Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

akmsensor.h@43:45225713cd58, 2017-11-08 (annotated)

Committer:
tkstreet
Date:
Wed Nov 08 21:56:17 2017 +0000
Revision:
43:45225713cd58
Parent:
41:a3ea80c594ec
Child:
45:6af8fdde0ef3
Moved all pin definitions to akdphwinfo header.  Removed redundant library inclusions.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
masahikofukasawa 0:7a00359e701e 1 #ifndef AKMSENSOR_H
masahikofukasawa 0:7a00359e701e 2 #define AKMSENSOR_H
masahikofukasawa 0:7a00359e701e 3
tkstreet 43:45225713cd58 4 #include "akdphwinfo.h"
masahikofukasawa 0:7a00359e701e 5 #include "mbed.h"
masahikofukasawa 0:7a00359e701e 6 #include "Message.h"
tkstreet 43:45225713cd58 7 #include "akdp_debug.h"
masahikofukasawa 0:7a00359e701e 8
tkstreet 23:50c98b286e41 9 // Sampling rate for ADC
tkstreet 43:45225713cd58 10 #define SENSOR_SAMPLING_RATE 0.1 // 10Hz
masahikofukasawa 0:7a00359e701e 11
tkstreet 22:f44f1018081e 12 /**
tkstreet 22:f44f1018081e 13 * Abstract base class for general AKM sensors.
tkstreet 22:f44f1018081e 14 */
masahikofukasawa 0:7a00359e701e 15 class AkmSensor
masahikofukasawa 0:7a00359e701e 16 {
masahikofukasawa 0:7a00359e701e 17
masahikofukasawa 0:7a00359e701e 18 public:
tkstreet 23:50c98b286e41 19 /**
tkstreet 23:50c98b286e41 20 * Error type for debugging purposes.
tkstreet 23:50c98b286e41 21 */
masahikofukasawa 0:7a00359e701e 22 typedef enum {
tkstreet 34:1ea3357c8d9a 23
tkstreet 23:50c98b286e41 24 SUCCESS = 0, /**< Successful termination (0) */
tkstreet 23:50c98b286e41 25 ERROR, /**< Error during execution (1) */
masahikofukasawa 0:7a00359e701e 26 } Status;
masahikofukasawa 0:7a00359e701e 27
tkstreet 23:50c98b286e41 28 /**
tkstreet 23:50c98b286e41 29 * Primary IDs for the major categories of sensors.
tkstreet 23:50c98b286e41 30 */
masahikofukasawa 0:7a00359e701e 31 typedef enum {
tkstreet 23:50c98b286e41 32 AKM_PRIMARY_ID_AKD_SPI = 0x0, /**< AKD SPI Devices */
tkstreet 23:50c98b286e41 33 AKM_PRIMARY_ID_UNIPOLAR = 0x1, /**< Unipolar Switches */
tkstreet 23:50c98b286e41 34 AKM_PRIMARY_ID_OMNIPOLAR = 0x2, /**< Omnipolar Switches */
tkstreet 23:50c98b286e41 35 AKM_PRIMARY_ID_LATCH = 0x3, /**< Bipolar Latches */
tkstreet 23:50c98b286e41 36 AKM_PRIMARY_ID_DUAL_OUTPUT = 0x4, /**< Dual Output Switches */
tkstreet 23:50c98b286e41 37 AKM_PRIMARY_ID_ONECHIP_ENCODER = 0x5, /**< One-Chip Encoders */
tkstreet 23:50c98b286e41 38 AKM_PRIMARY_ID_TBD1 = 0x6, /**< Undefined */
masahikofukasawa 37:c76d2edf3426 39 AKM_PRIMARY_ID_CURRENT_SENSOR_3V = 0x7, /**< Current Sensor 3V Output */
tkstreet 34:1ea3357c8d9a 40 AKM_PRIMARY_ID_DEMO = 0x8, /**< Demo Sensors */
masahikofukasawa 37:c76d2edf3426 41 AKM_PRIMARY_ID_CURRENT_SENSOR_5V = 0x9, /**< Current Sensors 5V Output */
tkstreet 23:50c98b286e41 42 AKM_PRIMARY_ID_MISC_ANALOG = 0xA, /**< Analog Devices */
tkstreet 23:50c98b286e41 43 AKM_PRIMARY_ID_LINEAR_SENSOR = 0xB, /**< Linear Sensors */
tkstreet 23:50c98b286e41 44 AKM_PRIMARY_ID_MOTOR_DRIVER = 0xC, /**< Motor Drivers */
tkstreet 23:50c98b286e41 45 AKM_PRIMARY_ID_IR_SENSOR = 0xD, /**< IR Sensors */
tkstreet 23:50c98b286e41 46 AKM_PRIMARY_ID_ANGLE_SENSOR = 0xE, /**< Angle Sensors */
tkstreet 23:50c98b286e41 47 AKM_PRIMARY_ID_AKD_I2C = 0xF, /**< AKD I2C Devices */
masahikofukasawa 0:7a00359e701e 48 } SensorPrimaryId;
masahikofukasawa 0:7a00359e701e 49
tkstreet 34:1ea3357c8d9a 50
masahikofukasawa 27:41aa9fb23a2f 51 virtual ~AkmSensor(){};
tkstreet 23:50c98b286e41 52
tkstreet 23:50c98b286e41 53 /**
tkstreet 23:50c98b286e41 54 * Process for intializing the selected sensor.
