Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

akmsensormanager.cpp@37:c76d2edf3426, 2017-05-24 (annotated)

Committer:
masahikofukasawa
Date:
Wed May 24 20:23:22 2017 +0000
Revision:
37:c76d2edf3426
Parent:
34:1ea3357c8d9a
Child:
39:3821886c902e
Added CQ-32xx, CZ-31xx current sensors.

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"
tkstreet 33:d3e1e9eb2ef9 11 #include "ap1017ctrl.h"
masahikofukasawa 0:7a00359e701e 12 #include "akmakd.h"
masahikofukasawa 0:7a00359e701e 13 #include "debug.h"
masahikofukasawa 0:7a00359e701e 14 #include "Message.h"
coisme 2:11fe67783c4c 15 #include "mcp342x.h"
masahikofukasawa 6:c4401549d68f 16 #include "I2CNano.h"
masahikofukasawa 0:7a00359e701e 17
masahikofukasawa 0:7a00359e701e 18 #define MAGNETOMETER_ID 0x0A
masahikofukasawa 0:7a00359e701e 19
masahikofukasawa 0:7a00359e701e 20 #define CONV16I(high,low) ((int16_t)(((high) << 8) | (low)))
masahikofukasawa 0:7a00359e701e 21
masahikofukasawa 0:7a00359e701e 22
masahikofukasawa 10:5c69b067d88a 23 const char* AKM_PRIMARY_ID_STR[] = {
masahikofukasawa 7:e269411568c9 24 "AKD Daughter Cards(SPI)",
masahikofukasawa 0:7a00359e701e 25 "Switch, Unipolar",
masahikofukasawa 0:7a00359e701e 26 "Switch, Onmipolar",
masahikofukasawa 0:7a00359e701e 27 "Latch, Bipolar",
masahikofukasawa 0:7a00359e701e 28 "Switch, Dual Output",
masahikofukasawa 0:7a00359e701e 29 "Onechip Encoder",
masahikofukasawa 0:7a00359e701e 30 "TBD1",
masahikofukasawa 37:c76d2edf3426 31 "Current Sensor 3V",
masahikofukasawa 37:c76d2edf3426 32 "Test",
masahikofukasawa 37:c76d2edf3426 33 "Current Sensor 5V",
masahikofukasawa 0:7a00359e701e 34 "MISC(Analog)",
masahikofukasawa 0:7a00359e701e 35 "Linear Sensor",
masahikofukasawa 18:b7182d5ad8d5 36 "Motor Drivers",
masahikofukasawa 1:b46b8653331f 37 "IR Sensor",
masahikofukasawa 7:e269411568c9 38 "Angle Sensor(SPI)",
masahikofukasawa 10:5c69b067d88a 39 "AKD Daughter Cards(I2C)"
masahikofukasawa 0:7a00359e701e 40 };
masahikofukasawa 0:7a00359e701e 41
masahikofukasawa 13:d008249f0359 42 AkmSensorManager::AkmSensorManager(SerialNano* com)
masahikofukasawa 0:7a00359e701e 43 {
masahikofukasawa 0:7a00359e701e 44 serial = com;
masahikofukasawa 0:7a00359e701e 45 isEnabledUsb = true;
masahikofukasawa 0:7a00359e701e 46 eventCommandReceived = false;
masahikofukasawa 0:7a00359e701e 47 eventConnected = false;
masahikofukasawa 0:7a00359e701e 48 eventDisconnected = false;
masahikofukasawa 29:b488d2c89fba 49 interrupt = NULL;
masahikofukasawa 29:b488d2c89fba 50 sensorIndex = 0;
masahikofukasawa 29:b488d2c89fba 51 sensorNum = 0;
masahikofukasawa 29:b488d2c89fba 52 drdyType = AkmAkd::INTERRUPT_DISABLED;
masahikofukasawa 0:7a00359e701e 53 }
masahikofukasawa 0:7a00359e701e 54
masahikofukasawa 10:5c69b067d88a 55 AkmSensorManager::Status AkmSensorManager::init(uint8_t id, uint8_t subid)
masahikofukasawa 0:7a00359e701e 56 {
masahikofukasawa 10:5c69b067d88a 57 primaryId = id;
masahikofukasawa 10:5c69b067d88a 58 subId = subid;
masahikofukasawa 29:b488d2c89fba 59 sensorIndex = 0;
masahikofukasawa 29:b488d2c89fba 60 sensorNum = 0;
masahikofukasawa 27:41aa9fb23a2f 61 if(AkmSensorManager::checkAkmSensor()!= true) return AkmSensorManager::ERROR;
masahikofukasawa 0:7a00359e701e 62 return AkmSensorManager::SUCCESS;
masahikofukasawa 0:7a00359e701e 63 }
masahikofukasawa 0:7a00359e701e 64
masahikofukasawa 13:d008249f0359 65
masahikofukasawa 13:d008249f0359 66 void AkmSensorManager::setBleUartService(UARTService* service)
masahikofukasawa 13:d008249f0359 67 {
masahikofukasawa 13:d008249f0359 68 uartService = service;
masahikofukasawa 13:d008249f0359 69 isEnabledBle = true;
masahikofukasawa 13:d008249f0359 70 }
masahikofukasawa 13:d008249f0359 71
masahikofukasawa 0:7a00359e701e 72 void AkmSensorManager::setEventConnected()
masahikofukasawa 0:7a00359e701e 73 {
masahikofukasawa 0:7a00359e701e 74 eventConnected = true;
masahikofukasawa 0:7a00359e701e 75 }
masahikofukasawa 0:7a00359e701e 76
masahikofukasawa 0:7a00359e701e 77 void AkmSensorManager::setEventDisconnected()
masahikofukasawa 0:7a00359e701e 78 {
masahikofukasawa 0:7a00359e701e 79 eventDisconnected = true;
masahikofukasawa 0:7a00359e701e 80 }
masahikofukasawa 0:7a00359e701e 81
masahikofukasawa 27:41aa9fb23a2f 82 bool AkmSensorManager::checkAkmSensor()
masahikofukasawa 29:b488d2c89fba 83 {
masahikofukasawa 29:b488d2c89fba 84 sensorNum = 0;
masahikofukasawa 29:b488d2c89fba 85
masahikofukasawa 29:b488d2c89fba 86 // int i=0;
masahikofukasawa 29:b488d2c89fba 87 // while(sensor[i] != NULL){
masahikofukasawa 29:b488d2c89fba 88 // delete(sensor[i]);
