Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

akmsensormanager.cpp@18:b7182d5ad8d5, 2017-02-21 (annotated)

Committer:
masahikofukasawa
Date:
Tue Feb 21 23:46:12 2017 +0000
Revision:
18:b7182d5ad8d5
Parent:
17:9abb7c28709c
Child:
24:1d37438f31a9
Child:
27:41aa9fb23a2f
Add AK09918 and debugged for getOperationMode() for e-compasses.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
masahikofukasawa 0:7a00359e701e 1 #include "ble/services/UARTService.h"
masahikofukasawa 15:1238993fd75f 2 #include "akdphwinfo.h"
masahikofukasawa 0:7a00359e701e 3 #include "akmsensormanager.h"
masahikofukasawa 0:7a00359e701e 4 #include "akmhallswitch.h"
masahikofukasawa 11:cef8dc1cf010 5 #include "akmanalogsensor.h"
masahikofukasawa 10:5c69b067d88a 6 #include "ak09970ctrl.h"
masahikofukasawa 10:5c69b067d88a 7 #include "ak9750ctrl.h"
masahikofukasawa 10:5c69b067d88a 8 #include "ak9752ctrl.h"
masahikofukasawa 11:cef8dc1cf010 9 #include "ak7451ctrl.h"
masahikofukasawa 10:5c69b067d88a 10 #include "ak7401ctrl.h"
masahikofukasawa 0:7a00359e701e 11 #include "akmakd.h"
masahikofukasawa 0:7a00359e701e 12 #include "debug.h"
masahikofukasawa 0:7a00359e701e 13 #include "Message.h"
coisme 2:11fe67783c4c 14 #include "mcp342x.h"
masahikofukasawa 6:c4401549d68f 15 #include "I2CNano.h"
masahikofukasawa 0:7a00359e701e 16
masahikofukasawa 0:7a00359e701e 17 #define MAGNETOMETER_ID 0x0A
masahikofukasawa 0:7a00359e701e 18
masahikofukasawa 0:7a00359e701e 19 #define CONV16I(high,low) ((int16_t)(((high) << 8) | (low)))
masahikofukasawa 0:7a00359e701e 20
masahikofukasawa 0:7a00359e701e 21
masahikofukasawa 10:5c69b067d88a 22 const char* AKM_PRIMARY_ID_STR[] = {
masahikofukasawa 7:e269411568c9 23 "AKD Daughter Cards(SPI)",
masahikofukasawa 0:7a00359e701e 24 "Switch, Unipolar",
masahikofukasawa 0:7a00359e701e 25 "Switch, Onmipolar",
masahikofukasawa 0:7a00359e701e 26 "Latch, Bipolar",
masahikofukasawa 0:7a00359e701e 27 "Switch, Dual Output",
masahikofukasawa 0:7a00359e701e 28 "Onechip Encoder",
masahikofukasawa 0:7a00359e701e 29 "TBD1",
masahikofukasawa 0:7a00359e701e 30 "TBD2",
masahikofukasawa 0:7a00359e701e 31 "Linear Sensor Legacy",
masahikofukasawa 0:7a00359e701e 32 "Current Sensor",
masahikofukasawa 0:7a00359e701e 33 "MISC(Analog)",
masahikofukasawa 0:7a00359e701e 34 "Linear Sensor",
masahikofukasawa 18:b7182d5ad8d5 35 "Motor Drivers",
masahikofukasawa 1:b46b8653331f 36 "IR Sensor",
masahikofukasawa 7:e269411568c9 37 "Angle Sensor(SPI)",
masahikofukasawa 10:5c69b067d88a 38 "AKD Daughter Cards(I2C)"
masahikofukasawa 0:7a00359e701e 39 };
masahikofukasawa 0:7a00359e701e 40
masahikofukasawa 13:d008249f0359 41 AkmSensorManager::AkmSensorManager(SerialNano* com)
masahikofukasawa 0:7a00359e701e 42 {
masahikofukasawa 0:7a00359e701e 43 serial = com;
masahikofukasawa 0:7a00359e701e 44 isEnabledUsb = true;
masahikofukasawa 0:7a00359e701e 45 eventCommandReceived = false;
masahikofukasawa 0:7a00359e701e 46 eventConnected = false;
masahikofukasawa 0:7a00359e701e 47 eventDisconnected = false;
masahikofukasawa 0:7a00359e701e 48 }
masahikofukasawa 0:7a00359e701e 49
masahikofukasawa 10:5c69b067d88a 50 AkmSensorManager::Status AkmSensorManager::init(uint8_t id, uint8_t subid)
masahikofukasawa 0:7a00359e701e 51 {
masahikofukasawa 10:5c69b067d88a 52 primaryId = id;
masahikofukasawa 10:5c69b067d88a 53 subId = subid;
masahikofukasawa 0:7a00359e701e 54 sensor = AkmSensorManager::getAkmSensor();
