Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

akmsensor.h@49:c8f8946129b6, 2018-05-01 (annotated)

Committer:
tkstreet
Date:
Tue May 01 21:31:15 2018 +0000
Revision:
49:c8f8946129b6
Parent:
46:5938ad2039b0 
Modified for Rev.E. compatibility.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
masahikofukasawa 0:7a00359e701e 1 #ifndef AKMSENSOR_H
masahikofukasawa 0:7a00359e701e 2 #define AKMSENSOR_H
masahikofukasawa 0:7a00359e701e 3
tkstreet 43:45225713cd58 4 #include "akdphwinfo.h"
masahikofukasawa 0:7a00359e701e 5 #include "mbed.h"
masahikofukasawa 0:7a00359e701e 6 #include "Message.h"
tkstreet 43:45225713cd58 7 #include "akdp_debug.h"
masahikofukasawa 0:7a00359e701e 8
tkstreet 23:50c98b286e41 9 // Sampling rate for ADC
tkstreet 43:45225713cd58 10 #define SENSOR_SAMPLING_RATE 0.1 // 10Hz
tkstreet 49:c8f8946129b6 11 //#define SENSOR_SAMPLING_RATE 0.025 // 40Hz
masahikofukasawa 0:7a00359e701e 12
tkstreet 22:f44f1018081e 13 /**
tkstreet 22:f44f1018081e 14 * Abstract base class for general AKM sensors.
tkstreet 22:f44f1018081e 15 */
masahikofukasawa 0:7a00359e701e 16 class AkmSensor
masahikofukasawa 0:7a00359e701e 17 {
masahikofukasawa 0:7a00359e701e 18
masahikofukasawa 0:7a00359e701e 19 public:
tkstreet 23:50c98b286e41 20 /**
tkstreet 23:50c98b286e41 21 * Error type for debugging purposes.
tkstreet 23:50c98b286e41 22 */
masahikofukasawa 0:7a00359e701e 23 typedef enum {
tkstreet 34:1ea3357c8d9a 24
tkstreet 23:50c98b286e41 25 SUCCESS = 0, /**< Successful termination (0) */
tkstreet 23:50c98b286e41 26 ERROR, /**< Error during execution (1) */
masahikofukasawa 0:7a00359e701e 27 } Status;
masahikofukasawa 0:7a00359e701e 28
tkstreet 23:50c98b286e41 29 /**
tkstreet 23:50c98b286e41 30 * Primary IDs for the major categories of sensors.
tkstreet 23:50c98b286e41 31 */
masahikofukasawa 0:7a00359e701e 32 typedef enum {
tkstreet 23:50c98b286e41 33 AKM_PRIMARY_ID_AKD_SPI = 0x0, /**< AKD SPI Devices */
tkstreet 23:50c98b286e41 34 AKM_PRIMARY_ID_UNIPOLAR = 0x1, /**< Unipolar Switches */
tkstreet 23:50c98b286e41 35 AKM_PRIMARY_ID_OMNIPOLAR = 0x2, /**< Omnipolar Switches */
tkstreet 23:50c98b286e41 36 AKM_PRIMARY_ID_LATCH = 0x3, /**< Bipolar Latches */
tkstreet 23:50c98b286e41 37 AKM_PRIMARY_ID_DUAL_OUTPUT = 0x4, /**< Dual Output Switches */
tkstreet 23:50c98b286e41 38 AKM_PRIMARY_ID_ONECHIP_ENCODER = 0x5, /**< One-Chip Encoders */
tkstreet 23:50c98b286e41 39 AKM_PRIMARY_ID_TBD1 = 0x6, /**< Undefined */
masahikofukasawa 37:c76d2edf3426 40 AKM_PRIMARY_ID_CURRENT_SENSOR_3V = 0x7, /**< Current Sensor 3V Output */
tkstreet 34:1ea3357c8d9a 41 AKM_PRIMARY_ID_DEMO = 0x8, /**< Demo Sensors */
masahikofukasawa 37:c76d2edf3426 42 AKM_PRIMARY_ID_CURRENT_SENSOR_5V = 0x9, /**< Current Sensors 5V Output */
tkstreet 23:50c98b286e41 43 AKM_PRIMARY_ID_MISC_ANALOG = 0xA, /**< Analog Devices */
tkstreet 23:50c98b286e41 44 AKM_PRIMARY_ID_LINEAR_SENSOR = 0xB, /**< Linear Sensors */
tkstreet 23:50c98b286e41 45 AKM_PRIMARY_ID_MOTOR_DRIVER = 0xC, /**< Motor Drivers */
tkstreet 23:50c98b286e41 46 AKM_PRIMARY_ID_IR_SENSOR = 0xD, /**< IR Sensors */
tkstreet 23:50c98b286e41 47 AKM_PRIMARY_ID_ANGLE_SENSOR = 0xE, /**< Angle Sensors */
tkstreet 23:50c98b286e41 48 AKM_PRIMARY_ID_AKD_I2C = 0xF, /**< AKD I2C Devices */
masahikofukasawa 0:7a00359e701e 49 } SensorPrimaryId;
masahikofukasawa 0:7a00359e701e 50
tkstreet 34:1ea3357c8d9a 51
masahikofukasawa 27:41aa9fb23a2f 52 virtual ~AkmSensor(){};
tkstreet 23:50c98b286e41 53
tkstreet 23:50c98b286e41 54 /**
tkstreet 23:50c98b286e41 55 * Process for intializing the selected sensor.
