Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

akmsensormanager.cpp@1:b46b8653331f, 2016-05-05 (annotated)

Committer:
masahikofukasawa
Date:
Thu May 05 00:19:39 2016 +0000
Revision:
1:b46b8653331f
Parent:
0:7a00359e701e
Child:
2:11fe67783c4c
Final firmware for RevC board

Who changed what in which revision?

UserRevisionLine numberNew contents of line
masahikofukasawa 0:7a00359e701e 1 #include "ble/services/UARTService.h"
masahikofukasawa 0:7a00359e701e 2 #include "akmsensormanager.h"
masahikofukasawa 0:7a00359e701e 3 #include "akmanglesensor.h"
masahikofukasawa 0:7a00359e701e 4 #include "akmhallswitch.h"
masahikofukasawa 0:7a00359e701e 5 #include "akmlinearsensor.h"
masahikofukasawa 1:b46b8653331f 6 #include "akmirsensor.h"
masahikofukasawa 0:7a00359e701e 7 #include "akmakd.h"
masahikofukasawa 0:7a00359e701e 8 #include "debug.h"
masahikofukasawa 0:7a00359e701e 9 #include "Message.h"
masahikofukasawa 0:7a00359e701e 10
masahikofukasawa 0:7a00359e701e 11 #define FIRMWARE_VERSION 0x02
masahikofukasawa 0:7a00359e701e 12 #define MAGNETOMETER_ID 0x0A
masahikofukasawa 0:7a00359e701e 13
masahikofukasawa 0:7a00359e701e 14 #define CONV16I(high,low) ((int16_t)(((high) << 8) | (low)))
masahikofukasawa 0:7a00359e701e 15
masahikofukasawa 0:7a00359e701e 16
masahikofukasawa 0:7a00359e701e 17 static char* AKM_PRIMARY_ID_STR[] = {
masahikofukasawa 0:7a00359e701e 18 "AKD Daughter Cards(SPI)", // Temporary
masahikofukasawa 0:7a00359e701e 19 "Switch, Unipolar",
masahikofukasawa 0:7a00359e701e 20 "Switch, Onmipolar",
masahikofukasawa 0:7a00359e701e 21 "Latch, Bipolar",
masahikofukasawa 0:7a00359e701e 22 "Switch, Dual Output",
masahikofukasawa 0:7a00359e701e 23 "Onechip Encoder",
masahikofukasawa 0:7a00359e701e 24 "TBD1",
masahikofukasawa 0:7a00359e701e 25 "TBD2",
masahikofukasawa 0:7a00359e701e 26 "Linear Sensor Legacy",
masahikofukasawa 0:7a00359e701e 27 "Current Sensor",
masahikofukasawa 0:7a00359e701e 28 "MISC(Analog)",
masahikofukasawa 0:7a00359e701e 29 "Linear Sensor",
masahikofukasawa 1:b46b8653331f 30 "IR Sensor",
masahikofukasawa 0:7a00359e701e 31 "TBD3",
masahikofukasawa 0:7a00359e701e 32 "Angle Sensor(SPI)", // Temporary
masahikofukasawa 0:7a00359e701e 33 "AKD Daughter Cards(I2C)",
masahikofukasawa 0:7a00359e701e 34 };
masahikofukasawa 0:7a00359e701e 35
masahikofukasawa 0:7a00359e701e 36 AkmSensorManager::AkmSensorManager(SerialNano* com, UARTService* service)
masahikofukasawa 0:7a00359e701e 37 {
masahikofukasawa 0:7a00359e701e 38 serial = com;
masahikofukasawa 0:7a00359e701e 39 uartService = service;
masahikofukasawa 0:7a00359e701e 40 isEnabledBle = true;
masahikofukasawa 0:7a00359e701e 41 isEnabledUsb = true;
masahikofukasawa 0:7a00359e701e 42 eventCommandReceived = false;
masahikofukasawa 0:7a00359e701e 43 eventConnected = false;
masahikofukasawa 0:7a00359e701e 44 eventDisconnected = false;
masahikofukasawa 0:7a00359e701e 45 }