masahikofukasawa 29:b488d2c89fba 89 // i++;
masahikofukasawa 29:b488d2c89fba 90 // }
masahikofukasawa 29:b488d2c89fba 91 if(interrupt) delete interrupt;
masahikofukasawa 29:b488d2c89fba 92 drdyType = AkmAkd::INTERRUPT_DISABLED;
masahikofukasawa 0:7a00359e701e 93
masahikofukasawa 10:5c69b067d88a 94 switch(primaryId){
masahikofukasawa 17:9abb7c28709c 95
masahikofukasawa 7:e269411568c9 96 case AkmSensor::AKM_PRIMARY_ID_AKD_SPI:
masahikofukasawa 29:b488d2c89fba 97 {
masahikofukasawa 29:b488d2c89fba 98 MSG("#SPI Interface.\r\n");
masahikofukasawa 29:b488d2c89fba 99 }
masahikofukasawa 0:7a00359e701e 100 case AkmSensor::AKM_PRIMARY_ID_AKD_I2C:
masahikofukasawa 10:5c69b067d88a 101 {
masahikofukasawa 29:b488d2c89fba 102 if(subId == Ak09970Ctrl::SUB_ID_AK09970){
masahikofukasawa 29:b488d2c89fba 103 drdyType = AkmAkd::INTERRUPT_ENABLED_PP; // Only support push-pull
masahikofukasawa 29:b488d2c89fba 104 Ak09970Ctrl* ak09970 = new Ak09970Ctrl();
masahikofukasawa 29:b488d2c89fba 105 sensor[0] = ak09970;
masahikofukasawa 29:b488d2c89fba 106 sensorNum = 1;
masahikofukasawa 29:b488d2c89fba 107 MSG("#AK09970.\r\n");
masahikofukasawa 10:5c69b067d88a 108 }
masahikofukasawa 10:5c69b067d88a 109 else{
masahikofukasawa 29:b488d2c89fba 110 AkmAkd* akd = new AkmAkd();
masahikofukasawa 29:b488d2c89fba 111 drdyType = akd->getInterrupt(primaryId, subId);
masahikofukasawa 29:b488d2c89fba 112 sensor[0] = akd;
masahikofukasawa 29:b488d2c89fba 113 sensorNum = 1;
masahikofukasawa 29:b488d2c89fba 114 MSG("#e-Compass.\r\n");
masahikofukasawa 10:5c69b067d88a 115 }
masahikofukasawa 0:7a00359e701e 116 break;
masahikofukasawa 29:b488d2c89fba 117 }
masahikofukasawa 0:7a00359e701e 118 case AkmSensor::AKM_PRIMARY_ID_ANGLE_SENSOR:
masahikofukasawa 10:5c69b067d88a 119 {
masahikofukasawa 11:cef8dc1cf010 120 if(subId == Ak7451Ctrl::SUB_ID_AK7451){
masahikofukasawa 11:cef8dc1cf010 121 Ak7451Ctrl* ak7451ctrl = new Ak7451Ctrl();
masahikofukasawa 27:41aa9fb23a2f 122 sensor[0] = ak7451ctrl;
masahikofukasawa 29:b488d2c89fba 123 sensorNum = 1;
masahikofukasawa 10:5c69b067d88a 124 }
masahikofukasawa 10:5c69b067d88a 125 else if(subId == Ak7401Ctrl::SUB_ID_AK7401){
masahikofukasawa 10:5c69b067d88a 126 Ak7401Ctrl* ak7401ctrl = new Ak7401Ctrl();
masahikofukasawa 27:41aa9fb23a2f 127 sensor[0] = ak7401ctrl;
masahikofukasawa 29:b488d2c89fba 128 sensorNum = 1;
masahikofukasawa 10:5c69b067d88a 129 }
masahikofukasawa 0:7a00359e701e 130 break;
masahikofukasawa 29:b488d2c89fba 131 }
masahikofukasawa 17:9abb7c28709c 132
masahikofukasawa 0:7a00359e701e 133 case AkmSensor::AKM_PRIMARY_ID_UNIPOLAR:
masahikofukasawa 0:7a00359e701e 134 case AkmSensor::AKM_PRIMARY_ID_OMNIPOLAR:
masahikofukasawa 0:7a00359e701e 135 case AkmSensor::AKM_PRIMARY_ID_LATCH:
masahikofukasawa 0:7a00359e701e 136 case AkmSensor::AKM_PRIMARY_ID_DUAL_OUTPUT:
masahikofukasawa 0:7a00359e701e 137 case AkmSensor::AKM_PRIMARY_ID_ONECHIP_ENCODER:
masahikofukasawa 10:5c69b067d88a 138 {
masahikofukasawa 10:5c69b067d88a 139 AkmHallSwitch* hallswitch = new AkmHallSwitch();
masahikofukasawa 27:41aa9fb23a2f 140 sensor[0] = hallswitch;
masahikofukasawa 29:b488d2c89fba 141 sensorNum = 1;
masahikofukasawa 0:7a00359e701e 142 break;
masahikofukasawa 10:5c69b067d88a 143 }
masahikofukasawa 27:41aa9fb23a2f 144 case AkmSensor::AKM_PRIMARY_ID_DEMO:
masahikofukasawa 27:41aa9fb23a2f 145 {
masahikofukasawa 29:b488d2c89fba 146 if(subId == 0x08){
masahikofukasawa 29:b488d2c89fba 147 drdyType = AkmAkd::INTERRUPT_ENABLED_OD; // Only support open drain type DRDY
masahikofukasawa 29:b488d2c89fba 148
masahikofukasawa 29:b488d2c89fba 149 Ak09970Ctrl* ak09970 = new Ak09970Ctrl();
masahikofukasawa 29:b488d2c89fba 150 sensor[0] = ak09970;
masahikofukasawa 29:b488d2c89fba 151 if(sensor[0]->init(AkmSensor::AKM_PRIMARY_ID_AKD_I2C, Ak09970Ctrl::SUB_ID_AK09970) != AkmSensor::SUCCESS){
masahikofukasawa 29:b488d2c89fba 152 MSG("#sensor[0]->init failed.\r\n");
masahikofukasawa 27:41aa9fb23a2f 153 return false; // couldn't find
masahikofukasawa 29:b488d2c89fba 154 }
masahikofukasawa 29:b488d2c89fba 155
masahikofukasawa 29:b488d2c89fba 156 Ak9752Ctrl* ak9752ctrl = new Ak9752Ctrl();
masahikofukasawa 29:b488d2c89fba 157 sensor[1] = ak9752ctrl;
masahikofukasawa 29:b488d2c89fba 158 if(sensor[1]->init(AkmSensor::AKM_PRIMARY_ID_IR_SENSOR, Ak9752Ctrl::SUB_ID_AK9752) != AkmSensor::SUCCESS){
masahikofukasawa 29:b488d2c89fba 159 MSG("#sensor[1]->init failed.\r\n");
masahikofukasawa 27:41aa9fb23a2f 160 return false; // couldn't find
masahikofukasawa 29:b488d2c89fba 161 }
masahikofukasawa 29:b488d2c89fba 162 sensorNum = 2;