tkstreet 23:50c98b286e41 56 *
tkstreet 23:50c98b286e41 57 * @return Termination status type for debugging purposes.
tkstreet 23:50c98b286e41 58 */
masahikofukasawa 0:7a00359e701e 59 virtual Status init(const uint8_t id, const uint8_t subid) = 0;
tkstreet 23:50c98b286e41 60
tkstreet 23:50c98b286e41 61 /**
tkstreet 23:50c98b286e41 62 * Process abstraction for starting sensor operation.
tkstreet 23:50c98b286e41 63 *
tkstreet 23:50c98b286e41 64 * @return Termination status type for debugging purposes.
tkstreet 23:50c98b286e41 65 */
masahikofukasawa 0:7a00359e701e 66 virtual Status startSensor() = 0;
tkstreet 23:50c98b286e41 67
tkstreet 23:50c98b286e41 68 /**
tkstreet 23:50c98b286e41 69 * Process abstraction for starting sensor operation.
tkstreet 23:50c98b286e41 70 *
tkstreet 23:50c98b286e41 71 * @param sec Number of seconds of operation.
tkstreet 23:50c98b286e41 72 * @return Termination status type for debugging purposes.
tkstreet 23:50c98b286e41 73 */
masahikofukasawa 0:7a00359e701e 74 virtual Status startSensor(const float sec) = 0;
tkstreet 23:50c98b286e41 75
tkstreet 23:50c98b286e41 76 /**
tkstreet 23:50c98b286e41 77 * Process abstraction for stopping sensor operation.
tkstreet 23:50c98b286e41 78 *
tkstreet 23:50c98b286e41 79 * @return Termination status type for debugging purposes.
tkstreet 23:50c98b286e41 80 */
masahikofukasawa 0:7a00359e701e 81 virtual Status stopSensor() = 0;
tkstreet 23:50c98b286e41 82
tkstreet 23:50c98b286e41 83 /**
tkstreet 23:50c98b286e41 84 * Process abstraction for reading data from the sensor.
tkstreet 23:50c98b286e41 85 *
tkstreet 23:50c98b286e41 86 * @param msg Message object that will hold the sensor data.
tkstreet 23:50c98b286e41 87 * @return Termination status type for debugging purposes.
tkstreet 23:50c98b286e41 88 */
masahikofukasawa 0:7a00359e701e 89 virtual Status readSensorData(Message* msg) = 0;
tkstreet 23:50c98b286e41 90
tkstreet 23:50c98b286e41 91 /**
tkstreet 23:50c98b286e41 92 * Primary process for interfacing a sensor with the AKDP. When implemented
tkstreet 49:c8f8946129b6 93 * in sensor class, it will transfer commands between the sensor control
tkstreet 23:50c98b286e41 94 * class and AkmSensorManager.
tkstreet 23:50c98b286e41 95 *
tkstreet 23:50c98b286e41 96 * @param in Command message to be processed by sensor.
tkstreet 23:50c98b286e41 97 * @param out Message returned from sensor.
tkstreet 23:50c98b286e41 98 * @return Termination status type for debugging purposes.
tkstreet 23:50c98b286e41 99 */
masahikofukasawa 0:7a00359e701e 100 virtual Status requestCommand(Message* in, Message* out) = 0;
tkstreet 23:50c98b286e41 101
tkstreet 23:50c98b286e41 102 /**
tkstreet 34:1ea3357c8d9a 103 * Set event flag.
