Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

akmsensormanager.cpp@6:c4401549d68f, 2016-05-13 (annotated)

Committer:
masahikofukasawa
Date:
Fri May 13 23:52:37 2016 +0000
Revision:
6:c4401549d68f
Parent:
4:af13b985c689
Child:
7:e269411568c9
Added current sensor

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 6:c4401549d68f 6 #include "akmcurrentsensor.h"
masahikofukasawa 1:b46b8653331f 7 #include "akmirsensor.h"
masahikofukasawa 0:7a00359e701e 8 #include "akmakd.h"
masahikofukasawa 0:7a00359e701e 9 #include "debug.h"
masahikofukasawa 0:7a00359e701e 10 #include "Message.h"
coisme 2:11fe67783c4c 11 #ifdef REV_D
coisme 2:11fe67783c4c 12 #include "mcp342x.h"
masahikofukasawa 6:c4401549d68f 13 #include "I2CNano.h"
coisme 2:11fe67783c4c 14 #endif
masahikofukasawa 0:7a00359e701e 15
masahikofukasawa 0:7a00359e701e 16 #define FIRMWARE_VERSION 0x02
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 0:7a00359e701e 22 static char* AKM_PRIMARY_ID_STR[] = {
masahikofukasawa 0:7a00359e701e 23 "AKD Daughter Cards(SPI)", // Temporary
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 4:af13b985c689 35 "TBD3",
masahikofukasawa 1:b46b8653331f 36 "IR Sensor",
masahikofukasawa 0:7a00359e701e 37 "Angle Sensor(SPI)", // Temporary
masahikofukasawa 0:7a00359e701e 38 "AKD Daughter Cards(I2C)",
masahikofukasawa 0:7a00359e701e 39 };
masahikofukasawa 0:7a00359e701e 40
masahikofukasawa 0:7a00359e701e 41 AkmSensorManager::AkmSensorManager(SerialNano* com, UARTService* service)
masahikofukasawa 0:7a00359e701e 42 {
masahikofukasawa 0:7a00359e701e 43 serial = com;
masahikofukasawa 0:7a00359e701e 44 uartService = service;
masahikofukasawa 0:7a00359e701e 45 isEnabledBle = true;
masahikofukasawa 0:7a00359e701e 46 isEnabledUsb = true;
masahikofukasawa 0:7a00359e701e 47 eventCommandReceived = false;
masahikofukasawa 0:7a00359e701e 48 eventConnected = false;
masahikofukasawa 0:7a00359e701e 49 eventDisconnected = false;
masahikofukasawa 0:7a00359e701e 50 }
masahikofukasawa 0:7a00359e701e 51
masahikofukasawa 0:7a00359e701e 52 AkmSensorManager::Status AkmSensorManager::init()
masahikofukasawa 0:7a00359e701e 53 {
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 0:7a00359e701e 59 void AkmSensorManager::setEventConnected()
masahikofukasawa 0:7a00359e701e 60 {
masahikofukasawa 0:7a00359e701e 61 eventConnected = true;
masahikofukasawa 0:7a00359e701e 62 }
masahikofukasawa 0:7a00359e701e 63
masahikofukasawa 0:7a00359e701e 64 void AkmSensorManager::setEventDisconnected()
masahikofukasawa 0:7a00359e701e 65 {
masahikofukasawa 0:7a00359e701e 66 eventDisconnected = true;
masahikofukasawa 0:7a00359e701e 67 }
masahikofukasawa 0:7a00359e701e 68
masahikofukasawa 0:7a00359e701e 69 AkmSensor* AkmSensorManager::getAkmSensor()
masahikofukasawa 0:7a00359e701e 70 {
masahikofukasawa 0:7a00359e701e 71 AkmSensor* sensor = NULL;
