Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

akmsensormanager.cpp@34:1ea3357c8d9a, 2017-05-03 (annotated)

Committer:
tkstreet
Date:
Wed May 03 18:00:45 2017 +0000
Revision:
34:1ea3357c8d9a
Parent:
30:5a241d9b3262
Parent:
33:d3e1e9eb2ef9
Child:
37:c76d2edf3426
Release RevD7.015.  Merged D7.014 with new documentation and updates to AP1017 driver.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
masahikofukasawa 0:7a00359e701e 1 #include "ble/services/UARTService.h"
masahikofukasawa 15:1238993fd75f 2 #include "akdphwinfo.h"
masahikofukasawa 0:7a00359e701e 3 #include "akmsensormanager.h"
masahikofukasawa 0:7a00359e701e 4 #include "akmhallswitch.h"
masahikofukasawa 11:cef8dc1cf010 5 #include "akmanalogsensor.h"
masahikofukasawa 10:5c69b067d88a 6 #include "ak09970ctrl.h"
masahikofukasawa 10:5c69b067d88a 7 #include "ak9750ctrl.h"
masahikofukasawa 10:5c69b067d88a 8 #include "ak9752ctrl.h"
masahikofukasawa 11:cef8dc1cf010 9 #include "ak7451ctrl.h"
masahikofukasawa 10:5c69b067d88a 10 #include "ak7401ctrl.h"
tkstreet 33:d3e1e9eb2ef9 11 #include "ap1017ctrl.h"
masahikofukasawa 0:7a00359e701e 12 #include "akmakd.h"
masahikofukasawa 0:7a00359e701e 13 #include "debug.h"
masahikofukasawa 0:7a00359e701e 14 #include "Message.h"
coisme 2:11fe67783c4c 15 #include "mcp342x.h"
masahikofukasawa 6:c4401549d68f 16 #include "I2CNano.h"
masahikofukasawa 0:7a00359e701e 17
masahikofukasawa 0:7a00359e701e 18 #define MAGNETOMETER_ID 0x0A
masahikofukasawa 0:7a00359e701e 19
masahikofukasawa 0:7a00359e701e 20 #define CONV16I(high,low) ((int16_t)(((high) << 8) | (low)))
masahikofukasawa 0:7a00359e701e 21
masahikofukasawa 0:7a00359e701e 22
masahikofukasawa 10:5c69b067d88a 23 const char* AKM_PRIMARY_ID_STR[] = {
masahikofukasawa 7:e269411568c9 24 "AKD Daughter Cards(SPI)",
masahikofukasawa 0:7a00359e701e 25 "Switch, Unipolar",
masahikofukasawa 0:7a00359e701e 26 "Switch, Onmipolar",
masahikofukasawa 0:7a00359e701e 27 "Latch, Bipolar",
masahikofukasawa 0:7a00359e701e 28 "Switch, Dual Output",
masahikofukasawa 0:7a00359e701e 29 "Onechip Encoder",
masahikofukasawa 0:7a00359e701e 30 "TBD1",
masahikofukasawa 0:7a00359e701e 31 "TBD2",
masahikofukasawa 27:41aa9fb23a2f 32 "DEMO",
masahikofukasawa 0:7a00359e701e 33 "Current Sensor",
masahikofukasawa 0:7a00359e701e 34 "MISC(Analog)",
masahikofukasawa 0:7a00359e701e 35 "Linear Sensor",
masahikofukasawa 18:b7182d5ad8d5 36 "Motor Drivers",
masahikofukasawa 1:b46b8653331f 37 "IR Sensor",
masahikofukasawa 7:e269411568c9 38 "Angle Sensor(SPI)",
masahikofukasawa 10:5c69b067d88a 39 "AKD Daughter Cards(I2C)"
masahikofukasawa 0:7a00359e701e 40 };
masahikofukasawa 0:7a00359e701e 41
masahikofukasawa 13:d008249f0359 42 AkmSensorManager::AkmSensorManager(SerialNano* com)
masahikofukasawa 0:7a00359e701e 43 {
masahikofukasawa 0:7a00359e701e 44 serial = com;
masahikofukasawa 0:7a00359e701e 45 isEnabledUsb = true;
masahikofukasawa 0:7a00359e701e 46 eventCommandReceived = false;
masahikofukasawa 0:7a00359e701e 47 eventConnected = false;
masahikofukasawa 0:7a00359e701e 48 eventDisconnected = false;
masahikofukasawa 29:b488d2c89fba 49 interrupt = NULL;
masahikofukasawa 29:b488d2c89fba 50 sensorIndex = 0;
masahikofukasawa 29:b488d2c89fba 51 sensorNum = 0;
masahikofukasawa 29:b488d2c89fba 52 drdyType = AkmAkd::INTERRUPT_DISABLED;
masahikofukasawa 0:7a00359e701e 53 }
masahikofukasawa 0:7a00359e701e 54
masahikofukasawa 10:5c69b067d88a 55 AkmSensorManager::Status AkmSensorManager::init(uint8_t id, uint8_t subid)
masahikofukasawa 0:7a00359e701e 56 {
masahikofukasawa 10:5c69b067d88a 57 primaryId = id;
masahikofukasawa 10:5c69b067d88a 58 subId = subid;
masahikofukasawa 29:b488d2c89fba 59 sensorIndex = 0;
masahikofukasawa 29:b488d2c89fba 60 sensorNum = 0;
masahikofukasawa 27:41aa9fb23a2f 61 if(AkmSensorManager::checkAkmSensor()!= true) return AkmSensorManager::ERROR;
masahikofukasawa 0:7a00359e701e 62 return AkmSensorManager::SUCCESS;
masahikofukasawa 0:7a00359e701e 63 }
masahikofukasawa 0:7a00359e701e 64
masahikofukasawa 13:d008249f0359 65
masahikofukasawa 13:d008249f0359 66 void AkmSensorManager::setBleUartService(UARTService* service)
masahikofukasawa 13:d008249f0359 67 {
masahikofukasawa 13:d008249f0359 68 uartService = service;
masahikofukasawa 13:d008249f0359 69 isEnabledBle = true;
masahikofukasawa 13:d008249f0359 70 }
masahikofukasawa 13:d008249f0359 71
masahikofukasawa 0:7a00359e701e 72 void AkmSensorManager::setEventConnected()
masahikofukasawa 0:7a00359e701e 73 {
masahikofukasawa 0:7a00359e701e 74 eventConnected = true;
masahikofukasawa 0:7a00359e701e 75 }
masahikofukasawa 0:7a00359e701e 76
masahikofukasawa 0:7a00359e701e 77 void AkmSensorManager::setEventDisconnected()
