Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

akmsensormanager.cpp@48:427bdb7bf31b, 2017-12-19 (annotated)

Committer:
Masahiko Fukasawa
Date:
Tue Dec 19 12:18:13 2017 -0800
Revision:
48:427bdb7bf31b
Parent:
46:5938ad2039b0
Child:
49:c8f8946129b6
First commit

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 }
Masahiko Fukasawa 48:427bdb7bf31b 129 /*
masahikofukasawa 27:41aa9fb23a2f 130 case AkmSensor::AKM_PRIMARY_ID_DEMO:
masahikofukasawa 27:41aa9fb23a2f 131 {
masahikofukasawa 29:b488d2c89fba 132 if(subId == 0x08){
masahikofukasawa 29:b488d2c89fba 133 drdyType = AkmAkd::INTERRUPT_ENABLED_OD; // Only support open drain type DRDY
masahikofukasawa 29:b488d2c89fba 134
masahikofukasawa 29:b488d2c89fba 135 Ak09970Ctrl* ak09970 = new Ak09970Ctrl();
masahikofukasawa 29:b488d2c89fba 136 sensor[0] = ak09970;
masahikofukasawa 29:b488d2c89fba 137 if(sensor[0]->init(AkmSensor::AKM_PRIMARY_ID_AKD_I2C, Ak09970Ctrl::SUB_ID_AK09970) != AkmSensor::SUCCESS){
masahikofukasawa 39:3821886c902e 138 MSG("#Error: sensor[0]->init failed.\r\n");
masahikofukasawa 27:41aa9fb23a2f 139 return false; // couldn't find
masahikofukasawa 29:b488d2c89fba 140 }
masahikofukasawa 29:b488d2c89fba 141
masahikofukasawa 29:b488d2c89fba 142 Ak9752Ctrl* ak9752ctrl = new Ak9752Ctrl();
masahikofukasawa 29:b488d2c89fba 143 sensor[1] = ak9752ctrl;
masahikofukasawa 29:b488d2c89fba 144 if(sensor[1]->init(AkmSensor::AKM_PRIMARY_ID_IR_SENSOR, Ak9752Ctrl::SUB_ID_AK9752) != AkmSensor::SUCCESS){
masahikofukasawa 39:3821886c902e 145 MSG("#Error: sensor[1]->init failed.\r\n");
masahikofukasawa 27:41aa9fb23a2f 146 return false; // couldn't find
masahikofukasawa 29:b488d2c89fba 147 }
masahikofukasawa 29:b488d2c89fba 148 sensorNum = 2;
masahikofukasawa 27:41aa9fb23a2f 149 }
masahikofukasawa 29:b488d2c89fba 150 break;
masahikofukasawa 27:41aa9fb23a2f 151 }
Masahiko Fukasawa 48:427bdb7bf31b 152 */
masahikofukasawa 4:af13b985c689 153 case AkmSensor::AKM_PRIMARY_ID_LINEAR_SENSOR:
masahikofukasawa 37:c76d2edf3426 154 case AkmSensor::AKM_PRIMARY_ID_CURRENT_SENSOR_3V:
masahikofukasawa 37:c76d2edf3426 155 case AkmSensor::AKM_PRIMARY_ID_CURRENT_SENSOR_5V:
masahikofukasawa 10:5c69b067d88a 156 case AkmSensor::AKM_PRIMARY_ID_MISC_ANALOG:
masahikofukasawa 10:5c69b067d88a 157 {
masahikofukasawa 11:cef8dc1cf010 158 AkmAnalogSensor* analogsensor = new AkmAnalogSensor();
masahikofukasawa 27:41aa9fb23a2f 159 sensor[0] = analogsensor;
masahikofukasawa 29:b488d2c89fba 160 sensorNum = 1;
masahikofukasawa 0:7a00359e701e 161 break;
masahikofukasawa 10:5c69b067d88a 162 }
masahikofukasawa 17:9abb7c28709c 163
masahikofukasawa 1:b46b8653331f 164 case AkmSensor::AKM_PRIMARY_ID_IR_SENSOR:
masahikofukasawa 10:5c69b067d88a 165 {
masahikofukasawa 29:b488d2c89fba 166 drdyType = AkmAkd::INTERRUPT_ENABLED_OD;
masahikofukasawa 29:b488d2c89fba 167
masahikofukasawa 10:5c69b067d88a 168 if(subId == Ak9750Ctrl::SUB_ID_AK9750){
masahikofukasawa 10:5c69b067d88a 169 Ak9750Ctrl* ak9750ctrl = new Ak9750Ctrl();
masahikofukasawa 27:41aa9fb23a2f 170 sensor[0] = ak9750ctrl;
masahikofukasawa 29:b488d2c89fba 171 sensorNum = 1;
masahikofukasawa 15:1238993fd75f 172 }else if(subId == Ak9750Ctrl::SUB_ID_AK9753){
masahikofukasawa 15:1238993fd75f 173 Ak9750Ctrl* ak9753ctrl = new Ak9750Ctrl();
masahikofukasawa 27:41aa9fb23a2f 174 sensor[0] = ak9753ctrl;
masahikofukasawa 29:b488d2c89fba 175 sensorNum = 1;
masahikofukasawa 10:5c69b067d88a 176 }else if(subId == Ak9752Ctrl::SUB_ID_AK9752){
masahikofukasawa 10:5c69b067d88a 177 Ak9752Ctrl* ak9752ctrl = new Ak9752Ctrl();
masahikofukasawa 27:41aa9fb23a2f 178 sensor[0] = ak9752ctrl;
masahikofukasawa 29:b488d2c89fba 179 sensorNum = 1;
masahikofukasawa 10:5c69b067d88a 180 }else{
masahikofukasawa 27:41aa9fb23a2f 181 return false; // couldn't find
masahikofukasawa 10:5c69b067d88a 182 }
masahikofukasawa 1:b46b8653331f 183 break;
masahikofukasawa 10:5c69b067d88a 184 }
