 0:7a00359e701e 307 eventConnected ||
masahikofukasawa 0:7a00359e701e 308 eventDisconnected);
masahikofukasawa 0:7a00359e701e 309 }
masahikofukasawa 0:7a00359e701e 310
masahikofukasawa 0:7a00359e701e 311 void AkmSensorManager::processCommand()
masahikofukasawa 0:7a00359e701e 312 {
tkstreet 23:50c98b286e41 313 // Extracts command contained in the message
masahikofukasawa 0:7a00359e701e 314 Message::Command cmd = msg.getCommand();
masahikofukasawa 0:7a00359e701e 315
tkstreet 21:966724730ce6 316 // Creates a message object to return
masahikofukasawa 0:7a00359e701e 317 Message resMsg;
masahikofukasawa 0:7a00359e701e 318
tkstreet 23:50c98b286e41 319 // Return message contains the extracted command
masahikofukasawa 0:7a00359e701e 320 resMsg.setCommand(cmd);
masahikofukasawa 0:7a00359e701e 321
masahikofukasawa 0:7a00359e701e 322 switch(cmd)
masahikofukasawa 0:7a00359e701e 323 {
masahikofukasawa 0:7a00359e701e 324 case Message::CMD_GET_FW_VERSION:
masahikofukasawa 11:cef8dc1cf010 325 {
masahikofukasawa 0:7a00359e701e 326 resMsg.setArgument(0, FIRMWARE_VERSION);
masahikofukasawa 0:7a00359e701e 327 throwMessage(&resMsg);
masahikofukasawa 11:cef8dc1cf010 328 MSG("#FW version is reported.\r\n");
masahikofukasawa 0:7a00359e701e 329 break;
masahikofukasawa 11:cef8dc1cf010 330 }
masahikofukasawa 0:7a00359e701e 331 case Message::CMD_GET_MAG_PART:
masahikofukasawa 11:cef8dc1cf010 332 {
masahikofukasawa 0:7a00359e701e 333 resMsg.setArgument(0, MAGNETOMETER_ID);
masahikofukasawa 0:7a00359e701e 334 throwMessage(&resMsg);
masahikofukasawa 11:cef8dc1cf010 335 MSG("#Mag ID is reported.\r\n");
masahikofukasawa 0:7a00359e701e 336 break;
masahikofukasawa 11:cef8dc1cf010 337 }
masahikofukasawa 0:7a00359e701e 338 case Message::CMD_SET_SERIAL_TARGET:
masahikofukasawa 11:cef8dc1cf010 339 {
masahikofukasawa 0:7a00359e701e 340 isEnabledBle = msg.getArgument(0)==Message::SW_ON ? true : false;
masahikofukasawa 0:7a00359e701e 341 isEnabledUsb = msg.getArgument(1)==Message::SW_ON ? true : false;
masahikofukasawa 0:7a00359e701e 342 break;
masahikofukasawa 11:cef8dc1cf010 343 }
masahikofukasawa 0:7a00359e701e 344 case Message::CMD_GET_ID: // return Primary ID and Sub ID
masahikofukasawa 11:cef8dc1cf010 345 {
masahikofukasawa 10:5c69b067d88a 346 resMsg.setArgument(0, primaryId);
masahikofukasawa 0:7a00359e701e 347 resMsg.setArgument(1, subId);
masahikofukasawa 0:7a00359e701e 348 throwMessage(&resMsg);
masahikofukasawa 29:b488d2c89fba 349 MSG("#ID is reported.\r\n");
masahikofukasawa 0:7a00359e701e 350 break;
masahikofukasawa 11:cef8dc1cf010 351 }
masahikofukasawa 29:b488d2c89fba 352 case Message::CMD_GET_SENSOR_INDEX:
masahikofukasawa 27:41aa9fb23a2f 353 {
masahikofukasawa 29:b488d2c89fba 354 resMsg.setArgument(0, sensorIndex);
masahikofukasawa 27:41aa9fb23a2f 355 throwMessage(&resMsg);
masahikofukasawa 29:b488d2c89fba 356 MSG("#Get Sensor Index=%d.\r\n", sensorIndex);
masahikofukasawa 27:41aa9fb23a2f 357 break;
masahikofukasawa 27:41aa9fb23a2f 358 }
masahikofukasawa 29:b488d2c89fba 359 case Message::CMD_SET_SENSOR_INDEX:
masahikofukasawa 27:41aa9fb23a2f 360 {
masahikofukasawa 29:b488d2c89fba 361 uint8_t index = (uint8_t)msg.getArgument(0);