masahikofukasawa 0:7a00359e701e 78 {
masahikofukasawa 0:7a00359e701e 79 eventDisconnected = true;
masahikofukasawa 0:7a00359e701e 80 }
masahikofukasawa 0:7a00359e701e 81
masahikofukasawa 27:41aa9fb23a2f 82 bool AkmSensorManager::checkAkmSensor()
masahikofukasawa 29:b488d2c89fba 83 {
masahikofukasawa 29:b488d2c89fba 84 sensorNum = 0;
masahikofukasawa 29:b488d2c89fba 85
masahikofukasawa 29:b488d2c89fba 86 // int i=0;
masahikofukasawa 29:b488d2c89fba 87 // while(sensor[i] != NULL){
masahikofukasawa 29:b488d2c89fba 88 // delete(sensor[i]);
masahikofukasawa 29:b488d2c89fba 89 // i++;
masahikofukasawa 29:b488d2c89fba 90 // }
masahikofukasawa 29:b488d2c89fba 91 if(interrupt) delete interrupt;
masahikofukasawa 29:b488d2c89fba 92 drdyType = AkmAkd::INTERRUPT_DISABLED;
masahikofukasawa 0:7a00359e701e 93
masahikofukasawa 10:5c69b067d88a 94 switch(primaryId){
masahikofukasawa 17:9abb7c28709c 95
masahikofukasawa 7:e269411568c9 96 case AkmSensor::AKM_PRIMARY_ID_AKD_SPI:
masahikofukasawa 29:b488d2c89fba 97 {
masahikofukasawa 29:b488d2c89fba 98 MSG("#SPI Interface.\r\n");
masahikofukasawa 29:b488d2c89fba 99 }
masahikofukasawa 0:7a00359e701e 100 case AkmSensor::AKM_PRIMARY_ID_AKD_I2C:
masahikofukasawa 10:5c69b067d88a 101 {
masahikofukasawa 29:b488d2c89fba 102 if(subId == Ak09970Ctrl::SUB_ID_AK09970){
masahikofukasawa 29:b488d2c89fba 103 drdyType = AkmAkd::INTERRUPT_ENABLED_PP; // Only support push-pull
masahikofukasawa 29:b488d2c89fba 104 Ak09970Ctrl* ak09970 = new Ak09970Ctrl();
masahikofukasawa 29:b488d2c89fba 105 sensor[0] = ak09970;
masahikofukasawa 29:b488d2c89fba 106 sensorNum = 1;
masahikofukasawa 29:b488d2c89fba 107 MSG("#AK09970.\r\n");
masahikofukasawa 10:5c69b067d88a 108 }
masahikofukasawa 10:5c69b067d88a 109 else{
masahikofukasawa 29:b488d2c89fba 110 AkmAkd* akd = new AkmAkd();
masahikofukasawa 29:b488d2c89fba 111 drdyType = akd->getInterrupt(primaryId, subId);
masahikofukasawa 29:b488d2c89fba 112 sensor[0] = akd;
masahikofukasawa 29:b488d2c89fba 113 sensorNum = 1;
masahikofukasawa 29:b488d2c89fba 114 MSG("#e-Compass.\r\n");
masahikofukasawa 10:5c69b067d88a 115 }
masahikofukasawa 0:7a00359e701e 116 break;
masahikofukasawa 29:b488d2c89fba 117 }
masahikofukasawa 0:7a00359e701e 118 case AkmSensor::AKM_PRIMARY_ID_ANGLE_SENSOR:
masahikofukasawa 10:5c69b067d88a 119 {
masahikofukasawa 11:cef8dc1cf010 120 if(subId == Ak7451Ctrl::SUB_ID_AK7451){
masahikofukasawa 11:cef8dc1cf010 121 Ak7451Ctrl* ak7451ctrl = new Ak7451Ctrl();
masahikofukasawa 27:41aa9fb23a2f 122 sensor[0] = ak7451ctrl;
masahikofukasawa 29:b488d2c89fba 123 sensorNum = 1;
masahikofukasawa 10:5c69b067d88a 124 }
masahikofukasawa 10:5c69b067d88a 125 else if(subId == Ak7401Ctrl::SUB_ID_AK7401){
masahikofukasawa 10:5c69b067d88a 126 Ak7401Ctrl* ak7401ctrl = new Ak7401Ctrl();
masahikofukasawa 27:41aa9fb23a2f 127 sensor[0] = ak7401ctrl;
masahikofukasawa 29:b488d2c89fba 128 sensorNum = 1;
masahikofukasawa 10:5c69b067d88a 129 }
masahikofukasawa 0:7a00359e701e 130 break;
masahikofukasawa 29:b488d2c89fba 131 }
masahikofukasawa 17:9abb7c28709c 132
masahikofukasawa 0:7a00359e701e 133 case AkmSensor::AKM_PRIMARY_ID_UNIPOLAR:
masahikofukasawa 0:7a00359e701e 134 case AkmSensor::AKM_PRIMARY_ID_OMNIPOLAR:
masahikofukasawa 0:7a00359e701e 135 case AkmSensor::AKM_PRIMARY_ID_LATCH:
masahikofukasawa 0:7a00359e701e 136 case AkmSensor::AKM_PRIMARY_ID_DUAL_OUTPUT:
masahikofukasawa 0:7a00359e701e 137 case AkmSensor::AKM_PRIMARY_ID_ONECHIP_ENCODER:
masahikofukasawa 10:5c69b067d88a 138 {
masahikofukasawa 10:5c69b067d88a 139 AkmHallSwitch* hallswitch = new AkmHallSwitch();
masahikofukasawa 27:41aa9fb23a2f 140 sensor[0] = hallswitch;
masahikofukasawa 29:b488d2c89fba 141 sensorNum = 1;
masahikofukasawa 0:7a00359e701e 142 break;
masahikofukasawa 10:5c69b067d88a 143 }
masahikofukasawa 27:41aa9fb23a2f 144 case AkmSensor::AKM_PRIMARY_ID_DEMO:
masahikofukasawa 27:41aa9fb23a2f 145 {
masahikofukasawa 29:b488d2c89fba 146 if(subId == 0x08){
masahikofukasawa 29:b488d2c89fba 147 drdyType = AkmAkd::INTERRUPT_ENABLED_OD; // Only support open drain type DRDY
masahikofukasawa 29:b488d2c89fba 148
masahikofukasawa 29:b488d2c89fba 149 Ak09970Ctrl* ak09970 = new Ak09970Ctrl();
masahikofukasawa 29:b488d2c89fba 150 sensor[0] = ak09970;
masahikofukasawa 29:b488d2c89fba 151 if(sensor[0]->init(AkmSensor::AKM_PRIMARY_ID_AKD_I2C, Ak09970Ctrl::SUB_ID_AK09970) != AkmSensor::SUCCESS){
masahikofukasawa 29:b488d2c89fba 152 MSG("#sensor[0]->init failed.\r\n");
masahikofukasawa 27:41aa9fb23a2f 153 return false; // couldn't find
masahikofukasawa 29:b488d2c89fba 154 }
masahikofukasawa 29:b488d2c89fba 155