masahikofukasawa 27:41aa9fb23a2f 163 }
masahikofukasawa 29:b488d2c89fba 164 break;
masahikofukasawa 27:41aa9fb23a2f 165 }
masahikofukasawa 4:af13b985c689 166 case AkmSensor::AKM_PRIMARY_ID_LINEAR_SENSOR:
masahikofukasawa 37:c76d2edf3426 167 case AkmSensor::AKM_PRIMARY_ID_CURRENT_SENSOR_3V:
masahikofukasawa 37:c76d2edf3426 168 case AkmSensor::AKM_PRIMARY_ID_CURRENT_SENSOR_5V:
masahikofukasawa 10:5c69b067d88a 169 case AkmSensor::AKM_PRIMARY_ID_MISC_ANALOG:
masahikofukasawa 10:5c69b067d88a 170 {
masahikofukasawa 11:cef8dc1cf010 171 AkmAnalogSensor* analogsensor = new AkmAnalogSensor();
masahikofukasawa 27:41aa9fb23a2f 172 sensor[0] = analogsensor;
masahikofukasawa 29:b488d2c89fba 173 sensorNum = 1;
masahikofukasawa 0:7a00359e701e 174 break;
masahikofukasawa 10:5c69b067d88a 175 }
masahikofukasawa 17:9abb7c28709c 176
masahikofukasawa 1:b46b8653331f 177 case AkmSensor::AKM_PRIMARY_ID_IR_SENSOR:
masahikofukasawa 10:5c69b067d88a 178 {
masahikofukasawa 29:b488d2c89fba 179 drdyType = AkmAkd::INTERRUPT_ENABLED_OD;
masahikofukasawa 29:b488d2c89fba 180
masahikofukasawa 10:5c69b067d88a 181 if(subId == Ak9750Ctrl::SUB_ID_AK9750){
masahikofukasawa 10:5c69b067d88a 182 Ak9750Ctrl* ak9750ctrl = new Ak9750Ctrl();
masahikofukasawa 27:41aa9fb23a2f 183 sensor[0] = ak9750ctrl;
masahikofukasawa 29:b488d2c89fba 184 sensorNum = 1;
masahikofukasawa 15:1238993fd75f 185 }else if(subId == Ak9750Ctrl::SUB_ID_AK9753){
masahikofukasawa 15:1238993fd75f 186 Ak9750Ctrl* ak9753ctrl = new Ak9750Ctrl();
masahikofukasawa 27:41aa9fb23a2f 187 sensor[0] = ak9753ctrl;
masahikofukasawa 29:b488d2c89fba 188 sensorNum = 1;
masahikofukasawa 10:5c69b067d88a 189 }else if(subId == Ak9752Ctrl::SUB_ID_AK9752){
masahikofukasawa 10:5c69b067d88a 190 Ak9752Ctrl* ak9752ctrl = new Ak9752Ctrl();
masahikofukasawa 27:41aa9fb23a2f 191 sensor[0] = ak9752ctrl;
masahikofukasawa 29:b488d2c89fba 192 sensorNum = 1;
masahikofukasawa 10:5c69b067d88a 193 }else{
masahikofukasawa 27:41aa9fb23a2f 194 return false; // couldn't find
masahikofukasawa 10:5c69b067d88a 195 }
masahikofukasawa 1:b46b8653331f 196 break;
masahikofukasawa 10:5c69b067d88a 197 }
tkstreet 33:d3e1e9eb2ef9 198 case AkmSensor::AKM_PRIMARY_ID_MOTOR_DRIVER:
tkstreet 33:d3e1e9eb2ef9 199 { // TODO: Other motor driver cases
tkstreet 33:d3e1e9eb2ef9 200 if(subId == Ap1017Ctrl::SUB_ID_AP1017){
tkstreet 33:d3e1e9eb2ef9 201 Ap1017Ctrl* ap1017ctrl = new Ap1017Ctrl();
tkstreet 34:1ea3357c8d9a 202 sensor[0] = ap1017ctrl;
tkstreet 34:1ea3357c8d9a 203 sensorNum = 1;
tkstreet 33:d3e1e9eb2ef9 204 }else{
tkstreet 33:d3e1e9eb2ef9 205 return NULL;
tkstreet 33:d3e1e9eb2ef9 206 }
tkstreet 33:d3e1e9eb2ef9 207 break;
tkstreet 33:d3e1e9eb2ef9 208 }
masahikofukasawa 0:7a00359e701e 209 default:
masahikofukasawa 10:5c69b067d88a 210 {
masahikofukasawa 17:9abb7c28709c 211 MSG("#Can't find ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
masahikofukasawa 27:41aa9fb23a2f 212 return false; // couldn't find
masahikofukasawa 10:5c69b067d88a 213 }
masahikofukasawa 0:7a00359e701e 214 }
masahikofukasawa 29:b488d2c89fba 215
masahikofukasawa 29:b488d2c89fba 216 if(primaryId != AkmSensor::AKM_PRIMARY_ID_DEMO){
masahikofukasawa 29:b488d2c89fba 217 for(int i=0; i<sensorNum; i++){
masahikofukasawa 29:b488d2c89fba 218 if(sensor[i]->init(primaryId, subId) != AkmSensor::SUCCESS){
masahikofukasawa 29:b488d2c89fba 219 MSG("#sensor[i]->init failed. ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
masahikofukasawa 29:b488d2c89fba 220 return false; // couldn't find
masahikofukasawa 29:b488d2c89fba 221 }
masahikofukasawa 29:b488d2c89fba 222 }
masahikofukasawa 27:41aa9fb23a2f 223 MSG("#ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
masahikofukasawa 0:7a00359e701e 224 }
masahikofukasawa 29:b488d2c89fba 225
masahikofukasawa 27:41aa9fb23a2f 226 return true;
masahikofukasawa 0:7a00359e701e 227 }
masahikofukasawa 0:7a00359e701e 228
masahikofukasawa 29:b488d2c89fba 229 void AkmSensorManager::detectDRDY(){
masahikofukasawa 29:b488d2c89fba 230 // MSG("#detect DRDY.\r\n");
masahikofukasawa 29:b488d2c89fba 231 for(int i=0; i<sensorNum; i++){
masahikofukasawa 29:b488d2c89fba 232 sensor[i]->setEvent();
masahikofukasawa 29:b488d2c89fba 233 }
masahikofukasawa 29:b488d2c89fba 234 }
masahikofukasawa 29:b488d2c89fba 235
masahikofukasawa 16:d85be9bafb80 236 void AkmSensorManager::dummyCallbackForCommandReceived(){}
masahikofukasawa 16:d85be9bafb80 237
tkstreet 33:d3e1e9eb2ef9 238
tkstreet 33:d3e1e9eb2ef9 239 // For commands received via BLE
masahikofukasawa 0:7a00359e701e 240 AkmSensorManager::Status AkmSensorManager::commandReceived(char* buf){
