Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

akmsensormanager.cpp@39:3821886c902e, 2017-07-18 (annotated)

Committer:
masahikofukasawa
Date:
Tue Jul 18 23:20:26 2017 +0000
Revision:
39:3821886c902e
Parent:
37:c76d2edf3426
Child:
41:a3ea80c594ec
For AK09970 Small demo board. Takezawa-san's request.

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 37:c76d2edf3426 31 "Current Sensor 3V",
masahikofukasawa 37:c76d2edf3426 32 "Test",
masahikofukasawa 37:c76d2edf3426 33 "Current Sensor 5V",
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 39:3821886c902e 91 detachInterrupt();
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 39:3821886c902e 152 MSG("#Error: 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 39:3821886c902e 159 MSG("#Error: 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 37:c76d2edf3426 167 case AkmSensor::AKM_PRIMARY_ID_CURRENT_SENSOR_3V:
masahikofukasawa 37:c76d2edf3426 168 case AkmSensor::AKM_PRIMARY_ID_CURRENT_SENSOR_5V:
masahikofukasawa 10:5c69b067d88a 169 case AkmSensor::AKM_PRIMARY_ID_MISC_ANALOG:
masahikofukasawa 10:5c69b067d88a 170 {
masahikofukasawa 11:cef8dc1cf010 171 AkmAnalogSensor* analogsensor = new AkmAnalogSensor();
masahikofukasawa 27:41aa9fb23a2f 172 sensor[0] = analogsensor;
masahikofukasawa 29:b488d2c89fba 173 sensorNum = 1;
masahikofukasawa 0:7a00359e701e 174 break;
masahikofukasawa 10:5c69b067d88a 175 }
masahikofukasawa 17:9abb7c28709c 176
masahikofukasawa 1:b46b8653331f 177 case AkmSensor::AKM_PRIMARY_ID_IR_SENSOR:
masahikofukasawa 10:5c69b067d88a 178 {
masahikofukasawa 29:b488d2c89fba 179 drdyType = AkmAkd::INTERRUPT_ENABLED_OD;
masahikofukasawa 29:b488d2c89fba 180
masahikofukasawa 10:5c69b067d88a 181 if(subId == Ak9750Ctrl::SUB_ID_AK9750){
masahikofukasawa 10:5c69b067d88a 182 Ak9750Ctrl* ak9750ctrl = new Ak9750Ctrl();
masahikofukasawa 27:41aa9fb23a2f 183 sensor[0] = ak9750ctrl;
masahikofukasawa 29:b488d2c89fba 184 sensorNum = 1;
masahikofukasawa 15:1238993fd75f 185 }else if(subId == Ak9750Ctrl::SUB_ID_AK9753){
masahikofukasawa 15:1238993fd75f 186 Ak9750Ctrl* ak9753ctrl = new Ak9750Ctrl();
masahikofukasawa 27:41aa9fb23a2f 187 sensor[0] = ak9753ctrl;
masahikofukasawa 29:b488d2c89fba 188 sensorNum = 1;
masahikofukasawa 10:5c69b067d88a 189 }else if(subId == Ak9752Ctrl::SUB_ID_AK9752){
masahikofukasawa 10:5c69b067d88a 190 Ak9752Ctrl* ak9752ctrl = new Ak9752Ctrl();
masahikofukasawa 27:41aa9fb23a2f 191 sensor[0] = ak9752ctrl;
masahikofukasawa 29:b488d2c89fba 192 sensorNum = 1;
masahikofukasawa 10:5c69b067d88a 193 }else{
masahikofukasawa 27:41aa9fb23a2f 194 return false; // couldn't find
masahikofukasawa 10:5c69b067d88a 195 }
masahikofukasawa 1:b46b8653331f 196 break;
masahikofukasawa 10:5c69b067d88a 197 }
tkstreet 33:d3e1e9eb2ef9 198 case AkmSensor::AKM_PRIMARY_ID_MOTOR_DRIVER:
tkstreet 33:d3e1e9eb2ef9 199 { // TODO: Other motor driver cases
tkstreet 33:d3e1e9eb2ef9 200 if(subId == Ap1017Ctrl::SUB_ID_AP1017){
tkstreet 33:d3e1e9eb2ef9 201 Ap1017Ctrl* ap1017ctrl = new Ap1017Ctrl();
tkstreet 34:1ea3357c8d9a 202 sensor[0] = ap1017ctrl;
tkstreet 34:1ea3357c8d9a 203 sensorNum = 1;
tkstreet 33:d3e1e9eb2ef9 204 }else{
tkstreet 33:d3e1e9eb2ef9 205 return NULL;
tkstreet 33:d3e1e9eb2ef9 206 }
tkstreet 33:d3e1e9eb2ef9 207 break;
tkstreet 33:d3e1e9eb2ef9 208 }
