Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

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

Committer:
tkstreet
Date:
Thu Apr 13 22:15:54 2017 +0000
Revision:
23:50c98b286e41
Parent:
22:f44f1018081e
Child:
34:1ea3357c8d9a
Added documentation for all classes

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
masahikofukasawa 0:7a00359e701e 4 #include "mbed.h"
masahikofukasawa 0:7a00359e701e 5 #include "Message.h"
masahikofukasawa 0:7a00359e701e 6
tkstreet 23:50c98b286e41 7 // SPI Pin Number Definitions
tkstreet 23:50c98b286e41 8 #define SPI_SCK P0_8 // SPI, SCK
tkstreet 23:50c98b286e41 9 #define SPI_MISO P0_9 // SPI, MISO
masahikofukasawa 0:7a00359e701e 10 #define SPI_MOSI P0_10 //SPI, MOSI
masahikofukasawa 4:af13b985c689 11 #define SPI_CS P0_11 //SPI, CS
masahikofukasawa 7:e269411568c9 12 #define SPI_DRDY P0_7 //SPI, DRDY
masahikofukasawa 0:7a00359e701e 13
tkstreet 23:50c98b286e41 14 // I2C Pin Number Definitions
masahikofukasawa 0:7a00359e701e 15 #define I2C_SCL P0_8 //I2C, SCL
masahikofukasawa 0:7a00359e701e 16 #define I2C_SDA P0_10 //I2C, SDA
masahikofukasawa 0:7a00359e701e 17
tkstreet 23:50c98b286e41 18 // Digital Port Pin Number Definitions
masahikofukasawa 0:7a00359e701e 19 #define DIGITAL_D0 P0_11
masahikofukasawa 0:7a00359e701e 20 #define DIGITAL_D1 P0_9
masahikofukasawa 0:7a00359e701e 21
tkstreet 23:50c98b286e41 22 // DRDY Port Pin Number Definitions
masahikofukasawa 7:e269411568c9 23 #define I2C_DRDY P0_11
masahikofukasawa 0:7a00359e701e 24
tkstreet 23:50c98b286e41 25 // Analog In Pin Number Definitions
masahikofukasawa 0:7a00359e701e 26 #define ANALOG_IN_PIN P0_5 //P05
masahikofukasawa 0:7a00359e701e 27
tkstreet 23:50c98b286e41 28 // I2C Speed Standards
masahikofukasawa 0:7a00359e701e 29 #define I2C_SPEED_100KHZ 100000
masahikofukasawa 0:7a00359e701e 30 #define I2C_SPEED_400KHZ 400000
masahikofukasawa 0:7a00359e701e 31
tkstreet 23:50c98b286e41 32 // Sampling rate for ADC
masahikofukasawa 11:cef8dc1cf010 33 #define SENSOR_SAMPLING_RATE 0.1 // 10Hz
masahikofukasawa 0:7a00359e701e 34
tkstreet 22:f44f1018081e 35 /**
tkstreet 22:f44f1018081e 36 * Abstract base class for general AKM sensors.
tkstreet 22:f44f1018081e 37 */
masahikofukasawa 0:7a00359e701e 38 class AkmSensor
masahikofukasawa 0:7a00359e701e 39 {
masahikofukasawa 0:7a00359e701e 40
masahikofukasawa 0:7a00359e701e 41 public:
tkstreet 23:50c98b286e41 42 /**
tkstreet 23:50c98b286e41 43 * Error type for debugging purposes.
tkstreet 23:50c98b286e41 44 */
masahikofukasawa 0:7a00359e701e 45 typedef enum {
tkstreet 23:50c98b286e41 46 SUCCESS = 0, /**< Successful termination (0) */
tkstreet 23:50c98b286e41 47 ERROR, /**< Error during execution (1) */
masahikofukasawa 11:cef8dc1cf010 48 // ERROR_DOESNT_SUPPORT,
masahikofukasawa 0:7a00359e701e 49 } Status;
masahikofukasawa 0:7a00359e701e 50
tkstreet 23:50c98b286e41 51 /**
tkstreet 23:50c98b286e41 52 * Primary IDs for the major categories of sensors.