masahikofukasawa 0:7a00359e701e 46
masahikofukasawa 0:7a00359e701e 47 AkmSensorManager::Status AkmSensorManager::init()
masahikofukasawa 0:7a00359e701e 48 {
masahikofukasawa 0:7a00359e701e 49 sensor = AkmSensorManager::getAkmSensor();
masahikofukasawa 0:7a00359e701e 50 if(sensor == NULL) return AkmSensorManager::ERROR;
masahikofukasawa 0:7a00359e701e 51 return AkmSensorManager::SUCCESS;
masahikofukasawa 0:7a00359e701e 52 }
masahikofukasawa 0:7a00359e701e 53
masahikofukasawa 0:7a00359e701e 54 void AkmSensorManager::setEventConnected()
masahikofukasawa 0:7a00359e701e 55 {
masahikofukasawa 0:7a00359e701e 56 eventConnected = true;
masahikofukasawa 0:7a00359e701e 57 }
masahikofukasawa 0:7a00359e701e 58
masahikofukasawa 0:7a00359e701e 59 void AkmSensorManager::setEventDisconnected()
masahikofukasawa 0:7a00359e701e 60 {
masahikofukasawa 0:7a00359e701e 61 eventDisconnected = true;
masahikofukasawa 0:7a00359e701e 62 }
masahikofukasawa 0:7a00359e701e 63
masahikofukasawa 0:7a00359e701e 64 AkmSensor* AkmSensorManager::getAkmSensor()
masahikofukasawa 0:7a00359e701e 65 {
masahikofukasawa 0:7a00359e701e 66 AkmSensor* sensor = NULL;
masahikofukasawa 0:7a00359e701e 67
masahikofukasawa 0:7a00359e701e 68 // primary id check
masahikofukasawa 0:7a00359e701e 69 id = AkmSensorManager::getId(ANALOG_SENSOR_ID,4);
masahikofukasawa 0:7a00359e701e 70
masahikofukasawa 0:7a00359e701e 71 switch(id){
masahikofukasawa 0:7a00359e701e 72 case AkmSensor::AKM_PRIMARY_ID_AKD_I2C:
masahikofukasawa 0:7a00359e701e 73 subId = AkmSensorManager::getId(ANALOG_SENSOR_ID_SUB,5); // 5bit sub id
masahikofukasawa 0:7a00359e701e 74 AkmAkd* akd;
masahikofukasawa 0:7a00359e701e 75 akd = new AkmAkd();
masahikofukasawa 0:7a00359e701e 76 sensor = akd;
masahikofukasawa 0:7a00359e701e 77 break;
masahikofukasawa 0:7a00359e701e 78
masahikofukasawa 0:7a00359e701e 79 case AkmSensor::AKM_PRIMARY_ID_AKD_SPI: // Temporary
masahikofukasawa 0:7a00359e701e 80 case AkmSensor::AKM_PRIMARY_ID_ANGLE_SENSOR:
masahikofukasawa 0:7a00359e701e 81 subId = AkmSensorManager::getId(ANALOG_SENSOR_ID_SUB,4); // 4bit sub id
masahikofukasawa 0:7a00359e701e 82 AkmAngleSensor* angleSensor;
masahikofukasawa 0:7a00359e701e 83 angleSensor = new AkmAngleSensor();
masahikofukasawa 0:7a00359e701e 84 sensor = angleSensor;
masahikofukasawa 0:7a00359e701e 85 break;
masahikofukasawa 0:7a00359e701e 86
masahikofukasawa 0:7a00359e701e 87 case AkmSensor::AKM_PRIMARY_ID_UNIPOLAR:
masahikofukasawa 0:7a00359e701e 88 case AkmSensor::AKM_PRIMARY_ID_OMNIPOLAR:
masahikofukasawa 0:7a00359e701e 89 case AkmSensor::AKM_PRIMARY_ID_LATCH:
masahikofukasawa 0:7a00359e701e 90 case AkmSensor::AKM_PRIMARY_ID_DUAL_OUTPUT:
masahikofukasawa 0:7a00359e701e 91 case AkmSensor::AKM_PRIMARY_ID_ONECHIP_ENCODER:
masahikofukasawa 0:7a00359e701e 92 subId = AkmSensorManager::getId(ANALOG_SENSOR_ID_SUB,4); // 4bit sub id
masahikofukasawa 0:7a00359e701e 93 AkmHallSwitch* hallswitch;