masahikofukasawa 0:7a00359e701e 55 if(sensor == NULL) return AkmSensorManager::ERROR;
masahikofukasawa 0:7a00359e701e 56 return AkmSensorManager::SUCCESS;
masahikofukasawa 0:7a00359e701e 57 }
masahikofukasawa 0:7a00359e701e 58
masahikofukasawa 13:d008249f0359 59
masahikofukasawa 13:d008249f0359 60 void AkmSensorManager::setBleUartService(UARTService* service)
masahikofukasawa 13:d008249f0359 61 {
masahikofukasawa 13:d008249f0359 62 uartService = service;
masahikofukasawa 13:d008249f0359 63 isEnabledBle = true;
masahikofukasawa 13:d008249f0359 64 }
masahikofukasawa 13:d008249f0359 65
masahikofukasawa 0:7a00359e701e 66 void AkmSensorManager::setEventConnected()
masahikofukasawa 0:7a00359e701e 67 {
masahikofukasawa 0:7a00359e701e 68 eventConnected = true;
masahikofukasawa 0:7a00359e701e 69 }
masahikofukasawa 0:7a00359e701e 70
masahikofukasawa 0:7a00359e701e 71 void AkmSensorManager::setEventDisconnected()
masahikofukasawa 0:7a00359e701e 72 {
masahikofukasawa 0:7a00359e701e 73 eventDisconnected = true;
masahikofukasawa 0:7a00359e701e 74 }
masahikofukasawa 0:7a00359e701e 75
masahikofukasawa 0:7a00359e701e 76 AkmSensor* AkmSensorManager::getAkmSensor()
masahikofukasawa 0:7a00359e701e 77 {
masahikofukasawa 0:7a00359e701e 78 AkmSensor* sensor = NULL;
masahikofukasawa 0:7a00359e701e 79
masahikofukasawa 10:5c69b067d88a 80 switch(primaryId){
masahikofukasawa 17:9abb7c28709c 81
masahikofukasawa 7:e269411568c9 82 case AkmSensor::AKM_PRIMARY_ID_AKD_SPI:
masahikofukasawa 0:7a00359e701e 83 case AkmSensor::AKM_PRIMARY_ID_AKD_I2C:
masahikofukasawa 10:5c69b067d88a 84 {
masahikofukasawa 10:5c69b067d88a 85 if(subId != Ak09970Ctrl::SUB_ID_AK09970){
masahikofukasawa 10:5c69b067d88a 86 AkmAkd* akd = new AkmAkd();
masahikofukasawa 10:5c69b067d88a 87 sensor = akd;
masahikofukasawa 10:5c69b067d88a 88 }
masahikofukasawa 10:5c69b067d88a 89 else{
masahikofukasawa 10:5c69b067d88a 90 Ak09970Ctrl* ak09970 = new Ak09970Ctrl();
masahikofukasawa 10:5c69b067d88a 91 sensor = ak09970;
masahikofukasawa 10:5c69b067d88a 92 }
masahikofukasawa 0:7a00359e701e 93 break;
masahikofukasawa 10:5c69b067d88a 94 }
masahikofukasawa 17:9abb7c28709c 95
masahikofukasawa 0:7a00359e701e 96 case AkmSensor::AKM_PRIMARY_ID_ANGLE_SENSOR:
masahikofukasawa 10:5c69b067d88a 97 {
masahikofukasawa 11:cef8dc1cf010 98 if(subId == Ak7451Ctrl::SUB_ID_AK7451){
masahikofukasawa 11:cef8dc1cf010 99 Ak7451Ctrl* ak7451ctrl = new Ak7451Ctrl();
masahikofukasawa 11:cef8dc1cf010 100 sensor = ak7451ctrl;
masahikofukasawa 10:5c69b067d88a 101 break;
masahikofukasawa 10:5c69b067d88a 102 }
masahikofukasawa 10:5c69b067d88a 103 else if(subId == Ak7401Ctrl::SUB_ID_AK7401){
masahikofukasawa 10:5c69b067d88a 104 Ak7401Ctrl* ak7401ctrl = new Ak7401Ctrl();
masahikofukasawa 10:5c69b067d88a 105 sensor = ak7401ctrl;
masahikofukasawa 10:5c69b067d88a 106 break;
masahikofukasawa 10:5c69b067d88a 107 }
masahikofukasawa 0:7a00359e701e 108 break;
masahikofukasawa 10:5c69b067d88a 109 }
masahikofukasawa 17:9abb7c28709c 110
masahikofukasawa 0:7a00359e701e 111 case AkmSensor::AKM_PRIMARY_ID_UNIPOLAR:
masahikofukasawa 0:7a00359e701e 112 case AkmSensor::AKM_PRIMARY_ID_OMNIPOLAR:
masahikofukasawa 0:7a00359e701e 113 case AkmSensor::AKM_PRIMARY_ID_LATCH:
masahikofukasawa 0:7a00359e701e 114 case AkmSensor::AKM_PRIMARY_ID_DUAL_OUTPUT:
masahikofukasawa 0:7a00359e701e 115 case AkmSensor::AKM_PRIMARY_ID_ONECHIP_ENCODER:
masahikofukasawa 10:5c69b067d88a 116 {