tkstreet 23:50c98b286e41 53 */
masahikofukasawa 0:7a00359e701e 54 typedef enum {
tkstreet 23:50c98b286e41 55 AKM_PRIMARY_ID_AKD_SPI = 0x0, /**< AKD SPI Devices */
tkstreet 23:50c98b286e41 56 AKM_PRIMARY_ID_UNIPOLAR = 0x1, /**< Unipolar Switches */
tkstreet 23:50c98b286e41 57 AKM_PRIMARY_ID_OMNIPOLAR = 0x2, /**< Omnipolar Switches */
tkstreet 23:50c98b286e41 58 AKM_PRIMARY_ID_LATCH = 0x3, /**< Bipolar Latches */
tkstreet 23:50c98b286e41 59 AKM_PRIMARY_ID_DUAL_OUTPUT = 0x4, /**< Dual Output Switches */
tkstreet 23:50c98b286e41 60 AKM_PRIMARY_ID_ONECHIP_ENCODER = 0x5, /**< One-Chip Encoders */
tkstreet 23:50c98b286e41 61 AKM_PRIMARY_ID_TBD1 = 0x6, /**< Undefined */
tkstreet 23:50c98b286e41 62 AKM_PRIMARY_ID_TBD2 = 0x7, /**< Undefined */
tkstreet 23:50c98b286e41 63 AKM_PRIMARY_ID_LINEAR_SENSOR_LEGACY = 0x8, /**< Linear Sensors (Legacy) */
tkstreet 23:50c98b286e41 64 AKM_PRIMARY_ID_CURRENT_SENSOR = 0x9, /**< Current Sensors */
tkstreet 23:50c98b286e41 65 AKM_PRIMARY_ID_MISC_ANALOG = 0xA, /**< Analog Devices */
tkstreet 23:50c98b286e41 66 AKM_PRIMARY_ID_LINEAR_SENSOR = 0xB, /**< Linear Sensors */
tkstreet 23:50c98b286e41 67 AKM_PRIMARY_ID_MOTOR_DRIVER = 0xC, /**< Motor Drivers */
tkstreet 23:50c98b286e41 68 AKM_PRIMARY_ID_IR_SENSOR = 0xD, /**< IR Sensors */
tkstreet 23:50c98b286e41 69 AKM_PRIMARY_ID_ANGLE_SENSOR = 0xE, /**< Angle Sensors */
tkstreet 23:50c98b286e41 70 AKM_PRIMARY_ID_AKD_I2C = 0xF, /**< AKD I2C Devices */
masahikofukasawa 0:7a00359e701e 71 } SensorPrimaryId;
masahikofukasawa 0:7a00359e701e 72
masahikofukasawa 0:7a00359e701e 73 AkmSensor(){}
masahikofukasawa 0:7a00359e701e 74 virtual ~AkmSensor(){}
tkstreet 23:50c98b286e41 75
tkstreet 23:50c98b286e41 76 /**
tkstreet 23:50c98b286e41 77 * Process for intializing the selected sensor.
tkstreet 23:50c98b286e41 78 *
tkstreet 23:50c98b286e41 79 * @return Termination status type for debugging purposes.
tkstreet 23:50c98b286e41 80 */
masahikofukasawa 0:7a00359e701e 81 virtual Status init(const uint8_t id, const uint8_t subid) = 0;
tkstreet 23:50c98b286e41 82
tkstreet 23:50c98b286e41 83 /**
tkstreet 23:50c98b286e41 84 * Simple flag process to determine if an event has occurred.
tkstreet 23:50c98b286e41 85 *
tkstreet 23:50c98b286e41 86 * @return TRUE if event has occurred, FALSE if not.