masahikofukasawa 0:7a00359e701e 72
masahikofukasawa 0:7a00359e701e 73 // primary id check
masahikofukasawa 0:7a00359e701e 74 id = AkmSensorManager::getId(ANALOG_SENSOR_ID,4);
masahikofukasawa 6:c4401549d68f 75 // id=14;
masahikofukasawa 6:c4401549d68f 76 // subId=1;
masahikofukasawa 0:7a00359e701e 77
masahikofukasawa 0:7a00359e701e 78 switch(id){
masahikofukasawa 0:7a00359e701e 79 case AkmSensor::AKM_PRIMARY_ID_AKD_I2C:
masahikofukasawa 0:7a00359e701e 80 subId = AkmSensorManager::getId(ANALOG_SENSOR_ID_SUB,5); // 5bit sub id
masahikofukasawa 0:7a00359e701e 81 AkmAkd* akd;
masahikofukasawa 0:7a00359e701e 82 akd = new AkmAkd();
masahikofukasawa 0:7a00359e701e 83 sensor = akd;
masahikofukasawa 0:7a00359e701e 84 break;
masahikofukasawa 0:7a00359e701e 85
masahikofukasawa 6:c4401549d68f 86 // case AkmSensor::AKM_PRIMARY_ID_AKD_SPI: // Temporary
masahikofukasawa 0:7a00359e701e 87 case AkmSensor::AKM_PRIMARY_ID_ANGLE_SENSOR:
masahikofukasawa 0:7a00359e701e 88 subId = AkmSensorManager::getId(ANALOG_SENSOR_ID_SUB,4); // 4bit sub id
masahikofukasawa 0:7a00359e701e 89 AkmAngleSensor* angleSensor;
masahikofukasawa 0:7a00359e701e 90 angleSensor = new AkmAngleSensor();
masahikofukasawa 0:7a00359e701e 91 sensor = angleSensor;
masahikofukasawa 0:7a00359e701e 92 break;
masahikofukasawa 0:7a00359e701e 93
masahikofukasawa 0:7a00359e701e 94 case AkmSensor::AKM_PRIMARY_ID_UNIPOLAR:
masahikofukasawa 0:7a00359e701e 95 case AkmSensor::AKM_PRIMARY_ID_OMNIPOLAR:
masahikofukasawa 0:7a00359e701e 96 case AkmSensor::AKM_PRIMARY_ID_LATCH:
masahikofukasawa 0:7a00359e701e 97 case AkmSensor::AKM_PRIMARY_ID_DUAL_OUTPUT:
masahikofukasawa 0:7a00359e701e 98 case AkmSensor::AKM_PRIMARY_ID_ONECHIP_ENCODER:
masahikofukasawa 0:7a00359e701e 99 subId = AkmSensorManager::getId(ANALOG_SENSOR_ID_SUB,4); // 4bit sub id
masahikofukasawa 0:7a00359e701e 100 AkmHallSwitch* hallswitch;
masahikofukasawa 0:7a00359e701e 101 hallswitch = new AkmHallSwitch();
masahikofukasawa 0:7a00359e701e 102 sensor = hallswitch;
masahikofukasawa 0:7a00359e701e 103 break;
masahikofukasawa 0:7a00359e701e 104
masahikofukasawa 0:7a00359e701e 105 case AkmSensor::AKM_PRIMARY_ID_LINEAR_SENSOR_LEGACY:
masahikofukasawa 4:af13b985c689 106 case AkmSensor::AKM_PRIMARY_ID_LINEAR_SENSOR:
masahikofukasawa 0:7a00359e701e 107 subId = AkmSensorManager::getId(ANALOG_SENSOR_ID_SUB,4); // 4bit sub id
masahikofukasawa 0:7a00359e701e 108 AkmLinearSensor* linearsensor;
masahikofukasawa 0:7a00359e701e 109 linearsensor = new AkmLinearSensor();
masahikofukasawa 0:7a00359e701e 110 sensor = linearsensor;
masahikofukasawa 0:7a00359e701e 111 break;
masahikofukasawa 0:7a00359e701e 112
masahikofukasawa 6:c4401549d68f 113 case AkmSensor::AKM_PRIMARY_ID_CURRENT_SENSOR:
masahikofukasawa 6:c4401549d68f 114 subId = AkmSensorManager::getId(ANALOG_SENSOR_ID_SUB,4); // 4bit sub id