masahikofukasawa 10:5c69b067d88a 117 AkmHallSwitch* hallswitch = new AkmHallSwitch();
masahikofukasawa 0:7a00359e701e 118 sensor = hallswitch;
masahikofukasawa 0:7a00359e701e 119 break;
masahikofukasawa 10:5c69b067d88a 120 }
masahikofukasawa 17:9abb7c28709c 121 // case AkmSensor::AKM_PRIMARY_ID_LINEAR_SENSOR_LEGACY:
masahikofukasawa 4:af13b985c689 122 case AkmSensor::AKM_PRIMARY_ID_LINEAR_SENSOR:
masahikofukasawa 10:5c69b067d88a 123 case AkmSensor::AKM_PRIMARY_ID_CURRENT_SENSOR:
masahikofukasawa 10:5c69b067d88a 124 case AkmSensor::AKM_PRIMARY_ID_MISC_ANALOG:
masahikofukasawa 10:5c69b067d88a 125 {
masahikofukasawa 11:cef8dc1cf010 126 AkmAnalogSensor* analogsensor = new AkmAnalogSensor();
masahikofukasawa 11:cef8dc1cf010 127 sensor = analogsensor;
masahikofukasawa 0:7a00359e701e 128 break;
masahikofukasawa 10:5c69b067d88a 129 }
masahikofukasawa 17:9abb7c28709c 130
masahikofukasawa 1:b46b8653331f 131 case AkmSensor::AKM_PRIMARY_ID_IR_SENSOR:
masahikofukasawa 10:5c69b067d88a 132 {
masahikofukasawa 10:5c69b067d88a 133 if(subId == Ak9750Ctrl::SUB_ID_AK9750){
masahikofukasawa 10:5c69b067d88a 134 Ak9750Ctrl* ak9750ctrl = new Ak9750Ctrl();
masahikofukasawa 10:5c69b067d88a 135 sensor = ak9750ctrl;
masahikofukasawa 15:1238993fd75f 136 }else if(subId == Ak9750Ctrl::SUB_ID_AK9753){
masahikofukasawa 15:1238993fd75f 137 Ak9750Ctrl* ak9753ctrl = new Ak9750Ctrl();
masahikofukasawa 15:1238993fd75f 138 sensor = ak9753ctrl;
masahikofukasawa 10:5c69b067d88a 139 }else if(subId == Ak9752Ctrl::SUB_ID_AK9752){
masahikofukasawa 10:5c69b067d88a 140 Ak9752Ctrl* ak9752ctrl = new Ak9752Ctrl();
masahikofukasawa 10:5c69b067d88a 141 sensor = ak9752ctrl;
masahikofukasawa 10:5c69b067d88a 142 }else{
masahikofukasawa 10:5c69b067d88a 143 return NULL; // couldn't find
masahikofukasawa 10:5c69b067d88a 144 }
masahikofukasawa 10:5c69b067d88a 145
masahikofukasawa 1:b46b8653331f 146 break;
masahikofukasawa 10:5c69b067d88a 147 }
masahikofukasawa 17:9abb7c28709c 148
masahikofukasawa 0:7a00359e701e 149 default:
masahikofukasawa 10:5c69b067d88a 150 {
masahikofukasawa 17:9abb7c28709c 151 MSG("#Can't find ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
masahikofukasawa 0:7a00359e701e 152 return NULL; // couldn't find
masahikofukasawa 10:5c69b067d88a 153 }
masahikofukasawa 0:7a00359e701e 154 }
masahikofukasawa 11:cef8dc1cf010 155
masahikofukasawa 10:5c69b067d88a 156 if(sensor->init(primaryId, subId) != AkmSensor::SUCCESS){
masahikofukasawa 10:5c69b067d88a 157 MSG("#sensor->init failed. ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
masahikofukasawa 0:7a00359e701e 158 return NULL; // couldn't find
masahikofukasawa 0:7a00359e701e 159 }
masahikofukasawa 0:7a00359e701e 160
masahikofukasawa 10:5c69b067d88a 161 MSG("#ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
masahikofukasawa 0:7a00359e701e 162 return sensor;
masahikofukasawa 0:7a00359e701e 163 }
masahikofukasawa 0:7a00359e701e 164
masahikofukasawa 16:d85be9bafb80 165
masahikofukasawa 16:d85be9bafb80 166 void AkmSensorManager::dummyCallbackForCommandReceived(){}
masahikofukasawa 16:d85be9bafb80 167
masahikofukasawa 0:7a00359e701e 168 AkmSensorManager::Status AkmSensorManager::commandReceived(char* buf){
masahikofukasawa 0:7a00359e701e 169 // Construct message
masahikofukasawa 0:7a00359e701e 170 Status status = SUCCESS;
masahikofukasawa 0:7a00359e701e 171