tkstreet 23:50c98b286e41 87 */
masahikofukasawa 0:7a00359e701e 88 virtual bool isEvent() = 0;
tkstreet 23:50c98b286e41 89
tkstreet 23:50c98b286e41 90 /**
tkstreet 23:50c98b286e41 91 * Process abstraction for starting sensor operation.
tkstreet 23:50c98b286e41 92 *
tkstreet 23:50c98b286e41 93 * @return Termination status type for debugging purposes.
tkstreet 23:50c98b286e41 94 */
masahikofukasawa 0:7a00359e701e 95 virtual Status startSensor() = 0;
tkstreet 23:50c98b286e41 96
tkstreet 23:50c98b286e41 97 /**
tkstreet 23:50c98b286e41 98 * Process abstraction for starting sensor operation.
tkstreet 23:50c98b286e41 99 *
tkstreet 23:50c98b286e41 100 * @param sec Number of seconds of operation.
tkstreet 23:50c98b286e41 101 * @return Termination status type for debugging purposes.
tkstreet 23:50c98b286e41 102 */
masahikofukasawa 0:7a00359e701e 103 virtual Status startSensor(const float sec) = 0;
tkstreet 23:50c98b286e41 104
tkstreet 23:50c98b286e41 105 /**
tkstreet 23:50c98b286e41 106 * Process abstraction for stopping sensor operation.
tkstreet 23:50c98b286e41 107 *
tkstreet 23:50c98b286e41 108 * @return Termination status type for debugging purposes.
tkstreet 23:50c98b286e41 109 */
masahikofukasawa 0:7a00359e701e 110 virtual Status stopSensor() = 0;
tkstreet 23:50c98b286e41 111
tkstreet 23:50c98b286e41 112 /**
tkstreet 23:50c98b286e41 113 * Process abstraction for reading data from the sensor.
tkstreet 23:50c98b286e41 114 *
tkstreet 23:50c98b286e41 115 * @param msg Message object that will hold the sensor data.
tkstreet 23:50c98b286e41 116 * @return Termination status type for debugging purposes.
tkstreet 23:50c98b286e41 117 */
masahikofukasawa 0:7a00359e701e 118 virtual Status readSensorData(Message* msg) = 0;
tkstreet 23:50c98b286e41 119
tkstreet 23:50c98b286e41 120 /**
tkstreet 23:50c98b286e41 121 * Primary process for interfacing a sensor with the AKDP. When implemented
tkstreet 23:50c98b286e41 122 * in sensor class, it will transfer commands between the the sensor control
tkstreet 23:50c98b286e41 123 * class and AkmSensorManager.
tkstreet 23:50c98b286e41 124 *
tkstreet 23:50c98b286e41 125 * @param in Command message to be processed by sensor.
tkstreet 23:50c98b286e41 126 * @param out Message returned from sensor.
tkstreet 23:50c98b286e41 127 * @return Termination status type for debugging purposes.
tkstreet 23:50c98b286e41 128 */
masahikofukasawa 0:7a00359e701e 129 virtual Status requestCommand(Message* in, Message* out) = 0;
tkstreet 23:50c98b286e41 130
tkstreet 23:50c98b286e41 131 /**
tkstreet 23:50c98b286e41 132 * Get the name of the sensor in char format.
tkstreet 23:50c98b286e41 133 *
tkstreet 23:50c98b286e41 134 * @return Sensor name as a char array.
tkstreet 23:50c98b286e41 135 */
masahikofukasawa 13:d008249f0359 136 virtual char* getSensorName() = 0;
masahikofukasawa 0:7a00359e701e 137
masahikofukasawa 0:7a00359e701e 138 private:
masahikofukasawa 0:7a00359e701e 139
masahikofukasawa 0:7a00359e701e 140 };
masahikofukasawa 0:7a00359e701e 141
masahikofukasawa 0:7a00359e701e 142 #endif