masahikofukasawa 6:c4401549d68f 115 AkmCurrentSensor* currentsensor;
masahikofukasawa 6:c4401549d68f 116 currentsensor = new AkmCurrentSensor();
masahikofukasawa 6:c4401549d68f 117 sensor = currentsensor;
masahikofukasawa 6:c4401549d68f 118 break;
masahikofukasawa 6:c4401549d68f 119
masahikofukasawa 1:b46b8653331f 120 case AkmSensor::AKM_PRIMARY_ID_IR_SENSOR:
masahikofukasawa 1:b46b8653331f 121 subId = AkmSensorManager::getId(ANALOG_SENSOR_ID_SUB,4); // 4bit sub id
masahikofukasawa 1:b46b8653331f 122 AkmIrSensor* irsensor;
masahikofukasawa 1:b46b8653331f 123 irsensor = new AkmIrSensor();
masahikofukasawa 1:b46b8653331f 124 sensor = irsensor;
masahikofukasawa 1:b46b8653331f 125 break;
masahikofukasawa 1:b46b8653331f 126
masahikofukasawa 0:7a00359e701e 127 default:
masahikofukasawa 0:7a00359e701e 128 subId = AkmSensorManager::getId(ANALOG_SENSOR_ID_SUB,4); // 4bit sub id
masahikofukasawa 0:7a00359e701e 129 MSG("#Can't find ID=%d SubID=%d %s\r\n", id, subId, AKM_PRIMARY_ID_STR[id]);
masahikofukasawa 0:7a00359e701e 130 return NULL; // couldn't find
masahikofukasawa 0:7a00359e701e 131 }
masahikofukasawa 0:7a00359e701e 132
masahikofukasawa 0:7a00359e701e 133 if(sensor->init(id, subId) != AkmSensor::SUCCESS){
masahikofukasawa 1:b46b8653331f 134 MSG("#sensor->init failed. ID=%d SubID=%d %s\r\n", id, subId, AKM_PRIMARY_ID_STR[id]);
masahikofukasawa 0:7a00359e701e 135 return NULL; // couldn't find
masahikofukasawa 0:7a00359e701e 136 }
masahikofukasawa 0:7a00359e701e 137
masahikofukasawa 0:7a00359e701e 138 MSG("#ID=%d SubID=%d %s\r\n", id, subId, AKM_PRIMARY_ID_STR[id]);
masahikofukasawa 0:7a00359e701e 139 return sensor;
masahikofukasawa 0:7a00359e701e 140 }
masahikofukasawa 0:7a00359e701e 141
masahikofukasawa 0:7a00359e701e 142 AkmSensorManager::Status AkmSensorManager::commandReceived(char* buf){
masahikofukasawa 0:7a00359e701e 143 // Construct message
masahikofukasawa 0:7a00359e701e 144 Status status = SUCCESS;
masahikofukasawa 0:7a00359e701e 145
masahikofukasawa 0:7a00359e701e 146 Message::Status st;
masahikofukasawa 0:7a00359e701e 147 if ((st=Message::parse(&msg, buf)) != Message::SUCCESS) {
masahikofukasawa 0:7a00359e701e 148 MSG("#Failed to parse message. status = %02x. %s\n", st, buf);
masahikofukasawa 0:7a00359e701e 149 status = ERROR;
masahikofukasawa 0:7a00359e701e 150 eventCommandReceived = false;
masahikofukasawa 0:7a00359e701e 151 }
masahikofukasawa 0:7a00359e701e 152 eventCommandReceived = true;
masahikofukasawa 0:7a00359e701e 153 return status;
masahikofukasawa 0:7a00359e701e 154 }
masahikofukasawa 0:7a00359e701e 155
coisme 2:11fe67783c4c 156 #ifdef REV_D
coisme 2:11fe67783c4c 157 int16_t AkmSensorManager::getAdcData(MCP342X *mcp3428, MCP342X::AdcChannel ch, MCP342X::SampleSetting s) {
coisme 2:11fe67783c4c 158 const int WAIT_ADC_MS = 1;
coisme 2:11fe67783c4c 159
coisme 2:11fe67783c4c 160 // Configure channel and trigger.
