Modified for compatibility with Rev.E. hardware
Fork of AkmSensor by
akmakd.h@42:b48b3ab8690e, 2017-11-03 (annotated)
- Committer:
- masahikofukasawa
- Date:
- Fri Nov 03 19:45:33 2017 +0000
- Revision:
- 42:b48b3ab8690e
- Parent:
- 41:a3ea80c594ec
- Child:
- 43:45225713cd58
TBD. Try to change serial baud rate to 1Mbps or 921600bps.
Who changed what in which revision?
User | Revision | Line number | New 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 | |
masahikofukasawa | 41:a3ea80c594ec | 9 | #define AKDP_POLLING_FREQUENCY (10.0) // [Hz] |
masahikofukasawa | 20:2fca76521680 | 10 | |
tkstreet | 23:50c98b286e41 | 11 | /** |
tkstreet | 23:50c98b286e41 | 12 | * Collection class for handling commands to all of the specialty AKM |
tkstreet | 23:50c98b286e41 | 13 | * daughter board adapter modules. |
tkstreet | 23:50c98b286e41 | 14 | * |
tkstreet | 23:50c98b286e41 | 15 | * 3-Axis Electronic Compass Devices: AK8963C, AK8963N, AK09911C, AK09912C, |
masahikofukasawa | 41:a3ea80c594ec | 16 | * AK09915C, AK09915D, AK09916C, AK09916D, AK09917, AK09918, AK09940 |
tkstreet | 23:50c98b286e41 | 17 | */ |
masahikofukasawa | 0:7a00359e701e | 18 | class AkmAkd : public AkmSensor |
masahikofukasawa | 0:7a00359e701e | 19 | { |
masahikofukasawa | 0:7a00359e701e | 20 | |
masahikofukasawa | 0:7a00359e701e | 21 | public: |
masahikofukasawa | 29:b488d2c89fba | 22 | |
masahikofukasawa | 29:b488d2c89fba | 23 | typedef AkmSensor base; |
masahikofukasawa | 0:7a00359e701e | 24 | |
tkstreet | 23:50c98b286e41 | 25 | /** |
tkstreet | 23:50c98b286e41 | 26 | * List of daughter board adapter devices (5-bit Sub-IDs). Primary ID = 0Fh |
tkstreet | 23:50c98b286e41 | 27 | */ |
tkstreet | 23:50c98b286e41 | 28 | typedef enum { |
masahikofukasawa | 42:b48b3ab8690e | 29 | SUB_ID_AK8963N = 0x1A, /**< AK8963N: ID = 1Ah (26) */ |
masahikofukasawa | 42:b48b3ab8690e | 30 | SUB_ID_AK8963C = 0x1C, /**< AK8963C: ID = 1Ch (28) */ |
tkstreet | 23:50c98b286e41 | 31 | SUB_ID_AK09911C = 0x0A, /**< AK09911C: ID = 0Ah (10) */ |
masahikofukasawa | 42:b48b3ab8690e | 32 | SUB_ID_AK09912C = 0x09, /**< AK09912C: ID = 09h (9) */ |
tkstreet | 23:50c98b286e41 | 33 | SUB_ID_AK09915C = 0x0D, /**< AK09915C: ID = 0Dh (13) */ |
tkstreet | 23:50c98b286e41 | 34 | SUB_ID_AK09916C = 0x0E, /**< AK09916C: ID = 0Eh (14) */ |
tkstreet | 23:50c98b286e41 | 35 | SUB_ID_AK09916D = 0x0F, /**< AK09916D: ID = 0Fh (15) */ |
tkstreet | 23:50c98b286e41 | 36 | SUB_ID_AK09915D = 0x10, /**< AK09915D: ID = 10h (16) */ |
masahikofukasawa | 42:b48b3ab8690e | 37 | SUB_ID_AK09918 = 0x11, /**< AK09918: ID = 11h (17) */ |
masahikofukasawa | 42:b48b3ab8690e | 38 | SUB_ID_AK09917 = 0x12, /**< AK09917: ID = 12h (18) */ |
masahikofukasawa | 42:b48b3ab8690e | 39 | SUB_ID_AK09940 = 0x13, /**< AK09940: ID = 13h (19) */ |
masahikofukasawa | 0:7a00359e701e | 40 | } SubIdAkd; |
masahikofukasawa | 0:7a00359e701e | 41 | |
masahikofukasawa | 19:8dcc4f323bdc | 42 | typedef enum { |
masahikofukasawa | 19:8dcc4f323bdc | 43 | INTERRUPT_DISABLED = 0x00, // Polling |
masahikofukasawa | 19:8dcc4f323bdc | 44 | INTERRUPT_ENABLED_PP = 0x01, // Push-Pull |
masahikofukasawa | 19:8dcc4f323bdc | 45 | INTERRUPT_ENABLED_OD = 0x02, // Open drain |
masahikofukasawa | 19:8dcc4f323bdc | 46 | } InterruptMode; |
masahikofukasawa | 19:8dcc4f323bdc | 47 | |
masahikofukasawa | 0:7a00359e701e | 48 | /** |
masahikofukasawa | 0:7a00359e701e | 49 | * Constructor. |
masahikofukasawa | 0:7a00359e701e | 50 | * |
masahikofukasawa | 0:7a00359e701e | 51 | */ |
masahikofukasawa | 0:7a00359e701e | 52 | AkmAkd(); |
masahikofukasawa | 0:7a00359e701e | 53 | |
masahikofukasawa | 0:7a00359e701e | 54 | /** |
masahikofukasawa | 0:7a00359e701e | 55 | * Destructor. |
masahikofukasawa | 0:7a00359e701e | 56 | * |
masahikofukasawa | 0:7a00359e701e | 57 | */ |
masahikofukasawa | 0:7a00359e701e | 58 | virtual ~AkmAkd(); |
tkstreet | 23:50c98b286e41 | 59 | |
tkstreet | 23:50c98b286e41 | 60 | /** |
tkstreet | 23:50c98b286e41 | 61 | * Process for intializing the selected sensor. |
tkstreet | 23:50c98b286e41 | 62 | * |