masahikofukasawa 0:7a00359e701e 209 default:
masahikofukasawa 10:5c69b067d88a 210 {
masahikofukasawa 39:3821886c902e 211 MSG("#Error: Can't find ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
masahikofukasawa 27:41aa9fb23a2f 212 return false; // couldn't find
masahikofukasawa 10:5c69b067d88a 213 }
masahikofukasawa 0:7a00359e701e 214 }
masahikofukasawa 29:b488d2c89fba 215
masahikofukasawa 29:b488d2c89fba 216 if(primaryId != AkmSensor::AKM_PRIMARY_ID_DEMO){
masahikofukasawa 29:b488d2c89fba 217 for(int i=0; i<sensorNum; i++){
masahikofukasawa 29:b488d2c89fba 218 if(sensor[i]->init(primaryId, subId) != AkmSensor::SUCCESS){
masahikofukasawa 39:3821886c902e 219 MSG("#Error: sensor[i]->init failed. ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
masahikofukasawa 29:b488d2c89fba 220 return false; // couldn't find
masahikofukasawa 29:b488d2c89fba 221 }
masahikofukasawa 29:b488d2c89fba 222 }
masahikofukasawa 27:41aa9fb23a2f 223 MSG("#ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
masahikofukasawa 0:7a00359e701e 224 }
masahikofukasawa 29:b488d2c89fba 225
masahikofukasawa 39:3821886c902e 226 attachInterrupt();
masahikofukasawa 39:3821886c902e 227
masahikofukasawa 27:41aa9fb23a2f 228 return true;
masahikofukasawa 0:7a00359e701e 229 }
masahikofukasawa 0:7a00359e701e 230
masahikofukasawa 29:b488d2c89fba 231 void AkmSensorManager::detectDRDY(){
masahikofukasawa 29:b488d2c89fba 232 // MSG("#detect DRDY.\r\n");
masahikofukasawa 29:b488d2c89fba 233 for(int i=0; i<sensorNum; i++){
masahikofukasawa 29:b488d2c89fba 234 sensor[i]->setEvent();
masahikofukasawa 29:b488d2c89fba 235 }
masahikofukasawa 29:b488d2c89fba 236 }
masahikofukasawa 29:b488d2c89fba 237
masahikofukasawa 16:d85be9bafb80 238 void AkmSensorManager::dummyCallbackForCommandReceived(){}
masahikofukasawa 16:d85be9bafb80 239
tkstreet 33:d3e1e9eb2ef9 240
tkstreet 33:d3e1e9eb2ef9 241 // For commands received via BLE
masahikofukasawa 0:7a00359e701e 242 AkmSensorManager::Status AkmSensorManager::commandReceived(char* buf){
masahikofukasawa 0:7a00359e701e 243 // Construct message
masahikofukasawa 0:7a00359e701e 244 Status status = SUCCESS;
masahikofukasawa 0:7a00359e701e 245
masahikofukasawa 10:5c69b067d88a 246 if ((Message::parse(&msg, buf)) != Message::SUCCESS) {
masahikofukasawa 39:3821886c902e 247 MSG("#Error: Failed to parse message. %s\r\n", buf);
masahikofukasawa 0:7a00359e701e 248 status = ERROR;
tkstreet 33:d3e1e9eb2ef9 249 eventCommandReceived = false; // Reset flag
masahikofukasawa 15:1238993fd75f 250 }else{
tkstreet 33:d3e1e9eb2ef9 251 eventCommandReceived = true; // Set flag
masahikofukasawa 16:d85be9bafb80 252 // MSG("#Parsed message. %s\r\n", buf);
masahikofukasawa 0:7a00359e701e 253 }
masahikofukasawa 16:d85be9bafb80 254 t.attach(callback(this, &AkmSensorManager::dummyCallbackForCommandReceived),0); // wake-up from ble.waitForEvent
masahikofukasawa 0:7a00359e701e 255 return status;
masahikofukasawa 0:7a00359e701e 256 }
masahikofukasawa 0:7a00359e701e 257
tkstreet 33:d3e1e9eb2ef9 258
coisme 2:11fe67783c4c 259 int16_t AkmSensorManager::getAdcData(MCP342X *mcp3428, MCP342X::AdcChannel ch, MCP342X::SampleSetting s) {
coisme 2:11fe67783c4c 260 const int WAIT_ADC_MS = 1;
coisme 2:11fe67783c4c 261
coisme 2:11fe67783c4c 262 // Configure channel and trigger.