masahikofukasawa 0:7a00359e701e 241 // Construct message
masahikofukasawa 0:7a00359e701e 242 Status status = SUCCESS;
masahikofukasawa 0:7a00359e701e 243
masahikofukasawa 10:5c69b067d88a 244 if ((Message::parse(&msg, buf)) != Message::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 245 MSG("#Failed to parse message. %s\r\n", buf);
masahikofukasawa 0:7a00359e701e 246 status = ERROR;
tkstreet 33:d3e1e9eb2ef9 247 eventCommandReceived = false; // Reset flag
masahikofukasawa 15:1238993fd75f 248 }else{
tkstreet 33:d3e1e9eb2ef9 249 eventCommandReceived = true; // Set flag
masahikofukasawa 16:d85be9bafb80 250 // MSG("#Parsed message. %s\r\n", buf);
masahikofukasawa 0:7a00359e701e 251 }
masahikofukasawa 16:d85be9bafb80 252 t.attach(callback(this, &AkmSensorManager::dummyCallbackForCommandReceived),0); // wake-up from ble.waitForEvent
masahikofukasawa 0:7a00359e701e 253 return status;
masahikofukasawa 0:7a00359e701e 254 }
masahikofukasawa 0:7a00359e701e 255
tkstreet 33:d3e1e9eb2ef9 256
coisme 2:11fe67783c4c 257 int16_t AkmSensorManager::getAdcData(MCP342X *mcp3428, MCP342X::AdcChannel ch, MCP342X::SampleSetting s) {
coisme 2:11fe67783c4c 258 const int WAIT_ADC_MS = 1;
coisme 2:11fe67783c4c 259
coisme 2:11fe67783c4c 260 // Configure channel and trigger.
coisme 2:11fe67783c4c 261 mcp3428->setChannel(ch);
coisme 2:11fe67783c4c 262 mcp3428->setSampleSetting(s);
coisme 2:11fe67783c4c 263 mcp3428->trigger();
coisme 2:11fe67783c4c 264
coisme 2:11fe67783c4c 265 // polling data (!blocking)
coisme 2:11fe67783c4c 266 MCP342X::Data data;
coisme 2:11fe67783c4c 267 do {
coisme 2:11fe67783c4c 268 wait_ms(WAIT_ADC_MS);
coisme 2:11fe67783c4c 269 mcp3428->getData(&data);
coisme 2:11fe67783c4c 270 } while(data.st == MCP342X::DATA_NOT_UPDATED);
coisme 2:11fe67783c4c 271
coisme 2:11fe67783c4c 272 return data.value;
coisme 2:11fe67783c4c 273 }
masahikofukasawa 0:7a00359e701e 274
tkstreet 33:d3e1e9eb2ef9 275
masahikofukasawa 0:7a00359e701e 276 uint8_t AkmSensorManager::getId(PinName pin, uint8_t bits)
masahikofukasawa 0:7a00359e701e 277 {
masahikofukasawa 11:cef8dc1cf010 278 MSG("#GetID\r\n");
masahikofukasawa 6:c4401549d68f 279
tkstreet 21:966724730ce6 280 I2C i2c(I2C_SDA, I2C_SCL); // establish I2C to read ID
tkstreet 21:966724730ce6 281
coisme 2:11fe67783c4c 282 // ADC
tkstreet 21:966724730ce6 283 MCP342X mcp342x(&i2c, MCP342X::SLAVE_ADDRESS_6EH); // ADC to convert voltage
tkstreet 21:966724730ce6 284 mcp342x.setConversionMode(MCP342X::ONE_SHOT); // Set to single sample
coisme 2:11fe67783c4c 285 MCP342X::AdcChannel ch;
tkstreet 21:966724730ce6 286
tkstreet 21:966724730ce6 287 if (pin == ANALOG_SENSOR_ID) { // Primary ID
coisme 2:11fe67783c4c 288 ch = MCP342X::ADC_CH1;
tkstreet 21:966724730ce6 289 } else { // pin == ANALOG_SENSOR_ID_SUB
tkstreet 21:966724730ce6 290 ch = MCP342X::ADC_CH2; // Secondary ID
coisme 2:11fe67783c4c 291 }
tkstreet 21:966724730ce6 292
coisme 2:11fe67783c4c 293 int16_t val = getAdcData(&mcp342x, ch, MCP342X::SAMPLE_240HZ_12BIT);
masahikofukasawa 11:cef8dc1cf010 294 MSG("#12bit ADC Val = %d.\r\n", val);
coisme 2:11fe67783c4c 295
tkstreet 21:966724730ce6 296 // Voltage boundaries for ID voltage divider system
coisme 2:11fe67783c4c 297 const int16_t VAL_MAX = 3000-2048; // Corresponds to 3V
coisme 2:11fe67783c4c 298 const int16_t VAL_MIN = -2048; // Corresponds to 0V
coisme 2:11fe67783c4c 299
tkstreet 21:966724730ce6 300 // Convert voltage to ID value
masahikofukasawa 6:c4401549d68f 301 uint8_t value = (uint8_t)((val - VAL_MIN)/(float)(VAL_MAX - VAL_MIN) * (1 << bits) + 0.5);
masahikofukasawa 11:cef8dc1cf010 302 MSG("#ID = %d.\r\n", value);
masahikofukasawa 6:c4401549d68f 303
masahikofukasawa 0:7a00359e701e 304 return value;
masahikofukasawa 0:7a00359e701e 305 }
masahikofukasawa 0:7a00359e701e 306
tkstreet 33:d3e1e9eb2ef9 307
masahikofukasawa 0:7a00359e701e 308 bool AkmSensorManager::isEvent()
masahikofukasawa 0:7a00359e701e 309 {
masahikofukasawa 29:b488d2c89fba 310 // check sensor related event
masahikofukasawa 29:b488d2c89fba 311 for(int i=0; i<sensorNum; i++){
masahikofukasawa 29:b488d2c89fba 312 if(sensor[i]->isEvent()){
masahikofukasawa 29:b488d2c89fba 313 return true;
masahikofukasawa 29:b488d2c89fba 314 }
masahikofukasawa 29:b488d2c89fba 315 }
masahikofukasawa 29:b488d2c89fba 316
masahikofukasawa 29:b488d2c89fba 317 // other events
masahikofukasawa 29:b488d2c89fba 318 return (
masahikofukasawa 0:7a00359e701e 319 eventCommandReceived ||
masahikofukasawa 0:7a00359e701e 320 eventConnected ||