masahikofukasawa 10:5c69b067d88a 172 if ((Message::parse(&msg, buf)) != Message::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 173 MSG("#Failed to parse message. %s\r\n", buf);
masahikofukasawa 0:7a00359e701e 174 status = ERROR;
masahikofukasawa 0:7a00359e701e 175 eventCommandReceived = false;
masahikofukasawa 15:1238993fd75f 176 }else{
masahikofukasawa 15:1238993fd75f 177 eventCommandReceived = true;
masahikofukasawa 16:d85be9bafb80 178 // MSG("#Parsed message. %s\r\n", buf);
masahikofukasawa 0:7a00359e701e 179 }
masahikofukasawa 16:d85be9bafb80 180 t.attach(callback(this, &AkmSensorManager::dummyCallbackForCommandReceived),0); // wake-up from ble.waitForEvent
masahikofukasawa 0:7a00359e701e 181 return status;
masahikofukasawa 0:7a00359e701e 182 }
masahikofukasawa 0:7a00359e701e 183
coisme 2:11fe67783c4c 184 int16_t AkmSensorManager::getAdcData(MCP342X *mcp3428, MCP342X::AdcChannel ch, MCP342X::SampleSetting s) {
coisme 2:11fe67783c4c 185 const int WAIT_ADC_MS = 1;
coisme 2:11fe67783c4c 186
coisme 2:11fe67783c4c 187 // Configure channel and trigger.
coisme 2:11fe67783c4c 188 mcp3428->setChannel(ch);
coisme 2:11fe67783c4c 189 mcp3428->setSampleSetting(s);
coisme 2:11fe67783c4c 190 mcp3428->trigger();
coisme 2:11fe67783c4c 191
coisme 2:11fe67783c4c 192 // polling data (!blocking)
coisme 2:11fe67783c4c 193 MCP342X::Data data;
coisme 2:11fe67783c4c 194 do {
coisme 2:11fe67783c4c 195 wait_ms(WAIT_ADC_MS);
coisme 2:11fe67783c4c 196 mcp3428->getData(&data);
coisme 2:11fe67783c4c 197 } while(data.st == MCP342X::DATA_NOT_UPDATED);
coisme 2:11fe67783c4c 198
coisme 2:11fe67783c4c 199 return data.value;
coisme 2:11fe67783c4c 200 }
masahikofukasawa 0:7a00359e701e 201
masahikofukasawa 0:7a00359e701e 202 uint8_t AkmSensorManager::getId(PinName pin, uint8_t bits)
masahikofukasawa 0:7a00359e701e 203 {
masahikofukasawa 11:cef8dc1cf010 204 MSG("#GetID\r\n");
masahikofukasawa 6:c4401549d68f 205
masahikofukasawa 6:c4401549d68f 206 I2C i2c(I2C_SDA, I2C_SCL);
coisme 2:11fe67783c4c 207 // ADC
coisme 2:11fe67783c4c 208 MCP342X mcp342x(&i2c, MCP342X::SLAVE_ADDRESS_6EH);
coisme 2:11fe67783c4c 209 mcp342x.setConversionMode(MCP342X::ONE_SHOT);
coisme 2:11fe67783c4c 210 MCP342X::AdcChannel ch;
coisme 2:11fe67783c4c 211 if (pin == ANALOG_SENSOR_ID) {
coisme 2:11fe67783c4c 212 ch = MCP342X::ADC_CH1;
coisme 2:11fe67783c4c 213 } else { // pin == ANALOG_SENSOR_ID_SUB
coisme 2:11fe67783c4c 214 ch = MCP342X::ADC_CH2;
coisme 2:11fe67783c4c 215 }
coisme 2:11fe67783c4c 216 int16_t val = getAdcData(&mcp342x, ch, MCP342X::SAMPLE_240HZ_12BIT);
masahikofukasawa 11:cef8dc1cf010 217 MSG("#12bit ADC Val = %d.\r\n", val);
coisme 2:11fe67783c4c 218
coisme 2:11fe67783c4c 219 const int16_t VAL_MAX = 3000-2048; // Corresponds to 3V
coisme 2:11fe67783c4c 220 const int16_t VAL_MIN = -2048; // Corresponds to 0V
coisme 2:11fe67783c4c 221
masahikofukasawa 6:c4401549d68f 222 uint8_t value = (uint8_t)((val - VAL_MIN)/(float)(VAL_MAX - VAL_MIN) * (1 << bits) + 0.5);
masahikofukasawa 11:cef8dc1cf010 223 MSG("#ID = %d.\r\n", value);
masahikofukasawa 6:c4401549d68f 224
masahikofukasawa 0:7a00359e701e 225 return value;
masahikofukasawa 0:7a00359e701e 226 }
masahikofukasawa 0:7a00359e701e 227
masahikofukasawa 0:7a00359e701e 228 bool AkmSensorManager::isEvent()
masahikofukasawa 0:7a00359e701e 229 {
masahikofukasawa 0:7a00359e701e 230 return (sensor->isEvent() ||
masahikofukasawa 0:7a00359e701e 231 eventCommandReceived ||