masahikofukasawa 29:b488d2c89fba 156 Ak9752Ctrl* ak9752ctrl = new Ak9752Ctrl();
masahikofukasawa 29:b488d2c89fba 157 sensor[1] = ak9752ctrl;
masahikofukasawa 29:b488d2c89fba 158 if(sensor[1]->init(AkmSensor::AKM_PRIMARY_ID_IR_SENSOR, Ak9752Ctrl::SUB_ID_AK9752) != AkmSensor::SUCCESS){
masahikofukasawa 29:b488d2c89fba 159 MSG("#sensor[1]->init failed.\r\n");
masahikofukasawa 27:41aa9fb23a2f 160 return false; // couldn't find
masahikofukasawa 29:b488d2c89fba 161 }
masahikofukasawa 29:b488d2c89fba 162 sensorNum = 2;
masahikofukasawa 27:41aa9fb23a2f 163 }
masahikofukasawa 29:b488d2c89fba 164 break;
masahikofukasawa 27:41aa9fb23a2f 165 }
masahikofukasawa 4:af13b985c689 166 case AkmSensor::AKM_PRIMARY_ID_LINEAR_SENSOR:
masahikofukasawa 10:5c69b067d88a 167 case AkmSensor::AKM_PRIMARY_ID_CURRENT_SENSOR:
masahikofukasawa 10:5c69b067d88a 168 case AkmSensor::AKM_PRIMARY_ID_MISC_ANALOG:
masahikofukasawa 10:5c69b067d88a 169 {
masahikofukasawa 11:cef8dc1cf010 170 AkmAnalogSensor* analogsensor = new AkmAnalogSensor();
masahikofukasawa 27:41aa9fb23a2f 171 sensor[0] = analogsensor;
masahikofukasawa 29:b488d2c89fba 172 sensorNum = 1;
masahikofukasawa 0:7a00359e701e 173 break;
masahikofukasawa 10:5c69b067d88a 174 }
masahikofukasawa 17:9abb7c28709c 175
masahikofukasawa 1:b46b8653331f 176 case AkmSensor::AKM_PRIMARY_ID_IR_SENSOR:
masahikofukasawa 10:5c69b067d88a 177 {
masahikofukasawa 29:b488d2c89fba 178 drdyType = AkmAkd::INTERRUPT_ENABLED_OD;
masahikofukasawa 29:b488d2c89fba 179
masahikofukasawa 10:5c69b067d88a 180 if(subId == Ak9750Ctrl::SUB_ID_AK9750){
masahikofukasawa 10:5c69b067d88a 181 Ak9750Ctrl* ak9750ctrl = new Ak9750Ctrl();
masahikofukasawa 27:41aa9fb23a2f 182 sensor[0] = ak9750ctrl;
masahikofukasawa 29:b488d2c89fba 183 sensorNum = 1;
masahikofukasawa 15:1238993fd75f 184 }else if(subId == Ak9750Ctrl::SUB_ID_AK9753){
masahikofukasawa 15:1238993fd75f 185 Ak9750Ctrl* ak9753ctrl = new Ak9750Ctrl();
masahikofukasawa 27:41aa9fb23a2f 186 sensor[0] = ak9753ctrl;
masahikofukasawa 29:b488d2c89fba 187 sensorNum = 1;
masahikofukasawa 10:5c69b067d88a 188 }else if(subId == Ak9752Ctrl::SUB_ID_AK9752){
masahikofukasawa 10:5c69b067d88a 189 Ak9752Ctrl* ak9752ctrl = new Ak9752Ctrl();
masahikofukasawa 27:41aa9fb23a2f 190 sensor[0] = ak9752ctrl;
masahikofukasawa 29:b488d2c89fba 191 sensorNum = 1;
masahikofukasawa 10:5c69b067d88a 192 }else{
masahikofukasawa 27:41aa9fb23a2f 193 return false; // couldn't find
masahikofukasawa 10:5c69b067d88a 194 }
masahikofukasawa 1:b46b8653331f 195 break;
masahikofukasawa 10:5c69b067d88a 196 }
tkstreet 33:d3e1e9eb2ef9 197 case AkmSensor::AKM_PRIMARY_ID_MOTOR_DRIVER:
tkstreet 33:d3e1e9eb2ef9 198 { // TODO: Other motor driver cases
tkstreet 33:d3e1e9eb2ef9 199 if(subId == Ap1017Ctrl::SUB_ID_AP1017){
tkstreet 33:d3e1e9eb2ef9 200 Ap1017Ctrl* ap1017ctrl = new Ap1017Ctrl();
tkstreet 34:1ea3357c8d9a 201 sensor[0] = ap1017ctrl;
tkstreet 34:1ea3357c8d9a 202 sensorNum = 1;
tkstreet 33:d3e1e9eb2ef9 203 }else{
tkstreet 33:d3e1e9eb2ef9 204 return NULL;
tkstreet 33:d3e1e9eb2ef9 205 }
tkstreet 33:d3e1e9eb2ef9 206 break;
tkstreet 33:d3e1e9eb2ef9 207 }
masahikofukasawa 0:7a00359e701e 208 default:
masahikofukasawa 10:5c69b067d88a 209 {
masahikofukasawa 17:9abb7c28709c 210 MSG("#Can't find ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
masahikofukasawa 27:41aa9fb23a2f 211 return false; // couldn't find
masahikofukasawa 10:5c69b067d88a 212 }
masahikofukasawa 0:7a00359e701e 213 }
masahikofukasawa 29:b488d2c89fba 214
masahikofukasawa 29:b488d2c89fba 215 if(primaryId != AkmSensor::AKM_PRIMARY_ID_DEMO){
masahikofukasawa 29:b488d2c89fba 216 for(int i=0; i<sensorNum; i++){
masahikofukasawa 29:b488d2c89fba 217 if(sensor[i]->init(primaryId, subId) != AkmSensor::SUCCESS){
masahikofukasawa 29:b488d2c89fba 218 MSG("#sensor[i]->init failed. ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
masahikofukasawa 29:b488d2c89fba 219 return false; // couldn't find
masahikofukasawa 29:b488d2c89fba 220 }
masahikofukasawa 29:b488d2c89fba 221 }
masahikofukasawa 27:41aa9fb23a2f 222 MSG("#ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
masahikofukasawa 0:7a00359e701e 223 }
masahikofukasawa 29:b488d2c89fba 224
masahikofukasawa 27:41aa9fb23a2f 225 return true;
masahikofukasawa 0:7a00359e701e 226 }
masahikofukasawa 0:7a00359e701e 227
masahikofukasawa 29:b488d2c89fba 228 void AkmSensorManager::detectDRDY(){
masahikofukasawa 29:b488d2c89fba 229 // MSG("#detect DRDY.\r\n");
masahikofukasawa 29:b488d2c89fba 230 for(int i=0; i<sensorNum; i++){
masahikofukasawa 29:b488d2c89fba 231 sensor[i]->setEvent();
masahikofukasawa 29:b488d2c89fba 232 }
masahikofukasawa 29:b488d2c89fba 233 }