masahikofukasawa 0:7a00359e701e 321 eventDisconnected);
masahikofukasawa 0:7a00359e701e 322 }
masahikofukasawa 0:7a00359e701e 323
masahikofukasawa 0:7a00359e701e 324 void AkmSensorManager::processCommand()
masahikofukasawa 0:7a00359e701e 325 {
tkstreet 23:50c98b286e41 326 // Extracts command contained in the message
masahikofukasawa 0:7a00359e701e 327 Message::Command cmd = msg.getCommand();
masahikofukasawa 0:7a00359e701e 328
tkstreet 21:966724730ce6 329 // Creates a message object to return
masahikofukasawa 0:7a00359e701e 330 Message resMsg;
masahikofukasawa 0:7a00359e701e 331
tkstreet 23:50c98b286e41 332 // Return message contains the extracted command
masahikofukasawa 0:7a00359e701e 333 resMsg.setCommand(cmd);
masahikofukasawa 0:7a00359e701e 334
masahikofukasawa 0:7a00359e701e 335 switch(cmd)
masahikofukasawa 0:7a00359e701e 336 {
masahikofukasawa 0:7a00359e701e 337 case Message::CMD_GET_FW_VERSION:
masahikofukasawa 11:cef8dc1cf010 338 {
masahikofukasawa 0:7a00359e701e 339 resMsg.setArgument(0, FIRMWARE_VERSION);
masahikofukasawa 0:7a00359e701e 340 throwMessage(&resMsg);
masahikofukasawa 11:cef8dc1cf010 341 MSG("#FW version is reported.\r\n");
masahikofukasawa 0:7a00359e701e 342 break;
masahikofukasawa 11:cef8dc1cf010 343 }
masahikofukasawa 0:7a00359e701e 344 case Message::CMD_GET_MAG_PART:
masahikofukasawa 11:cef8dc1cf010 345 {
masahikofukasawa 0:7a00359e701e 346 resMsg.setArgument(0, MAGNETOMETER_ID);
masahikofukasawa 0:7a00359e701e 347 throwMessage(&resMsg);
masahikofukasawa 11:cef8dc1cf010 348 MSG("#Mag ID is reported.\r\n");
masahikofukasawa 0:7a00359e701e 349 break;
masahikofukasawa 11:cef8dc1cf010 350 }
masahikofukasawa 0:7a00359e701e 351 case Message::CMD_SET_SERIAL_TARGET:
masahikofukasawa 11:cef8dc1cf010 352 {
masahikofukasawa 0:7a00359e701e 353 isEnabledBle = msg.getArgument(0)==Message::SW_ON ? true : false;
masahikofukasawa 0:7a00359e701e 354 isEnabledUsb = msg.getArgument(1)==Message::SW_ON ? true : false;
masahikofukasawa 0:7a00359e701e 355 break;
masahikofukasawa 11:cef8dc1cf010 356 }
masahikofukasawa 0:7a00359e701e 357 case Message::CMD_GET_ID: // return Primary ID and Sub ID
masahikofukasawa 11:cef8dc1cf010 358 {
masahikofukasawa 10:5c69b067d88a 359 resMsg.setArgument(0, primaryId);
masahikofukasawa 0:7a00359e701e 360 resMsg.setArgument(1, subId);
masahikofukasawa 0:7a00359e701e 361 throwMessage(&resMsg);
masahikofukasawa 29:b488d2c89fba 362 MSG("#ID is reported.\r\n");
masahikofukasawa 0:7a00359e701e 363 break;
masahikofukasawa 11:cef8dc1cf010 364 }
masahikofukasawa 29:b488d2c89fba 365 case Message::CMD_GET_SENSOR_INDEX:
masahikofukasawa 27:41aa9fb23a2f 366 {
masahikofukasawa 29:b488d2c89fba 367 resMsg.setArgument(0, sensorIndex);
masahikofukasawa 27:41aa9fb23a2f 368 throwMessage(&resMsg);
masahikofukasawa 29:b488d2c89fba 369 MSG("#Get Sensor Index=%d.\r\n", sensorIndex);
masahikofukasawa 27:41aa9fb23a2f 370 break;
masahikofukasawa 27:41aa9fb23a2f 371 }
masahikofukasawa 29:b488d2c89fba 372 case Message::CMD_SET_SENSOR_INDEX:
masahikofukasawa 27:41aa9fb23a2f 373 {
masahikofukasawa 29:b488d2c89fba 374 uint8_t index = (uint8_t)msg.getArgument(0);
masahikofukasawa 30:5a241d9b3262 375 if(msg.getArgNum() == 1 && index<sensorNum){
masahikofukasawa 28:dc4eb14e4d7e 376 resMsg.setArgument(0, 0);
masahikofukasawa 29:b488d2c89fba 377 sensorIndex = index;
masahikofukasawa 29:b488d2c89fba 378 MSG("#Set Sensor Index=%d.\r\n", sensorIndex);
masahikofukasawa 30:5a241d9b3262 379 }else{
masahikofukasawa 30:5a241d9b3262 380 resMsg.setArgument(0, 1);
masahikofukasawa 30:5a241d9b3262 381 MSG("#Error: Set Sensor Index=%d.\r\n", sensorIndex);
masahikofukasawa 29:b488d2c89fba 382 }
masahikofukasawa 28:dc4eb14e4d7e 383 throwMessage(&resMsg);
masahikofukasawa 27:41aa9fb23a2f 384 break;
masahikofukasawa 27:41aa9fb23a2f 385 }
masahikofukasawa 29:b488d2c89fba 386 case Message::CMD_GET_TOTAL_SENSOR_NUM:
masahikofukasawa 27:41aa9fb23a2f 387 {
masahikofukasawa 29:b488d2c89fba 388 resMsg.setArgument(0, sensorNum);
masahikofukasawa 27:41aa9fb23a2f 389 throwMessage(&resMsg);
masahikofukasawa 29:b488d2c89fba 390 MSG("#Get Sensor Total Num=%d.\r\n", sensorNum);
masahikofukasawa 0:7a00359e701e 391 break;
masahikofukasawa 11:cef8dc1cf010 392 }
masahikofukasawa 0:7a00359e701e 393 case Message::CMD_STOP_MEASUREMENT:
masahikofukasawa 11:cef8dc1cf010 394 {
masahikofukasawa 29:b488d2c89fba 395 if( sensor[sensorIndex]->stopSensor() != AkmSensor::SUCCESS){
masahikofukasawa 15:1238993fd75f 396 resMsg.setArgument(0, 1);
masahikofukasawa 15:1238993fd75f 397 }else{