tkstreet 33:d3e1e9eb2ef9 185 case AkmSensor::AKM_PRIMARY_ID_MOTOR_DRIVER:
tkstreet 33:d3e1e9eb2ef9 186 { // TODO: Other motor driver cases
tkstreet 33:d3e1e9eb2ef9 187 if(subId == Ap1017Ctrl::SUB_ID_AP1017){
tkstreet 33:d3e1e9eb2ef9 188 Ap1017Ctrl* ap1017ctrl = new Ap1017Ctrl();
tkstreet 34:1ea3357c8d9a 189 sensor[0] = ap1017ctrl;
tkstreet 34:1ea3357c8d9a 190 sensorNum = 1;
tkstreet 33:d3e1e9eb2ef9 191 }else{
tkstreet 33:d3e1e9eb2ef9 192 return NULL;
tkstreet 33:d3e1e9eb2ef9 193 }
tkstreet 33:d3e1e9eb2ef9 194 break;
tkstreet 33:d3e1e9eb2ef9 195 }
masahikofukasawa 0:7a00359e701e 196 default:
masahikofukasawa 10:5c69b067d88a 197 {
masahikofukasawa 39:3821886c902e 198 MSG("#Error: Can't find ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
masahikofukasawa 27:41aa9fb23a2f 199 return false; // couldn't find
masahikofukasawa 10:5c69b067d88a 200 }
masahikofukasawa 0:7a00359e701e 201 }
masahikofukasawa 29:b488d2c89fba 202
masahikofukasawa 29:b488d2c89fba 203 if(primaryId != AkmSensor::AKM_PRIMARY_ID_DEMO){
Masahiko Fukasawa 48:427bdb7bf31b 204 // for(int i=0; i<sensorNum; i++){
Masahiko Fukasawa 48:427bdb7bf31b 205 if(sensor[0]->init(primaryId, subId) != AkmSensor::SUCCESS){
masahikofukasawa 39:3821886c902e 206 MSG("#Error: sensor[i]->init failed. ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
masahikofukasawa 29:b488d2c89fba 207 return false; // couldn't find
masahikofukasawa 29:b488d2c89fba 208 }
Masahiko Fukasawa 48:427bdb7bf31b 209 // }
masahikofukasawa 27:41aa9fb23a2f 210 MSG("#ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
masahikofukasawa 0:7a00359e701e 211 }
masahikofukasawa 29:b488d2c89fba 212
masahikofukasawa 39:3821886c902e 213 attachInterrupt();
masahikofukasawa 39:3821886c902e 214
masahikofukasawa 27:41aa9fb23a2f 215 return true;
masahikofukasawa 0:7a00359e701e 216 }
masahikofukasawa 0:7a00359e701e 217
masahikofukasawa 29:b488d2c89fba 218 void AkmSensorManager::detectDRDY(){
tkstreet 45:6af8fdde0ef3 219 VERBOSE("#detect DRDY.\r\n");
Masahiko Fukasawa 48:427bdb7bf31b 220 // for(int i=0; i<sensorNum; i++){
Masahiko Fukasawa 48:427bdb7bf31b 221 sensor[0]->setEvent();
Masahiko Fukasawa 48:427bdb7bf31b 222 // }
masahikofukasawa 29:b488d2c89fba 223 }
masahikofukasawa 29:b488d2c89fba 224
masahikofukasawa 16:d85be9bafb80 225 void AkmSensorManager::dummyCallbackForCommandReceived(){}
masahikofukasawa 16:d85be9bafb80 226
tkstreet 33:d3e1e9eb2ef9 227
tkstreet 33:d3e1e9eb2ef9 228 // For commands received via BLE
masahikofukasawa 0:7a00359e701e 229 AkmSensorManager::Status AkmSensorManager::commandReceived(char* buf){
masahikofukasawa 0:7a00359e701e 230 // Construct message
masahikofukasawa 0:7a00359e701e 231 Status status = SUCCESS;
masahikofukasawa 0:7a00359e701e 232
masahikofukasawa 10:5c69b067d88a 233 if ((Message::parse(&msg, buf)) != Message::SUCCESS) {
masahikofukasawa 39:3821886c902e 234 MSG("#Error: Failed to parse message. %s\r\n", buf);
masahikofukasawa 0:7a00359e701e 235 status = ERROR;
tkstreet 33:d3e1e9eb2ef9 236 eventCommandReceived = false; // Reset flag
masahikofukasawa 15:1238993fd75f 237 }else{
tkstreet 33:d3e1e9eb2ef9 238 eventCommandReceived = true; // Set flag
tkstreet 45:6af8fdde0ef3 239 VERBOSE("#Parsed message. %s\r\n", buf);
masahikofukasawa 0:7a00359e701e 240 }
masahikofukasawa 16:d85be9bafb80 241 t.attach(callback(this, &AkmSensorManager::dummyCallbackForCommandReceived),0); // wake-up from ble.waitForEvent
masahikofukasawa 0:7a00359e701e 242 return status;
masahikofukasawa 0:7a00359e701e 243 }
masahikofukasawa 0:7a00359e701e 244
tkstreet 33:d3e1e9eb2ef9 245
coisme 2:11fe67783c4c 246 int16_t AkmSensorManager::getAdcData(MCP342X *mcp3428, MCP342X::AdcChannel ch, MCP342X::SampleSetting s) {
coisme 2:11fe67783c4c 247 const int WAIT_ADC_MS = 1;
coisme 2:11fe67783c4c 248
coisme 2:11fe67783c4c 249 // Configure channel and trigger.