tkstreet 23:50c98b286e41 55 *
tkstreet 23:50c98b286e41 56 * @return Termination status type for debugging purposes.
tkstreet 23:50c98b286e41 57 */
masahikofukasawa 0:7a00359e701e 58 virtual Status init(const uint8_t id, const uint8_t subid) = 0;
tkstreet 23:50c98b286e41 59
tkstreet 23:50c98b286e41 60 /**
tkstreet 23:50c98b286e41 61 * Process abstraction for starting sensor operation.
tkstreet 23:50c98b286e41 62 *
tkstreet 23:50c98b286e41 63 * @return Termination status type for debugging purposes.
tkstreet 23:50c98b286e41 64 */
masahikofukasawa 0:7a00359e701e 65 virtual Status startSensor() = 0;
tkstreet 23:50c98b286e41 66
tkstreet 23:50c98b286e41 67 /**
tkstreet 23:50c98b286e41 68 * Process abstraction for starting sensor operation.
tkstreet 23:50c98b286e41 69 *
tkstreet 23:50c98b286e41 70 * @param sec Number of seconds of operation.
tkstreet 23:50c98b286e41 71 * @return Termination status type for debugging purposes.
tkstreet 23:50c98b286e41 72 */
masahikofukasawa 0:7a00359e701e 73 virtual Status startSensor(const float sec) = 0;
tkstreet 23:50c98b286e41 74
tkstreet 23:50c98b286e41 75 /**
tkstreet 23:50c98b286e41 76 * Process abstraction for stopping sensor operation.
tkstreet 23:50c98b286e41 77 *
tkstreet 23:50c98b286e41 78 * @return Termination status type for debugging purposes.
tkstreet 23:50c98b286e41 79 */
masahikofukasawa 0:7a00359e701e 80 virtual Status stopSensor() = 0;
tkstreet 23:50c98b286e41 81
tkstreet 23:50c98b286e41 82 /**
tkstreet 23:50c98b286e41 83 * Process abstraction for reading data from the sensor.
tkstreet 23:50c98b286e41 84 *
tkstreet 23:50c98b286e41 85 * @param msg Message object that will hold the sensor data.
tkstreet 23:50c98b286e41 86 * @return Termination status type for debugging purposes.
tkstreet 23:50c98b286e41 87 */
masahikofukasawa 0:7a00359e701e 88 virtual Status readSensorData(Message* msg) = 0;
tkstreet 23:50c98b286e41 89
tkstreet 23:50c98b286e41 90 /**
tkstreet 23:50c98b286e41 91 * Primary process for interfacing a sensor with the AKDP. When implemented
tkstreet 23:50c98b286e41 92 * in sensor class, it will transfer commands between the the sensor control
tkstreet 23:50c98b286e41 93 * class and AkmSensorManager.
tkstreet 23:50c98b286e41 94 *
tkstreet 23:50c98b286e41 95 * @param in Command message to be processed by sensor.
tkstreet 23:50c98b286e41 96 * @param out Message returned from sensor.
tkstreet 23:50c98b286e41 97 * @return Termination status type for debugging purposes.
tkstreet 23:50c98b286e41 98 */
masahikofukasawa 0:7a00359e701e 99 virtual Status requestCommand(Message* in, Message* out) = 0;
tkstreet 23:50c98b286e41 100
tkstreet 23:50c98b286e41 101 /**
tkstreet 34:1ea3357c8d9a 102 * Set event flag.
