Modified for compatibility with Rev.E. hardware
Fork of AkmSensor by
akmakd.h@49:c8f8946129b6, 2018-05-01 (annotated)
- Committer:
- tkstreet
- Date:
- Tue May 01 21:31:15 2018 +0000
- Revision:
- 49:c8f8946129b6
- Parent:
- 43:45225713cd58
Modified for Rev.E. compatibility.
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 "akmsensor.h" |
masahikofukasawa | 0:7a00359e701e | 6 | #include "akmecompass.h" |
masahikofukasawa | 0:7a00359e701e | 7 | |
masahikofukasawa | 41:a3ea80c594ec | 8 | #define AKDP_POLLING_FREQUENCY (10.0) // [Hz] |
masahikofukasawa | 20:2fca76521680 | 9 | |
tkstreet | 23:50c98b286e41 | 10 | /** |
tkstreet | 23:50c98b286e41 | 11 | * Collection class for handling commands to all of the specialty AKM |
tkstreet | 23:50c98b286e41 | 12 | * daughter board adapter modules. |
tkstreet | 23:50c98b286e41 | 13 | * |
tkstreet | 23:50c98b286e41 | 14 | * 3-Axis Electronic Compass Devices: AK8963C, AK8963N, AK09911C, AK09912C, |
masahikofukasawa | 41:a3ea80c594ec | 15 | * AK09915C, AK09915D, AK09916C, AK09916D, AK09917, AK09918, AK09940 |
tkstreet | 23:50c98b286e41 | 16 | */ |
masahikofukasawa | 0:7a00359e701e | 17 | class AkmAkd : public AkmSensor |
masahikofukasawa | 0:7a00359e701e | 18 | { |
masahikofukasawa | 0:7a00359e701e | 19 | |
masahikofukasawa | 0:7a00359e701e | 20 | public: |
masahikofukasawa | 29:b488d2c89fba | 21 | |
masahikofukasawa | 29:b488d2c89fba | 22 | typedef AkmSensor base; |
masahikofukasawa | 0:7a00359e701e | 23 | |
tkstreet | 23:50c98b286e41 | 24 | /** |
tkstreet | 23:50c98b286e41 | 25 | * List of daughter board adapter devices (5-bit Sub-IDs). Primary ID = 0Fh |
tkstreet | 23:50c98b286e41 | 26 | */ |
tkstreet | 23:50c98b286e41 | 27 | typedef enum { |
masahikofukasawa | 42:b48b3ab8690e | 28 | SUB_ID_AK8963N = 0x1A, /**< AK8963N: ID = 1Ah (26) */ |
masahikofukasawa | 42:b48b3ab8690e | 29 | SUB_ID_AK8963C = 0x1C, /**< AK8963C: ID = 1Ch (28) */ |
tkstreet | 23:50c98b286e41 | 30 | SUB_ID_AK09911C = 0x0A, /**< AK09911C: ID = 0Ah (10) */ |
masahikofukasawa | 42:b48b3ab8690e | 31 | SUB_ID_AK09912C = 0x09, /**< AK09912C: ID = 09h (9) */ |
tkstreet | 23:50c98b286e41 | 32 | SUB_ID_AK09915C = 0x0D, /**< AK09915C: ID = 0Dh (13) */ |
tkstreet | 23:50c98b286e41 | 33 | SUB_ID_AK09916C = 0x0E, /**< AK09916C: ID = 0Eh (14) */ |
tkstreet | 23:50c98b286e41 | 34 | SUB_ID_AK09916D = 0x0F, /**< AK09916D: ID = 0Fh (15) */ |
tkstreet | 23:50c98b286e41 | 35 | SUB_ID_AK09915D = 0x10, /**< AK09915D: ID = 10h (16) */ |
masahikofukasawa | 42:b48b3ab8690e | 36 | SUB_ID_AK09918 = 0x11, /**< AK09918: ID = 11h (17) */ |
masahikofukasawa | 42:b48b3ab8690e | 37 | SUB_ID_AK09917 = 0x12, /**< AK09917: ID = 12h (18) */ |
masahikofukasawa | 42:b48b3ab8690e | 38 | SUB_ID_AK09940 = 0x13, /**< AK09940: ID = 13h (19) */ |
masahikofukasawa | 0:7a00359e701e | 39 | } SubIdAkd; |
masahikofukasawa | 0:7a00359e701e | 40 | |
masahikofukasawa | 19:8dcc4f323bdc | 41 | typedef enum { |
masahikofukasawa | 19:8dcc4f323bdc | 42 | INTERRUPT_DISABLED = 0x00, // Polling |
masahikofukasawa | 19:8dcc4f323bdc | 43 | INTERRUPT_ENABLED_PP = 0x01, // Push-Pull |
masahikofukasawa | 19:8dcc4f323bdc | 44 | INTERRUPT_ENABLED_OD = 0x02, // Open drain |
masahikofukasawa | 19:8dcc4f323bdc | 45 | } InterruptMode; |
masahikofukasawa | 19:8dcc4f323bdc | 46 | |
masahikofukasawa | 0:7a00359e701e | 47 | /** |
masahikofukasawa | 0:7a00359e701e | 48 | * Constructor. |
masahikofukasawa | 0:7a00359e701e | 49 | * |
masahikofukasawa | 0:7a00359e701e | 50 | */ |
masahikofukasawa | 0:7a00359e701e | 51 | AkmAkd(); |
masahikofukasawa | 0:7a00359e701e | 52 | |
masahikofukasawa | 0:7a00359e701e | 53 | /** |
masahikofukasawa | 0:7a00359e701e | 54 | * Destructor. |
masahikofukasawa | 0:7a00359e701e | 55 | * |
masahikofukasawa | 0:7a00359e701e | 56 | */ |
masahikofukasawa | 0:7a00359e701e | 57 | virtual ~AkmAkd(); |
tkstreet | 23:50c98b286e41 | 58 | |
tkstreet | 23:50c98b286e41 | 59 | /** |
tkstreet | 23:50c98b286e41 | 60 | * Process for intializing the selected sensor. |
tkstreet | 23:50c98b286e41 | 61 | * |