coisme 2:11fe67783c4c 250 mcp3428->setChannel(ch);
coisme 2:11fe67783c4c 251 mcp3428->setSampleSetting(s);
coisme 2:11fe67783c4c 252 mcp3428->trigger();
coisme 2:11fe67783c4c 253
coisme 2:11fe67783c4c 254 // polling data (!blocking)
coisme 2:11fe67783c4c 255 MCP342X::Data data;
coisme 2:11fe67783c4c 256 do {
coisme 2:11fe67783c4c 257 wait_ms(WAIT_ADC_MS);
coisme 2:11fe67783c4c 258 mcp3428->getData(&data);
coisme 2:11fe67783c4c 259 } while(data.st == MCP342X::DATA_NOT_UPDATED);
coisme 2:11fe67783c4c 260
coisme 2:11fe67783c4c 261 return data.value;
coisme 2:11fe67783c4c 262 }
masahikofukasawa 0:7a00359e701e 263
tkstreet 33:d3e1e9eb2ef9 264
masahikofukasawa 0:7a00359e701e 265 uint8_t AkmSensorManager::getId(PinName pin, uint8_t bits)
masahikofukasawa 0:7a00359e701e 266 {
masahikofukasawa 11:cef8dc1cf010 267 MSG("#GetID\r\n");
masahikofukasawa 6:c4401549d68f 268
tkstreet 21:966724730ce6 269 I2C i2c(I2C_SDA, I2C_SCL); // establish I2C to read ID
tkstreet 21:966724730ce6 270
coisme 2:11fe67783c4c 271 // ADC
tkstreet 21:966724730ce6 272 MCP342X mcp342x(&i2c, MCP342X::SLAVE_ADDRESS_6EH); // ADC to convert voltage
tkstreet 21:966724730ce6 273 mcp342x.setConversionMode(MCP342X::ONE_SHOT); // Set to single sample
coisme 2:11fe67783c4c 274 MCP342X::AdcChannel ch;
tkstreet 21:966724730ce6 275
tkstreet 21:966724730ce6 276 if (pin == ANALOG_SENSOR_ID) { // Primary ID
coisme 2:11fe67783c4c 277 ch = MCP342X::ADC_CH1;
tkstreet 21:966724730ce6 278 } else { // pin == ANALOG_SENSOR_ID_SUB
tkstreet 21:966724730ce6 279 ch = MCP342X::ADC_CH2; // Secondary ID
coisme 2:11fe67783c4c 280 }
tkstreet 21:966724730ce6 281
coisme 2:11fe67783c4c 282 int16_t val = getAdcData(&mcp342x, ch, MCP342X::SAMPLE_240HZ_12BIT);
masahikofukasawa 11:cef8dc1cf010 283 MSG("#12bit ADC Val = %d.\r\n", val);
coisme 2:11fe67783c4c 284
tkstreet 21:966724730ce6 285 // Voltage boundaries for ID voltage divider system
coisme 2:11fe67783c4c 286 const int16_t VAL_MAX = 3000-2048; // Corresponds to 3V
coisme 2:11fe67783c4c 287 const int16_t VAL_MIN = -2048; // Corresponds to 0V
coisme 2:11fe67783c4c 288
tkstreet 21:966724730ce6 289 // Convert voltage to ID value
masahikofukasawa 46:5938ad2039b0 290 uint8_t value = (uint8_t)((val - VAL_MIN)/(double)(VAL_MAX - VAL_MIN) * (1 << bits) + 0.5);
masahikofukasawa 11:cef8dc1cf010 291 MSG("#ID = %d.\r\n", value);
masahikofukasawa 6:c4401549d68f 292
masahikofukasawa 0:7a00359e701e 293 return value;
masahikofukasawa 0:7a00359e701e 294 }
masahikofukasawa 0:7a00359e701e 295
tkstreet 33:d3e1e9eb2ef9 296
masahikofukasawa 0:7a00359e701e 297 bool AkmSensorManager::isEvent()
masahikofukasawa 0:7a00359e701e 298 {
masahikofukasawa 29:b488d2c89fba 299 // check sensor related event
Masahiko Fukasawa 48:427bdb7bf31b 300 // for(int i=0; i<sensorNum; i++){
Masahiko Fukasawa 48:427bdb7bf31b 301 if(sensor[0]->isEvent()){
masahikofukasawa 29:b488d2c89fba 302 return true;
masahikofukasawa 29:b488d2c89fba 303 }
Masahiko Fukasawa 48:427bdb7bf31b 304 // }
masahikofukasawa 29:b488d2c89fba 305
masahikofukasawa 29:b488d2c89fba 306 // other events
masahikofukasawa 29:b488d2c89fba 307 return (
masahikofukasawa 0:7a00359e701e 308 eventCommandReceived ||
masahikofukasawa 0:7a00359e701e 309 eventConnected ||
masahikofukasawa 0:7a00359e701e 310 eventDisconnected);
masahikofukasawa 0:7a00359e701e 311 }
masahikofukasawa 0:7a00359e701e 312
masahikofukasawa 0:7a00359e701e 313 void AkmSensorManager::processCommand()
masahikofukasawa 0:7a00359e701e 314 {
tkstreet 23:50c98b286e41 315 // Extracts command contained in the message
masahikofukasawa 0:7a00359e701e 316 Message::Command cmd = msg.getCommand();
masahikofukasawa 0:7a00359e701e 317
tkstreet 21:966724730ce6 318 // Creates a message object to return
masahikofukasawa 0:7a00359e701e 319 Message resMsg;
masahikofukasawa 0:7a00359e701e 320
tkstreet 23:50c98b286e41 321 // Return message contains the extracted command
