Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

akmakd.h@23:50c98b286e41, 2017-04-13 (annotated)

Committer:
tkstreet
Date:
Thu Apr 13 22:15:54 2017 +0000
Revision:
23:50c98b286e41
Parent:
13:d008249f0359
Child:
24:1d37438f31a9
Added documentation for all classes

Who changed what in which revision?

UserRevisionLine numberNew contents of line
masahikofukasawa 0:7a00359e701e 1 #ifndef AKMAKD_H
masahikofukasawa 0:7a00359e701e 2 #define AKMAKD_H
masahikofukasawa 0:7a00359e701e 3
masahikofukasawa 0:7a00359e701e 4 #include "mbed.h"
masahikofukasawa 0:7a00359e701e 5 #include "SerialNano.h"
masahikofukasawa 0:7a00359e701e 6 #include "akmsensor.h"
masahikofukasawa 0:7a00359e701e 7 #include "akmecompass.h"
masahikofukasawa 0:7a00359e701e 8
tkstreet 23:50c98b286e41 9 /**
tkstreet 23:50c98b286e41 10 * Collection class for handling commands to all of the specialty AKM
tkstreet 23:50c98b286e41 11 * daughter board adapter modules.
tkstreet 23:50c98b286e41 12 *
tkstreet 23:50c98b286e41 13 * 3-Axis Electronic Compass Devices: AK8963C, AK8963N, AK09911C, AK09912C,
tkstreet 23:50c98b286e41 14 * AK09915C, AK09915D, AK09916C, AK09916D, AK09970
tkstreet 23:50c98b286e41 15 */
masahikofukasawa 0:7a00359e701e 16 class AkmAkd : public AkmSensor
masahikofukasawa 0:7a00359e701e 17 {
masahikofukasawa 0:7a00359e701e 18
masahikofukasawa 0:7a00359e701e 19 public:
masahikofukasawa 0:7a00359e701e 20
tkstreet 23:50c98b286e41 21 /**
tkstreet 23:50c98b286e41 22 * List of daughter board adapter devices (5-bit Sub-IDs). Primary ID = 0Fh
tkstreet 23:50c98b286e41 23 */
tkstreet 23:50c98b286e41 24 typedef enum {
tkstreet 23:50c98b286e41 25 SUB_ID_AK8963N = 0x1A, /**< AK8963N: ID = 1Ah (26) */
tkstreet 23:50c98b286e41 26 SUB_ID_AK8963C = 0x1C, /**< AK8963C: ID = 1Ch (28) */
tkstreet 23:50c98b286e41 27 SUB_ID_AK09911C = 0x0A, /**< AK09911C: ID = 0Ah (10) */
tkstreet 23:50c98b286e41 28 SUB_ID_AK09912C = 0x09, /**< AK09912C: ID = 09h (9) */
tkstreet 23:50c98b286e41 29 SUB_ID_AK09915C = 0x0D, /**< AK09915C: ID = 0Dh (13) */
tkstreet 23:50c98b286e41 30 SUB_ID_AK09916C = 0x0E, /**< AK09916C: ID = 0Eh (14) */
tkstreet 23:50c98b286e41 31 SUB_ID_AK09916D = 0x0F, /**< AK09916D: ID = 0Fh (15) */
tkstreet 23:50c98b286e41 32 SUB_ID_AK09915D = 0x10, /**< AK09915D: ID = 10h (16) */
masahikofukasawa 0:7a00359e701e 33 } SubIdAkd;
masahikofukasawa 0:7a00359e701e 34
masahikofukasawa 0:7a00359e701e 35 /**
masahikofukasawa 0:7a00359e701e 36 * Constructor.
masahikofukasawa 0:7a00359e701e 37 *
masahikofukasawa 0:7a00359e701e 38 */
masahikofukasawa 0:7a00359e701e 39 AkmAkd();
masahikofukasawa 0:7a00359e701e 40
masahikofukasawa 0:7a00359e701e 41 /**
masahikofukasawa 0:7a00359e701e 42 * Destructor.
masahikofukasawa 0:7a00359e701e 43 *
masahikofukasawa 0:7a00359e701e 44 */
masahikofukasawa 0:7a00359e701e 45 virtual ~AkmAkd();
tkstreet 23:50c98b286e41 46
tkstreet 23:50c98b286e41 47 /**
tkstreet 23:50c98b286e41 48 * Process for intializing the selected sensor.
tkstreet 23:50c98b286e41 49 *
tkstreet 23:50c98b286e41 50 * @return Termination status type for debugging purposes.
tkstreet 23:50c98b286e41 51 */
masahikofukasawa 0:7a00359e701e 52 virtual AkmSensor::Status init(const uint8_t id, const uint8_t subid);
tkstreet 23:50c98b286e41 53
tkstreet 23:50c98b286e41 54 /**
tkstreet 23:50c98b286e41 55 * Simple flag process to determine if an event has occurred.
tkstreet 23:50c98b286e41 56 *
tkstreet 23:50c98b286e41 57 * @return TRUE if event has occurred, FALSE if not.
tkstreet 23:50c98b286e41 58 */
masahikofukasawa 0:7a00359e701e 59 virtual bool isEvent();
tkstreet 23:50c98b286e41 60
tkstreet 23:50c98b286e41 61 /**
tkstreet 23:50c98b286e41 62 * Process abstraction for starting sensor operation.
tkstreet 23:50c98b286e41 63 *
tkstreet 23:50c98b286e41 64 * @return Termination status type for debugging purposes.
tkstreet 23:50c98b286e41 65 */