masahikofukasawa 29:b488d2c89fba 234
masahikofukasawa 16:d85be9bafb80 235 void AkmSensorManager::dummyCallbackForCommandReceived(){}
masahikofukasawa 16:d85be9bafb80 236
tkstreet 33:d3e1e9eb2ef9 237
tkstreet 33:d3e1e9eb2ef9 238 // For commands received via BLE
masahikofukasawa 0:7a00359e701e 239 AkmSensorManager::Status AkmSensorManager::commandReceived(char* buf){
masahikofukasawa 0:7a00359e701e 240 // Construct message
masahikofukasawa 0:7a00359e701e 241 Status status = SUCCESS;
masahikofukasawa 0:7a00359e701e 242
masahikofukasawa 10:5c69b067d88a 243 if ((Message::parse(&msg, buf)) != Message::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 244 MSG("#Failed to parse message. %s\r\n", buf);
masahikofukasawa 0:7a00359e701e 245 status = ERROR;
tkstreet 33:d3e1e9eb2ef9 246 eventCommandReceived = false; // Reset flag
masahikofukasawa 15:1238993fd75f 247 }else{
tkstreet 33:d3e1e9eb2ef9 248 eventCommandReceived = true; // Set flag
masahikofukasawa 16:d85be9bafb80 249 // MSG("#Parsed message. %s\r\n", buf);
masahikofukasawa 0:7a00359e701e 250 }
masahikofukasawa 16:d85be9bafb80 251 t.attach(callback(this, &AkmSensorManager::dummyCallbackForCommandReceived),0); // wake-up from ble.waitForEvent
masahikofukasawa 0:7a00359e701e 252 return status;
masahikofukasawa 0:7a00359e701e 253 }
masahikofukasawa 0:7a00359e701e 254
tkstreet 33:d3e1e9eb2ef9 255
coisme 2:11fe67783c4c 256 int16_t AkmSensorManager::getAdcData(MCP342X *mcp3428, MCP342X::AdcChannel ch, MCP342X::SampleSetting s) {
coisme 2:11fe67783c4c 257 const int WAIT_ADC_MS = 1;
coisme 2:11fe67783c4c 258
coisme 2:11fe67783c4c 259 // Configure channel and trigger.
coisme 2:11fe67783c4c 260 mcp3428->setChannel(ch);
coisme 2:11fe67783c4c 261 mcp3428->setSampleSetting(s);
coisme 2:11fe67783c4c 262 mcp3428->trigger();
coisme 2:11fe67783c4c 263
coisme 2:11fe67783c4c 264 // polling data (!blocking)
coisme 2:11fe67783c4c 265 MCP342X::Data data;
coisme 2:11fe67783c4c 266 do {
coisme 2:11fe67783c4c 267 wait_ms(WAIT_ADC_MS);
coisme 2:11fe67783c4c 268 mcp3428->getData(&data);
coisme 2:11fe67783c4c 269 } while(data.st == MCP342X::DATA_NOT_UPDATED);
coisme 2:11fe67783c4c 270
coisme 2:11fe67783c4c 271 return data.value;
coisme 2:11fe67783c4c 272 }
masahikofukasawa 0:7a00359e701e 273
tkstreet 33:d3e1e9eb2ef9 274
masahikofukasawa 0:7a00359e701e 275 uint8_t AkmSensorManager::getId(PinName pin, uint8_t bits)
masahikofukasawa 0:7a00359e701e 276 {
masahikofukasawa 11:cef8dc1cf010 277 MSG("#GetID\r\n");
masahikofukasawa 6:c4401549d68f 278
tkstreet 21:966724730ce6 279 I2C i2c(I2C_SDA, I2C_SCL); // establish I2C to read ID
tkstreet 21:966724730ce6 280
coisme 2:11fe67783c4c 281 // ADC
tkstreet 21:966724730ce6 282 MCP342X mcp342x(&i2c, MCP342X::SLAVE_ADDRESS_6EH); // ADC to convert voltage
tkstreet 21:966724730ce6 283 mcp342x.setConversionMode(MCP342X::ONE_SHOT); // Set to single sample
coisme 2:11fe67783c4c 284 MCP342X::AdcChannel ch;
tkstreet 21:966724730ce6 285
tkstreet 21:966724730ce6 286 if (pin == ANALOG_SENSOR_ID) { // Primary ID
coisme 2:11fe67783c4c 287 ch = MCP342X::ADC_CH1;
tkstreet 21:966724730ce6 288 } else { // pin == ANALOG_SENSOR_ID_SUB
tkstreet 21:966724730ce6 289 ch = MCP342X::ADC_CH2; // Secondary ID
coisme 2:11fe67783c4c 290 }
tkstreet 21:966724730ce6 291
coisme 2:11fe67783c4c 292 int16_t val = getAdcData(&mcp342x, ch, MCP342X::SAMPLE_240HZ_12BIT);
masahikofukasawa 11:cef8dc1cf010 293 MSG("#12bit ADC Val = %d.\r\n", val);
coisme 2:11fe67783c4c 294
tkstreet 21:966724730ce6 295 // Voltage boundaries for ID voltage divider system
coisme 2:11fe67783c4c 296 const int16_t VAL_MAX = 3000-2048; // Corresponds to 3V
coisme 2:11fe67783c4c 297 const int16_t VAL_MIN = -2048; // Corresponds to 0V
coisme 2:11fe67783c4c 298
tkstreet 21:966724730ce6 299 // Convert voltage to ID value
masahikofukasawa 6:c4401549d68f 300 uint8_t value = (uint8_t)((val - VAL_MIN)/(float)(VAL_MAX - VAL_MIN) * (1 << bits) + 0.5);
masahikofukasawa 11:cef8dc1cf010 301 MSG("#ID = %d.\r\n", value);
masahikofukasawa 6:c4401549d68f 302
masahikofukasawa 0:7a00359e701e 303 return value;
masahikofukasawa 0:7a00359e701e 304 }
masahikofukasawa 0:7a00359e701e 305
tkstreet 33:d3e1e9eb2ef9 306
masahikofukasawa 0:7a00359e701e 307 bool AkmSensorManager::isEvent()
masahikofukasawa 0:7a00359e701e 308 {
masahikofukasawa 29:b488d2c89fba 309 // check sensor related event
masahikofukasawa 29:b488d2c89fba 310 for(int i=0; i<sensorNum; i++){
masahikofukasawa 29:b488d2c89fba 311 if(sensor[i]->isEvent()){
masahikofukasawa 29:b488d2c89fba 312 return true;
masahikofukasawa 29:b488d2c89fba 313 }
masahikofukasawa 29:b488d2c89fba 314 }