masahikofukasawa 0:7a00359e701e 94 hallswitch = new AkmHallSwitch();
masahikofukasawa 0:7a00359e701e 95 sensor = hallswitch;
masahikofukasawa 0:7a00359e701e 96 break;
masahikofukasawa 0:7a00359e701e 97
masahikofukasawa 0:7a00359e701e 98 case AkmSensor::AKM_PRIMARY_ID_LINEAR_SENSOR_LEGACY:
masahikofukasawa 0:7a00359e701e 99 subId = AkmSensorManager::getId(ANALOG_SENSOR_ID_SUB,4); // 4bit sub id
masahikofukasawa 0:7a00359e701e 100 AkmLinearSensor* linearsensor;
masahikofukasawa 0:7a00359e701e 101 linearsensor = new AkmLinearSensor();
masahikofukasawa 0:7a00359e701e 102 sensor = linearsensor;
masahikofukasawa 0:7a00359e701e 103 break;
masahikofukasawa 0:7a00359e701e 104
masahikofukasawa 1:b46b8653331f 105 case AkmSensor::AKM_PRIMARY_ID_IR_SENSOR:
masahikofukasawa 1:b46b8653331f 106 subId = AkmSensorManager::getId(ANALOG_SENSOR_ID_SUB,4); // 4bit sub id
masahikofukasawa 1:b46b8653331f 107 AkmIrSensor* irsensor;
masahikofukasawa 1:b46b8653331f 108 irsensor = new AkmIrSensor();
masahikofukasawa 1:b46b8653331f 109 sensor = irsensor;
masahikofukasawa 1:b46b8653331f 110 break;
masahikofukasawa 1:b46b8653331f 111
masahikofukasawa 0:7a00359e701e 112 default:
masahikofukasawa 0:7a00359e701e 113 subId = AkmSensorManager::getId(ANALOG_SENSOR_ID_SUB,4); // 4bit sub id
masahikofukasawa 0:7a00359e701e 114 MSG("#Can't find ID=%d SubID=%d %s\r\n", id, subId, AKM_PRIMARY_ID_STR[id]);
masahikofukasawa 0:7a00359e701e 115 return NULL; // couldn't find
masahikofukasawa 0:7a00359e701e 116 }
masahikofukasawa 0:7a00359e701e 117
masahikofukasawa 0:7a00359e701e 118 if(sensor->init(id, subId) != AkmSensor::SUCCESS){
masahikofukasawa 1:b46b8653331f 119 MSG("#sensor->init failed. ID=%d SubID=%d %s\r\n", id, subId, AKM_PRIMARY_ID_STR[id]);
masahikofukasawa 0:7a00359e701e 120 return NULL; // couldn't find
masahikofukasawa 0:7a00359e701e 121 }
masahikofukasawa 0:7a00359e701e 122
masahikofukasawa 0:7a00359e701e 123 MSG("#ID=%d SubID=%d %s\r\n", id, subId, AKM_PRIMARY_ID_STR[id]);
masahikofukasawa 0:7a00359e701e 124 return sensor;
masahikofukasawa 0:7a00359e701e 125 }
masahikofukasawa 0:7a00359e701e 126
masahikofukasawa 0:7a00359e701e 127 AkmSensorManager::Status AkmSensorManager::commandReceived(char* buf){
masahikofukasawa 0:7a00359e701e 128 // Construct message
masahikofukasawa 0:7a00359e701e 129 Status status = SUCCESS;
masahikofukasawa 0:7a00359e701e 130
masahikofukasawa 0:7a00359e701e 131 Message::Status st;
masahikofukasawa 0:7a00359e701e 132 if ((st=Message::parse(&msg, buf)) != Message::SUCCESS) {
masahikofukasawa 0:7a00359e701e 133 MSG("#Failed to parse message. status = %02x. %s\n", st, buf);
masahikofukasawa 0:7a00359e701e 134 status = ERROR;
masahikofukasawa 0:7a00359e701e 135 eventCommandReceived = false;
masahikofukasawa 0:7a00359e701e 136 }
masahikofukasawa 0:7a00359e701e 137 eventCommandReceived = true;