coisme 2:11fe67783c4c 161 mcp3428->setChannel(ch);
coisme 2:11fe67783c4c 162 mcp3428->setSampleSetting(s);
coisme 2:11fe67783c4c 163 mcp3428->trigger();
coisme 2:11fe67783c4c 164
coisme 2:11fe67783c4c 165 // polling data (!blocking)
coisme 2:11fe67783c4c 166 MCP342X::Data data;
coisme 2:11fe67783c4c 167 do {
coisme 2:11fe67783c4c 168 wait_ms(WAIT_ADC_MS);
coisme 2:11fe67783c4c 169 mcp3428->getData(&data);
coisme 2:11fe67783c4c 170 } while(data.st == MCP342X::DATA_NOT_UPDATED);
coisme 2:11fe67783c4c 171
coisme 2:11fe67783c4c 172 return data.value;
coisme 2:11fe67783c4c 173 }
coisme 2:11fe67783c4c 174 #endif
masahikofukasawa 0:7a00359e701e 175
masahikofukasawa 0:7a00359e701e 176 uint8_t AkmSensorManager::getId(PinName pin, uint8_t bits)
masahikofukasawa 0:7a00359e701e 177 {
coisme 2:11fe67783c4c 178 #ifndef REV_D
coisme 2:11fe67783c4c 179 /* Rev.C */
masahikofukasawa 0:7a00359e701e 180 AnalogIn id(pin);
masahikofukasawa 1:b46b8653331f 181 MSG("#Voltage=%5.2f[V]\n",id*3.0);
masahikofukasawa 0:7a00359e701e 182 double s = id + 1.0/(double)(pow(2.0,bits+1));
masahikofukasawa 0:7a00359e701e 183 uint8_t value = (uint8_t)(s*pow(2.0,bits));
coisme 2:11fe67783c4c 184 #else
coisme 2:11fe67783c4c 185 /* Rev.D */
masahikofukasawa 4:af13b985c689 186 MSG("#GetID\n");
masahikofukasawa 6:c4401549d68f 187
masahikofukasawa 6:c4401549d68f 188 I2C i2c(I2C_SDA, I2C_SCL);
coisme 2:11fe67783c4c 189 // ADC
coisme 2:11fe67783c4c 190 MCP342X mcp342x(&i2c, MCP342X::SLAVE_ADDRESS_6EH);
coisme 2:11fe67783c4c 191 mcp342x.setConversionMode(MCP342X::ONE_SHOT);
coisme 2:11fe67783c4c 192 MCP342X::AdcChannel ch;
coisme 2:11fe67783c4c 193 if (pin == ANALOG_SENSOR_ID) {
coisme 2:11fe67783c4c 194 ch = MCP342X::ADC_CH1;
coisme 2:11fe67783c4c 195 } else { // pin == ANALOG_SENSOR_ID_SUB
coisme 2:11fe67783c4c 196 ch = MCP342X::ADC_CH2;
coisme 2:11fe67783c4c 197 }
coisme 2:11fe67783c4c 198 int16_t val = getAdcData(&mcp342x, ch, MCP342X::SAMPLE_240HZ_12BIT);
coisme 2:11fe67783c4c 199 MSG("#12bit ADC Val = %d.\n", val);
coisme 2:11fe67783c4c 200
coisme 2:11fe67783c4c 201 const int16_t VAL_MAX = 3000-2048; // Corresponds to 3V
coisme 2:11fe67783c4c 202 const int16_t VAL_MIN = -2048; // Corresponds to 0V
coisme 2:11fe67783c4c 203
masahikofukasawa 6:c4401549d68f 204 uint8_t value = (uint8_t)((val - VAL_MIN)/(float)(VAL_MAX - VAL_MIN) * (1 << bits) + 0.5);
masahikofukasawa 4:af13b985c689 205 MSG("#ID = %d.\n", value);
masahikofukasawa 6:c4401549d68f 206
masahikofukasawa 6:c4401549d68f 207 // I2C turn off
masahikofukasawa 6:c4401549d68f 208 releaseTWI();
masahikofukasawa 6:c4401549d68f 209
coisme 2:11fe67783c4c 210 #endif
masahikofukasawa 0:7a00359e701e 211 return value;