masahikofukasawa 30:5a241d9b3262 362 if(msg.getArgNum() == 1 && index<sensorNum){
masahikofukasawa 28:dc4eb14e4d7e 363 resMsg.setArgument(0, 0);
masahikofukasawa 29:b488d2c89fba 364 sensorIndex = index;
masahikofukasawa 29:b488d2c89fba 365 MSG("#Set Sensor Index=%d.\r\n", sensorIndex);
masahikofukasawa 30:5a241d9b3262 366 }else{
masahikofukasawa 30:5a241d9b3262 367 resMsg.setArgument(0, 1);
masahikofukasawa 30:5a241d9b3262 368 MSG("#Error: Set Sensor Index=%d.\r\n", sensorIndex);
masahikofukasawa 29:b488d2c89fba 369 }
masahikofukasawa 28:dc4eb14e4d7e 370 throwMessage(&resMsg);
masahikofukasawa 27:41aa9fb23a2f 371 break;
masahikofukasawa 27:41aa9fb23a2f 372 }
masahikofukasawa 29:b488d2c89fba 373 case Message::CMD_GET_TOTAL_SENSOR_NUM:
masahikofukasawa 27:41aa9fb23a2f 374 {
masahikofukasawa 29:b488d2c89fba 375 resMsg.setArgument(0, sensorNum);
masahikofukasawa 27:41aa9fb23a2f 376 throwMessage(&resMsg);
masahikofukasawa 29:b488d2c89fba 377 MSG("#Get Sensor Total Num=%d.\r\n", sensorNum);
masahikofukasawa 0:7a00359e701e 378 break;
masahikofukasawa 11:cef8dc1cf010 379 }
masahikofukasawa 0:7a00359e701e 380 case Message::CMD_STOP_MEASUREMENT:
masahikofukasawa 11:cef8dc1cf010 381 {
masahikofukasawa 29:b488d2c89fba 382 if( sensor[sensorIndex]->stopSensor() != AkmSensor::SUCCESS){
masahikofukasawa 15:1238993fd75f 383 resMsg.setArgument(0, 1);
masahikofukasawa 15:1238993fd75f 384 }else{
masahikofukasawa 27:41aa9fb23a2f 385 resMsg.setArgument(0, 0);
masahikofukasawa 15:1238993fd75f 386 }
masahikofukasawa 0:7a00359e701e 387 throwMessage(&resMsg);
masahikofukasawa 39:3821886c902e 388
masahikofukasawa 39:3821886c902e 389 detachInterrupt();
masahikofukasawa 39:3821886c902e 390
masahikofukasawa 29:b488d2c89fba 391 MSG("#Stop measurement:%s.\r\n",sensor[sensorIndex]->getSensorName());
masahikofukasawa 0:7a00359e701e 392 break;
masahikofukasawa 11:cef8dc1cf010 393 }
masahikofukasawa 0:7a00359e701e 394 case Message::CMD_START_MEASUREMENT:
masahikofukasawa 11:cef8dc1cf010 395 {
masahikofukasawa 11:cef8dc1cf010 396 int error_code = AkmSensor::SUCCESS;
masahikofukasawa 11:cef8dc1cf010 397 if(msg.getArgNum() == 0){
masahikofukasawa 29:b488d2c89fba 398 error_code = sensor[sensorIndex]->startSensor();
masahikofukasawa 11:cef8dc1cf010 399 if( error_code != AkmSensor::SUCCESS ){
masahikofukasawa 39:3821886c902e 400 MSG("#Error: StartSensor Error. Code=%d\r\n",error_code);
masahikofukasawa 39:3821886c902e 401 }else{
masahikofukasawa 29:b488d2c89fba 402 switch(drdyType){
masahikofukasawa 29:b488d2c89fba 403 case AkmAkd::INTERRUPT_ENABLED_PP:
masahikofukasawa 29:b488d2c89fba 404 {
masahikofukasawa 29:b488d2c89fba 405 interrupt->rise(callback(this, &AkmSensorManager::detectDRDY));
masahikofukasawa 29:b488d2c89fba 406 break;
masahikofukasawa 29:b488d2c89fba 407 }
masahikofukasawa 29:b488d2c89fba 408 case AkmAkd::INTERRUPT_ENABLED_OD:
masahikofukasawa 29:b488d2c89fba 409 {
masahikofukasawa 29:b488d2c89fba 410 interrupt->fall(callback(this, &AkmSensorManager::detectDRDY));
masahikofukasawa 29:b488d2c89fba 411 break;
masahikofukasawa 29:b488d2c89fba 412 }
masahikofukasawa 29:b488d2c89fba 413 default:
masahikofukasawa 29:b488d2c89fba 414 {
masahikofukasawa 29:b488d2c89fba 415 // nothing.