masahikofukasawa 0:7a00359e701e 138 return status;
masahikofukasawa 0:7a00359e701e 139 }
masahikofukasawa 0:7a00359e701e 140
masahikofukasawa 0:7a00359e701e 141
masahikofukasawa 0:7a00359e701e 142 uint8_t AkmSensorManager::getId(PinName pin, uint8_t bits)
masahikofukasawa 0:7a00359e701e 143 {
masahikofukasawa 0:7a00359e701e 144 AnalogIn id(pin);
masahikofukasawa 1:b46b8653331f 145 MSG("#Voltage=%5.2f[V]\n",id*3.0);
masahikofukasawa 0:7a00359e701e 146 double s = id + 1.0/(double)(pow(2.0,bits+1));
masahikofukasawa 0:7a00359e701e 147 uint8_t value = (uint8_t)(s*pow(2.0,bits));
masahikofukasawa 0:7a00359e701e 148 return value;
masahikofukasawa 0:7a00359e701e 149 }
masahikofukasawa 0:7a00359e701e 150
masahikofukasawa 0:7a00359e701e 151 bool AkmSensorManager::isEvent()
masahikofukasawa 0:7a00359e701e 152 {
masahikofukasawa 0:7a00359e701e 153 return (sensor->isEvent() ||
masahikofukasawa 0:7a00359e701e 154 eventCommandReceived ||
masahikofukasawa 0:7a00359e701e 155 eventConnected ||
masahikofukasawa 0:7a00359e701e 156 eventDisconnected);
masahikofukasawa 0:7a00359e701e 157 }
masahikofukasawa 0:7a00359e701e 158
masahikofukasawa 0:7a00359e701e 159
masahikofukasawa 0:7a00359e701e 160 void AkmSensorManager::processCommand()
masahikofukasawa 0:7a00359e701e 161 {
masahikofukasawa 0:7a00359e701e 162 AkmSensorManager::Status status = AkmSensorManager::SUCCESS;
masahikofukasawa 0:7a00359e701e 163 // MSG("#processCommand.\n");
masahikofukasawa 0:7a00359e701e 164
masahikofukasawa 0:7a00359e701e 165 // Gets command in the message
masahikofukasawa 0:7a00359e701e 166 Message::Command cmd = msg.getCommand();
masahikofukasawa 0:7a00359e701e 167
masahikofukasawa 0:7a00359e701e 168 // Creates an message object to return
masahikofukasawa 0:7a00359e701e 169 Message resMsg;
masahikofukasawa 0:7a00359e701e 170
masahikofukasawa 0:7a00359e701e 171 // Return message has the same command as input
masahikofukasawa 0:7a00359e701e 172 resMsg.setCommand(cmd);
masahikofukasawa 0:7a00359e701e 173
masahikofukasawa 0:7a00359e701e 174 switch(cmd)
masahikofukasawa 0:7a00359e701e 175 {
masahikofukasawa 0:7a00359e701e 176 case Message::CMD_GET_FW_VERSION:
masahikofukasawa 0:7a00359e701e 177 resMsg.setArgument(0, FIRMWARE_VERSION);
masahikofukasawa 0:7a00359e701e 178 throwMessage(&resMsg);
masahikofukasawa 0:7a00359e701e 179 MSG("#FW version is reported.\n");
masahikofukasawa 0:7a00359e701e 180 break;
masahikofukasawa 0:7a00359e701e 181
masahikofukasawa 0:7a00359e701e 182 case Message::CMD_GET_MAG_PART:
masahikofukasawa 0:7a00359e701e 183 resMsg.setArgument(0, MAGNETOMETER_ID);
masahikofukasawa 0:7a00359e701e 184 throwMessage(&resMsg);
masahikofukasawa 0:7a00359e701e 185 MSG("#Mag ID is reported.\n");
masahikofukasawa 0:7a00359e701e 186 break;
masahikofukasawa 0:7a00359e701e 187
masahikofukasawa 0:7a00359e701e 188 case Message::CMD_SET_SERIAL_TARGET:
masahikofukasawa 0:7a00359e701e 189 isEnabledBle = msg.getArgument(0)==Message::SW_ON ? true : false;
masahikofukasawa 0:7a00359e701e 190 isEnabledUsb = msg.getArgument(1)==Message::SW_ON ? true : false;
masahikofukasawa 0:7a00359e701e 191 resMsg.setArgument(0, 0);
masahikofukasawa 0:7a00359e701e 192 throwMessage(&resMsg);
masahikofukasawa 0:7a00359e701e 193 MSG("#Serial out is set.\n");
masahikofukasawa 0:7a00359e701e 194 break;
masahikofukasawa 0:7a00359e701e 195
masahikofukasawa 0:7a00359e701e 196 case Message::CMD_GET_ID: // return Primary ID and Sub ID
masahikofukasawa 0:7a00359e701e 197 if(id == 0) id = 0xE; // Temporary for Angle Sensor
masahikofukasawa 0:7a00359e701e 198 resMsg.setArgument(0, id);
masahikofukasawa 0:7a00359e701e 199 resMsg.setArgument(1, subId);
masahikofukasawa 0:7a00359e701e 200 throwMessage(&resMsg);
masahikofukasawa 0:7a00359e701e 201 wait(0.4); // wait for App initialization
masahikofukasawa 0:7a00359e701e 202 MSG("#Mag ID is reported.\n");
masahikofukasawa 0:7a00359e701e 203 break;
masahikofukasawa 0:7a00359e701e 204
masahikofukasawa 0:7a00359e701e 205 case Message::CMD_STOP_MEASUREMENT:
masahikofukasawa 0:7a00359e701e 206 if( sensor->stopSensor() != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
masahikofukasawa 0:7a00359e701e 207 resMsg.setArgument(0, status==AkmSensorManager::SUCCESS ? 0 : 1);
masahikofukasawa 0:7a00359e701e 208 throwMessage(&resMsg);
masahikofukasawa 0:7a00359e701e 209 MSG("#Stop measurement.\n");
masahikofukasawa 0:7a00359e701e 210 break;
masahikofukasawa 0:7a00359e701e 211
masahikofukasawa 0:7a00359e701e 212 case Message::CMD_START_MEASUREMENT:
masahikofukasawa 0:7a00359e701e 213 MSG("#Start measurement.\n");
masahikofukasawa 0:7a00359e701e 214 sensor->startSensor();
masahikofukasawa 0:7a00359e701e 215 // get initial sensor state for switch type sensors
masahikofukasawa 0:7a00359e701e 216 if( id == AkmSensor::AKM_PRIMARY_ID_UNIPOLAR ||
masahikofukasawa 0:7a00359e701e 217 id == AkmSensor::AKM_PRIMARY_ID_OMNIPOLAR ||
masahikofukasawa 0:7a00359e701e 218 id == AkmSensor::AKM_PRIMARY_ID_LATCH ||
masahikofukasawa 0:7a00359e701e 219 id == AkmSensor::AKM_PRIMARY_ID_DUAL_OUTPUT ||
masahikofukasawa 0:7a00359e701e 220 id == AkmSensor::AKM_PRIMARY_ID_ONECHIP_ENCODER ){
masahikofukasawa 0:7a00359e701e 221 Message temp;
masahikofukasawa 0:7a00359e701e 222 sensor->readSensorData(&temp);
masahikofukasawa 0:7a00359e701e 223 throwMessage(&temp);
masahikofukasawa 0:7a00359e701e 224 }
masahikofukasawa 0:7a00359e701e 225 break;
masahikofukasawa 0:7a00359e701e 226
masahikofukasawa 0:7a00359e701e 227 case Message::CMD_ANGLE_ZERO_RESET:
masahikofukasawa 1:b46b8653331f 228 case Message::CMD_IR_GET_THRESHOLD:
masahikofukasawa 1:b46b8653331f 229 case Message::CMD_IR_SET_THRESHOLD:
masahikofukasawa 1:b46b8653331f 230 case Message::CMD_IR_GET_HYSTERESIS:
masahikofukasawa 1:b46b8653331f 231 case Message::CMD_IR_SET_HYSTERESIS:
masahikofukasawa 1:b46b8653331f 232 case Message::CMD_IR_GET_INTERRUPT:
masahikofukasawa 1:b46b8653331f 233 case Message::CMD_IR_SET_INTERRUPT:
masahikofukasawa 1:b46b8653331f 234 case Message::CMD_IR_GET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 235 case Message::CMD_IR_SET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 236 case Message::CMD_IR_GET_THRESHOLD_EEPROM:
masahikofukasawa 1:b46b8653331f 237 case Message::CMD_IR_SET_THRESHOLD_EEPROM:
masahikofukasawa 1:b46b8653331f 238 case Message::CMD_IR_GET_HYSTERESIS_EEPROM:
masahikofukasawa 1:b46b8653331f 239 case Message::CMD_IR_SET_HYSTERESIS_EEPROM:
masahikofukasawa 1:b46b8653331f 240 case Message::CMD_IR_GET_INTERRUPT_EEPROM:
masahikofukasawa 1:b46b8653331f 241 case Message::CMD_IR_SET_INTERRUPT_EEPROM:
masahikofukasawa 1:b46b8653331f 242 case Message::CMD_IR_GET_OPERATION_MODE_EEPROM:
masahikofukasawa 1:b46b8653331f 243 case Message::CMD_IR_SET_OPERATION_MODE_EEPROM:
masahikofukasawa 0:7a00359e701e 244 sensor->requestCommand(&msg,&resMsg);
masahikofukasawa 0:7a00359e701e 245 throwMessage(&resMsg);
masahikofukasawa 0:7a00359e701e 246 break;
masahikofukasawa 1:b46b8653331f 247
masahikofukasawa 0:7a00359e701e 248 default:
masahikofukasawa 0:7a00359e701e 249 MSG("#Can't find command:%s\n", (char)cmd);
masahikofukasawa 0:7a00359e701e 250 break;
masahikofukasawa 0:7a00359e701e 251 }
masahikofukasawa 0:7a00359e701e 252 }
masahikofukasawa 0:7a00359e701e 253
masahikofukasawa 0:7a00359e701e 254 AkmSensorManager::Status AkmSensorManager::processEvent()
masahikofukasawa 0:7a00359e701e 255 {
masahikofukasawa 0:7a00359e701e 256 AkmSensorManager::Status status = AkmSensorManager::SUCCESS;
masahikofukasawa 0:7a00359e701e 257
masahikofukasawa 0:7a00359e701e 258 // command received from the host
masahikofukasawa 0:7a00359e701e 259 if(eventCommandReceived)
masahikofukasawa 0:7a00359e701e 260 {
masahikofukasawa 0:7a00359e701e 261 processCommand();
masahikofukasawa 0:7a00359e701e 262 eventCommandReceived = false;
masahikofukasawa 0:7a00359e701e 263 }
masahikofukasawa 0:7a00359e701e 264 if(sensor->isEvent()) // sensor read data event
masahikofukasawa 0:7a00359e701e 265 {
masahikofukasawa 0:7a00359e701e 266 Message msg;
masahikofukasawa 0:7a00359e701e 267 if( sensor->readSensorData(&msg) != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
masahikofukasawa 0:7a00359e701e 268 throwMessage(&msg);
masahikofukasawa 0:7a00359e701e 269 }
masahikofukasawa 0:7a00359e701e 270
masahikofukasawa 0:7a00359e701e 271 if(eventConnected) // BLE connected. Start sensor.
masahikofukasawa 0:7a00359e701e 272 {
masahikofukasawa 0:7a00359e701e 273 // if( sensor->startSensor() != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
masahikofukasawa 0:7a00359e701e 274 eventConnected = false;
masahikofukasawa 0:7a00359e701e 275 }
masahikofukasawa 0:7a00359e701e 276 if(eventDisconnected) // BLE dis-connected. Stop sensor.