masahikofukasawa 0:7a00359e701e 212 }
masahikofukasawa 0:7a00359e701e 213
masahikofukasawa 0:7a00359e701e 214 bool AkmSensorManager::isEvent()
masahikofukasawa 0:7a00359e701e 215 {
masahikofukasawa 0:7a00359e701e 216 return (sensor->isEvent() ||
masahikofukasawa 0:7a00359e701e 217 eventCommandReceived ||
masahikofukasawa 0:7a00359e701e 218 eventConnected ||
masahikofukasawa 0:7a00359e701e 219 eventDisconnected);
masahikofukasawa 0:7a00359e701e 220 }
masahikofukasawa 0:7a00359e701e 221
masahikofukasawa 0:7a00359e701e 222
masahikofukasawa 0:7a00359e701e 223 void AkmSensorManager::processCommand()
masahikofukasawa 0:7a00359e701e 224 {
masahikofukasawa 0:7a00359e701e 225 AkmSensorManager::Status status = AkmSensorManager::SUCCESS;
masahikofukasawa 0:7a00359e701e 226 // MSG("#processCommand.\n");
masahikofukasawa 0:7a00359e701e 227
masahikofukasawa 0:7a00359e701e 228 // Gets command in the message
masahikofukasawa 0:7a00359e701e 229 Message::Command cmd = msg.getCommand();
masahikofukasawa 0:7a00359e701e 230
masahikofukasawa 0:7a00359e701e 231 // Creates an message object to return
masahikofukasawa 0:7a00359e701e 232 Message resMsg;
masahikofukasawa 0:7a00359e701e 233
masahikofukasawa 0:7a00359e701e 234 // Return message has the same command as input
masahikofukasawa 0:7a00359e701e 235 resMsg.setCommand(cmd);
masahikofukasawa 0:7a00359e701e 236
masahikofukasawa 0:7a00359e701e 237 switch(cmd)
masahikofukasawa 0:7a00359e701e 238 {
masahikofukasawa 0:7a00359e701e 239 case Message::CMD_GET_FW_VERSION:
masahikofukasawa 0:7a00359e701e 240 resMsg.setArgument(0, FIRMWARE_VERSION);
masahikofukasawa 0:7a00359e701e 241 throwMessage(&resMsg);
masahikofukasawa 0:7a00359e701e 242 MSG("#FW version is reported.\n");
masahikofukasawa 0:7a00359e701e 243 break;
masahikofukasawa 0:7a00359e701e 244
masahikofukasawa 0:7a00359e701e 245 case Message::CMD_GET_MAG_PART:
masahikofukasawa 0:7a00359e701e 246 resMsg.setArgument(0, MAGNETOMETER_ID);
masahikofukasawa 0:7a00359e701e 247 throwMessage(&resMsg);
masahikofukasawa 0:7a00359e701e 248 MSG("#Mag ID is reported.\n");
masahikofukasawa 0:7a00359e701e 249 break;
masahikofukasawa 0:7a00359e701e 250
masahikofukasawa 0:7a00359e701e 251 case Message::CMD_SET_SERIAL_TARGET:
masahikofukasawa 0:7a00359e701e 252 isEnabledBle = msg.getArgument(0)==Message::SW_ON ? true : false;
masahikofukasawa 0:7a00359e701e 253 isEnabledUsb = msg.getArgument(1)==Message::SW_ON ? true : false;
masahikofukasawa 0:7a00359e701e 254 resMsg.setArgument(0, 0);
masahikofukasawa 0:7a00359e701e 255 throwMessage(&resMsg);
masahikofukasawa 0:7a00359e701e 256 MSG("#Serial out is set.\n");
masahikofukasawa 0:7a00359e701e 257 break;
masahikofukasawa 0:7a00359e701e 258