masahikofukasawa 27:41aa9fb23a2f 398 resMsg.setArgument(0, 0);
masahikofukasawa 15:1238993fd75f 399 }
masahikofukasawa 0:7a00359e701e 400 throwMessage(&resMsg);
masahikofukasawa 29:b488d2c89fba 401 MSG("#Stop measurement:%s.\r\n",sensor[sensorIndex]->getSensorName());
masahikofukasawa 0:7a00359e701e 402 break;
masahikofukasawa 11:cef8dc1cf010 403 }
masahikofukasawa 0:7a00359e701e 404 case Message::CMD_START_MEASUREMENT:
masahikofukasawa 11:cef8dc1cf010 405 {
masahikofukasawa 11:cef8dc1cf010 406 int error_code = AkmSensor::SUCCESS;
masahikofukasawa 11:cef8dc1cf010 407 if(msg.getArgNum() == 0){
masahikofukasawa 29:b488d2c89fba 408 error_code = sensor[sensorIndex]->startSensor();
masahikofukasawa 11:cef8dc1cf010 409 if( error_code != AkmSensor::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 410 MSG("#StartSensor Error. Code=%d\r\n",error_code);
masahikofukasawa 11:cef8dc1cf010 411 }
masahikofukasawa 11:cef8dc1cf010 412 else{
masahikofukasawa 29:b488d2c89fba 413 switch(drdyType){
masahikofukasawa 29:b488d2c89fba 414 case AkmAkd::INTERRUPT_ENABLED_PP:
masahikofukasawa 29:b488d2c89fba 415 {
masahikofukasawa 29:b488d2c89fba 416 if(primaryId == AkmSensor::AKM_PRIMARY_ID_AKD_SPI) interrupt = new InterruptIn(SPI_DRDY);
masahikofukasawa 29:b488d2c89fba 417 else interrupt = new InterruptIn(I2C_DRDY);
masahikofukasawa 29:b488d2c89fba 418 interrupt->rise(callback(this, &AkmSensorManager::detectDRDY));
masahikofukasawa 29:b488d2c89fba 419 break;
masahikofukasawa 29:b488d2c89fba 420 }
masahikofukasawa 29:b488d2c89fba 421 case AkmAkd::INTERRUPT_ENABLED_OD:
masahikofukasawa 29:b488d2c89fba 422 {
masahikofukasawa 29:b488d2c89fba 423 if(primaryId == AkmSensor::AKM_PRIMARY_ID_AKD_SPI) interrupt = new InterruptIn(SPI_DRDY);
masahikofukasawa 29:b488d2c89fba 424 else interrupt = new InterruptIn(I2C_DRDY);
masahikofukasawa 29:b488d2c89fba 425 interrupt->fall(callback(this, &AkmSensorManager::detectDRDY));
masahikofukasawa 29:b488d2c89fba 426 break;
masahikofukasawa 29:b488d2c89fba 427 }
masahikofukasawa 29:b488d2c89fba 428 default:
masahikofukasawa 29:b488d2c89fba 429 {
masahikofukasawa 29:b488d2c89fba 430 // nothing.
masahikofukasawa 29:b488d2c89fba 431 }
masahikofukasawa 29:b488d2c89fba 432 }
masahikofukasawa 11:cef8dc1cf010 433 }
masahikofukasawa 11:cef8dc1cf010 434 }else if(msg.getArgNum() == 1){
masahikofukasawa 11:cef8dc1cf010 435 float interval = (float)(1.0 / (float)msg.getArgument(0));
masahikofukasawa 29:b488d2c89fba 436 error_code = sensor[sensorIndex]->startSensor(interval);
masahikofukasawa 11:cef8dc1cf010 437 if( error_code != AkmSensor::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 438 MSG("#StartSensor Error. Code=%d\r\n",error_code);
masahikofukasawa 11:cef8dc1cf010 439 }
masahikofukasawa 11:cef8dc1cf010 440 else{
masahikofukasawa 29:b488d2c89fba 441 if(interrupt) delete interrupt;
masahikofukasawa 11:cef8dc1cf010 442 }
masahikofukasawa 11:cef8dc1cf010 443 }else{
masahikofukasawa 11:cef8dc1cf010 444 MSG("#StartSensor Error. Wrong Argument num.\r\n");
masahikofukasawa 11:cef8dc1cf010 445 }
masahikofukasawa 11:cef8dc1cf010 446 if(error_code == AkmSensor::SUCCESS){
masahikofukasawa 11:cef8dc1cf010 447 // get initial sensor state for switch type sensors
masahikofukasawa 11:cef8dc1cf010 448 if( primaryId == AkmSensor::AKM_PRIMARY_ID_UNIPOLAR ||
masahikofukasawa 11:cef8dc1cf010 449 primaryId == AkmSensor::AKM_PRIMARY_ID_OMNIPOLAR ||
masahikofukasawa 11:cef8dc1cf010 450 primaryId == AkmSensor::AKM_PRIMARY_ID_LATCH ||
masahikofukasawa 11:cef8dc1cf010 451 primaryId == AkmSensor::AKM_PRIMARY_ID_DUAL_OUTPUT ||
masahikofukasawa 11:cef8dc1cf010 452 primaryId == AkmSensor::AKM_PRIMARY_ID_ONECHIP_ENCODER ){
masahikofukasawa 11:cef8dc1cf010 453 Message temp;
masahikofukasawa 29:b488d2c89fba 454 sensor[sensorIndex]->readSensorData(&temp);
masahikofukasawa 11:cef8dc1cf010 455 throwMessage(&temp);
masahikofukasawa 11:cef8dc1cf010 456 }
masahikofukasawa 0:7a00359e701e 457 }
masahikofukasawa 0:7a00359e701e 458 break;
masahikofukasawa 11:cef8dc1cf010 459 }
tkstreet 33:d3e1e9eb2ef9 460 case Message::CMD_MOTOR_START_MOTOR:
tkstreet 33:d3e1e9eb2ef9 461 case Message::CMD_MOTOR_STOP_MOTOR:
tkstreet 33:d3e1e9eb2ef9 462 case Message::CMD_MOTOR_SET_DIRECTION:
tkstreet 33:d3e1e9eb2ef9 463 case Message::CMD_MOTOR_SET_DUTY_CYCLE:
masahikofukasawa 9:6fa3e7b17c27 464 case Message::CMD_PROGSW_GET_THRESHOLD:
masahikofukasawa 9:6fa3e7b17c27 465 case Message::CMD_PROGSW_SET_THRESHOLD:
masahikofukasawa 9:6fa3e7b17c27 466 case Message::CMD_PROGSW_GET_READ_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 467 case Message::CMD_PROGSW_SET_READ_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 468 case Message::CMD_PROGSW_GET_SWITCH_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 469 case Message::CMD_PROGSW_SET_SWITCH_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 470 case Message::CMD_PROGSW_GET_OPERATION_MODE:
masahikofukasawa 9:6fa3e7b17c27 471 case Message::CMD_PROGSW_SET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 472 case Message::CMD_IR_GET_THRESHOLD:
masahikofukasawa 1:b46b8653331f 473 case Message::CMD_IR_SET_THRESHOLD:
masahikofukasawa 1:b46b8653331f 474 case Message::CMD_IR_GET_HYSTERESIS:
masahikofukasawa 1:b46b8653331f 475 case Message::CMD_IR_SET_HYSTERESIS:
masahikofukasawa 1:b46b8653331f 476 case Message::CMD_IR_GET_INTERRUPT:
masahikofukasawa 1:b46b8653331f 477 case Message::CMD_IR_SET_INTERRUPT:
masahikofukasawa 1:b46b8653331f 478 case Message::CMD_IR_GET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 479 case Message::CMD_IR_SET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 480 case Message::CMD_IR_GET_THRESHOLD_EEPROM:
masahikofukasawa 1:b46b8653331f 481 case Message::CMD_IR_SET_THRESHOLD_EEPROM:
masahikofukasawa 1:b46b8653331f 482 case Message::CMD_IR_GET_HYSTERESIS_EEPROM:
masahikofukasawa 1:b46b8653331f 483 case Message::CMD_IR_SET_HYSTERESIS_EEPROM:
masahikofukasawa 1:b46b8653331f 484 case Message::CMD_IR_GET_INTERRUPT_EEPROM:
masahikofukasawa 1:b46b8653331f 485 case Message::CMD_IR_SET_INTERRUPT_EEPROM:
masahikofukasawa 1:b46b8653331f 486 case Message::CMD_IR_GET_OPERATION_MODE_EEPROM:
masahikofukasawa 1:b46b8653331f 487 case Message::CMD_IR_SET_OPERATION_MODE_EEPROM:
masahikofukasawa 9:6fa3e7b17c27 488 case Message::CMD_ANGLE_ZERO_RESET:
masahikofukasawa 30:5a241d9b3262 489 case Message::CMD_ANGLE_READ:
masahikofukasawa 9:6fa3e7b17c27 490 case Message::CMD_REG_WRITE:
masahikofukasawa 9:6fa3e7b17c27 491 case Message::CMD_REG_WRITEN:
masahikofukasawa 9:6fa3e7b17c27 492 case Message::CMD_REG_READ:
masahikofukasawa 9:6fa3e7b17c27 493 case Message::CMD_REG_READN:
masahikofukasawa 9:6fa3e7b17c27 494 case Message::CMD_COMPASS_GET_OPERATION_MODE:
masahikofukasawa 9:6fa3e7b17c27 495 case Message::CMD_COMPASS_SET_OPERATION_MODE:
masahikofukasawa 11:cef8dc1cf010 496 {
masahikofukasawa 29:b488d2c89fba 497 AkmSensor::Status st = sensor[sensorIndex]->requestCommand(&msg,&resMsg);
masahikofukasawa 15:1238993fd75f 498 if( (resMsg.getArgNum() == 0) && (st != AkmSensor::SUCCESS) )
masahikofukasawa 15:1238993fd75f 499 {
masahikofukasawa 15:1238993fd75f 500 MSG("#Command failed.\r\n");
masahikofukasawa 15:1238993fd75f 501 }else{
masahikofukasawa 15:1238993fd75f 502 throwMessage(&resMsg);
masahikofukasawa 15:1238993fd75f 503 }
masahikofukasawa 0:7a00359e701e 504 break;
masahikofukasawa 11:cef8dc1cf010 505 }
masahikofukasawa 0:7a00359e701e 506 default:
masahikofukasawa 11:cef8dc1cf010 507 {
masahikofukasawa 15:1238993fd75f 508 MSG("#Can't find command.\r\n");
masahikofukasawa 0:7a00359e701e 509 break;
masahikofukasawa 11:cef8dc1cf010 510 }
masahikofukasawa 0:7a00359e701e 511 }
masahikofukasawa 0:7a00359e701e 512 }
masahikofukasawa 0:7a00359e701e 513
masahikofukasawa 0:7a00359e701e 514 AkmSensorManager::Status AkmSensorManager::processEvent()
masahikofukasawa 0:7a00359e701e 515 {
masahikofukasawa 0:7a00359e701e 516 AkmSensorManager::Status status = AkmSensorManager::SUCCESS;
masahikofukasawa 0:7a00359e701e 517
tkstreet 33:d3e1e9eb2ef9 518 // If event is a command received from BLE
masahikofukasawa 0:7a00359e701e 519 if(eventCommandReceived)
masahikofukasawa 0:7a00359e701e 520 {
masahikofukasawa 16:d85be9bafb80 521 // MSG("#Command received.\r\n");
masahikofukasawa 0:7a00359e701e 522 processCommand();
tkstreet 21:966724730ce6 523 eventCommandReceived = false; // clear the flag
masahikofukasawa 0:7a00359e701e 524 }
masahikofukasawa 29:b488d2c89fba 525
masahikofukasawa 29:b488d2c89fba 526 // check sensor event
masahikofukasawa 29:b488d2c89fba 527 for(int i=0; i<sensorNum; i++){
masahikofukasawa 29:b488d2c89fba 528 if( sensor[i]->isEvent() ){
masahikofukasawa 29:b488d2c89fba 529 Message msg;
masahikofukasawa 29:b488d2c89fba 530 if( sensor[i]->readSensorData(&msg) != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
tkstreet 34:1ea3357c8d9a 531 throwMessage(&msg); // Process and output message to USB/BLE
masahikofukasawa 29:b488d2c89fba 532 }
masahikofukasawa 0:7a00359e701e 533 }
masahikofukasawa 0:7a00359e701e 534
tkstreet 34:1ea3357c8d9a 535 if(eventConnected) // If BLE connected, clear flag and start sensor.