coisme 2:11fe67783c4c 263 mcp3428->setChannel(ch);
coisme 2:11fe67783c4c 264 mcp3428->setSampleSetting(s);
coisme 2:11fe67783c4c 265 mcp3428->trigger();
coisme 2:11fe67783c4c 266
coisme 2:11fe67783c4c 267 // polling data (!blocking)
coisme 2:11fe67783c4c 268 MCP342X::Data data;
coisme 2:11fe67783c4c 269 do {
coisme 2:11fe67783c4c 270 wait_ms(WAIT_ADC_MS);
coisme 2:11fe67783c4c 271 mcp3428->getData(&data);
coisme 2:11fe67783c4c 272 } while(data.st == MCP342X::DATA_NOT_UPDATED);
coisme 2:11fe67783c4c 273
coisme 2:11fe67783c4c 274 return data.value;
coisme 2:11fe67783c4c 275 }
masahikofukasawa 0:7a00359e701e 276
tkstreet 33:d3e1e9eb2ef9 277
masahikofukasawa 0:7a00359e701e 278 uint8_t AkmSensorManager::getId(PinName pin, uint8_t bits)
masahikofukasawa 0:7a00359e701e 279 {
masahikofukasawa 11:cef8dc1cf010 280 MSG("#GetID\r\n");
masahikofukasawa 6:c4401549d68f 281
tkstreet 21:966724730ce6 282 I2C i2c(I2C_SDA, I2C_SCL); // establish I2C to read ID
tkstreet 21:966724730ce6 283
coisme 2:11fe67783c4c 284 // ADC
tkstreet 21:966724730ce6 285 MCP342X mcp342x(&i2c, MCP342X::SLAVE_ADDRESS_6EH); // ADC to convert voltage
tkstreet 21:966724730ce6 286 mcp342x.setConversionMode(MCP342X::ONE_SHOT); // Set to single sample
coisme 2:11fe67783c4c 287 MCP342X::AdcChannel ch;
tkstreet 21:966724730ce6 288
tkstreet 21:966724730ce6 289 if (pin == ANALOG_SENSOR_ID) { // Primary ID
coisme 2:11fe67783c4c 290 ch = MCP342X::ADC_CH1;
tkstreet 21:966724730ce6 291 } else { // pin == ANALOG_SENSOR_ID_SUB
tkstreet 21:966724730ce6 292 ch = MCP342X::ADC_CH2; // Secondary ID
coisme 2:11fe67783c4c 293 }
tkstreet 21:966724730ce6 294
coisme 2:11fe67783c4c 295 int16_t val = getAdcData(&mcp342x, ch, MCP342X::SAMPLE_240HZ_12BIT);
masahikofukasawa 11:cef8dc1cf010 296 MSG("#12bit ADC Val = %d.\r\n", val);
coisme 2:11fe67783c4c 297
tkstreet 21:966724730ce6 298 // Voltage boundaries for ID voltage divider system
coisme 2:11fe67783c4c 299 const int16_t VAL_MAX = 3000-2048; // Corresponds to 3V
coisme 2:11fe67783c4c 300 const int16_t VAL_MIN = -2048; // Corresponds to 0V
coisme 2:11fe67783c4c 301
tkstreet 21:966724730ce6 302 // Convert voltage to ID value
masahikofukasawa 6:c4401549d68f 303 uint8_t value = (uint8_t)((val - VAL_MIN)/(float)(VAL_MAX - VAL_MIN) * (1 << bits) + 0.5);
masahikofukasawa 11:cef8dc1cf010 304 MSG("#ID = %d.\r\n", value);
masahikofukasawa 6:c4401549d68f 305
masahikofukasawa 0:7a00359e701e 306 return value;
masahikofukasawa 0:7a00359e701e 307 }
masahikofukasawa 0:7a00359e701e 308
tkstreet 33:d3e1e9eb2ef9 309
masahikofukasawa 0:7a00359e701e 310 bool AkmSensorManager::isEvent()
masahikofukasawa 0:7a00359e701e 311 {
masahikofukasawa 29:b488d2c89fba 312 // check sensor related event
masahikofukasawa 29:b488d2c89fba 313 for(int i=0; i<sensorNum; i++){
masahikofukasawa 29:b488d2c89fba 314 if(sensor[i]->isEvent()){
masahikofukasawa 29:b488d2c89fba 315 return true;
masahikofukasawa 29:b488d2c89fba 316 }
masahikofukasawa 29:b488d2c89fba 317 }
masahikofukasawa 29:b488d2c89fba 318
masahikofukasawa 29:b488d2c89fba 319 // other events
masahikofukasawa 29:b488d2c89fba 320 return (
masahikofukasawa 0:7a00359e701e 321 eventCommandReceived ||
masahikofukasawa 0:7a00359e701e 322 eventConnected ||
masahikofukasawa 0:7a00359e701e 323 eventDisconnected);
masahikofukasawa 0:7a00359e701e 324 }
masahikofukasawa 0:7a00359e701e 325
masahikofukasawa 0:7a00359e701e 326 void AkmSensorManager::processCommand()
masahikofukasawa 0:7a00359e701e 327 {
tkstreet 23:50c98b286e41 328 // Extracts command contained in the message
masahikofukasawa 0:7a00359e701e 329 Message::Command cmd = msg.getCommand();
masahikofukasawa 0:7a00359e701e 330
tkstreet 21:966724730ce6 331 // Creates a message object to return
masahikofukasawa 0:7a00359e701e 332 Message resMsg;
masahikofukasawa 0:7a00359e701e 333
tkstreet 23:50c98b286e41 334 // Return message contains the extracted command
masahikofukasawa 0:7a00359e701e 335 resMsg.setCommand(cmd);
masahikofukasawa 0:7a00359e701e 336
masahikofukasawa 0:7a00359e701e 337 switch(cmd)
masahikofukasawa 0:7a00359e701e 338 {
masahikofukasawa 0:7a00359e701e 339 case Message::CMD_GET_FW_VERSION:
masahikofukasawa 11:cef8dc1cf010 340 {