masahikofukasawa 0:7a00359e701e 232 eventConnected ||
masahikofukasawa 0:7a00359e701e 233 eventDisconnected);
masahikofukasawa 0:7a00359e701e 234 }
masahikofukasawa 0:7a00359e701e 235
masahikofukasawa 0:7a00359e701e 236
masahikofukasawa 0:7a00359e701e 237 void AkmSensorManager::processCommand()
masahikofukasawa 0:7a00359e701e 238 {
masahikofukasawa 0:7a00359e701e 239 // Gets command in the message
masahikofukasawa 0:7a00359e701e 240 Message::Command cmd = msg.getCommand();
masahikofukasawa 0:7a00359e701e 241
masahikofukasawa 0:7a00359e701e 242 // Creates an message object to return
masahikofukasawa 0:7a00359e701e 243 Message resMsg;
masahikofukasawa 0:7a00359e701e 244
masahikofukasawa 0:7a00359e701e 245 // Return message has the same command as input
masahikofukasawa 0:7a00359e701e 246 resMsg.setCommand(cmd);
masahikofukasawa 0:7a00359e701e 247
masahikofukasawa 0:7a00359e701e 248 switch(cmd)
masahikofukasawa 0:7a00359e701e 249 {
masahikofukasawa 0:7a00359e701e 250 case Message::CMD_GET_FW_VERSION:
masahikofukasawa 11:cef8dc1cf010 251 {
masahikofukasawa 0:7a00359e701e 252 resMsg.setArgument(0, FIRMWARE_VERSION);
masahikofukasawa 0:7a00359e701e 253 throwMessage(&resMsg);
masahikofukasawa 11:cef8dc1cf010 254 MSG("#FW version is reported.\r\n");
masahikofukasawa 0:7a00359e701e 255 break;
masahikofukasawa 11:cef8dc1cf010 256 }
masahikofukasawa 0:7a00359e701e 257 case Message::CMD_GET_MAG_PART:
masahikofukasawa 11:cef8dc1cf010 258 {
masahikofukasawa 0:7a00359e701e 259 resMsg.setArgument(0, MAGNETOMETER_ID);
masahikofukasawa 0:7a00359e701e 260 throwMessage(&resMsg);
masahikofukasawa 11:cef8dc1cf010 261 MSG("#Mag ID is reported.\r\n");
masahikofukasawa 0:7a00359e701e 262 break;
masahikofukasawa 11:cef8dc1cf010 263 }
masahikofukasawa 0:7a00359e701e 264 case Message::CMD_SET_SERIAL_TARGET:
masahikofukasawa 11:cef8dc1cf010 265 {
masahikofukasawa 0:7a00359e701e 266 isEnabledBle = msg.getArgument(0)==Message::SW_ON ? true : false;
masahikofukasawa 0:7a00359e701e 267 isEnabledUsb = msg.getArgument(1)==Message::SW_ON ? true : false;
masahikofukasawa 0:7a00359e701e 268 break;
masahikofukasawa 11:cef8dc1cf010 269 }
masahikofukasawa 0:7a00359e701e 270 case Message::CMD_GET_ID: // return Primary ID and Sub ID
masahikofukasawa 11:cef8dc1cf010 271 {
masahikofukasawa 10:5c69b067d88a 272 resMsg.setArgument(0, primaryId);
masahikofukasawa 0:7a00359e701e 273 resMsg.setArgument(1, subId);
masahikofukasawa 0:7a00359e701e 274 throwMessage(&resMsg);
masahikofukasawa 11:cef8dc1cf010 275 MSG("#Mag ID is reported.\r\n");
masahikofukasawa 0:7a00359e701e 276 break;
masahikofukasawa 11:cef8dc1cf010 277 }
masahikofukasawa 0:7a00359e701e 278 case Message::CMD_STOP_MEASUREMENT:
masahikofukasawa 11:cef8dc1cf010 279 {
masahikofukasawa 15:1238993fd75f 280 if( sensor->stopSensor() != AkmSensor::SUCCESS){
masahikofukasawa 15:1238993fd75f 281 resMsg.setArgument(0, 1);
masahikofukasawa 15:1238993fd75f 282 }else{
masahikofukasawa 15:1238993fd75f 283 resMsg.setArgument(0, 0);
masahikofukasawa 15:1238993fd75f 284 }
masahikofukasawa 0:7a00359e701e 285 throwMessage(&resMsg);
masahikofukasawa 11:cef8dc1cf010 286 MSG("#Stop measurement.\r\n");
masahikofukasawa 0:7a00359e701e 287 break;
masahikofukasawa 11:cef8dc1cf010 288 }
masahikofukasawa 0:7a00359e701e 289 case Message::CMD_START_MEASUREMENT:
masahikofukasawa 11:cef8dc1cf010 290 {
masahikofukasawa 11:cef8dc1cf010 291 int error_code = AkmSensor::SUCCESS;