masahikofukasawa 0:7a00359e701e 322 resMsg.setCommand(cmd);
masahikofukasawa 0:7a00359e701e 323
masahikofukasawa 0:7a00359e701e 324 switch(cmd)
masahikofukasawa 0:7a00359e701e 325 {
masahikofukasawa 0:7a00359e701e 326 case Message::CMD_GET_FW_VERSION:
masahikofukasawa 11:cef8dc1cf010 327 {
masahikofukasawa 0:7a00359e701e 328 resMsg.setArgument(0, FIRMWARE_VERSION);
masahikofukasawa 0:7a00359e701e 329 throwMessage(&resMsg);
masahikofukasawa 11:cef8dc1cf010 330 MSG("#FW version is reported.\r\n");
masahikofukasawa 0:7a00359e701e 331 break;
masahikofukasawa 11:cef8dc1cf010 332 }
masahikofukasawa 0:7a00359e701e 333 case Message::CMD_GET_MAG_PART:
masahikofukasawa 11:cef8dc1cf010 334 {
masahikofukasawa 0:7a00359e701e 335 resMsg.setArgument(0, MAGNETOMETER_ID);
masahikofukasawa 0:7a00359e701e 336 throwMessage(&resMsg);
masahikofukasawa 11:cef8dc1cf010 337 MSG("#Mag ID is reported.\r\n");
masahikofukasawa 0:7a00359e701e 338 break;
masahikofukasawa 11:cef8dc1cf010 339 }
masahikofukasawa 0:7a00359e701e 340 case Message::CMD_SET_SERIAL_TARGET:
masahikofukasawa 11:cef8dc1cf010 341 {
masahikofukasawa 0:7a00359e701e 342 isEnabledBle = msg.getArgument(0)==Message::SW_ON ? true : false;
masahikofukasawa 0:7a00359e701e 343 isEnabledUsb = msg.getArgument(1)==Message::SW_ON ? true : false;
masahikofukasawa 0:7a00359e701e 344 break;
masahikofukasawa 11:cef8dc1cf010 345 }
masahikofukasawa 0:7a00359e701e 346 case Message::CMD_GET_ID: // return Primary ID and Sub ID
masahikofukasawa 11:cef8dc1cf010 347 {
masahikofukasawa 10:5c69b067d88a 348 resMsg.setArgument(0, primaryId);
masahikofukasawa 0:7a00359e701e 349 resMsg.setArgument(1, subId);
masahikofukasawa 0:7a00359e701e 350 throwMessage(&resMsg);
masahikofukasawa 29:b488d2c89fba 351 MSG("#ID is reported.\r\n");
masahikofukasawa 0:7a00359e701e 352 break;
masahikofukasawa 11:cef8dc1cf010 353 }
masahikofukasawa 29:b488d2c89fba 354 case Message::CMD_GET_SENSOR_INDEX:
masahikofukasawa 27:41aa9fb23a2f 355 {
masahikofukasawa 29:b488d2c89fba 356 resMsg.setArgument(0, sensorIndex);
masahikofukasawa 27:41aa9fb23a2f 357 throwMessage(&resMsg);
masahikofukasawa 29:b488d2c89fba 358 MSG("#Get Sensor Index=%d.\r\n", sensorIndex);
masahikofukasawa 27:41aa9fb23a2f 359 break;
masahikofukasawa 27:41aa9fb23a2f 360 }
masahikofukasawa 29:b488d2c89fba 361 case Message::CMD_SET_SENSOR_INDEX:
masahikofukasawa 27:41aa9fb23a2f 362 {
masahikofukasawa 29:b488d2c89fba 363 uint8_t index = (uint8_t)msg.getArgument(0);
masahikofukasawa 30:5a241d9b3262 364 if(msg.getArgNum() == 1 && index<sensorNum){
masahikofukasawa 28:dc4eb14e4d7e 365 resMsg.setArgument(0, 0);
masahikofukasawa 29:b488d2c89fba 366 sensorIndex = index;
masahikofukasawa 29:b488d2c89fba 367 MSG("#Set Sensor Index=%d.\r\n", sensorIndex);
masahikofukasawa 30:5a241d9b3262 368 }else{
masahikofukasawa 30:5a241d9b3262 369 resMsg.setArgument(0, 1);
masahikofukasawa 30:5a241d9b3262 370 MSG("#Error: Set Sensor Index=%d.\r\n", sensorIndex);
masahikofukasawa 29:b488d2c89fba 371 }
masahikofukasawa 28:dc4eb14e4d7e 372 throwMessage(&resMsg);
masahikofukasawa 27:41aa9fb23a2f 373 break;
masahikofukasawa 27:41aa9fb23a2f 374 }
masahikofukasawa 29:b488d2c89fba 375 case Message::CMD_GET_TOTAL_SENSOR_NUM:
masahikofukasawa 27:41aa9fb23a2f 376 {
masahikofukasawa 29:b488d2c89fba 377 resMsg.setArgument(0, sensorNum);
masahikofukasawa 27:41aa9fb23a2f 378 throwMessage(&resMsg);
masahikofukasawa 29:b488d2c89fba 379 MSG("#Get Sensor Total Num=%d.\r\n", sensorNum);
masahikofukasawa 0:7a00359e701e 380 break;
masahikofukasawa 11:cef8dc1cf010 381 }
masahikofukasawa 0:7a00359e701e 382 case Message::CMD_STOP_MEASUREMENT:
masahikofukasawa 11:cef8dc1cf010 383 {
masahikofukasawa 29:b488d2c89fba 384 if( sensor[sensorIndex]->stopSensor() != AkmSensor::SUCCESS){
masahikofukasawa 15:1238993fd75f 385 resMsg.setArgument(0, 1);