tkstreet 34:1ea3357c8d9a 104 */
masahikofukasawa 29:b488d2c89fba 105 virtual void setEvent(){
tkstreet 45:6af8fdde0ef3 106 VERBOSE("#setEvent called.\r\n");
masahikofukasawa 29:b488d2c89fba 107 event = true;
masahikofukasawa 29:b488d2c89fba 108 }
masahikofukasawa 29:b488d2c89fba 109
tkstreet 34:1ea3357c8d9a 110 /**
tkstreet 34:1ea3357c8d9a 111 * Clear event flag.
tkstreet 34:1ea3357c8d9a 112 */
masahikofukasawa 29:b488d2c89fba 113 void clearEvent(){
tkstreet 45:6af8fdde0ef3 114 VERBOSE("#clearEvent called.\r\n");
masahikofukasawa 29:b488d2c89fba 115 event = false;
masahikofukasawa 29:b488d2c89fba 116 }
masahikofukasawa 29:b488d2c89fba 117
tkstreet 34:1ea3357c8d9a 118 /**
tkstreet 34:1ea3357c8d9a 119 * Checks if an event has occurred.
tkstreet 23:50c98b286e41 120 *
tkstreet 34:1ea3357c8d9a 121 * @return TRUE if event has occurred, FALSE otherwise.
tkstreet 34:1ea3357c8d9a 122 */
masahikofukasawa 27:41aa9fb23a2f 123 bool isEvent(){
masahikofukasawa 27:41aa9fb23a2f 124 return event;
masahikofukasawa 27:41aa9fb23a2f 125 }
masahikofukasawa 27:41aa9fb23a2f 126
tkstreet 34:1ea3357c8d9a 127 /**
tkstreet 34:1ea3357c8d9a 128 * Retrieve the name of the sensor.
tkstreet 34:1ea3357c8d9a 129 *
tkstreet 34:1ea3357c8d9a 130 * @return Name of sensor as a character array.
tkstreet 23:50c98b286e41 131 */
masahikofukasawa 46:5938ad2039b0 132 const char* getSensorName(){
masahikofukasawa 27:41aa9fb23a2f 133 return sensorName;
masahikofukasawa 27:41aa9fb23a2f 134 };
masahikofukasawa 27:41aa9fb23a2f 135
tkstreet 34:1ea3357c8d9a 136 /**
tkstreet 34:1ea3357c8d9a 137 * Retrieve the primary ID of the sensor.
tkstreet 34:1ea3357c8d9a 138 *
tkstreet 34:1ea3357c8d9a 139 * @return Primary ID as an integer.
tkstreet 34:1ea3357c8d9a 140 */
masahikofukasawa 27:41aa9fb23a2f 141 int getPrimaryId(){
masahikofukasawa 27:41aa9fb23a2f 142 return primaryId;
masahikofukasawa 27:41aa9fb23a2f 143 };
masahikofukasawa 27:41aa9fb23a2f 144
tkstreet 34:1ea3357c8d9a 145 /**
tkstreet 34:1ea3357c8d9a 146 * Retrieve the Sub-ID of the sensor.
tkstreet 34:1ea3357c8d9a 147 *
tkstreet 34:1ea3357c8d9a 148 * @return Sub-ID as an integer.
tkstreet 34:1ea3357c8d9a 149 */
masahikofukasawa 27:41aa9fb23a2f 150 int getSecondaryId(){
masahikofukasawa 27:41aa9fb23a2f 151 return subId;
masahikofukasawa 27:41aa9fb23a2f 152 };
masahikofukasawa 0:7a00359e701e 153
masahikofukasawa 0:7a00359e701e 154 private:
masahikofukasawa 29:b488d2c89fba 155 bool event;
masahikofukasawa 0:7a00359e701e 156
masahikofukasawa 27:41aa9fb23a2f 157 protected:
masahikofukasawa 27:41aa9fb23a2f 158 uint8_t primaryId;
masahikofukasawa 27:41aa9fb23a2f 159 uint8_t subId;
masahikofukasawa 46:5938ad2039b0 160 const char* sensorName;
masahikofukasawa 27:41aa9fb23a2f 161
masahikofukasawa 27:41aa9fb23a2f 162 AkmSensor(){
masahikofukasawa 27:41aa9fb23a2f 163 event = false;
masahikofukasawa 27:41aa9fb23a2f 164 primaryId = 0;
masahikofukasawa 27:41aa9fb23a2f 165 subId = 0;
masahikofukasawa 27:41aa9fb23a2f 166 sensorName = "";
masahikofukasawa 27:41aa9fb23a2f 167 };
masahikofukasawa 0:7a00359e701e 168 };
masahikofukasawa 0:7a00359e701e 169
masahikofukasawa 0:7a00359e701e 170 #endif