masahikofukasawa 0:7a00359e701e 536 {
tkstreet 21:966724730ce6 537 eventConnected = false; // clear the flag
masahikofukasawa 12:c06cd8b76358 538 MSG("#BLE connected.\r\n");
masahikofukasawa 0:7a00359e701e 539 }
tkstreet 23:50c98b286e41 540
tkstreet 23:50c98b286e41 541 // If event is the BLE being disconnected, stop the sensor
tkstreet 23:50c98b286e41 542 if(eventDisconnected)
masahikofukasawa 0:7a00359e701e 543 {
masahikofukasawa 12:c06cd8b76358 544 MSG("#BLE dis-connected.\r\n");
masahikofukasawa 29:b488d2c89fba 545 for(int i=0; i<sensorNum; i++){
masahikofukasawa 29:b488d2c89fba 546 if( sensor[i]->stopSensor() != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
masahikofukasawa 29:b488d2c89fba 547 }
tkstreet 34:1ea3357c8d9a 548 eventDisconnected = false; // clear the flag
masahikofukasawa 0:7a00359e701e 549 }
masahikofukasawa 0:7a00359e701e 550 return status;
masahikofukasawa 0:7a00359e701e 551 }
masahikofukasawa 0:7a00359e701e 552
masahikofukasawa 0:7a00359e701e 553 AkmSensorManager::Status AkmSensorManager::throwMessage(const Message *msg) {
masahikofukasawa 0:7a00359e701e 554 int len = Message::getMaxMessageLength();
masahikofukasawa 0:7a00359e701e 555 char buf[len];
masahikofukasawa 0:7a00359e701e 556
tkstreet 23:50c98b286e41 557 buf[0] = '$'; // Output message prefix
masahikofukasawa 0:7a00359e701e 558
tkstreet 23:50c98b286e41 559 // Processes command in msg to ASCII
masahikofukasawa 0:7a00359e701e 560 char cmd = (char)msg->getCommand();
masahikofukasawa 0:7a00359e701e 561 Message::charToAscii(&buf[1], &cmd);
masahikofukasawa 0:7a00359e701e 562
tkstreet 23:50c98b286e41 563 // Processes arguments in msg to ASCII
masahikofukasawa 0:7a00359e701e 564 for (int i=0; i < msg->getArgNum(); i++) {
masahikofukasawa 0:7a00359e701e 565 char arg = msg->getArgument(i);
masahikofukasawa 0:7a00359e701e 566 Message::charToAscii(&buf[3+2*i], &arg);
masahikofukasawa 0:7a00359e701e 567 }
masahikofukasawa 0:7a00359e701e 568
masahikofukasawa 0:7a00359e701e 569 // Add termination characters, 0x0D(\r), \n and \0, to the end of string
masahikofukasawa 0:7a00359e701e 570 int tIdx = 3 + 2 * (msg->getArgNum());
masahikofukasawa 0:7a00359e701e 571 int bufSize = sizeof(buf)/sizeof(buf[0]);
masahikofukasawa 0:7a00359e701e 572 if ((tIdx + 3) > (bufSize - 1)) {
masahikofukasawa 11:cef8dc1cf010 573 MSG("#Error: Message data exceeds the buffer.\r\n");
masahikofukasawa 0:7a00359e701e 574 return ERROR;
masahikofukasawa 0:7a00359e701e 575 }
masahikofukasawa 11:cef8dc1cf010 576 buf[tIdx++] = CR; // '\r'
masahikofukasawa 11:cef8dc1cf010 577 buf[tIdx++] = LF; // '\n'
masahikofukasawa 11:cef8dc1cf010 578 buf[tIdx] = '\0';
tkstreet 23:50c98b286e41 579
tkstreet 33:d3e1e9eb2ef9 580 // If BLE is enabled, send to AKDP app
tkstreet 23:50c98b286e41 581 if(isEnabledBle) uartService->writeString(buf);
tkstreet 23:50c98b286e41 582
tkstreet 33:d3e1e9eb2ef9 583 // If USB is enabled, send to serial terminal
masahikofukasawa 0:7a00359e701e 584 if(isEnabledUsb) serial->printf(buf);
masahikofukasawa 0:7a00359e701e 585
masahikofukasawa 0:7a00359e701e 586 return SUCCESS;
masahikofukasawa 12:c06cd8b76358 587 }
masahikofukasawa 13:d008249f0359 588
masahikofukasawa 27:41aa9fb23a2f 589 char* AkmSensorManager::my_strcat(char* str1, char* str2)
masahikofukasawa 27:41aa9fb23a2f 590 {
masahikofukasawa 27:41aa9fb23a2f 591 int num1;
masahikofukasawa 27:41aa9fb23a2f 592 char* str;
masahikofukasawa 27:41aa9fb23a2f 593
masahikofukasawa 27:41aa9fb23a2f 594 num1=strlen(str1) + strlen(str2);
masahikofukasawa 27:41aa9fb23a2f 595 str = (char *)malloc(num1 + 1);
masahikofukasawa 27:41aa9fb23a2f 596 sprintf(str,"%s%s",str1,str2);
masahikofukasawa 27:41aa9fb23a2f 597 return str;
masahikofukasawa 27:41aa9fb23a2f 598 }
masahikofukasawa 27:41aa9fb23a2f 599
masahikofukasawa 13:d008249f0359 600 char* AkmSensorManager::getSensorName(){
masahikofukasawa 29:b488d2c89fba 601 char* name = "";
masahikofukasawa 29:b488d2c89fba 602 for(int i=0; i<sensorNum; i++){
masahikofukasawa 29:b488d2c89fba 603 name = my_strcat(name, sensor[i]->getSensorName());
masahikofukasawa 29:b488d2c89fba 604 if( sensorNum > (i+1) )name = my_strcat(name, "+");
masahikofukasawa 27:41aa9fb23a2f 605 }
masahikofukasawa 27:41aa9fb23a2f 606 MSG("#Sensor Name='%s'.\r\n",name);
masahikofukasawa 27:41aa9fb23a2f 607 return name;
masahikofukasawa 13:d008249f0359 608 }