masahikofukasawa 15:1238993fd75f 386 }else{
masahikofukasawa 27:41aa9fb23a2f 387 resMsg.setArgument(0, 0);
masahikofukasawa 15:1238993fd75f 388 }
masahikofukasawa 0:7a00359e701e 389 throwMessage(&resMsg);
masahikofukasawa 39:3821886c902e 390
masahikofukasawa 39:3821886c902e 391 detachInterrupt();
masahikofukasawa 39:3821886c902e 392
masahikofukasawa 29:b488d2c89fba 393 MSG("#Stop measurement:%s.\r\n",sensor[sensorIndex]->getSensorName());
masahikofukasawa 0:7a00359e701e 394 break;
masahikofukasawa 11:cef8dc1cf010 395 }
masahikofukasawa 0:7a00359e701e 396 case Message::CMD_START_MEASUREMENT:
masahikofukasawa 11:cef8dc1cf010 397 {
masahikofukasawa 11:cef8dc1cf010 398 int error_code = AkmSensor::SUCCESS;
Masahiko Fukasawa 48:427bdb7bf31b 399 if(msg.getArgNum() == 0)
Masahiko Fukasawa 48:427bdb7bf31b 400 {
masahikofukasawa 29:b488d2c89fba 401 error_code = sensor[sensorIndex]->startSensor();
masahikofukasawa 11:cef8dc1cf010 402 if( error_code != AkmSensor::SUCCESS ){
masahikofukasawa 39:3821886c902e 403 MSG("#Error: StartSensor Error. Code=%d\r\n",error_code);
masahikofukasawa 11:cef8dc1cf010 404 }
Masahiko Fukasawa 48:427bdb7bf31b 405 else
Masahiko Fukasawa 48:427bdb7bf31b 406 {
Masahiko Fukasawa 48:427bdb7bf31b 407 switch(drdyType){
Masahiko Fukasawa 48:427bdb7bf31b 408 case AkmAkd::INTERRUPT_ENABLED_PP:
Masahiko Fukasawa 48:427bdb7bf31b 409 {
Masahiko Fukasawa 48:427bdb7bf31b 410 interrupt->rise(callback(this, &AkmSensorManager::detectDRDY));
Masahiko Fukasawa 48:427bdb7bf31b 411 break;
Masahiko Fukasawa 48:427bdb7bf31b 412 }
Masahiko Fukasawa 48:427bdb7bf31b 413 case AkmAkd::INTERRUPT_ENABLED_OD:
Masahiko Fukasawa 48:427bdb7bf31b 414 {
Masahiko Fukasawa 48:427bdb7bf31b 415 interrupt->fall(callback(this, &AkmSensorManager::detectDRDY));
Masahiko Fukasawa 48:427bdb7bf31b 416 break;
Masahiko Fukasawa 48:427bdb7bf31b 417 }
Masahiko Fukasawa 48:427bdb7bf31b 418 default:
Masahiko Fukasawa 48:427bdb7bf31b 419 {
Masahiko Fukasawa 48:427bdb7bf31b 420 // nothing.
Masahiko Fukasawa 48:427bdb7bf31b 421 }
Masahiko Fukasawa 48:427bdb7bf31b 422 }
Masahiko Fukasawa 48:427bdb7bf31b 423 }
Masahiko Fukasawa 48:427bdb7bf31b 424 }
Masahiko Fukasawa 48:427bdb7bf31b 425 else if(msg.getArgNum() == 1)
Masahiko Fukasawa 48:427bdb7bf31b 426 {
masahikofukasawa 46:5938ad2039b0 427 float interval = (float)(1.0 / (double)msg.getArgument(0));
masahikofukasawa 29:b488d2c89fba 428 error_code = sensor[sensorIndex]->startSensor(interval);
masahikofukasawa 11:cef8dc1cf010 429 if( error_code != AkmSensor::SUCCESS ){
masahikofukasawa 39:3821886c902e 430 MSG("#Error: StartSensor Error. Code=%d\r\n",error_code);
masahikofukasawa 11:cef8dc1cf010 431 }
masahikofukasawa 11:cef8dc1cf010 432 else{
masahikofukasawa 39:3821886c902e 433 detachInterrupt();
masahikofukasawa 11:cef8dc1cf010 434 }
masahikofukasawa 11:cef8dc1cf010 435 }else{
tkstreet 44:0e251c736282 436 MSG("#Error: StartSensor Error: Wrong number of arguments.\r\n");
masahikofukasawa 11:cef8dc1cf010 437 }
masahikofukasawa 39:3821886c902e 438
masahikofukasawa 11:cef8dc1cf010 439 if(error_code == AkmSensor::SUCCESS){
masahikofukasawa 11:cef8dc1cf010 440 // get initial sensor state for switch type sensors
masahikofukasawa 11:cef8dc1cf010 441 if( primaryId == AkmSensor::AKM_PRIMARY_ID_UNIPOLAR ||
masahikofukasawa 11:cef8dc1cf010 442 primaryId == AkmSensor::AKM_PRIMARY_ID_OMNIPOLAR ||
masahikofukasawa 11:cef8dc1cf010 443 primaryId == AkmSensor::AKM_PRIMARY_ID_LATCH ||
masahikofukasawa 11:cef8dc1cf010 444 primaryId == AkmSensor::AKM_PRIMARY_ID_DUAL_OUTPUT ||
masahikofukasawa 11:cef8dc1cf010 445 primaryId == AkmSensor::AKM_PRIMARY_ID_ONECHIP_ENCODER ){
masahikofukasawa 11:cef8dc1cf010 446 Message temp;
masahikofukasawa 29:b488d2c89fba 447 sensor[sensorIndex]->readSensorData(&temp);
masahikofukasawa 11:cef8dc1cf010 448 throwMessage(&temp);
masahikofukasawa 11:cef8dc1cf010 449 }