masahikofukasawa 29:b488d2c89fba 416 }
masahikofukasawa 29:b488d2c89fba 417 }
masahikofukasawa 11:cef8dc1cf010 418 }
masahikofukasawa 11:cef8dc1cf010 419 }else if(msg.getArgNum() == 1){
masahikofukasawa 11:cef8dc1cf010 420 float interval = (float)(1.0 / (float)msg.getArgument(0));
masahikofukasawa 29:b488d2c89fba 421 error_code = sensor[sensorIndex]->startSensor(interval);
masahikofukasawa 11:cef8dc1cf010 422 if( error_code != AkmSensor::SUCCESS ){
masahikofukasawa 39:3821886c902e 423 MSG("#Error: StartSensor Error. Code=%d\r\n",error_code);
masahikofukasawa 11:cef8dc1cf010 424 }
masahikofukasawa 11:cef8dc1cf010 425 else{
masahikofukasawa 39:3821886c902e 426 detachInterrupt();
masahikofukasawa 11:cef8dc1cf010 427 }
masahikofukasawa 11:cef8dc1cf010 428 }else{
tkstreet 44:0e251c736282 429 MSG("#Error: StartSensor Error: Wrong number of arguments.\r\n");
masahikofukasawa 11:cef8dc1cf010 430 }
masahikofukasawa 39:3821886c902e 431
masahikofukasawa 11:cef8dc1cf010 432 if(error_code == AkmSensor::SUCCESS){
masahikofukasawa 11:cef8dc1cf010 433 // get initial sensor state for switch type sensors
masahikofukasawa 11:cef8dc1cf010 434 if( primaryId == AkmSensor::AKM_PRIMARY_ID_UNIPOLAR ||
masahikofukasawa 11:cef8dc1cf010 435 primaryId == AkmSensor::AKM_PRIMARY_ID_OMNIPOLAR ||
masahikofukasawa 11:cef8dc1cf010 436 primaryId == AkmSensor::AKM_PRIMARY_ID_LATCH ||
masahikofukasawa 11:cef8dc1cf010 437 primaryId == AkmSensor::AKM_PRIMARY_ID_DUAL_OUTPUT ||
masahikofukasawa 11:cef8dc1cf010 438 primaryId == AkmSensor::AKM_PRIMARY_ID_ONECHIP_ENCODER ){
masahikofukasawa 11:cef8dc1cf010 439 Message temp;
masahikofukasawa 29:b488d2c89fba 440 sensor[sensorIndex]->readSensorData(&temp);
masahikofukasawa 11:cef8dc1cf010 441 throwMessage(&temp);
masahikofukasawa 11:cef8dc1cf010 442 }
masahikofukasawa 0:7a00359e701e 443 }
masahikofukasawa 39:3821886c902e 444
masahikofukasawa 39:3821886c902e 445 MSG("#Start measurement:%s.\r\n",sensor[sensorIndex]->getSensorName());
masahikofukasawa 0:7a00359e701e 446 break;
masahikofukasawa 11:cef8dc1cf010 447 }
tkstreet 33:d3e1e9eb2ef9 448 case Message::CMD_MOTOR_START_MOTOR:
tkstreet 33:d3e1e9eb2ef9 449 case Message::CMD_MOTOR_STOP_MOTOR:
tkstreet 33:d3e1e9eb2ef9 450 case Message::CMD_MOTOR_SET_DIRECTION:
tkstreet 33:d3e1e9eb2ef9 451 case Message::CMD_MOTOR_SET_DUTY_CYCLE:
masahikofukasawa 9:6fa3e7b17c27 452 case Message::CMD_PROGSW_GET_THRESHOLD:
masahikofukasawa 9:6fa3e7b17c27 453 case Message::CMD_PROGSW_SET_THRESHOLD:
masahikofukasawa 9:6fa3e7b17c27 454 case Message::CMD_PROGSW_GET_READ_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 455 case Message::CMD_PROGSW_SET_READ_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 456 case Message::CMD_PROGSW_GET_SWITCH_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 457 case Message::CMD_PROGSW_SET_SWITCH_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 458 case Message::CMD_PROGSW_GET_OPERATION_MODE:
masahikofukasawa 9:6fa3e7b17c27 459 case Message::CMD_PROGSW_SET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 460 case Message::CMD_IR_GET_THRESHOLD:
masahikofukasawa 1:b46b8653331f 461 case Message::CMD_IR_SET_THRESHOLD:
masahikofukasawa 1:b46b8653331f 462 case Message::CMD_IR_GET_HYSTERESIS:
masahikofukasawa 1:b46b8653331f 463 case Message::CMD_IR_SET_HYSTERESIS:
masahikofukasawa 1:b46b8653331f 464 case Message::CMD_IR_GET_INTERRUPT:
masahikofukasawa 1:b46b8653331f 465 case Message::CMD_IR_SET_INTERRUPT:
masahikofukasawa 1:b46b8653331f 466 case Message::CMD_IR_GET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 467 case Message::CMD_IR_SET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 468 case Message::CMD_IR_GET_THRESHOLD_EEPROM:
masahikofukasawa 1:b46b8653331f 469 case Message::CMD_IR_SET_THRESHOLD_EEPROM:
masahikofukasawa 1:b46b8653331f 470 case Message::CMD_IR_GET_HYSTERESIS_EEPROM:
masahikofukasawa 1:b46b8653331f 471 case Message::CMD_IR_SET_HYSTERESIS_EEPROM:
masahikofukasawa 1:b46b8653331f 472 case Message::CMD_IR_GET_INTERRUPT_EEPROM:
masahikofukasawa 1:b46b8653331f 473 case Message::CMD_IR_SET_INTERRUPT_EEPROM:
masahikofukasawa 1:b46b8653331f 474 case Message::CMD_IR_GET_OPERATION_MODE_EEPROM:
masahikofukasawa 1:b46b8653331f 475 case Message::CMD_IR_SET_OPERATION_MODE_EEPROM:
masahikofukasawa 9:6fa3e7b17c27 476 case Message::CMD_ANGLE_ZERO_RESET:
masahikofukasawa 30:5a241d9b3262 477 case Message::CMD_ANGLE_READ:
masahikofukasawa 9:6fa3e7b17c27 478 case Message::CMD_REG_WRITE:
masahikofukasawa 9:6fa3e7b17c27 479 case Message::CMD_REG_WRITEN:
masahikofukasawa 9:6fa3e7b17c27 480 case Message::CMD_REG_READ:
masahikofukasawa 9:6fa3e7b17c27 481 case Message::CMD_REG_READN:
masahikofukasawa 9:6fa3e7b17c27 482 case Message::CMD_COMPASS_GET_OPERATION_MODE:
masahikofukasawa 9:6fa3e7b17c27 483 case Message::CMD_COMPASS_SET_OPERATION_MODE:
masahikofukasawa 11:cef8dc1cf010 484 {
masahikofukasawa 29:b488d2c89fba 485 AkmSensor::Status st = sensor[sensorIndex]->requestCommand(&msg,&resMsg);
masahikofukasawa 15:1238993fd75f 486 if( (resMsg.getArgNum() == 0) && (st != AkmSensor::SUCCESS) )
masahikofukasawa 15:1238993fd75f 487 {
masahikofukasawa 39:3821886c902e 488 MSG("#Error: Command failed.\r\n");
masahikofukasawa 15:1238993fd75f 489 }else{
masahikofukasawa 15:1238993fd75f 490 throwMessage(&resMsg);
masahikofukasawa 15:1238993fd75f 491 }
masahikofukasawa 0:7a00359e701e 492 break;
masahikofukasawa 11:cef8dc1cf010 493 }
masahikofukasawa 0:7a00359e701e 494 default:
masahikofukasawa 11:cef8dc1cf010 495 {
masahikofukasawa 39:3821886c902e 496 MSG("#Error: Can't find command.\r\n");
masahikofukasawa 0:7a00359e701e 497 break;
masahikofukasawa 11:cef8dc1cf010 498 }
masahikofukasawa 0:7a00359e701e 499 }
masahikofukasawa 0:7a00359e701e 500 }
masahikofukasawa 0:7a00359e701e 501
masahikofukasawa 0:7a00359e701e 502 AkmSensorManager::Status AkmSensorManager::processEvent()
masahikofukasawa 0:7a00359e701e 503 {
masahikofukasawa 0:7a00359e701e 504 AkmSensorManager::Status status = AkmSensorManager::SUCCESS;
masahikofukasawa 0:7a00359e701e 505
tkstreet 33:d3e1e9eb2ef9 506 // If event is a command received from BLE
masahikofukasawa 0:7a00359e701e 507 if(eventCommandReceived)
masahikofukasawa 0:7a00359e701e 508 {
masahikofukasawa 16:d85be9bafb80 509 // MSG("#Command received.\r\n");
masahikofukasawa 0:7a00359e701e 510 processCommand();
tkstreet 21:966724730ce6 511 eventCommandReceived = false; // clear the flag
masahikofukasawa 0:7a00359e701e 512 }
masahikofukasawa 29:b488d2c89fba 513
masahikofukasawa 29:b488d2c89fba 514 // check sensor event
masahikofukasawa 29:b488d2c89fba 515 for(int i=0; i<sensorNum; i++){
masahikofukasawa 29:b488d2c89fba 516 if( sensor[i]->isEvent() ){
masahikofukasawa 29:b488d2c89fba 517 Message msg;
masahikofukasawa 29:b488d2c89fba 518 if( sensor[i]->readSensorData(&msg) != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
tkstreet 34:1ea3357c8d9a 519 throwMessage(&msg); // Process and output message to USB/BLE
masahikofukasawa 29:b488d2c89fba 520 }
masahikofukasawa 0:7a00359e701e 521 }
masahikofukasawa 0:7a00359e701e 522
tkstreet 34:1ea3357c8d9a 523 if(eventConnected) // If BLE connected, clear flag and start sensor.