tkstreet | 23:50c98b286e41 | 63 | * @return Termination status type for debugging purposes. |
tkstreet | 23:50c98b286e41 | 64 | */ |
masahikofukasawa | 0:7a00359e701e | 65 | virtual AkmSensor::Status init(const uint8_t id, const uint8_t subid); |
tkstreet | 34:1ea3357c8d9a | 66 | |
tkstreet | 23:50c98b286e41 | 67 | /** |
tkstreet | 23:50c98b286e41 | 68 | * Process abstraction for starting sensor operation. |
tkstreet | 23:50c98b286e41 | 69 | * |
tkstreet | 23:50c98b286e41 | 70 | * @return Termination status type for debugging purposes. |
tkstreet | 23:50c98b286e41 | 71 | */ |
masahikofukasawa | 0:7a00359e701e | 72 | virtual AkmSensor::Status startSensor(); |
tkstreet | 23:50c98b286e41 | 73 | |
tkstreet | 23:50c98b286e41 | 74 | /** |
tkstreet | 23:50c98b286e41 | 75 | * Process abstraction for starting sensor operation. |
tkstreet | 23:50c98b286e41 | 76 | * |
tkstreet | 23:50c98b286e41 | 77 | * @param sec Number of seconds of operation. |
tkstreet | 23:50c98b286e41 | 78 | * @return Termination status type for debugging purposes. |
tkstreet | 23:50c98b286e41 | 79 | */ |
masahikofukasawa | 0:7a00359e701e | 80 | virtual AkmSensor::Status startSensor(const float sec); |
tkstreet | 23:50c98b286e41 | 81 | |
tkstreet | 23:50c98b286e41 | 82 | /** |
tkstreet | 23:50c98b286e41 | 83 | * Process abstraction for stopping sensor operation. |
tkstreet | 23:50c98b286e41 | 84 | * |
tkstreet | 23:50c98b286e41 | 85 | * @return Termination status type for debugging purposes. |
tkstreet | 23:50c98b286e41 | 86 | */ |
masahikofukasawa | 0:7a00359e701e | 87 | virtual AkmSensor::Status stopSensor(); |
tkstreet | 23:50c98b286e41 | 88 | |
tkstreet | 23:50c98b286e41 | 89 | /** |
tkstreet | 23:50c98b286e41 | 90 | * Process abstraction for reading data from the sensor. |
tkstreet | 23:50c98b286e41 | 91 | * |
tkstreet | 23:50c98b286e41 | 92 | * @param msg Message object that will hold the sensor data. |
tkstreet | 23:50c98b286e41 | 93 | * @return Termination status type for debugging purposes. |
tkstreet | 23:50c98b286e41 | 94 | */ |
masahikofukasawa | 0:7a00359e701e | 95 | virtual AkmSensor::Status readSensorData(Message* msg); |
tkstreet | 23:50c98b286e41 | 96 | |
tkstreet | 23:50c98b286e41 | 97 | /** |
tkstreet | 23:50c98b286e41 | 98 | * Primary process for interfacing a sensor with the AKDP. When implemented |
tkstreet | 23:50c98b286e41 | 99 | * in sensor class, it will transfer commands between the the sensor control |
tkstreet | 23:50c98b286e41 | 100 | * class and AkmSensorManager. |
tkstreet | 23:50c98b286e41 | 101 | * |
tkstreet | 23:50c98b286e41 | 102 | * @param in Command message to be processed by sensor. |
tkstreet | 23:50c98b286e41 | 103 | * @param out Message returned from sensor. |
tkstreet | 23:50c98b286e41 | 104 | * @return Termination status type for debugging purposes. |
tkstreet | 23:50c98b286e41 | 105 | */ |
masahikofukasawa | 0:7a00359e701e | 106 | virtual Status requestCommand(Message* in, Message* out); |
tkstreet | 23:50c98b286e41 | 107 | |
tkstreet | 23:50c98b286e41 | 108 | /** |
tkstreet | 34:1ea3357c8d9a | 109 | * Set event flag. |
tkstreet | 23:50c98b286e41 | 110 | */ |
masahikofukasawa | 29:b488d2c89fba | 111 | virtual void setEvent(); |
masahikofukasawa | 0:7a00359e701e | 112 | |
masahikofukasawa | 0:7a00359e701e | 113 | int getSensorType(); |
masahikofukasawa | 19:8dcc4f323bdc | 114 | InterruptMode getInterrupt(uint8_t primaryId, uint8_t subId); |
masahikofukasawa | 20:2fca76521680 | 115 | AkmSensor::Status checkSensor( const uint8_t primaryid, const uint8_t subid, AkmECompass::DeviceId* devid); |
masahikofukasawa | 19:8dcc4f323bdc | 116 | |
masahikofukasawa | 0:7a00359e701e | 117 | private: |
masahikofukasawa | 0:7a00359e701e | 118 | Ticker ticker; |
masahikofukasawa | 0:7a00359e701e | 119 | AkmECompass* compass; |
masahikofukasawa | 41:a3ea80c594ec | 120 | AkmECompass::Mode mode; |
masahikofukasawa | 41:a3ea80c594ec | 121 | uint8_t lenOptions; |
masahikofukasawa | 0:7a00359e701e | 122 | }; |
masahikofukasawa | 0:7a00359e701e | 123 | |
masahikofukasawa | 0:7a00359e701e | 124 | #endif |