Masahiko Fukasawa 48:427bdb7bf31b 450 MSG("#Start measurement:%s index=%d.\r\n",sensor[sensorIndex]->getSensorName(), sensorIndex);
masahikofukasawa 0:7a00359e701e 451 }
masahikofukasawa 0:7a00359e701e 452 break;
masahikofukasawa 11:cef8dc1cf010 453 }
tkstreet 33:d3e1e9eb2ef9 454 case Message::CMD_MOTOR_START_MOTOR:
tkstreet 33:d3e1e9eb2ef9 455 case Message::CMD_MOTOR_STOP_MOTOR:
tkstreet 33:d3e1e9eb2ef9 456 case Message::CMD_MOTOR_SET_DIRECTION:
tkstreet 33:d3e1e9eb2ef9 457 case Message::CMD_MOTOR_SET_DUTY_CYCLE:
masahikofukasawa 9:6fa3e7b17c27 458 case Message::CMD_PROGSW_GET_THRESHOLD:
masahikofukasawa 9:6fa3e7b17c27 459 case Message::CMD_PROGSW_SET_THRESHOLD:
masahikofukasawa 9:6fa3e7b17c27 460 case Message::CMD_PROGSW_GET_READ_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 461 case Message::CMD_PROGSW_SET_READ_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 462 case Message::CMD_PROGSW_GET_SWITCH_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 463 case Message::CMD_PROGSW_SET_SWITCH_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 464 case Message::CMD_PROGSW_GET_OPERATION_MODE:
masahikofukasawa 9:6fa3e7b17c27 465 case Message::CMD_PROGSW_SET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 466 case Message::CMD_IR_GET_THRESHOLD:
masahikofukasawa 1:b46b8653331f 467 case Message::CMD_IR_SET_THRESHOLD:
masahikofukasawa 1:b46b8653331f 468 case Message::CMD_IR_GET_HYSTERESIS:
masahikofukasawa 1:b46b8653331f 469 case Message::CMD_IR_SET_HYSTERESIS:
masahikofukasawa 1:b46b8653331f 470 case Message::CMD_IR_GET_INTERRUPT:
masahikofukasawa 1:b46b8653331f 471 case Message::CMD_IR_SET_INTERRUPT:
masahikofukasawa 1:b46b8653331f 472 case Message::CMD_IR_GET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 473 case Message::CMD_IR_SET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 474 case Message::CMD_IR_GET_THRESHOLD_EEPROM:
masahikofukasawa 1:b46b8653331f 475 case Message::CMD_IR_SET_THRESHOLD_EEPROM:
masahikofukasawa 1:b46b8653331f 476 case Message::CMD_IR_GET_HYSTERESIS_EEPROM:
masahikofukasawa 1:b46b8653331f 477 case Message::CMD_IR_SET_HYSTERESIS_EEPROM:
masahikofukasawa 1:b46b8653331f 478 case Message::CMD_IR_GET_INTERRUPT_EEPROM:
masahikofukasawa 1:b46b8653331f 479 case Message::CMD_IR_SET_INTERRUPT_EEPROM:
masahikofukasawa 1:b46b8653331f 480 case Message::CMD_IR_GET_OPERATION_MODE_EEPROM:
masahikofukasawa 1:b46b8653331f 481 case Message::CMD_IR_SET_OPERATION_MODE_EEPROM:
masahikofukasawa 9:6fa3e7b17c27 482 case Message::CMD_ANGLE_ZERO_RESET:
masahikofukasawa 30:5a241d9b3262 483 case Message::CMD_ANGLE_READ:
masahikofukasawa 9:6fa3e7b17c27 484 case Message::CMD_REG_WRITE:
masahikofukasawa 9:6fa3e7b17c27 485 case Message::CMD_REG_WRITEN:
masahikofukasawa 9:6fa3e7b17c27 486 case Message::CMD_REG_READ:
masahikofukasawa 9:6fa3e7b17c27 487 case Message::CMD_REG_READN:
masahikofukasawa 9:6fa3e7b17c27 488 case Message::CMD_COMPASS_GET_OPERATION_MODE:
masahikofukasawa 9:6fa3e7b17c27 489 case Message::CMD_COMPASS_SET_OPERATION_MODE:
masahikofukasawa 11:cef8dc1cf010 490 {
masahikofukasawa 29:b488d2c89fba 491 AkmSensor::Status st = sensor[sensorIndex]->requestCommand(&msg,&resMsg);
masahikofukasawa 15:1238993fd75f 492 if( (resMsg.getArgNum() == 0) && (st != AkmSensor::SUCCESS) )
masahikofukasawa 15:1238993fd75f 493 {
masahikofukasawa 39:3821886c902e 494 MSG("#Error: Command failed.\r\n");
masahikofukasawa 15:1238993fd75f 495 }else{
masahikofukasawa 15:1238993fd75f 496 throwMessage(&resMsg);
masahikofukasawa 15:1238993fd75f 497 }
masahikofukasawa 0:7a00359e701e 498 break;
masahikofukasawa 11:cef8dc1cf010 499 }
masahikofukasawa 0:7a00359e701e 500 default:
masahikofukasawa 11:cef8dc1cf010 501 {
masahikofukasawa 39:3821886c902e 502 MSG("#Error: Can't find command.\r\n");
masahikofukasawa 0:7a00359e701e 503 break;
masahikofukasawa 11:cef8dc1cf010 504 }