masahikofukasawa 0:7a00359e701e 524 {
tkstreet 21:966724730ce6 525 eventConnected = false; // clear the flag
masahikofukasawa 12:c06cd8b76358 526 MSG("#BLE connected.\r\n");
masahikofukasawa 0:7a00359e701e 527 }
tkstreet 23:50c98b286e41 528
tkstreet 23:50c98b286e41 529 // If event is the BLE being disconnected, stop the sensor
tkstreet 23:50c98b286e41 530 if(eventDisconnected)
masahikofukasawa 0:7a00359e701e 531 {
masahikofukasawa 12:c06cd8b76358 532 MSG("#BLE dis-connected.\r\n");
masahikofukasawa 29:b488d2c89fba 533 for(int i=0; i<sensorNum; i++){
masahikofukasawa 29:b488d2c89fba 534 if( sensor[i]->stopSensor() != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
masahikofukasawa 29:b488d2c89fba 535 }
tkstreet 34:1ea3357c8d9a 536 eventDisconnected = false; // clear the flag
masahikofukasawa 0:7a00359e701e 537 }
masahikofukasawa 0:7a00359e701e 538 return status;
masahikofukasawa 0:7a00359e701e 539 }
masahikofukasawa 0:7a00359e701e 540
masahikofukasawa 0:7a00359e701e 541 AkmSensorManager::Status AkmSensorManager::throwMessage(const Message *msg) {
masahikofukasawa 0:7a00359e701e 542 int len = Message::getMaxMessageLength();
masahikofukasawa 0:7a00359e701e 543 char buf[len];
masahikofukasawa 0:7a00359e701e 544
tkstreet 23:50c98b286e41 545 buf[0] = '$'; // Output message prefix
masahikofukasawa 0:7a00359e701e 546
tkstreet 23:50c98b286e41 547 // Processes command in msg to ASCII
masahikofukasawa 0:7a00359e701e 548 char cmd = (char)msg->getCommand();
masahikofukasawa 0:7a00359e701e 549 Message::charToAscii(&buf[1], &cmd);
masahikofukasawa 0:7a00359e701e 550
tkstreet 23:50c98b286e41 551 // Processes arguments in msg to ASCII
masahikofukasawa 0:7a00359e701e 552 for (int i=0; i < msg->getArgNum(); i++) {
masahikofukasawa 0:7a00359e701e 553 char arg = msg->getArgument(i);
masahikofukasawa 0:7a00359e701e 554 Message::charToAscii(&buf[3+2*i], &arg);
masahikofukasawa 0:7a00359e701e 555 }
masahikofukasawa 0:7a00359e701e 556
masahikofukasawa 0:7a00359e701e 557 // Add termination characters, 0x0D(\r), \n and \0, to the end of string
masahikofukasawa 0:7a00359e701e 558 int tIdx = 3 + 2 * (msg->getArgNum());
masahikofukasawa 0:7a00359e701e 559 int bufSize = sizeof(buf)/sizeof(buf[0]);
masahikofukasawa 0:7a00359e701e 560 if ((tIdx + 3) > (bufSize - 1)) {
masahikofukasawa 11:cef8dc1cf010 561 MSG("#Error: Message data exceeds the buffer.\r\n");
masahikofukasawa 0:7a00359e701e 562 return ERROR;
masahikofukasawa 0:7a00359e701e 563 }
masahikofukasawa 11:cef8dc1cf010 564 buf[tIdx++] = CR; // '\r'
masahikofukasawa 11:cef8dc1cf010 565 buf[tIdx++] = LF; // '\n'
masahikofukasawa 11:cef8dc1cf010 566 buf[tIdx] = '\0';
tkstreet 23:50c98b286e41 567
tkstreet 33:d3e1e9eb2ef9 568 // If BLE is enabled, send to AKDP app
tkstreet 23:50c98b286e41 569 if(isEnabledBle) uartService->writeString(buf);
tkstreet 23:50c98b286e41 570
tkstreet 33:d3e1e9eb2ef9 571 // If USB is enabled, send to serial terminal
masahikofukasawa 0:7a00359e701e 572 if(isEnabledUsb) serial->printf(buf);
masahikofukasawa 0:7a00359e701e 573
masahikofukasawa 0:7a00359e701e 574 return SUCCESS;
masahikofukasawa 12:c06cd8b76358 575 }
masahikofukasawa 13:d008249f0359 576
masahikofukasawa 27:41aa9fb23a2f 577 char* AkmSensorManager::my_strcat(char* str1, char* str2)