masahikofukasawa 0:7a00359e701e 341 resMsg.setArgument(0, FIRMWARE_VERSION);
masahikofukasawa 0:7a00359e701e 342 throwMessage(&resMsg);
masahikofukasawa 11:cef8dc1cf010 343 MSG("#FW version is reported.\r\n");
masahikofukasawa 0:7a00359e701e 344 break;
masahikofukasawa 11:cef8dc1cf010 345 }
masahikofukasawa 0:7a00359e701e 346 case Message::CMD_GET_MAG_PART:
masahikofukasawa 11:cef8dc1cf010 347 {
masahikofukasawa 0:7a00359e701e 348 resMsg.setArgument(0, MAGNETOMETER_ID);
masahikofukasawa 0:7a00359e701e 349 throwMessage(&resMsg);
masahikofukasawa 11:cef8dc1cf010 350 MSG("#Mag ID is reported.\r\n");
masahikofukasawa 0:7a00359e701e 351 break;
masahikofukasawa 11:cef8dc1cf010 352 }
masahikofukasawa 0:7a00359e701e 353 case Message::CMD_SET_SERIAL_TARGET:
masahikofukasawa 11:cef8dc1cf010 354 {
masahikofukasawa 0:7a00359e701e 355 isEnabledBle = msg.getArgument(0)==Message::SW_ON ? true : false;
masahikofukasawa 0:7a00359e701e 356 isEnabledUsb = msg.getArgument(1)==Message::SW_ON ? true : false;
masahikofukasawa 0:7a00359e701e 357 break;
masahikofukasawa 11:cef8dc1cf010 358 }
masahikofukasawa 0:7a00359e701e 359 case Message::CMD_GET_ID: // return Primary ID and Sub ID
masahikofukasawa 11:cef8dc1cf010 360 {
masahikofukasawa 10:5c69b067d88a 361 resMsg.setArgument(0, primaryId);
masahikofukasawa 0:7a00359e701e 362 resMsg.setArgument(1, subId);
masahikofukasawa 0:7a00359e701e 363 throwMessage(&resMsg);
masahikofukasawa 29:b488d2c89fba 364 MSG("#ID is reported.\r\n");
masahikofukasawa 0:7a00359e701e 365 break;
masahikofukasawa 11:cef8dc1cf010 366 }
masahikofukasawa 29:b488d2c89fba 367 case Message::CMD_GET_SENSOR_INDEX:
masahikofukasawa 27:41aa9fb23a2f 368 {
masahikofukasawa 29:b488d2c89fba 369 resMsg.setArgument(0, sensorIndex);
masahikofukasawa 27:41aa9fb23a2f 370 throwMessage(&resMsg);
masahikofukasawa 29:b488d2c89fba 371 MSG("#Get Sensor Index=%d.\r\n", sensorIndex);
masahikofukasawa 27:41aa9fb23a2f 372 break;
masahikofukasawa 27:41aa9fb23a2f 373 }
masahikofukasawa 29:b488d2c89fba 374 case Message::CMD_SET_SENSOR_INDEX:
masahikofukasawa 27:41aa9fb23a2f 375 {
masahikofukasawa 29:b488d2c89fba 376 uint8_t index = (uint8_t)msg.getArgument(0);
masahikofukasawa 30:5a241d9b3262 377 if(msg.getArgNum() == 1 && index<sensorNum){
masahikofukasawa 28:dc4eb14e4d7e 378 resMsg.setArgument(0, 0);
masahikofukasawa 29:b488d2c89fba 379 sensorIndex = index;
masahikofukasawa 29:b488d2c89fba 380 MSG("#Set Sensor Index=%d.\r\n", sensorIndex);
masahikofukasawa 30:5a241d9b3262 381 }else{
masahikofukasawa 30:5a241d9b3262 382 resMsg.setArgument(0, 1);
masahikofukasawa 30:5a241d9b3262 383 MSG("#Error: Set Sensor Index=%d.\r\n", sensorIndex);
masahikofukasawa 29:b488d2c89fba 384 }
masahikofukasawa 28:dc4eb14e4d7e 385 throwMessage(&resMsg);
masahikofukasawa 27:41aa9fb23a2f 386 break;
masahikofukasawa 27:41aa9fb23a2f 387 }
masahikofukasawa 29:b488d2c89fba 388 case Message::CMD_GET_TOTAL_SENSOR_NUM:
masahikofukasawa 27:41aa9fb23a2f 389 {
masahikofukasawa 29:b488d2c89fba 390 resMsg.setArgument(0, sensorNum);
masahikofukasawa 27:41aa9fb23a2f 391 throwMessage(&resMsg);
masahikofukasawa 29:b488d2c89fba 392 MSG("#Get Sensor Total Num=%d.\r\n", sensorNum);
masahikofukasawa 0:7a00359e701e 393 break;
masahikofukasawa 11:cef8dc1cf010 394 }
masahikofukasawa 0:7a00359e701e 395 case Message::CMD_STOP_MEASUREMENT:
masahikofukasawa 11:cef8dc1cf010 396 {
masahikofukasawa 29:b488d2c89fba 397 if( sensor[sensorIndex]->stopSensor() != AkmSensor::SUCCESS){
masahikofukasawa 15:1238993fd75f 398 resMsg.setArgument(0, 1);
masahikofukasawa 15:1238993fd75f 399 }else{
masahikofukasawa 27:41aa9fb23a2f 400 resMsg.setArgument(0, 0);
masahikofukasawa 15:1238993fd75f 401 }
masahikofukasawa 0:7a00359e701e 402 throwMessage(&resMsg);
masahikofukasawa 39:3821886c902e 403
masahikofukasawa 39:3821886c902e 404 detachInterrupt();
masahikofukasawa 39:3821886c902e 405
masahikofukasawa 29:b488d2c89fba 406 MSG("#Stop measurement:%s.\r\n",sensor[sensorIndex]->getSensorName());
masahikofukasawa 0:7a00359e701e 407 break;
masahikofukasawa 11:cef8dc1cf010 408 }
masahikofukasawa 0:7a00359e701e 409 case Message::CMD_START_MEASUREMENT:
masahikofukasawa 11:cef8dc1cf010 410 {