masahikofukasawa 11:cef8dc1cf010 292 if(msg.getArgNum() == 0){
masahikofukasawa 11:cef8dc1cf010 293 error_code = sensor->startSensor();
masahikofukasawa 11:cef8dc1cf010 294 if( error_code != AkmSensor::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 295 MSG("#StartSensor Error. Code=%d\r\n",error_code);
masahikofukasawa 11:cef8dc1cf010 296 }
masahikofukasawa 11:cef8dc1cf010 297 else{
masahikofukasawa 11:cef8dc1cf010 298 MSG("#Start measurement.\r\n");
masahikofukasawa 11:cef8dc1cf010 299 }
masahikofukasawa 11:cef8dc1cf010 300 }else if(msg.getArgNum() == 1){
masahikofukasawa 11:cef8dc1cf010 301 float interval = (float)(1.0 / (float)msg.getArgument(0));
masahikofukasawa 11:cef8dc1cf010 302 error_code = sensor->startSensor(interval);
masahikofukasawa 11:cef8dc1cf010 303 if( error_code != AkmSensor::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 304 MSG("#StartSensor Error. Code=%d\r\n",error_code);
masahikofukasawa 11:cef8dc1cf010 305 }
masahikofukasawa 11:cef8dc1cf010 306 else{
masahikofukasawa 11:cef8dc1cf010 307 MSG("#Start measurement.\r\n");
masahikofukasawa 11:cef8dc1cf010 308 }
masahikofukasawa 11:cef8dc1cf010 309 }else{
masahikofukasawa 11:cef8dc1cf010 310 MSG("#StartSensor Error. Wrong Argument num.\r\n");
masahikofukasawa 11:cef8dc1cf010 311 }
masahikofukasawa 11:cef8dc1cf010 312 if(error_code == AkmSensor::SUCCESS){
masahikofukasawa 11:cef8dc1cf010 313 // get initial sensor state for switch type sensors
masahikofukasawa 11:cef8dc1cf010 314 if( primaryId == AkmSensor::AKM_PRIMARY_ID_UNIPOLAR ||
masahikofukasawa 11:cef8dc1cf010 315 primaryId == AkmSensor::AKM_PRIMARY_ID_OMNIPOLAR ||
masahikofukasawa 11:cef8dc1cf010 316 primaryId == AkmSensor::AKM_PRIMARY_ID_LATCH ||
masahikofukasawa 11:cef8dc1cf010 317 primaryId == AkmSensor::AKM_PRIMARY_ID_DUAL_OUTPUT ||
masahikofukasawa 11:cef8dc1cf010 318 primaryId == AkmSensor::AKM_PRIMARY_ID_ONECHIP_ENCODER ){
masahikofukasawa 11:cef8dc1cf010 319 Message temp;
masahikofukasawa 11:cef8dc1cf010 320 sensor->readSensorData(&temp);
masahikofukasawa 11:cef8dc1cf010 321 throwMessage(&temp);
masahikofukasawa 11:cef8dc1cf010 322 }
masahikofukasawa 0:7a00359e701e 323 }
masahikofukasawa 0:7a00359e701e 324 break;
masahikofukasawa 11:cef8dc1cf010 325 }
masahikofukasawa 9:6fa3e7b17c27 326 case Message::CMD_PROGSW_GET_THRESHOLD:
masahikofukasawa 9:6fa3e7b17c27 327 case Message::CMD_PROGSW_SET_THRESHOLD:
masahikofukasawa 9:6fa3e7b17c27 328 case Message::CMD_PROGSW_GET_READ_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 329 case Message::CMD_PROGSW_SET_READ_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 330 case Message::CMD_PROGSW_GET_SWITCH_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 331 case Message::CMD_PROGSW_SET_SWITCH_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 332 case Message::CMD_PROGSW_GET_OPERATION_MODE:
masahikofukasawa 9:6fa3e7b17c27 333 case Message::CMD_PROGSW_SET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 334 case Message::CMD_IR_GET_THRESHOLD:
masahikofukasawa 1:b46b8653331f 335 case Message::CMD_IR_SET_THRESHOLD:
masahikofukasawa 1:b46b8653331f 336 case Message::CMD_IR_GET_HYSTERESIS:
masahikofukasawa 1:b46b8653331f 337 case Message::CMD_IR_SET_HYSTERESIS:
masahikofukasawa 1:b46b8653331f 338 case Message::CMD_IR_GET_INTERRUPT:
masahikofukasawa 1:b46b8653331f 339 case Message::CMD_IR_SET_INTERRUPT:
masahikofukasawa 1:b46b8653331f 340 case Message::CMD_IR_GET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 341 case Message::CMD_IR_SET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 342 case Message::CMD_IR_GET_THRESHOLD_EEPROM:
masahikofukasawa 1:b46b8653331f 343 case Message::CMD_IR_SET_THRESHOLD_EEPROM:
masahikofukasawa 1:b46b8653331f 344 case Message::CMD_IR_GET_HYSTERESIS_EEPROM:
masahikofukasawa 1:b46b8653331f 345 case Message::CMD_IR_SET_HYSTERESIS_EEPROM:
masahikofukasawa 1:b46b8653331f 346 case Message::CMD_IR_GET_INTERRUPT_EEPROM:
masahikofukasawa 1:b46b8653331f 347 case Message::CMD_IR_SET_INTERRUPT_EEPROM:
masahikofukasawa 1:b46b8653331f 348 case Message::CMD_IR_GET_OPERATION_MODE_EEPROM:
masahikofukasawa 1:b46b8653331f 349 case Message::CMD_IR_SET_OPERATION_MODE_EEPROM:
masahikofukasawa 9:6fa3e7b17c27 350 case Message::CMD_ANGLE_ZERO_RESET:
masahikofukasawa 9:6fa3e7b17c27 351 case Message::CMD_REG_WRITE:
masahikofukasawa 9:6fa3e7b17c27 352 case Message::CMD_REG_WRITEN:
masahikofukasawa 9:6fa3e7b17c27 353 case Message::CMD_REG_READ:
masahikofukasawa 9:6fa3e7b17c27 354 case Message::CMD_REG_READN:
masahikofukasawa 9:6fa3e7b17c27 355 case Message::CMD_COMPASS_GET_OPERATION_MODE:
masahikofukasawa 9:6fa3e7b17c27 356 case Message::CMD_COMPASS_SET_OPERATION_MODE:
masahikofukasawa 11:cef8dc1cf010 357 {
masahikofukasawa 15:1238993fd75f 358 AkmSensor::Status st = sensor->requestCommand(&msg,&resMsg);
masahikofukasawa 15:1238993fd75f 359 if( (resMsg.getArgNum() == 0) && (st != AkmSensor::SUCCESS) )
masahikofukasawa 15:1238993fd75f 360 {
masahikofukasawa 15:1238993fd75f 361 MSG("#Command failed.\r\n");
masahikofukasawa 15:1238993fd75f 362 }else{
masahikofukasawa 15:1238993fd75f 363 throwMessage(&resMsg);
masahikofukasawa 15:1238993fd75f 364 }
masahikofukasawa 0:7a00359e701e 365 break;
masahikofukasawa 11:cef8dc1cf010 366 }
masahikofukasawa 0:7a00359e701e 367 default:
masahikofukasawa 11:cef8dc1cf010 368 {
masahikofukasawa 15:1238993fd75f 369 MSG("#Can't find command.\r\n");
masahikofukasawa 0:7a00359e701e 370 break;
masahikofukasawa 11:cef8dc1cf010 371 }
masahikofukasawa 0:7a00359e701e 372 }
masahikofukasawa 0:7a00359e701e 373 }
masahikofukasawa 0:7a00359e701e 374
masahikofukasawa 0:7a00359e701e 375 AkmSensorManager::Status AkmSensorManager::processEvent()
masahikofukasawa 0:7a00359e701e 376 {
masahikofukasawa 0:7a00359e701e 377 AkmSensorManager::Status status = AkmSensorManager::SUCCESS;
masahikofukasawa 16:d85be9bafb80 378
masahikofukasawa 0:7a00359e701e 379 // command received from the host
masahikofukasawa 0:7a00359e701e 380 if(eventCommandReceived)
masahikofukasawa 0:7a00359e701e 381 {
masahikofukasawa 16:d85be9bafb80 382 // MSG("#Command received.\r\n");
masahikofukasawa 0:7a00359e701e 383 processCommand();
masahikofukasawa 0:7a00359e701e 384 eventCommandReceived = false;
masahikofukasawa 0:7a00359e701e 385 }
masahikofukasawa 0:7a00359e701e 386 if(sensor->isEvent()) // sensor read data event
masahikofukasawa 0:7a00359e701e 387 {
masahikofukasawa 16:d85be9bafb80 388 // MSG("#Sensor event received.\r\n");
masahikofukasawa 0:7a00359e701e 389 Message msg;
masahikofukasawa 0:7a00359e701e 390 if( sensor->readSensorData(&msg) != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
masahikofukasawa 0:7a00359e701e 391 throwMessage(&msg);
masahikofukasawa 0:7a00359e701e 392 }
masahikofukasawa 0:7a00359e701e 393 if(eventConnected) // BLE connected. Start sensor.