masahikofukasawa 29:b488d2c89fba 315
masahikofukasawa 29:b488d2c89fba 316 // other events
masahikofukasawa 29:b488d2c89fba 317 return (
masahikofukasawa 0:7a00359e701e 318 eventCommandReceived ||
masahikofukasawa 0:7a00359e701e 319 eventConnected ||
masahikofukasawa 0:7a00359e701e 320 eventDisconnected);
masahikofukasawa 0:7a00359e701e 321 }
masahikofukasawa 0:7a00359e701e 322
masahikofukasawa 0:7a00359e701e 323 void AkmSensorManager::processCommand()
masahikofukasawa 0:7a00359e701e 324 {
tkstreet 23:50c98b286e41 325 // Extracts command contained in the message
masahikofukasawa 0:7a00359e701e 326 Message::Command cmd = msg.getCommand();
masahikofukasawa 0:7a00359e701e 327
tkstreet 21:966724730ce6 328 // Creates a message object to return
masahikofukasawa 0:7a00359e701e 329 Message resMsg;
masahikofukasawa 0:7a00359e701e 330
tkstreet 23:50c98b286e41 331 // Return message contains the extracted command
masahikofukasawa 0:7a00359e701e 332 resMsg.setCommand(cmd);
masahikofukasawa 0:7a00359e701e 333
masahikofukasawa 0:7a00359e701e 334 switch(cmd)
masahikofukasawa 0:7a00359e701e 335 {
masahikofukasawa 0:7a00359e701e 336 case Message::CMD_GET_FW_VERSION:
masahikofukasawa 11:cef8dc1cf010 337 {
masahikofukasawa 0:7a00359e701e 338 resMsg.setArgument(0, FIRMWARE_VERSION);
masahikofukasawa 0:7a00359e701e 339 throwMessage(&resMsg);
masahikofukasawa 11:cef8dc1cf010 340 MSG("#FW version is reported.\r\n");
masahikofukasawa 0:7a00359e701e 341 break;
masahikofukasawa 11:cef8dc1cf010 342 }
masahikofukasawa 0:7a00359e701e 343 case Message::CMD_GET_MAG_PART:
masahikofukasawa 11:cef8dc1cf010 344 {
masahikofukasawa 0:7a00359e701e 345 resMsg.setArgument(0, MAGNETOMETER_ID);
masahikofukasawa 0:7a00359e701e 346 throwMessage(&resMsg);
masahikofukasawa 11:cef8dc1cf010 347 MSG("#Mag ID is reported.\r\n");
masahikofukasawa 0:7a00359e701e 348 break;
masahikofukasawa 11:cef8dc1cf010 349 }
masahikofukasawa 0:7a00359e701e 350 case Message::CMD_SET_SERIAL_TARGET:
masahikofukasawa 11:cef8dc1cf010 351 {
masahikofukasawa 0:7a00359e701e 352 isEnabledBle = msg.getArgument(0)==Message::SW_ON ? true : false;
masahikofukasawa 0:7a00359e701e 353 isEnabledUsb = msg.getArgument(1)==Message::SW_ON ? true : false;
masahikofukasawa 0:7a00359e701e 354 break;
masahikofukasawa 11:cef8dc1cf010 355 }
masahikofukasawa 0:7a00359e701e 356 case Message::CMD_GET_ID: // return Primary ID and Sub ID
masahikofukasawa 11:cef8dc1cf010 357 {
masahikofukasawa 10:5c69b067d88a 358 resMsg.setArgument(0, primaryId);
masahikofukasawa 0:7a00359e701e 359 resMsg.setArgument(1, subId);
masahikofukasawa 0:7a00359e701e 360 throwMessage(&resMsg);
masahikofukasawa 29:b488d2c89fba 361 MSG("#ID is reported.\r\n");
masahikofukasawa 0:7a00359e701e 362 break;
masahikofukasawa 11:cef8dc1cf010 363 }
masahikofukasawa 29:b488d2c89fba 364 case Message::CMD_GET_SENSOR_INDEX:
masahikofukasawa 27:41aa9fb23a2f 365 {
masahikofukasawa 29:b488d2c89fba 366 resMsg.setArgument(0, sensorIndex);
masahikofukasawa 27:41aa9fb23a2f 367 throwMessage(&resMsg);
masahikofukasawa 29:b488d2c89fba 368 MSG("#Get Sensor Index=%d.\r\n", sensorIndex);
masahikofukasawa 27:41aa9fb23a2f 369 break;
masahikofukasawa 27:41aa9fb23a2f 370 }
masahikofukasawa 29:b488d2c89fba 371 case Message::CMD_SET_SENSOR_INDEX:
masahikofukasawa 27:41aa9fb23a2f 372 {
masahikofukasawa 29:b488d2c89fba 373 uint8_t index = (uint8_t)msg.getArgument(0);
masahikofukasawa 30:5a241d9b3262 374 if(msg.getArgNum() == 1 && index<sensorNum){
masahikofukasawa 28:dc4eb14e4d7e 375 resMsg.setArgument(0, 0);
masahikofukasawa 29:b488d2c89fba 376 sensorIndex = index;
masahikofukasawa 29:b488d2c89fba 377 MSG("#Set Sensor Index=%d.\r\n", sensorIndex);
masahikofukasawa 30:5a241d9b3262 378 }else{
masahikofukasawa 30:5a241d9b3262 379 resMsg.setArgument(0, 1);
masahikofukasawa 30:5a241d9b3262 380 MSG("#Error: Set Sensor Index=%d.\r\n", sensorIndex);
masahikofukasawa 29:b488d2c89fba 381 }
masahikofukasawa 28:dc4eb14e4d7e 382 throwMessage(&resMsg);
masahikofukasawa 27:41aa9fb23a2f 383 break;
masahikofukasawa 27:41aa9fb23a2f 384 }
masahikofukasawa 29:b488d2c89fba 385 case Message::CMD_GET_TOTAL_SENSOR_NUM:
masahikofukasawa 27:41aa9fb23a2f 386 {
masahikofukasawa 29:b488d2c89fba 387 resMsg.setArgument(0, sensorNum);
masahikofukasawa 27:41aa9fb23a2f 388 throwMessage(&resMsg);
masahikofukasawa 29:b488d2c89fba 389 MSG("#Get Sensor Total Num=%d.\r\n", sensorNum);
masahikofukasawa 0:7a00359e701e 390 break;
masahikofukasawa 11:cef8dc1cf010 391 }
masahikofukasawa 0:7a00359e701e 392 case Message::CMD_STOP_MEASUREMENT:
masahikofukasawa 11:cef8dc1cf010 393 {
masahikofukasawa 29:b488d2c89fba 394 if( sensor[sensorIndex]->stopSensor() != AkmSensor::SUCCESS){