masahikofukasawa 0:7a00359e701e 277 {
masahikofukasawa 0:7a00359e701e 278 if( sensor->stopSensor() != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
masahikofukasawa 0:7a00359e701e 279 eventDisconnected = false;
masahikofukasawa 0:7a00359e701e 280 }
masahikofukasawa 0:7a00359e701e 281 return status;
masahikofukasawa 0:7a00359e701e 282 }
masahikofukasawa 0:7a00359e701e 283
masahikofukasawa 0:7a00359e701e 284 AkmSensorManager::Status AkmSensorManager::throwMessage(const Message *msg) {
masahikofukasawa 0:7a00359e701e 285 int len = Message::getMaxMessageLength();
masahikofukasawa 0:7a00359e701e 286 char buf[len];
masahikofukasawa 0:7a00359e701e 287
masahikofukasawa 0:7a00359e701e 288 buf[0] = '$';
masahikofukasawa 0:7a00359e701e 289
masahikofukasawa 0:7a00359e701e 290 // Processes command
masahikofukasawa 0:7a00359e701e 291 char cmd = (char)msg->getCommand();
masahikofukasawa 0:7a00359e701e 292 Message::charToAscii(&buf[1], &cmd);
masahikofukasawa 0:7a00359e701e 293
masahikofukasawa 0:7a00359e701e 294 // Processes arguments
masahikofukasawa 0:7a00359e701e 295 for (int i=0; i < msg->getArgNum(); i++) {
masahikofukasawa 0:7a00359e701e 296 char arg = msg->getArgument(i);
masahikofukasawa 0:7a00359e701e 297 Message::charToAscii(&buf[3+2*i], &arg);
masahikofukasawa 0:7a00359e701e 298 }
masahikofukasawa 0:7a00359e701e 299
masahikofukasawa 0:7a00359e701e 300 // Add termination characters, 0x0D(\r), \n and \0, to the end of string
masahikofukasawa 0:7a00359e701e 301 int tIdx = 3 + 2 * (msg->getArgNum());
masahikofukasawa 0:7a00359e701e 302 int bufSize = sizeof(buf)/sizeof(buf[0]);
masahikofukasawa 0:7a00359e701e 303 if ((tIdx + 3) > (bufSize - 1)) {
masahikofukasawa 0:7a00359e701e 304 MSG("#Error: Message data exceeds the buffer.\n");
masahikofukasawa 0:7a00359e701e 305 return ERROR;
masahikofukasawa 0:7a00359e701e 306 }
masahikofukasawa 0:7a00359e701e 307 buf[tIdx++] = 0x0D; // '\r'
masahikofukasawa 0:7a00359e701e 308 buf[tIdx++] = '\n';
masahikofukasawa 0:7a00359e701e 309 buf[tIdx] = '\0';
masahikofukasawa 0:7a00359e701e 310
masahikofukasawa 0:7a00359e701e 311 // Send to the BLE buffer
masahikofukasawa 0:7a00359e701e 312 // Hardware *hw = Hardware::getInstance();
masahikofukasawa 0:7a00359e701e 313 // hw->uartService->writeString(buf);
masahikofukasawa 0:7a00359e701e 314 if(isEnabledBle) uartService->writeString(buf);
masahikofukasawa 0:7a00359e701e 315 if(isEnabledUsb) serial->printf(buf);
masahikofukasawa 0:7a00359e701e 316
masahikofukasawa 0:7a00359e701e 317 // MSG("#A message thrown: \"%s\"\n", buf);
masahikofukasawa 0:7a00359e701e 318
masahikofukasawa 0:7a00359e701e 319 return SUCCESS;
masahikofukasawa 0:7a00359e701e 320 }
masahikofukasawa 0:7a00359e701e 321
masahikofukasawa 0:7a00359e701e 322 /*
masahikofukasawa 0:7a00359e701e 323 void AkmSensorManager::dataOut(char* str){
masahikofukasawa 0:7a00359e701e 324 if(isBleMode) uartService->writeString(str);
masahikofukasawa 0:7a00359e701e 325 if(isSerialMode) serial->printf(str);
masahikofukasawa 0:7a00359e701e 326 }
masahikofukasawa 0:7a00359e701e 327 */