masahikofukasawa 0:7a00359e701e 505 }
masahikofukasawa 0:7a00359e701e 506 }
masahikofukasawa 0:7a00359e701e 507
masahikofukasawa 0:7a00359e701e 508 AkmSensorManager::Status AkmSensorManager::processEvent()
masahikofukasawa 0:7a00359e701e 509 {
masahikofukasawa 0:7a00359e701e 510 AkmSensorManager::Status status = AkmSensorManager::SUCCESS;
masahikofukasawa 0:7a00359e701e 511
tkstreet 33:d3e1e9eb2ef9 512 // If event is a command received from BLE
masahikofukasawa 0:7a00359e701e 513 if(eventCommandReceived)
masahikofukasawa 0:7a00359e701e 514 {
tkstreet 45:6af8fdde0ef3 515 VERBOSE("#Command received.\r\n");
masahikofukasawa 0:7a00359e701e 516 processCommand();
tkstreet 21:966724730ce6 517 eventCommandReceived = false; // clear the flag
masahikofukasawa 0:7a00359e701e 518 }
masahikofukasawa 29:b488d2c89fba 519
masahikofukasawa 29:b488d2c89fba 520 // check sensor event
Masahiko Fukasawa 48:427bdb7bf31b 521 // for(int i=0; i<sensorNum; i++){
Masahiko Fukasawa 48:427bdb7bf31b 522 if( sensor[0]->isEvent() ){
masahikofukasawa 29:b488d2c89fba 523 Message msg;
Masahiko Fukasawa 48:427bdb7bf31b 524 if( sensor[0]->readSensorData(&msg) != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
tkstreet 34:1ea3357c8d9a 525 throwMessage(&msg); // Process and output message to USB/BLE
masahikofukasawa 29:b488d2c89fba 526 }
Masahiko Fukasawa 48:427bdb7bf31b 527 // }
masahikofukasawa 0:7a00359e701e 528
tkstreet 34:1ea3357c8d9a 529 if(eventConnected) // If BLE connected, clear flag and start sensor.
masahikofukasawa 0:7a00359e701e 530 {
tkstreet 21:966724730ce6 531 eventConnected = false; // clear the flag
masahikofukasawa 12:c06cd8b76358 532 MSG("#BLE connected.\r\n");
masahikofukasawa 0:7a00359e701e 533 }
tkstreet 23:50c98b286e41 534
tkstreet 23:50c98b286e41 535 // If event is the BLE being disconnected, stop the sensor
tkstreet 23:50c98b286e41 536 if(eventDisconnected)
masahikofukasawa 0:7a00359e701e 537 {
tkstreet 45:6af8fdde0ef3 538 MSG("#BLE disconnected.\r\n");
Masahiko Fukasawa 48:427bdb7bf31b 539 // for(int i=0; i<sensorNum; i++){
Masahiko Fukasawa 48:427bdb7bf31b 540 if( sensor[0]->stopSensor() != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
Masahiko Fukasawa 48:427bdb7bf31b 541 // }
tkstreet 34:1ea3357c8d9a 542 eventDisconnected = false; // clear the flag
masahikofukasawa 0:7a00359e701e 543 }
masahikofukasawa 0:7a00359e701e 544 return status;
masahikofukasawa 0:7a00359e701e 545 }
masahikofukasawa 0:7a00359e701e 546
masahikofukasawa 0:7a00359e701e 547 AkmSensorManager::Status AkmSensorManager::throwMessage(const Message *msg) {
masahikofukasawa 46:5938ad2039b0 548 const int len = Message::getMaxMessageLength();
masahikofukasawa 0:7a00359e701e 549 char buf[len];
masahikofukasawa 0:7a00359e701e 550
tkstreet 23:50c98b286e41 551 buf[0] = '$'; // Output message prefix
masahikofukasawa 0:7a00359e701e 552
tkstreet 23:50c98b286e41 553 // Processes command in msg to ASCII
masahikofukasawa 0:7a00359e701e 554 char cmd = (char)msg->getCommand();
masahikofukasawa 0:7a00359e701e 555 Message::charToAscii(&buf[1], &cmd);
masahikofukasawa 0:7a00359e701e 556
tkstreet 23:50c98b286e41 557 // Processes arguments in msg to ASCII
masahikofukasawa 0:7a00359e701e 558 for (int i=0; i < msg->getArgNum(); i++) {
masahikofukasawa 0:7a00359e701e 559 char arg = msg->getArgument(i);
masahikofukasawa 0:7a00359e701e 560 Message::charToAscii(&buf[3+2*i], &arg);
masahikofukasawa 0:7a00359e701e 561 }
masahikofukasawa 0:7a00359e701e 562
masahikofukasawa 0:7a00359e701e 563 // Add termination characters, 0x0D(\r), \n and \0, to the end of string
masahikofukasawa 0:7a00359e701e 564 int tIdx = 3 + 2 * (msg->getArgNum());
masahikofukasawa 0:7a00359e701e 565 int bufSize = sizeof(buf)/sizeof(buf[0]);
masahikofukasawa 0:7a00359e701e 566 if ((tIdx + 3) > (bufSize - 1)) {
masahikofukasawa 11:cef8dc1cf010 567 MSG("#Error: Message data exceeds the buffer.\r\n");