masahikofukasawa 27:41aa9fb23a2f 578 {
masahikofukasawa 27:41aa9fb23a2f 579 int num1;
masahikofukasawa 27:41aa9fb23a2f 580 char* str;
masahikofukasawa 27:41aa9fb23a2f 581
masahikofukasawa 27:41aa9fb23a2f 582 num1=strlen(str1) + strlen(str2);
masahikofukasawa 27:41aa9fb23a2f 583 str = (char *)malloc(num1 + 1);
masahikofukasawa 27:41aa9fb23a2f 584 sprintf(str,"%s%s",str1,str2);
masahikofukasawa 27:41aa9fb23a2f 585 return str;
masahikofukasawa 27:41aa9fb23a2f 586 }
masahikofukasawa 27:41aa9fb23a2f 587
masahikofukasawa 13:d008249f0359 588 char* AkmSensorManager::getSensorName(){
masahikofukasawa 29:b488d2c89fba 589 char* name = "";
masahikofukasawa 29:b488d2c89fba 590 for(int i=0; i<sensorNum; i++){
masahikofukasawa 29:b488d2c89fba 591 name = my_strcat(name, sensor[i]->getSensorName());
masahikofukasawa 29:b488d2c89fba 592 if( sensorNum > (i+1) )name = my_strcat(name, "+");
masahikofukasawa 27:41aa9fb23a2f 593 }
masahikofukasawa 27:41aa9fb23a2f 594 MSG("#Sensor Name='%s'.\r\n",name);
masahikofukasawa 27:41aa9fb23a2f 595 return name;
masahikofukasawa 39:3821886c902e 596 }
masahikofukasawa 39:3821886c902e 597
masahikofukasawa 39:3821886c902e 598 void AkmSensorManager::attachInterrupt(){
masahikofukasawa 39:3821886c902e 599 switch(drdyType){
masahikofukasawa 39:3821886c902e 600 case AkmAkd::INTERRUPT_ENABLED_PP:
masahikofukasawa 39:3821886c902e 601 {
masahikofukasawa 39:3821886c902e 602 if(primaryId == AkmSensor::AKM_PRIMARY_ID_AKD_SPI) interrupt = new InterruptIn(SPI_DRDY);
masahikofukasawa 39:3821886c902e 603 else interrupt = new InterruptIn(I2C_DRDY);
masahikofukasawa 39:3821886c902e 604 break;
masahikofukasawa 39:3821886c902e 605 }
masahikofukasawa 39:3821886c902e 606 case AkmAkd::INTERRUPT_ENABLED_OD:
masahikofukasawa 39:3821886c902e 607 {
masahikofukasawa 39:3821886c902e 608 if(primaryId == AkmSensor::AKM_PRIMARY_ID_AKD_SPI) interrupt = new InterruptIn(SPI_DRDY);
masahikofukasawa 39:3821886c902e 609 else interrupt = new InterruptIn(I2C_DRDY);
masahikofukasawa 39:3821886c902e 610 break;
masahikofukasawa 39:3821886c902e 611 }
masahikofukasawa 39:3821886c902e 612 default:
masahikofukasawa 39:3821886c902e 613 {
masahikofukasawa 39:3821886c902e 614 // nothing.
masahikofukasawa 39:3821886c902e 615 }
masahikofukasawa 39:3821886c902e 616 }
masahikofukasawa 39:3821886c902e 617 }
masahikofukasawa 39:3821886c902e 618
masahikofukasawa 39:3821886c902e 619 void AkmSensorManager::detachInterrupt(){
masahikofukasawa 39:3821886c902e 620 switch(drdyType){
masahikofukasawa 39:3821886c902e 621 case AkmAkd::INTERRUPT_ENABLED_PP:
masahikofukasawa 39:3821886c902e 622 {
masahikofukasawa 39:3821886c902e 623 interrupt->rise(NULL);
masahikofukasawa 39:3821886c902e 624 break;
masahikofukasawa 39:3821886c902e 625 }
masahikofukasawa 39:3821886c902e 626 case AkmAkd::INTERRUPT_ENABLED_OD:
masahikofukasawa 39:3821886c902e 627 {
masahikofukasawa 39:3821886c902e 628 interrupt->fall(NULL);
masahikofukasawa 39:3821886c902e 629 break;
masahikofukasawa 39:3821886c902e 630 }
masahikofukasawa 39:3821886c902e 631 default:
masahikofukasawa 39:3821886c902e 632 {
masahikofukasawa 39:3821886c902e 633 // nothing.
masahikofukasawa 39:3821886c902e 634 }
masahikofukasawa 39:3821886c902e 635 }
masahikofukasawa 13:d008249f0359 636 }