tkstreet | 23:50c98b286e41 | 62 | * @return Termination status type for debugging purposes. |
tkstreet | 23:50c98b286e41 | 63 | */ |
masahikofukasawa | 0:7a00359e701e | 64 | virtual AkmSensor::Status init(const uint8_t id, const uint8_t subid); |
tkstreet | 34:1ea3357c8d9a | 65 | |
tkstreet | 23:50c98b286e41 | 66 | /** |
tkstreet | 23:50c98b286e41 | 67 | * Process abstraction for starting sensor operation. |
tkstreet | 23:50c98b286e41 | 68 | * |
tkstreet | 23:50c98b286e41 | 69 | * @return Termination status type for debugging purposes. |
tkstreet | 23:50c98b286e41 | 70 | */ |
masahikofukasawa | 0:7a00359e701e | 71 | virtual AkmSensor::Status startSensor(); |
tkstreet | 23:50c98b286e41 | 72 | |
tkstreet | 23:50c98b286e41 | 73 | /** |
tkstreet | 23:50c98b286e41 | 74 | * Process abstraction for starting sensor operation. |
tkstreet | 23:50c98b286e41 | 75 | * |
tkstreet | 23:50c98b286e41 | 76 | * @param sec Number of seconds of operation. |
tkstreet | 23:50c98b286e41 | 77 | * @return Termination status type for debugging purposes. |
tkstreet | 23:50c98b286e41 | 78 | */ |
masahikofukasawa | 0:7a00359e701e | 79 | virtual AkmSensor::Status startSensor(const float sec); |
tkstreet | 23:50c98b286e41 | 80 | |
tkstreet | 23:50c98b286e41 | 81 | /** |
tkstreet | 23:50c98b286e41 | 82 | * Process abstraction for stopping sensor operation. |
tkstreet | 23:50c98b286e41 | 83 | * |
tkstreet | 23:50c98b286e41 | 84 | * @return Termination status type for debugging purposes. |
tkstreet | 23:50c98b286e41 | 85 | */ |
masahikofukasawa | 0:7a00359e701e | 86 | virtual AkmSensor::Status stopSensor(); |
tkstreet | 23:50c98b286e41 | 87 | |
tkstreet | 23:50c98b286e41 | 88 | /** |
tkstreet | 23:50c98b286e41 | 89 | * Process abstraction for reading data from the sensor. |
tkstreet | 23:50c98b286e41 | 90 | * |
tkstreet | 23:50c98b286e41 | 91 | * @param msg Message object that will hold the sensor data. |
tkstreet | 23:50c98b286e41 | 92 | * @return Termination status type for debugging purposes. |
tkstreet | 23:50c98b286e41 | 93 | */ |
masahikofukasawa | 0:7a00359e701e | 94 | virtual AkmSensor::Status readSensorData(Message* msg); |
tkstreet | 23:50c98b286e41 | 95 | |
tkstreet | 23:50c98b286e41 | 96 | /** |
tkstreet | 23:50c98b286e41 | 97 | * Primary process for interfacing a sensor with the AKDP. When implemented |
tkstreet | 23:50c98b286e41 | 98 | * in sensor class, it will transfer commands between the the sensor control |
tkstreet | 23:50c98b286e41 | 99 | * class and AkmSensorManager. |
tkstreet | 23:50c98b286e41 | 100 | * |
tkstreet | 23:50c98b286e41 | 101 | * @param in Command message to be processed by sensor. |
tkstreet | 23:50c98b286e41 | 102 | * @param out Message returned from sensor. |
tkstreet | 23:50c98b286e41 | 103 | * @return Termination status type for debugging purposes. |
tkstreet | 23:50c98b286e41 | 104 | */ |
masahikofukasawa | 0:7a00359e701e | 105 | virtual Status requestCommand(Message* in, Message* out); |
tkstreet | 23:50c98b286e41 | 106 | |
tkstreet | 23:50c98b286e41 | 107 | /** |
tkstreet | 34:1ea3357c8d9a | 108 | * Set event flag. |
tkstreet | 23:50c98b286e41 | 109 | */ |
masahikofukasawa | 29:b488d2c89fba | 110 | virtual void setEvent(); |
masahikofukasawa | 0:7a00359e701e | 111 | |
masahikofukasawa | 0:7a00359e701e | 112 | int getSensorType(); |
masahikofukasawa | 19:8dcc4f323bdc | 113 | InterruptMode getInterrupt(uint8_t primaryId, uint8_t subId); |
masahikofukasawa | 20:2fca76521680 | 114 | AkmSensor::Status checkSensor( const uint8_t primaryid, const uint8_t subid, AkmECompass::DeviceId* devid); |
masahikofukasawa | 19:8dcc4f323bdc | 115 | |
masahikofukasawa | 0:7a00359e701e | 116 | private: |
masahikofukasawa | 0:7a00359e701e | 117 | Ticker ticker; |
masahikofukasawa | 0:7a00359e701e | 118 | AkmECompass* compass; |
masahikofukasawa | 41:a3ea80c594ec | 119 | AkmECompass::Mode mode; |
masahikofukasawa | 41:a3ea80c594ec | 120 | uint8_t lenOptions; |
masahikofukasawa | 0:7a00359e701e | 121 | }; |
masahikofukasawa | 0:7a00359e701e | 122 | |
masahikofukasawa | 0:7a00359e701e | 123 | #endif |