tkstreet 34:1ea3357c8d9a 103 */
masahikofukasawa 29:b488d2c89fba 104 virtual void setEvent(){
masahikofukasawa 29:b488d2c89fba 105 // MSG("#setEvent called.\r\n");
masahikofukasawa 29:b488d2c89fba 106 event = true;
masahikofukasawa 29:b488d2c89fba 107 }
masahikofukasawa 29:b488d2c89fba 108
tkstreet 34:1ea3357c8d9a 109 /**
tkstreet 34:1ea3357c8d9a 110 * Clear event flag.
tkstreet 34:1ea3357c8d9a 111 */
masahikofukasawa 29:b488d2c89fba 112 void clearEvent(){
masahikofukasawa 29:b488d2c89fba 113 // MSG("#clearEvent called.\r\n");
masahikofukasawa 29:b488d2c89fba 114 event = false;
masahikofukasawa 29:b488d2c89fba 115 }
masahikofukasawa 29:b488d2c89fba 116
tkstreet 34:1ea3357c8d9a 117 /**
tkstreet 34:1ea3357c8d9a 118 * Checks if an event has occurred.
tkstreet 23:50c98b286e41 119 *
tkstreet 34:1ea3357c8d9a 120 * @return TRUE if event has occurred, FALSE otherwise.
tkstreet 34:1ea3357c8d9a 121 */
masahikofukasawa 27:41aa9fb23a2f 122 bool isEvent(){
masahikofukasawa 27:41aa9fb23a2f 123 return event;
masahikofukasawa 27:41aa9fb23a2f 124 }
masahikofukasawa 27:41aa9fb23a2f 125
tkstreet 34:1ea3357c8d9a 126 /**
tkstreet 34:1ea3357c8d9a 127 * Retrieve the name of the sensor.
tkstreet 34:1ea3357c8d9a 128 *
tkstreet 34:1ea3357c8d9a 129 * @return Name of sensor as a character array.
tkstreet 23:50c98b286e41 130 */
masahikofukasawa 27:41aa9fb23a2f 131 char* getSensorName(){
masahikofukasawa 27:41aa9fb23a2f 132 return sensorName;
masahikofukasawa 27:41aa9fb23a2f 133 };
masahikofukasawa 27:41aa9fb23a2f 134
tkstreet 34:1ea3357c8d9a 135 /**
tkstreet 34:1ea3357c8d9a 136 * Retrieve the primary ID of the sensor.
tkstreet 34:1ea3357c8d9a 137 *
tkstreet 34:1ea3357c8d9a 138 * @return Primary ID as an integer.
tkstreet 34:1ea3357c8d9a 139 */
masahikofukasawa 27:41aa9fb23a2f 140 int getPrimaryId(){
masahikofukasawa 27:41aa9fb23a2f 141 return primaryId;
masahikofukasawa 27:41aa9fb23a2f 142 };
masahikofukasawa 27:41aa9fb23a2f 143
tkstreet 34:1ea3357c8d9a 144 /**
tkstreet 34:1ea3357c8d9a 145 * Retrieve the Sub-ID of the sensor.
tkstreet 34:1ea3357c8d9a 146 *
tkstreet 34:1ea3357c8d9a 147 * @return Sub-ID as an integer.
tkstreet 34:1ea3357c8d9a 148 */
masahikofukasawa 27:41aa9fb23a2f 149 int getSecondaryId(){
masahikofukasawa 27:41aa9fb23a2f 150 return subId;
masahikofukasawa 27:41aa9fb23a2f 151 };
masahikofukasawa 0:7a00359e701e 152
masahikofukasawa 0:7a00359e701e 153 private:
masahikofukasawa 29:b488d2c89fba 154 bool event;
masahikofukasawa 0:7a00359e701e 155
masahikofukasawa 27:41aa9fb23a2f 156 protected:
masahikofukasawa 27:41aa9fb23a2f 157 uint8_t primaryId;
masahikofukasawa 27:41aa9fb23a2f 158 uint8_t subId;
masahikofukasawa 27:41aa9fb23a2f 159 char* sensorName;
masahikofukasawa 27:41aa9fb23a2f 160
masahikofukasawa 27:41aa9fb23a2f 161 AkmSensor(){
masahikofukasawa 27:41aa9fb23a2f 162 event = false;
masahikofukasawa 27:41aa9fb23a2f 163 primaryId = 0;
masahikofukasawa 27:41aa9fb23a2f 164 subId = 0;
masahikofukasawa 27:41aa9fb23a2f 165 sensorName = "";
masahikofukasawa 27:41aa9fb23a2f 166 };
masahikofukasawa 0:7a00359e701e 167 };
masahikofukasawa 0:7a00359e701e 168
masahikofukasawa 0:7a00359e701e 169 #endif