masahikofukasawa 15:1238993fd75f 395 resMsg.setArgument(0, 1);
masahikofukasawa 15:1238993fd75f 396 }else{
masahikofukasawa 27:41aa9fb23a2f 397 resMsg.setArgument(0, 0);
masahikofukasawa 15:1238993fd75f 398 }
masahikofukasawa 0:7a00359e701e 399 throwMessage(&resMsg);
masahikofukasawa 29:b488d2c89fba 400 MSG("#Stop measurement:%s.\r\n",sensor[sensorIndex]->getSensorName());
masahikofukasawa 0:7a00359e701e 401 break;
masahikofukasawa 11:cef8dc1cf010 402 }
masahikofukasawa 0:7a00359e701e 403 case Message::CMD_START_MEASUREMENT:
masahikofukasawa 11:cef8dc1cf010 404 {
masahikofukasawa 11:cef8dc1cf010 405 int error_code = AkmSensor::SUCCESS;
masahikofukasawa 11:cef8dc1cf010 406 if(msg.getArgNum() == 0){
masahikofukasawa 29:b488d2c89fba 407 error_code = sensor[sensorIndex]->startSensor();
masahikofukasawa 11:cef8dc1cf010 408 if( error_code != AkmSensor::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 409 MSG("#StartSensor Error. Code=%d\r\n",error_code);
masahikofukasawa 11:cef8dc1cf010 410 }
masahikofukasawa 11:cef8dc1cf010 411 else{
masahikofukasawa 29:b488d2c89fba 412 switch(drdyType){
masahikofukasawa 29:b488d2c89fba 413 case AkmAkd::INTERRUPT_ENABLED_PP:
masahikofukasawa 29:b488d2c89fba 414 {
masahikofukasawa 29:b488d2c89fba 415 if(primaryId == AkmSensor::AKM_PRIMARY_ID_AKD_SPI) interrupt = new InterruptIn(SPI_DRDY);
masahikofukasawa 29:b488d2c89fba 416 else interrupt = new InterruptIn(I2C_DRDY);
masahikofukasawa 29:b488d2c89fba 417 interrupt->rise(callback(this, &AkmSensorManager::detectDRDY));
masahikofukasawa 29:b488d2c89fba 418 break;
masahikofukasawa 29:b488d2c89fba 419 }
masahikofukasawa 29:b488d2c89fba 420 case AkmAkd::INTERRUPT_ENABLED_OD:
masahikofukasawa 29:b488d2c89fba 421 {
masahikofukasawa 29:b488d2c89fba 422 if(primaryId == AkmSensor::AKM_PRIMARY_ID_AKD_SPI) interrupt = new InterruptIn(SPI_DRDY);
masahikofukasawa 29:b488d2c89fba 423 else interrupt = new InterruptIn(I2C_DRDY);
masahikofukasawa 29:b488d2c89fba 424 interrupt->fall(callback(this, &AkmSensorManager::detectDRDY));
masahikofukasawa 29:b488d2c89fba 425 break;
masahikofukasawa 29:b488d2c89fba 426 }
masahikofukasawa 29:b488d2c89fba 427 default:
masahikofukasawa 29:b488d2c89fba 428 {
masahikofukasawa 29:b488d2c89fba 429 // nothing.
masahikofukasawa 29:b488d2c89fba 430 }
masahikofukasawa 29:b488d2c89fba 431 }
masahikofukasawa 11:cef8dc1cf010 432 }
masahikofukasawa 11:cef8dc1cf010 433 }else if(msg.getArgNum() == 1){
masahikofukasawa 11:cef8dc1cf010 434 float interval = (float)(1.0 / (float)msg.getArgument(0));
masahikofukasawa 29:b488d2c89fba 435 error_code = sensor[sensorIndex]->startSensor(interval);
masahikofukasawa 11:cef8dc1cf010 436 if( error_code != AkmSensor::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 437 MSG("#StartSensor Error. Code=%d\r\n",error_code);
masahikofukasawa 11:cef8dc1cf010 438 }
masahikofukasawa 11:cef8dc1cf010 439 else{
masahikofukasawa 29:b488d2c89fba 440 if(interrupt) delete interrupt;
masahikofukasawa 11:cef8dc1cf010 441 }
masahikofukasawa 11:cef8dc1cf010 442 }else{
masahikofukasawa 11:cef8dc1cf010 443 MSG("#StartSensor Error. Wrong Argument num.\r\n");
masahikofukasawa 11:cef8dc1cf010 444 }
masahikofukasawa 11:cef8dc1cf010 445 if(error_code == AkmSensor::SUCCESS){
masahikofukasawa 11:cef8dc1cf010 446 // get initial sensor state for switch type sensors
masahikofukasawa 11:cef8dc1cf010 447 if( primaryId == AkmSensor::AKM_PRIMARY_ID_UNIPOLAR ||
masahikofukasawa 11:cef8dc1cf010 448 primaryId == AkmSensor::AKM_PRIMARY_ID_OMNIPOLAR ||
masahikofukasawa 11:cef8dc1cf010 449 primaryId == AkmSensor::AKM_PRIMARY_ID_LATCH ||
masahikofukasawa 11:cef8dc1cf010 450 primaryId == AkmSensor::AKM_PRIMARY_ID_DUAL_OUTPUT ||
masahikofukasawa 11:cef8dc1cf010 451 primaryId == AkmSensor::AKM_PRIMARY_ID_ONECHIP_ENCODER ){
masahikofukasawa 11:cef8dc1cf010 452 Message temp;
masahikofukasawa 29:b488d2c89fba 453 sensor[sensorIndex]->readSensorData(&temp);
masahikofukasawa 11:cef8dc1cf010 454 throwMessage(&temp);
masahikofukasawa 11:cef8dc1cf010 455 }
masahikofukasawa 0:7a00359e701e 456 }
masahikofukasawa 0:7a00359e701e 457 break;
masahikofukasawa 11:cef8dc1cf010 458 }
tkstreet 33:d3e1e9eb2ef9 459 case Message::CMD_MOTOR_START_MOTOR:
tkstreet 33:d3e1e9eb2ef9 460 case Message::CMD_MOTOR_STOP_MOTOR:
tkstreet 33:d3e1e9eb2ef9 461 case Message::CMD_MOTOR_SET_DIRECTION:
tkstreet 33:d3e1e9eb2ef9 462 case Message::CMD_MOTOR_SET_DUTY_CYCLE:
masahikofukasawa 9:6fa3e7b17c27 463 case Message::CMD_PROGSW_GET_THRESHOLD:
masahikofukasawa 9:6fa3e7b17c27 464 case Message::CMD_PROGSW_SET_THRESHOLD:
masahikofukasawa 9:6fa3e7b17c27 465 case Message::CMD_PROGSW_GET_READ_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 466 case Message::CMD_PROGSW_SET_READ_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 467 case Message::CMD_PROGSW_GET_SWITCH_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 468 case Message::CMD_PROGSW_SET_SWITCH_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 469 case Message::CMD_PROGSW_GET_OPERATION_MODE:
masahikofukasawa 9:6fa3e7b17c27 470 case Message::CMD_PROGSW_SET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 471 case Message::CMD_IR_GET_THRESHOLD:
masahikofukasawa 1:b46b8653331f 472 case Message::CMD_IR_SET_THRESHOLD:
masahikofukasawa 1:b46b8653331f 473 case Message::CMD_IR_GET_HYSTERESIS:
masahikofukasawa 1:b46b8653331f 474 case Message::CMD_IR_SET_HYSTERESIS:
masahikofukasawa 1:b46b8653331f 475 case Message::CMD_IR_GET_INTERRUPT:
masahikofukasawa 1:b46b8653331f 476 case Message::CMD_IR_SET_INTERRUPT:
masahikofukasawa 1:b46b8653331f 477 case Message::CMD_IR_GET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 478 case Message::CMD_IR_SET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 479 case Message::CMD_IR_GET_THRESHOLD_EEPROM:
masahikofukasawa 1:b46b8653331f 480 case Message::CMD_IR_SET_THRESHOLD_EEPROM:
masahikofukasawa 1:b46b8653331f 481 case Message::CMD_IR_GET_HYSTERESIS_EEPROM:
masahikofukasawa 1:b46b8653331f 482 case Message::CMD_IR_SET_HYSTERESIS_EEPROM:
masahikofukasawa 1:b46b8653331f 483 case Message::CMD_IR_GET_INTERRUPT_EEPROM:
masahikofukasawa 1:b46b8653331f 484 case Message::CMD_IR_SET_INTERRUPT_EEPROM:
masahikofukasawa 1:b46b8653331f 485 case Message::CMD_IR_GET_OPERATION_MODE_EEPROM:
masahikofukasawa 1:b46b8653331f 486 case Message::CMD_IR_SET_OPERATION_MODE_EEPROM:
masahikofukasawa 9:6fa3e7b17c27 487 case Message::CMD_ANGLE_ZERO_RESET:
masahikofukasawa 30:5a241d9b3262 488 case Message::CMD_ANGLE_READ:
masahikofukasawa 9:6fa3e7b17c27 489 case Message::CMD_REG_WRITE:
masahikofukasawa 9:6fa3e7b17c27 490 case Message::CMD_REG_WRITEN:
masahikofukasawa 9:6fa3e7b17c27 491 case Message::CMD_REG_READ:
masahikofukasawa 9:6fa3e7b17c27 492 case Message::CMD_REG_READN:
masahikofukasawa 9:6fa3e7b17c27 493 case Message::CMD_COMPASS_GET_OPERATION_MODE:
masahikofukasawa 9:6fa3e7b17c27 494 case Message::CMD_COMPASS_SET_OPERATION_MODE:
masahikofukasawa 11:cef8dc1cf010 495 {
masahikofukasawa 29:b488d2c89fba 496 AkmSensor::Status st = sensor[sensorIndex]->requestCommand(&msg,&resMsg);
masahikofukasawa 15:1238993fd75f 497 if( (resMsg.getArgNum() == 0) && (st != AkmSensor::SUCCESS) )
masahikofukasawa 15:1238993fd75f 498 {
masahikofukasawa 15:1238993fd75f 499 MSG("#Command failed.\r\n");
masahikofukasawa 15:1238993fd75f 500 }else{
masahikofukasawa 15:1238993fd75f 501 throwMessage(&resMsg);
masahikofukasawa 15:1238993fd75f 502 }
masahikofukasawa 0:7a00359e701e 503 break;
masahikofukasawa 11:cef8dc1cf010 504 }
masahikofukasawa 0:7a00359e701e 505 default:
masahikofukasawa 11:cef8dc1cf010 506 {
masahikofukasawa 15:1238993fd75f 507 MSG("#Can't find command.\r\n");
masahikofukasawa 0:7a00359e701e 508 break;
masahikofukasawa 11:cef8dc1cf010 509 }
masahikofukasawa 0:7a00359e701e 510 }
masahikofukasawa 0:7a00359e701e 511 }
masahikofukasawa 0:7a00359e701e 512
masahikofukasawa 0:7a00359e701e 513 AkmSensorManager::Status AkmSensorManager::processEvent()
masahikofukasawa 0:7a00359e701e 514 {
masahikofukasawa 0:7a00359e701e 515 AkmSensorManager::Status status = AkmSensorManager::SUCCESS;
masahikofukasawa 0:7a00359e701e 516
tkstreet 33:d3e1e9eb2ef9 517 // If event is a command received from BLE
masahikofukasawa 0:7a00359e701e 518 if(eventCommandReceived)
masahikofukasawa 0:7a00359e701e 519 {
masahikofukasawa 16:d85be9bafb80 520 // MSG("#Command received.\r\n");
masahikofukasawa 0:7a00359e701e 521 processCommand();
tkstreet 21:966724730ce6 522 eventCommandReceived = false; // clear the flag
masahikofukasawa 0:7a00359e701e 523 }
masahikofukasawa 29:b488d2c89fba 524
masahikofukasawa 29:b488d2c89fba 525 // check sensor event
masahikofukasawa 29:b488d2c89fba 526 for(int i=0; i<sensorNum; i++){
masahikofukasawa 29:b488d2c89fba 527 if( sensor[i]->isEvent() ){
masahikofukasawa 29:b488d2c89fba 528 Message msg;
masahikofukasawa 29:b488d2c89fba 529 if( sensor[i]->readSensorData(&msg) != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
tkstreet 34:1ea3357c8d9a 530 throwMessage(&msg); // Process and output message to USB/BLE
masahikofukasawa 29:b488d2c89fba 531 }
masahikofukasawa 0:7a00359e701e 532 }
masahikofukasawa 0:7a00359e701e 533
tkstreet 34:1ea3357c8d9a 534 if(eventConnected) // If BLE connected, clear flag and start sensor.