masahikofukasawa 0:7a00359e701e 66 virtual AkmSensor::Status startSensor();
tkstreet 23:50c98b286e41 67
tkstreet 23:50c98b286e41 68 /**
tkstreet 23:50c98b286e41 69 * Process abstraction for starting sensor operation.
tkstreet 23:50c98b286e41 70 *
tkstreet 23:50c98b286e41 71 * @param sec Number of seconds of operation.
tkstreet 23:50c98b286e41 72 * @return Termination status type for debugging purposes.
tkstreet 23:50c98b286e41 73 */
masahikofukasawa 0:7a00359e701e 74 virtual AkmSensor::Status startSensor(const float sec);
tkstreet 23:50c98b286e41 75
tkstreet 23:50c98b286e41 76 /**
tkstreet 23:50c98b286e41 77 * Process abstraction for stopping sensor operation.
tkstreet 23:50c98b286e41 78 *
tkstreet 23:50c98b286e41 79 * @return Termination status type for debugging purposes.
tkstreet 23:50c98b286e41 80 */
masahikofukasawa 0:7a00359e701e 81 virtual AkmSensor::Status stopSensor();
tkstreet 23:50c98b286e41 82
tkstreet 23:50c98b286e41 83 /**
tkstreet 23:50c98b286e41 84 * Process abstraction for reading data from the sensor.
tkstreet 23:50c98b286e41 85 *
tkstreet 23:50c98b286e41 86 * @param msg Message object that will hold the sensor data.
tkstreet 23:50c98b286e41 87 * @return Termination status type for debugging purposes.
tkstreet 23:50c98b286e41 88 */
masahikofukasawa 0:7a00359e701e 89 virtual AkmSensor::Status readSensorData(Message* msg);
tkstreet 23:50c98b286e41 90
tkstreet 23:50c98b286e41 91 /**
tkstreet 23:50c98b286e41 92 * Primary process for interfacing a sensor with the AKDP. When implemented
tkstreet 23:50c98b286e41 93 * in sensor class, it will transfer commands between the the sensor control
tkstreet 23:50c98b286e41 94 * class and AkmSensorManager.
tkstreet 23:50c98b286e41 95 *
tkstreet 23:50c98b286e41 96 * @param in Command message to be processed by sensor.
tkstreet 23:50c98b286e41 97 * @param out Message returned from sensor.
tkstreet 23:50c98b286e41 98 * @return Termination status type for debugging purposes.
tkstreet 23:50c98b286e41 99 */
masahikofukasawa 0:7a00359e701e 100 virtual Status requestCommand(Message* in, Message* out);
tkstreet 23:50c98b286e41 101
tkstreet 23:50c98b286e41 102 /**
tkstreet 23:50c98b286e41 103 * Get the name of the sensor in char format.
tkstreet 23:50c98b286e41 104 *
tkstreet 23:50c98b286e41 105 * @return Sensor name as a char array.
tkstreet 23:50c98b286e41 106 */
masahikofukasawa 13:d008249f0359 107 virtual char* getSensorName();
masahikofukasawa 0:7a00359e701e 108
tkstreet 23:50c98b286e41 109 /**
tkstreet 23:50c98b286e41 110 * Checks if data is ready or if there is a data overrun and store the
tkstreet 23:50c98b286e41 111 * status in 'event'.
tkstreet 23:50c98b286e41 112 */
masahikofukasawa 0:7a00359e701e 113 void checkDRDY();
tkstreet 23:50c98b286e41 114 /**
tkstreet 23:50c98b286e41 115 * Forces a data ready state by setting 'event' to TRUE.
tkstreet 23:50c98b286e41 116 */
masahikofukasawa 0:7a00359e701e 117 void detectDRDY();
tkstreet 23:50c98b286e41 118 /**
tkstreet 23:50c98b286e41 119 * For AK8963, returns the type of sensor.
tkstreet 23:50c98b286e41 120 */
masahikofukasawa 0:7a00359e701e 121 int getSensorType();
masahikofukasawa 0:7a00359e701e 122
masahikofukasawa 0:7a00359e701e 123 private:
masahikofukasawa 0:7a00359e701e 124 bool event;
masahikofukasawa 0:7a00359e701e 125 uint8_t primaryId;
masahikofukasawa 0:7a00359e701e 126 uint8_t subId;
masahikofukasawa 13:d008249f0359 127 char* sensorName;
masahikofukasawa 0:7a00359e701e 128
masahikofukasawa 0:7a00359e701e 129 Ticker ticker;
masahikofukasawa 0:7a00359e701e 130 AkmECompass* compass;
masahikofukasawa 0:7a00359e701e 131 InterruptIn* drdy;
masahikofukasawa 9:6fa3e7b17c27 132 AkmECompass::OperationMode mode;
masahikofukasawa 9:6fa3e7b17c27 133 AkmECompass::Nsf nsf;
masahikofukasawa 9:6fa3e7b17c27 134 AkmECompass::Sdr sdr;
masahikofukasawa 0:7a00359e701e 135 };
masahikofukasawa 0:7a00359e701e 136
masahikofukasawa 0:7a00359e701e 137 #endif