masahikofukasawa 11:cef8dc1cf010 411 int error_code = AkmSensor::SUCCESS;
masahikofukasawa 11:cef8dc1cf010 412 if(msg.getArgNum() == 0){
masahikofukasawa 29:b488d2c89fba 413 error_code = sensor[sensorIndex]->startSensor();
masahikofukasawa 11:cef8dc1cf010 414 if( error_code != AkmSensor::SUCCESS ){
masahikofukasawa 39:3821886c902e 415 MSG("#Error: StartSensor Error. Code=%d\r\n",error_code);
masahikofukasawa 39:3821886c902e 416 }else{
masahikofukasawa 29:b488d2c89fba 417 switch(drdyType){
masahikofukasawa 29:b488d2c89fba 418 case AkmAkd::INTERRUPT_ENABLED_PP:
masahikofukasawa 29:b488d2c89fba 419 {
masahikofukasawa 29:b488d2c89fba 420 interrupt->rise(callback(this, &AkmSensorManager::detectDRDY));
masahikofukasawa 29:b488d2c89fba 421 break;
masahikofukasawa 29:b488d2c89fba 422 }
masahikofukasawa 29:b488d2c89fba 423 case AkmAkd::INTERRUPT_ENABLED_OD:
masahikofukasawa 29:b488d2c89fba 424 {
masahikofukasawa 29:b488d2c89fba 425 interrupt->fall(callback(this, &AkmSensorManager::detectDRDY));
masahikofukasawa 29:b488d2c89fba 426 break;
masahikofukasawa 29:b488d2c89fba 427 }
masahikofukasawa 29:b488d2c89fba 428 default:
masahikofukasawa 29:b488d2c89fba 429 {
masahikofukasawa 29:b488d2c89fba 430 // nothing.
masahikofukasawa 29:b488d2c89fba 431 }
masahikofukasawa 29:b488d2c89fba 432 }
masahikofukasawa 11:cef8dc1cf010 433 }
masahikofukasawa 11:cef8dc1cf010 434 }else if(msg.getArgNum() == 1){
masahikofukasawa 11:cef8dc1cf010 435 float interval = (float)(1.0 / (float)msg.getArgument(0));
masahikofukasawa 29:b488d2c89fba 436 error_code = sensor[sensorIndex]->startSensor(interval);
masahikofukasawa 11:cef8dc1cf010 437 if( error_code != AkmSensor::SUCCESS ){
masahikofukasawa 39:3821886c902e 438 MSG("#Error: StartSensor Error. Code=%d\r\n",error_code);
masahikofukasawa 11:cef8dc1cf010 439 }
masahikofukasawa 11:cef8dc1cf010 440 else{
masahikofukasawa 39:3821886c902e 441 detachInterrupt();
masahikofukasawa 11:cef8dc1cf010 442 }
masahikofukasawa 11:cef8dc1cf010 443 }else{
masahikofukasawa 39:3821886c902e 444 MSG("#Error: StartSensor Error. Wrong Argument num.\r\n");
masahikofukasawa 11:cef8dc1cf010 445 }
masahikofukasawa 39:3821886c902e 446
masahikofukasawa 11:cef8dc1cf010 447 if(error_code == AkmSensor::SUCCESS){
masahikofukasawa 11:cef8dc1cf010 448 // get initial sensor state for switch type sensors
masahikofukasawa 11:cef8dc1cf010 449 if( primaryId == AkmSensor::AKM_PRIMARY_ID_UNIPOLAR ||
masahikofukasawa 11:cef8dc1cf010 450 primaryId == AkmSensor::AKM_PRIMARY_ID_OMNIPOLAR ||
masahikofukasawa 11:cef8dc1cf010 451 primaryId == AkmSensor::AKM_PRIMARY_ID_LATCH ||
masahikofukasawa 11:cef8dc1cf010 452 primaryId == AkmSensor::AKM_PRIMARY_ID_DUAL_OUTPUT ||
masahikofukasawa 11:cef8dc1cf010 453 primaryId == AkmSensor::AKM_PRIMARY_ID_ONECHIP_ENCODER ){
masahikofukasawa 11:cef8dc1cf010 454 Message temp;
masahikofukasawa 29:b488d2c89fba 455 sensor[sensorIndex]->readSensorData(&temp);
masahikofukasawa 11:cef8dc1cf010 456 throwMessage(&temp);
masahikofukasawa 11:cef8dc1cf010 457 }
masahikofukasawa 0:7a00359e701e 458 }
masahikofukasawa 39:3821886c902e 459
masahikofukasawa 39:3821886c902e 460 MSG("#Start measurement:%s.\r\n",sensor[sensorIndex]->getSensorName());
masahikofukasawa 0:7a00359e701e 461 break;
masahikofukasawa 11:cef8dc1cf010 462 }
tkstreet 33:d3e1e9eb2ef9 463 case Message::CMD_MOTOR_START_MOTOR:
tkstreet 33:d3e1e9eb2ef9 464 case Message::CMD_MOTOR_STOP_MOTOR:
tkstreet 33:d3e1e9eb2ef9 465 case Message::CMD_MOTOR_SET_DIRECTION:
tkstreet 33:d3e1e9eb2ef9 466 case Message::CMD_MOTOR_SET_DUTY_CYCLE:
masahikofukasawa 9:6fa3e7b17c27 467 case Message::CMD_PROGSW_GET_THRESHOLD:
masahikofukasawa 9:6fa3e7b17c27 468 case Message::CMD_PROGSW_SET_THRESHOLD:
masahikofukasawa 9:6fa3e7b17c27 469 case Message::CMD_PROGSW_GET_READ_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 470 case Message::CMD_PROGSW_SET_READ_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 471 case Message::CMD_PROGSW_GET_SWITCH_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 472 case Message::CMD_PROGSW_SET_SWITCH_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 473 case Message::CMD_PROGSW_GET_OPERATION_MODE:
masahikofukasawa 9:6fa3e7b17c27 474 case Message::CMD_PROGSW_SET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 475 case Message::CMD_IR_GET_THRESHOLD:
masahikofukasawa 1:b46b8653331f 476 case Message::CMD_IR_SET_THRESHOLD:
masahikofukasawa 1:b46b8653331f 477 case Message::CMD_IR_GET_HYSTERESIS:
masahikofukasawa 1:b46b8653331f 478 case Message::CMD_IR_SET_HYSTERESIS:
masahikofukasawa 1:b46b8653331f 479 case Message::CMD_IR_GET_INTERRUPT:
masahikofukasawa 1:b46b8653331f 480 case Message::CMD_IR_SET_INTERRUPT:
masahikofukasawa 1:b46b8653331f 481 case Message::CMD_IR_GET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 482 case Message::CMD_IR_SET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 483 case Message::CMD_IR_GET_THRESHOLD_EEPROM:
masahikofukasawa 1:b46b8653331f 484 case Message::CMD_IR_SET_THRESHOLD_EEPROM:
masahikofukasawa 1:b46b8653331f 485 case Message::CMD_IR_GET_HYSTERESIS_EEPROM:
masahikofukasawa 1:b46b8653331f 486 case Message::CMD_IR_SET_HYSTERESIS_EEPROM:
masahikofukasawa 1:b46b8653331f 487 case Message::CMD_IR_GET_INTERRUPT_EEPROM:
masahikofukasawa 1:b46b8653331f 488 case Message::CMD_IR_SET_INTERRUPT_EEPROM:
masahikofukasawa 1:b46b8653331f 489 case Message::CMD_IR_GET_OPERATION_MODE_EEPROM:
masahikofukasawa 1:b46b8653331f 490 case Message::CMD_IR_SET_OPERATION_MODE_EEPROM:
masahikofukasawa 9:6fa3e7b17c27 491 case Message::CMD_ANGLE_ZERO_RESET:
masahikofukasawa 30:5a241d9b3262 492 case Message::CMD_ANGLE_READ:
masahikofukasawa 9:6fa3e7b17c27 493 case Message::CMD_REG_WRITE:
masahikofukasawa 9:6fa3e7b17c27 494 case Message::CMD_REG_WRITEN:
masahikofukasawa 9:6fa3e7b17c27 495 case Message::CMD_REG_READ:
masahikofukasawa 9:6fa3e7b17c27 496 case Message::CMD_REG_READN:
masahikofukasawa 9:6fa3e7b17c27 497 case Message::CMD_COMPASS_GET_OPERATION_MODE:
masahikofukasawa 9:6fa3e7b17c27 498 case Message::CMD_COMPASS_SET_OPERATION_MODE:
masahikofukasawa 11:cef8dc1cf010 499 {
masahikofukasawa 29:b488d2c89fba 500 AkmSensor::Status st = sensor[sensorIndex]->requestCommand(&msg,&resMsg);
masahikofukasawa 15:1238993fd75f 501 if( (resMsg.getArgNum() == 0) && (st != AkmSensor::SUCCESS) )
masahikofukasawa 15:1238993fd75f 502 {
masahikofukasawa 39:3821886c902e 503 MSG("#Error: Command failed.\r\n");
masahikofukasawa 15:1238993fd75f 504 }else{
masahikofukasawa 15:1238993fd75f 505 throwMessage(&resMsg);
masahikofukasawa 15:1238993fd75f 506 }
masahikofukasawa 0:7a00359e701e 507 break;
masahikofukasawa 11:cef8dc1cf010 508 }
masahikofukasawa 0:7a00359e701e 509 default:
masahikofukasawa 11:cef8dc1cf010 510 {
masahikofukasawa 39:3821886c902e 511 MSG("#Error: Can't find command.\r\n");
masahikofukasawa 0:7a00359e701e 512 break;
masahikofukasawa 11:cef8dc1cf010 513 }
masahikofukasawa 0:7a00359e701e 514 }
masahikofukasawa 0:7a00359e701e 515 }
masahikofukasawa 0:7a00359e701e 516
masahikofukasawa 0:7a00359e701e 517 AkmSensorManager::Status AkmSensorManager::processEvent()
masahikofukasawa 0:7a00359e701e 518 {
masahikofukasawa 0:7a00359e701e 519 AkmSensorManager::Status status = AkmSensorManager::SUCCESS;
masahikofukasawa 0:7a00359e701e 520
tkstreet 33:d3e1e9eb2ef9 521 // If event is a command received from BLE
masahikofukasawa 0:7a00359e701e 522 if(eventCommandReceived)
masahikofukasawa 0:7a00359e701e 523 {
masahikofukasawa 16:d85be9bafb80 524 // MSG("#Command received.\r\n");
masahikofukasawa 0:7a00359e701e 525 processCommand();
tkstreet 21:966724730ce6 526 eventCommandReceived = false; // clear the flag
masahikofukasawa 0:7a00359e701e 527 }
masahikofukasawa 29:b488d2c89fba 528
masahikofukasawa 29:b488d2c89fba 529 // check sensor event
masahikofukasawa 29:b488d2c89fba 530 for(int i=0; i<sensorNum; i++){
masahikofukasawa 29:b488d2c89fba 531 if( sensor[i]->isEvent() ){
masahikofukasawa 29:b488d2c89fba 532 Message msg;
masahikofukasawa 29:b488d2c89fba 533 if( sensor[i]->readSensorData(&msg) != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
tkstreet 34:1ea3357c8d9a 534 throwMessage(&msg); // Process and output message to USB/BLE
masahikofukasawa 29:b488d2c89fba 535 }
masahikofukasawa 0:7a00359e701e 536 }
masahikofukasawa 0:7a00359e701e 537
tkstreet 34:1ea3357c8d9a 538 if(eventConnected) // If BLE connected, clear flag and start sensor.