masahikofukasawa 0:7a00359e701e 568 return ERROR;
masahikofukasawa 0:7a00359e701e 569 }
masahikofukasawa 11:cef8dc1cf010 570 buf[tIdx++] = CR; // '\r'
masahikofukasawa 11:cef8dc1cf010 571 buf[tIdx++] = LF; // '\n'
masahikofukasawa 11:cef8dc1cf010 572 buf[tIdx] = '\0';
tkstreet 23:50c98b286e41 573
tkstreet 33:d3e1e9eb2ef9 574 // If BLE is enabled, send to AKDP app
tkstreet 23:50c98b286e41 575 if(isEnabledBle) uartService->writeString(buf);
tkstreet 23:50c98b286e41 576
tkstreet 33:d3e1e9eb2ef9 577 // If USB is enabled, send to serial terminal
masahikofukasawa 0:7a00359e701e 578 if(isEnabledUsb) serial->printf(buf);
masahikofukasawa 0:7a00359e701e 579
masahikofukasawa 0:7a00359e701e 580 return SUCCESS;
masahikofukasawa 12:c06cd8b76358 581 }
masahikofukasawa 13:d008249f0359 582
masahikofukasawa 27:41aa9fb23a2f 583 char* AkmSensorManager::my_strcat(char* str1, char* str2)
masahikofukasawa 27:41aa9fb23a2f 584 {
masahikofukasawa 27:41aa9fb23a2f 585 int num1;
masahikofukasawa 27:41aa9fb23a2f 586 char* str;
masahikofukasawa 27:41aa9fb23a2f 587
masahikofukasawa 27:41aa9fb23a2f 588 num1=strlen(str1) + strlen(str2);
masahikofukasawa 27:41aa9fb23a2f 589 str = (char *)malloc(num1 + 1);
masahikofukasawa 27:41aa9fb23a2f 590 sprintf(str,"%s%s",str1,str2);
masahikofukasawa 27:41aa9fb23a2f 591 return str;
masahikofukasawa 27:41aa9fb23a2f 592 }
masahikofukasawa 27:41aa9fb23a2f 593
masahikofukasawa 13:d008249f0359 594 char* AkmSensorManager::getSensorName(){
masahikofukasawa 29:b488d2c89fba 595 char* name = "";
Masahiko Fukasawa 48:427bdb7bf31b 596 // for(int i=0; i<sensorNum; i++){
Masahiko Fukasawa 48:427bdb7bf31b 597 name = my_strcat(name, (char *)sensor[0]->getSensorName());
Masahiko Fukasawa 48:427bdb7bf31b 598 // if( sensorNum > (i+1) )name = my_strcat(name, "+");
Masahiko Fukasawa 48:427bdb7bf31b 599 // }
masahikofukasawa 27:41aa9fb23a2f 600 MSG("#Sensor Name='%s'.\r\n",name);
masahikofukasawa 27:41aa9fb23a2f 601 return name;
masahikofukasawa 39:3821886c902e 602 }
masahikofukasawa 39:3821886c902e 603
masahikofukasawa 39:3821886c902e 604 void AkmSensorManager::attachInterrupt(){
masahikofukasawa 39:3821886c902e 605 switch(drdyType){
masahikofukasawa 39:3821886c902e 606 case AkmAkd::INTERRUPT_ENABLED_PP:
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 case AkmAkd::INTERRUPT_ENABLED_OD:
masahikofukasawa 39:3821886c902e 613 {
masahikofukasawa 39:3821886c902e 614 if(primaryId == AkmSensor::AKM_PRIMARY_ID_AKD_SPI) interrupt = new InterruptIn(SPI_DRDY);
masahikofukasawa 39:3821886c902e 615 else interrupt = new InterruptIn(I2C_DRDY);
masahikofukasawa 39:3821886c902e 616 break;
masahikofukasawa 39:3821886c902e 617 }
masahikofukasawa 39:3821886c902e 618 default:
masahikofukasawa 39:3821886c902e 619 {
masahikofukasawa 39:3821886c902e 620 // nothing.
masahikofukasawa 39:3821886c902e 621 }
masahikofukasawa 39:3821886c902e 622 }
masahikofukasawa 39:3821886c902e 623 }
masahikofukasawa 39:3821886c902e 624
masahikofukasawa 39:3821886c902e 625 void AkmSensorManager::detachInterrupt(){
masahikofukasawa 39:3821886c902e 626 switch(drdyType){
masahikofukasawa 39:3821886c902e 627 case AkmAkd::INTERRUPT_ENABLED_PP:
masahikofukasawa 39:3821886c902e 628 {
masahikofukasawa 39:3821886c902e 629 interrupt->rise(NULL);
masahikofukasawa 39:3821886c902e 630 break;
masahikofukasawa 39:3821886c902e 631 }
masahikofukasawa 39:3821886c902e 632 case AkmAkd::INTERRUPT_ENABLED_OD:
masahikofukasawa 39:3821886c902e 633 {
masahikofukasawa 39:3821886c902e 634 interrupt->fall(NULL);
masahikofukasawa 39:3821886c902e 635 break;
masahikofukasawa 39:3821886c902e 636 }
masahikofukasawa 39:3821886c902e 637 default:
masahikofukasawa 39:3821886c902e 638 {
masahikofukasawa 39:3821886c902e 639 // nothing.
masahikofukasawa 39:3821886c902e 640 }
masahikofukasawa 39:3821886c902e 641 }
masahikofukasawa 13:d008249f0359 642 }