masahikofukasawa 0:7a00359e701e 394 {
masahikofukasawa 0:7a00359e701e 395 eventConnected = false;
masahikofukasawa 12:c06cd8b76358 396 MSG("#BLE connected.\r\n");
masahikofukasawa 0:7a00359e701e 397 }
masahikofukasawa 0:7a00359e701e 398 if(eventDisconnected) // BLE dis-connected. Stop sensor.
masahikofukasawa 0:7a00359e701e 399 {
masahikofukasawa 12:c06cd8b76358 400 MSG("#BLE dis-connected.\r\n");
masahikofukasawa 0:7a00359e701e 401 if( sensor->stopSensor() != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
masahikofukasawa 12:c06cd8b76358 402 eventDisconnected = false;
masahikofukasawa 0:7a00359e701e 403 }
masahikofukasawa 0:7a00359e701e 404 return status;
masahikofukasawa 0:7a00359e701e 405 }
masahikofukasawa 0:7a00359e701e 406
masahikofukasawa 0:7a00359e701e 407 AkmSensorManager::Status AkmSensorManager::throwMessage(const Message *msg) {
masahikofukasawa 0:7a00359e701e 408 int len = Message::getMaxMessageLength();
masahikofukasawa 0:7a00359e701e 409 char buf[len];
masahikofukasawa 0:7a00359e701e 410
masahikofukasawa 0:7a00359e701e 411 buf[0] = '$';
masahikofukasawa 0:7a00359e701e 412
masahikofukasawa 0:7a00359e701e 413 // Processes command
masahikofukasawa 0:7a00359e701e 414 char cmd = (char)msg->getCommand();
masahikofukasawa 0:7a00359e701e 415 Message::charToAscii(&buf[1], &cmd);
masahikofukasawa 0:7a00359e701e 416
masahikofukasawa 0:7a00359e701e 417 // Processes arguments
masahikofukasawa 0:7a00359e701e 418 for (int i=0; i < msg->getArgNum(); i++) {
masahikofukasawa 0:7a00359e701e 419 char arg = msg->getArgument(i);
masahikofukasawa 0:7a00359e701e 420 Message::charToAscii(&buf[3+2*i], &arg);
masahikofukasawa 0:7a00359e701e 421 }
masahikofukasawa 0:7a00359e701e 422
masahikofukasawa 0:7a00359e701e 423 // Add termination characters, 0x0D(\r), \n and \0, to the end of string
masahikofukasawa 0:7a00359e701e 424 int tIdx = 3 + 2 * (msg->getArgNum());
masahikofukasawa 0:7a00359e701e 425 int bufSize = sizeof(buf)/sizeof(buf[0]);
masahikofukasawa 0:7a00359e701e 426 if ((tIdx + 3) > (bufSize - 1)) {
masahikofukasawa 11:cef8dc1cf010 427 MSG("#Error: Message data exceeds the buffer.\r\n");
masahikofukasawa 0:7a00359e701e 428 return ERROR;
masahikofukasawa 0:7a00359e701e 429 }
masahikofukasawa 11:cef8dc1cf010 430 buf[tIdx++] = CR; // '\r'
masahikofukasawa 11:cef8dc1cf010 431 buf[tIdx++] = LF; // '\n'
masahikofukasawa 11:cef8dc1cf010 432 buf[tIdx] = '\0';
masahikofukasawa 0:7a00359e701e 433 if(isEnabledBle) uartService->writeString(buf);
masahikofukasawa 0:7a00359e701e 434 if(isEnabledUsb) serial->printf(buf);
masahikofukasawa 0:7a00359e701e 435
masahikofukasawa 0:7a00359e701e 436 return SUCCESS;
masahikofukasawa 12:c06cd8b76358 437 }
masahikofukasawa 13:d008249f0359 438
masahikofukasawa 13:d008249f0359 439 char* AkmSensorManager::getSensorName(){
masahikofukasawa 13:d008249f0359 440 return sensor->getSensorName();
masahikofukasawa 13:d008249f0359 441 }