masahikofukasawa 0:7a00359e701e 259 case Message::CMD_GET_ID: // return Primary ID and Sub ID
masahikofukasawa 0:7a00359e701e 260 if(id == 0) id = 0xE; // Temporary for Angle Sensor
masahikofukasawa 0:7a00359e701e 261 resMsg.setArgument(0, id);
masahikofukasawa 0:7a00359e701e 262 resMsg.setArgument(1, subId);
masahikofukasawa 0:7a00359e701e 263 throwMessage(&resMsg);
masahikofukasawa 0:7a00359e701e 264 wait(0.4); // wait for App initialization
masahikofukasawa 0:7a00359e701e 265 MSG("#Mag ID is reported.\n");
masahikofukasawa 0:7a00359e701e 266 break;
masahikofukasawa 0:7a00359e701e 267
masahikofukasawa 0:7a00359e701e 268 case Message::CMD_STOP_MEASUREMENT:
masahikofukasawa 0:7a00359e701e 269 if( sensor->stopSensor() != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
masahikofukasawa 0:7a00359e701e 270 resMsg.setArgument(0, status==AkmSensorManager::SUCCESS ? 0 : 1);
masahikofukasawa 0:7a00359e701e 271 throwMessage(&resMsg);
masahikofukasawa 0:7a00359e701e 272 MSG("#Stop measurement.\n");
masahikofukasawa 0:7a00359e701e 273 break;
masahikofukasawa 0:7a00359e701e 274
masahikofukasawa 0:7a00359e701e 275 case Message::CMD_START_MEASUREMENT:
masahikofukasawa 0:7a00359e701e 276 MSG("#Start measurement.\n");
masahikofukasawa 0:7a00359e701e 277 sensor->startSensor();
masahikofukasawa 0:7a00359e701e 278 // get initial sensor state for switch type sensors
masahikofukasawa 0:7a00359e701e 279 if( id == AkmSensor::AKM_PRIMARY_ID_UNIPOLAR ||
masahikofukasawa 0:7a00359e701e 280 id == AkmSensor::AKM_PRIMARY_ID_OMNIPOLAR ||
masahikofukasawa 0:7a00359e701e 281 id == AkmSensor::AKM_PRIMARY_ID_LATCH ||
masahikofukasawa 0:7a00359e701e 282 id == AkmSensor::AKM_PRIMARY_ID_DUAL_OUTPUT ||
masahikofukasawa 0:7a00359e701e 283 id == AkmSensor::AKM_PRIMARY_ID_ONECHIP_ENCODER ){
masahikofukasawa 0:7a00359e701e 284 Message temp;
masahikofukasawa 0:7a00359e701e 285 sensor->readSensorData(&temp);
masahikofukasawa 0:7a00359e701e 286 throwMessage(&temp);
masahikofukasawa 0:7a00359e701e 287 }
masahikofukasawa 0:7a00359e701e 288 break;
masahikofukasawa 0:7a00359e701e 289
masahikofukasawa 0:7a00359e701e 290 case Message::CMD_ANGLE_ZERO_RESET:
masahikofukasawa 1:b46b8653331f 291 case Message::CMD_IR_GET_THRESHOLD:
masahikofukasawa 1:b46b8653331f 292 case Message::CMD_IR_SET_THRESHOLD:
masahikofukasawa 1:b46b8653331f 293 case Message::CMD_IR_GET_HYSTERESIS:
masahikofukasawa 1:b46b8653331f 294 case Message::CMD_IR_SET_HYSTERESIS:
masahikofukasawa 1:b46b8653331f 295 case Message::CMD_IR_GET_INTERRUPT:
masahikofukasawa 1:b46b8653331f 296 case Message::CMD_IR_SET_INTERRUPT:
masahikofukasawa 1:b46b8653331f 297 case Message::CMD_IR_GET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 298 case Message::CMD_IR_SET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 299 case Message::CMD_IR_GET_THRESHOLD_EEPROM:
masahikofukasawa 1:b46b8653331f 300 case Message::CMD_IR_SET_THRESHOLD_EEPROM:
masahikofukasawa 1:b46b8653331f 301 case Message::CMD_IR_GET_HYSTERESIS_EEPROM:
masahikofukasawa 1:b46b8653331f 302 case Message::CMD_IR_SET_HYSTERESIS_EEPROM:
masahikofukasawa 1:b46b8653331f 303 case Message::CMD_IR_GET_INTERRUPT_EEPROM:
masahikofukasawa 1:b46b8653331f 304 case Message::CMD_IR_SET_INTERRUPT_EEPROM:
masahikofukasawa 1:b46b8653331f 305 case Message::CMD_IR_GET_OPERATION_MODE_EEPROM:
masahikofukasawa 1:b46b8653331f 306 case Message::CMD_IR_SET_OPERATION_MODE_EEPROM:
masahikofukasawa 0:7a00359e701e 307 sensor->requestCommand(&msg,&resMsg);
masahikofukasawa 0:7a00359e701e 308 throwMessage(&resMsg);
masahikofukasawa 0:7a00359e701e 309 break;
masahikofukasawa 1:b46b8653331f 310
masahikofukasawa 0:7a00359e701e 311 default:
masahikofukasawa 0:7a00359e701e 312 MSG("#Can't find command:%s\n", (char)cmd);
masahikofukasawa 0:7a00359e701e 313 break;
masahikofukasawa 0:7a00359e701e 314 }
masahikofukasawa 0:7a00359e701e 315 }
masahikofukasawa 0:7a00359e701e 316
masahikofukasawa 0:7a00359e701e 317 AkmSensorManager::Status AkmSensorManager::processEvent()
masahikofukasawa 0:7a00359e701e 318 {
masahikofukasawa 0:7a00359e701e 319 AkmSensorManager::Status status = AkmSensorManager::SUCCESS;
masahikofukasawa 0:7a00359e701e 320
masahikofukasawa 0:7a00359e701e 321 // command received from the host
masahikofukasawa 0:7a00359e701e 322 if(eventCommandReceived)
masahikofukasawa 0:7a00359e701e 323 {
masahikofukasawa 0:7a00359e701e 324 processCommand();
masahikofukasawa 0:7a00359e701e 325 eventCommandReceived = false;
masahikofukasawa 0:7a00359e701e 326 }
masahikofukasawa 0:7a00359e701e 327 if(sensor->isEvent()) // sensor read data event
masahikofukasawa 0:7a00359e701e 328 {
masahikofukasawa 0:7a00359e701e 329 Message msg;
masahikofukasawa 0:7a00359e701e 330 if( sensor->readSensorData(&msg) != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
masahikofukasawa 0:7a00359e701e 331 throwMessage(&msg);
masahikofukasawa 0:7a00359e701e 332 }
masahikofukasawa 0:7a00359e701e 333
masahikofukasawa 0:7a00359e701e 334 if(eventConnected) // BLE connected. Start sensor.
masahikofukasawa 0:7a00359e701e 335 {
masahikofukasawa 0:7a00359e701e 336 // if( sensor->startSensor() != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
masahikofukasawa 0:7a00359e701e 337 eventConnected = false;
masahikofukasawa 0:7a00359e701e 338 }
masahikofukasawa 0:7a00359e701e 339 if(eventDisconnected) // BLE dis-connected. Stop sensor.