masahikofukasawa 0:7a00359e701e 535 {
tkstreet 21:966724730ce6 536 eventConnected = false; // clear the flag
masahikofukasawa 12:c06cd8b76358 537 MSG("#BLE connected.\r\n");
masahikofukasawa 0:7a00359e701e 538 }
tkstreet 23:50c98b286e41 539
tkstreet 23:50c98b286e41 540 // If event is the BLE being disconnected, stop the sensor
tkstreet 23:50c98b286e41 541 if(eventDisconnected)
masahikofukasawa 0:7a00359e701e 542 {
masahikofukasawa 12:c06cd8b76358 543 MSG("#BLE dis-connected.\r\n");
masahikofukasawa 29:b488d2c89fba 544 for(int i=0; i<sensorNum; i++){
masahikofukasawa 29:b488d2c89fba 545 if( sensor[i]->stopSensor() != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
masahikofukasawa 29:b488d2c89fba 546 }
tkstreet 34:1ea3357c8d9a 547 eventDisconnected = false; // clear the flag
masahikofukasawa 0:7a00359e701e 548 }
masahikofukasawa 0:7a00359e701e 549 return status;
masahikofukasawa 0:7a00359e701e 550 }
masahikofukasawa 0:7a00359e701e 551
masahikofukasawa 0:7a00359e701e 552 AkmSensorManager::Status AkmSensorManager::throwMessage(const Message *msg) {
masahikofukasawa 0:7a00359e701e 553 int len = Message::getMaxMessageLength();
masahikofukasawa 0:7a00359e701e 554 char buf[len];
masahikofukasawa 0:7a00359e701e 555
tkstreet 23:50c98b286e41 556 buf[0] = '$'; // Output message prefix
masahikofukasawa 0:7a00359e701e 557
tkstreet 23:50c98b286e41 558 // Processes command in msg to ASCII
masahikofukasawa 0:7a00359e701e 559 char cmd = (char)msg->getCommand();
masahikofukasawa 0:7a00359e701e 560 Message::charToAscii(&buf[1], &cmd);
masahikofukasawa 0:7a00359e701e 561
tkstreet 23:50c98b286e41 562 // Processes arguments in msg to ASCII
masahikofukasawa 0:7a00359e701e 563 for (int i=0; i < msg->getArgNum(); i++) {
masahikofukasawa 0:7a00359e701e 564 char arg = msg->getArgument(i);
masahikofukasawa 0:7a00359e701e 565 Message::charToAscii(&buf[3+2*i], &arg);
masahikofukasawa 0:7a00359e701e 566 }
masahikofukasawa 0:7a00359e701e 567
masahikofukasawa 0:7a00359e701e 568 // Add termination characters, 0x0D(\r), \n and \0, to the end of string
masahikofukasawa 0:7a00359e701e 569 int tIdx = 3 + 2 * (msg->getArgNum());
masahikofukasawa 0:7a00359e701e 570 int bufSize = sizeof(buf)/sizeof(buf[0]);
masahikofukasawa 0:7a00359e701e 571 if ((tIdx + 3) > (bufSize - 1)) {
masahikofukasawa 11:cef8dc1cf010 572 MSG("#Error: Message data exceeds the buffer.\r\n");
masahikofukasawa 0:7a00359e701e 573 return ERROR;
masahikofukasawa 0:7a00359e701e 574 }
masahikofukasawa 11:cef8dc1cf010 575 buf[tIdx++] = CR; // '\r'
masahikofukasawa 11:cef8dc1cf010 576 buf[tIdx++] = LF; // '\n'
masahikofukasawa 11:cef8dc1cf010 577 buf[tIdx] = '\0';
tkstreet 23:50c98b286e41 578
tkstreet 33:d3e1e9eb2ef9 579 // If BLE is enabled, send to AKDP app
tkstreet 23:50c98b286e41 580 if(isEnabledBle) uartService->writeString(buf);
tkstreet 23:50c98b286e41 581
tkstreet 33:d3e1e9eb2ef9 582 // If USB is enabled, send to serial terminal
masahikofukasawa 0:7a00359e701e 583 if(isEnabledUsb) serial->printf(buf);
masahikofukasawa 0:7a00359e701e 584
masahikofukasawa 0:7a00359e701e 585 return SUCCESS;
masahikofukasawa 12:c06cd8b76358 586 }
masahikofukasawa 13:d008249f0359 587
masahikofukasawa 27:41aa9fb23a2f 588 char* AkmSensorManager::my_strcat(char* str1, char* str2)
masahikofukasawa 27:41aa9fb23a2f 589 {
masahikofukasawa 27:41aa9fb23a2f 590 int num1;
masahikofukasawa 27:41aa9fb23a2f 591 char* str;
masahikofukasawa 27:41aa9fb23a2f 592
masahikofukasawa 27:41aa9fb23a2f 593 num1=strlen(str1) + strlen(str2);
masahikofukasawa 27:41aa9fb23a2f 594 str = (char *)malloc(num1 + 1);
masahikofukasawa 27:41aa9fb23a2f 595 sprintf(str,"%s%s",str1,str2);
masahikofukasawa 27:41aa9fb23a2f 596 return str;
masahikofukasawa 27:41aa9fb23a2f 597 }
masahikofukasawa 27:41aa9fb23a2f 598
masahikofukasawa 13:d008249f0359 599 char* AkmSensorManager::getSensorName(){
masahikofukasawa 29:b488d2c89fba 600 char* name = "";
masahikofukasawa 29:b488d2c89fba 601 for(int i=0; i<sensorNum; i++){
masahikofukasawa 29:b488d2c89fba 602 name = my_strcat(name, sensor[i]->getSensorName());
masahikofukasawa 29:b488d2c89fba 603 if( sensorNum > (i+1) )name = my_strcat(name, "+");
masahikofukasawa 27:41aa9fb23a2f 604 }
masahikofukasawa 27:41aa9fb23a2f 605 MSG("#Sensor Name='%s'.\r\n",name);
masahikofukasawa 27:41aa9fb23a2f 606 return name;
masahikofukasawa 13:d008249f0359 607 }