masahikofukasawa 0:7a00359e701e 539 {
tkstreet 21:966724730ce6 540 eventConnected = false; // clear the flag
masahikofukasawa 12:c06cd8b76358 541 MSG("#BLE connected.\r\n");
masahikofukasawa 0:7a00359e701e 542 }
tkstreet 23:50c98b286e41 543
tkstreet 23:50c98b286e41 544 // If event is the BLE being disconnected, stop the sensor
tkstreet 23:50c98b286e41 545 if(eventDisconnected)
masahikofukasawa 0:7a00359e701e 546 {
masahikofukasawa 12:c06cd8b76358 547 MSG("#BLE dis-connected.\r\n");
masahikofukasawa 29:b488d2c89fba 548 for(int i=0; i<sensorNum; i++){
masahikofukasawa 29:b488d2c89fba 549 if( sensor[i]->stopSensor() != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
masahikofukasawa 29:b488d2c89fba 550 }
tkstreet 34:1ea3357c8d9a 551 eventDisconnected = false; // clear the flag
masahikofukasawa 0:7a00359e701e 552 }
masahikofukasawa 0:7a00359e701e 553 return status;
masahikofukasawa 0:7a00359e701e 554 }
masahikofukasawa 0:7a00359e701e 555
masahikofukasawa 0:7a00359e701e 556 AkmSensorManager::Status AkmSensorManager::throwMessage(const Message *msg) {
masahikofukasawa 0:7a00359e701e 557 int len = Message::getMaxMessageLength();
masahikofukasawa 0:7a00359e701e 558 char buf[len];
masahikofukasawa 0:7a00359e701e 559
tkstreet 23:50c98b286e41 560 buf[0] = '$'; // Output message prefix
masahikofukasawa 0:7a00359e701e 561
tkstreet 23:50c98b286e41 562 // Processes command in msg to ASCII
masahikofukasawa 0:7a00359e701e 563 char cmd = (char)msg->getCommand();
masahikofukasawa 0:7a00359e701e 564 Message::charToAscii(&buf[1], &cmd);
masahikofukasawa 0:7a00359e701e 565
tkstreet 23:50c98b286e41 566 // Processes arguments in msg to ASCII
masahikofukasawa 0:7a00359e701e 567 for (int i=0; i < msg->getArgNum(); i++) {
masahikofukasawa 0:7a00359e701e 568 char arg = msg->getArgument(i);
masahikofukasawa 0:7a00359e701e 569 Message::charToAscii(&buf[3+2*i], &arg);
masahikofukasawa 0:7a00359e701e 570 }
masahikofukasawa 0:7a00359e701e 571
masahikofukasawa 0:7a00359e701e 572 // Add termination characters, 0x0D(\r), \n and \0, to the end of string
masahikofukasawa 0:7a00359e701e 573 int tIdx = 3 + 2 * (msg->getArgNum());
masahikofukasawa 0:7a00359e701e 574 int bufSize = sizeof(buf)/sizeof(buf[0]);
masahikofukasawa 0:7a00359e701e 575 if ((tIdx + 3) > (bufSize - 1)) {
masahikofukasawa 11:cef8dc1cf010 576 MSG("#Error: Message data exceeds the buffer.\r\n");
masahikofukasawa 0:7a00359e701e 577 return ERROR;
masahikofukasawa 0:7a00359e701e 578 }
masahikofukasawa 11:cef8dc1cf010 579 buf[tIdx++] = CR; // '\r'
masahikofukasawa 11:cef8dc1cf010 580 buf[tIdx++] = LF; // '\n'
masahikofukasawa 11:cef8dc1cf010 581 buf[tIdx] = '\0';
tkstreet 23:50c98b286e41 582
tkstreet 33:d3e1e9eb2ef9 583 // If BLE is enabled, send to AKDP app
tkstreet 23:50c98b286e41 584 if(isEnabledBle) uartService->writeString(buf);
tkstreet 23:50c98b286e41 585
tkstreet 33:d3e1e9eb2ef9 586 // If USB is enabled, send to serial terminal
masahikofukasawa 0:7a00359e701e 587 if(isEnabledUsb) serial->printf(buf);
masahikofukasawa 0:7a00359e701e 588
masahikofukasawa 0:7a00359e701e 589 return SUCCESS;
masahikofukasawa 12:c06cd8b76358 590 }
masahikofukasawa 13:d008249f0359 591
masahikofukasawa 27:41aa9fb23a2f 592 char* AkmSensorManager::my_strcat(char* str1, char* str2)