masahikofukasawa 0:7a00359e701e 340 {
masahikofukasawa 0:7a00359e701e 341 if( sensor->stopSensor() != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
masahikofukasawa 0:7a00359e701e 342 eventDisconnected = false;
masahikofukasawa 0:7a00359e701e 343 }
masahikofukasawa 0:7a00359e701e 344 return status;
masahikofukasawa 0:7a00359e701e 345 }
masahikofukasawa 0:7a00359e701e 346
masahikofukasawa 0:7a00359e701e 347 AkmSensorManager::Status AkmSensorManager::throwMessage(const Message *msg) {
masahikofukasawa 0:7a00359e701e 348 int len = Message::getMaxMessageLength();
masahikofukasawa 0:7a00359e701e 349 char buf[len];
masahikofukasawa 0:7a00359e701e 350
masahikofukasawa 0:7a00359e701e 351 buf[0] = '$';
masahikofukasawa 0:7a00359e701e 352
masahikofukasawa 0:7a00359e701e 353 // Processes command
masahikofukasawa 0:7a00359e701e 354 char cmd = (char)msg->getCommand();
masahikofukasawa 0:7a00359e701e 355 Message::charToAscii(&buf[1], &cmd);
masahikofukasawa 0:7a00359e701e 356
masahikofukasawa 0:7a00359e701e 357 // Processes arguments
masahikofukasawa 0:7a00359e701e 358 for (int i=0; i < msg->getArgNum(); i++) {
masahikofukasawa 0:7a00359e701e 359 char arg = msg->getArgument(i);
masahikofukasawa 0:7a00359e701e 360 Message::charToAscii(&buf[3+2*i], &arg);
masahikofukasawa 0:7a00359e701e 361 }
masahikofukasawa 0:7a00359e701e 362
masahikofukasawa 0:7a00359e701e 363 // Add termination characters, 0x0D(\r), \n and \0, to the end of string
masahikofukasawa 0:7a00359e701e 364 int tIdx = 3 + 2 * (msg->getArgNum());
masahikofukasawa 0:7a00359e701e 365 int bufSize = sizeof(buf)/sizeof(buf[0]);
masahikofukasawa 0:7a00359e701e 366 if ((tIdx + 3) > (bufSize - 1)) {
masahikofukasawa 0:7a00359e701e 367 MSG("#Error: Message data exceeds the buffer.\n");
masahikofukasawa 0:7a00359e701e 368 return ERROR;
masahikofukasawa 0:7a00359e701e 369 }
masahikofukasawa 0:7a00359e701e 370 buf[tIdx++] = 0x0D; // '\r'
masahikofukasawa 0:7a00359e701e 371 buf[tIdx++] = '\n';
masahikofukasawa 0:7a00359e701e 372 buf[tIdx] = '\0';
masahikofukasawa 0:7a00359e701e 373
masahikofukasawa 0:7a00359e701e 374 // Send to the BLE buffer
masahikofukasawa 0:7a00359e701e 375 // Hardware *hw = Hardware::getInstance();
masahikofukasawa 0:7a00359e701e 376 // hw->uartService->writeString(buf);
masahikofukasawa 0:7a00359e701e 377 if(isEnabledBle) uartService->writeString(buf);
masahikofukasawa 0:7a00359e701e 378 if(isEnabledUsb) serial->printf(buf);
masahikofukasawa 0:7a00359e701e 379
masahikofukasawa 0:7a00359e701e 380 // MSG("#A message thrown: \"%s\"\n", buf);
masahikofukasawa 0:7a00359e701e 381
masahikofukasawa 0:7a00359e701e 382 return SUCCESS;
masahikofukasawa 0:7a00359e701e 383 }
masahikofukasawa 0:7a00359e701e 384
masahikofukasawa 6:c4401549d68f 385 void AkmSensorManager::releaseTWI(){
masahikofukasawa 6:c4401549d68f 386 NRF_TWI0->ENABLE = TWI_ENABLE_ENABLE_Disabled << TWI_ENABLE_ENABLE_Pos;
masahikofukasawa 6:c4401549d68f 387 NRF_TWI0->POWER = 0;
masahikofukasawa 6:c4401549d68f 388 NRF_TWI1->ENABLE = TWI_ENABLE_ENABLE_Disabled << TWI_ENABLE_ENABLE_Pos;
masahikofukasawa 6:c4401549d68f 389 NRF_TWI1->POWER = 0;
masahikofukasawa 6:c4401549d68f 390 }
masahikofukasawa 6:c4401549d68f 391
masahikofukasawa 0:7a00359e701e 392 /*
masahikofukasawa 0:7a00359e701e 393 void AkmSensorManager::dataOut(char* str){
masahikofukasawa 0:7a00359e701e 394 if(isBleMode) uartService->writeString(str);
masahikofukasawa 0:7a00359e701e 395 if(isSerialMode) serial->printf(str);
masahikofukasawa 0:7a00359e701e 396 }
masahikofukasawa 0:7a00359e701e 397 */