masahikofukasawa 27:41aa9fb23a2f 593 {
masahikofukasawa 27:41aa9fb23a2f 594 int num1;
masahikofukasawa 27:41aa9fb23a2f 595 char* str;
masahikofukasawa 27:41aa9fb23a2f 596
masahikofukasawa 27:41aa9fb23a2f 597 num1=strlen(str1) + strlen(str2);
masahikofukasawa 27:41aa9fb23a2f 598 str = (char *)malloc(num1 + 1);
masahikofukasawa 27:41aa9fb23a2f 599 sprintf(str,"%s%s",str1,str2);
masahikofukasawa 27:41aa9fb23a2f 600 return str;
masahikofukasawa 27:41aa9fb23a2f 601 }
masahikofukasawa 27:41aa9fb23a2f 602
masahikofukasawa 13:d008249f0359 603 char* AkmSensorManager::getSensorName(){
masahikofukasawa 29:b488d2c89fba 604 char* name = "";
masahikofukasawa 29:b488d2c89fba 605 for(int i=0; i<sensorNum; i++){
masahikofukasawa 29:b488d2c89fba 606 name = my_strcat(name, sensor[i]->getSensorName());
masahikofukasawa 29:b488d2c89fba 607 if( sensorNum > (i+1) )name = my_strcat(name, "+");
masahikofukasawa 27:41aa9fb23a2f 608 }
masahikofukasawa 27:41aa9fb23a2f 609 MSG("#Sensor Name='%s'.\r\n",name);
masahikofukasawa 27:41aa9fb23a2f 610 return name;
masahikofukasawa 39:3821886c902e 611 }
masahikofukasawa 39:3821886c902e 612
masahikofukasawa 39:3821886c902e 613 void AkmSensorManager::attachInterrupt(){
masahikofukasawa 39:3821886c902e 614 switch(drdyType){
masahikofukasawa 39:3821886c902e 615 case AkmAkd::INTERRUPT_ENABLED_PP:
masahikofukasawa 39:3821886c902e 616 {
masahikofukasawa 39:3821886c902e 617 if(primaryId == AkmSensor::AKM_PRIMARY_ID_AKD_SPI) interrupt = new InterruptIn(SPI_DRDY);
masahikofukasawa 39:3821886c902e 618 else interrupt = new InterruptIn(I2C_DRDY);
masahikofukasawa 39:3821886c902e 619 break;
masahikofukasawa 39:3821886c902e 620 }
masahikofukasawa 39:3821886c902e 621 case AkmAkd::INTERRUPT_ENABLED_OD:
masahikofukasawa 39:3821886c902e 622 {
masahikofukasawa 39:3821886c902e 623 if(primaryId == AkmSensor::AKM_PRIMARY_ID_AKD_SPI) interrupt = new InterruptIn(SPI_DRDY);
masahikofukasawa 39:3821886c902e 624 else interrupt = new InterruptIn(I2C_DRDY);
masahikofukasawa 39:3821886c902e 625 break;
masahikofukasawa 39:3821886c902e 626 }
masahikofukasawa 39:3821886c902e 627 default:
masahikofukasawa 39:3821886c902e 628 {
masahikofukasawa 39:3821886c902e 629 // nothing.
masahikofukasawa 39:3821886c902e 630 }
masahikofukasawa 39:3821886c902e 631 }
masahikofukasawa 39:3821886c902e 632 }
masahikofukasawa 39:3821886c902e 633
masahikofukasawa 39:3821886c902e 634 void AkmSensorManager::detachInterrupt(){
masahikofukasawa 39:3821886c902e 635 switch(drdyType){
masahikofukasawa 39:3821886c902e 636 case AkmAkd::INTERRUPT_ENABLED_PP:
masahikofukasawa 39:3821886c902e 637 {
masahikofukasawa 39:3821886c902e 638 interrupt->rise(NULL);
masahikofukasawa 39:3821886c902e 639 break;
masahikofukasawa 39:3821886c902e 640 }
masahikofukasawa 39:3821886c902e 641 case AkmAkd::INTERRUPT_ENABLED_OD:
masahikofukasawa 39:3821886c902e 642 {
masahikofukasawa 39:3821886c902e 643 interrupt->fall(NULL);
masahikofukasawa 39:3821886c902e 644 break;
masahikofukasawa 39:3821886c902e 645 }
masahikofukasawa 39:3821886c902e 646 default:
masahikofukasawa 39:3821886c902e 647 {
masahikofukasawa 39:3821886c902e 648 // nothing.
masahikofukasawa 39:3821886c902e 649 }
masahikofukasawa 39:3821886c902e 650 }
masahikofukasawa 13:d008249f0359 651 }