Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

ap1017ctrl.cpp@49:c8f8946129b6, 2018-05-01 (annotated)

Committer:
tkstreet
Date:
Tue May 01 21:31:15 2018 +0000
Revision:
49:c8f8946129b6
Parent:
48:427bdb7bf31b 
Modified for Rev.E. compatibility.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tkstreet 25:76c11ab5060e 1 #include "ap1017ctrl.h"
tkstreet 25:76c11ab5060e 2
tkstreet 25:76c11ab5060e 3 Ap1017Ctrl::Ap1017Ctrl()
tkstreet 36:aafd15b3291b 4 {
tkstreet 25:76c11ab5060e 5 ap1017 = NULL;
tkstreet 25:76c11ab5060e 6 sensorName = "";
tkstreet 36:aafd15b3291b 7 interval = 1;
tkstreet 33:d3e1e9eb2ef9 8
tkstreet 33:d3e1e9eb2ef9 9 MSG("#AP1017: Created.\r\n");
tkstreet 25:76c11ab5060e 10 }
tkstreet 25:76c11ab5060e 11
tkstreet 25:76c11ab5060e 12 Ap1017Ctrl::~Ap1017Ctrl()
tkstreet 36:aafd15b3291b 13 {
tkstreet 25:76c11ab5060e 14 if(ap1017)
tkstreet 25:76c11ab5060e 15 delete ap1017;
tkstreet 36:aafd15b3291b 16
tkstreet 36:aafd15b3291b 17 MSG("#AP1017: Destroyed.\r\n");
tkstreet 25:76c11ab5060e 18 }
tkstreet 25:76c11ab5060e 19
tkstreet 25:76c11ab5060e 20 AkmSensor::Status Ap1017Ctrl::init(const uint8_t id, const uint8_t subid)
tkstreet 36:aafd15b3291b 21 {
tkstreet 25:76c11ab5060e 22 primaryId = id;
tkstreet 25:76c11ab5060e 23 subId = subid;
tkstreet 36:aafd15b3291b 24 freq = 100;
tkstreet 36:aafd15b3291b 25 interval = (freq > 0 ? 1/freq : 0);
tkstreet 36:aafd15b3291b 26
Masahiko Fukasawa 48:427bdb7bf31b 27 inputA = new DigitalOut(DIGITAL_D0);
Masahiko Fukasawa 48:427bdb7bf31b 28 inputB = new DigitalOut(DIGITAL_D1);
tkstreet 49:c8f8946129b6 29 enable = new DigitalOut(DIGITAL_D9);
tkstreet 25:76c11ab5060e 30
tkstreet 26:4e436b0cbaf8 31 switch (subId) { // template for multiple drivers
tkstreet 25:76c11ab5060e 32 case SUB_ID_AP1017:
tkstreet 49:c8f8946129b6 33 ap1017 = new AP1017(inputA, inputB, enable); // Instantiate AP1017
tkstreet 25:76c11ab5060e 34 sensorName = "AP1017";
tkstreet 33:d3e1e9eb2ef9 35 MSG("#AP1017 found.\r\n");
tkstreet 25:76c11ab5060e 36 break;
tkstreet 25:76c11ab5060e 37 default:
tkstreet 33:d3e1e9eb2ef9 38 MSG("#Error: No sensor found.\r\n.");
tkstreet 25:76c11ab5060e 39 return AkmSensor::ERROR;
tkstreet 25:76c11ab5060e 40 }
tkstreet 25:76c11ab5060e 41
tkstreet 32:42c6b8fb1922 42 // Default settings
tkstreet 32:42c6b8fb1922 43 ap1017->setDirection(AP1017::DIRECTION_CW);
tkstreet 36:aafd15b3291b 44 ap1017->setSpeed(50.0);
tkstreet 36:aafd15b3291b 45
tkstreet 36:aafd15b3291b 46 MSG("#AP1017: Initialized.\r\n");
tkstreet 25:76c11ab5060e 47
tkstreet 25:76c11ab5060e 48 return AkmSensor::SUCCESS;
tkstreet 25:76c11ab5060e 49 }
tkstreet 25:76c11ab5060e 50
tkstreet 25:76c11ab5060e 51 bool Ap1017Ctrl::isEvent()
tkstreet 33:d3e1e9eb2ef9 52 {
tkstreet 36:aafd15b3291b 53 return false; // No feedback: always false
tkstreet 25:76c11ab5060e 54 }
tkstreet 25:76c11ab5060e 55
tkstreet 25:76c11ab5060e 56 AkmSensor::Status Ap1017Ctrl::startSensor()
tkstreet 36:aafd15b3291b 57 {
tkstreet 36:aafd15b3291b 58 if(freq > 0)
tkstreet 36:aafd15b3291b 59 interval = 1/freq;
tkstreet 36:aafd15b3291b 60
masahikofukasawa 46:5938ad2039b0 61 index = (uint8_t)(100.0/(double)(ap1017->getSpeed()));
tkstreet 36:aafd15b3291b 62
tkstreet 36:aafd15b3291b 63 MSG("#AP1017: Sensor started with no interval argument.\r\n");
tkstreet 36:aafd15b3291b 64 MSG("#AP1017: Speed = %.2f\r\n", ap1017->getSpeed());
tkstreet 36:aafd15b3291b 65 MSG("#AP1017: Frequency = %.1f Hz\r\n", freq);
tkstreet 36:aafd15b3291b 66 MSG("#AP1017: Index = %d\r\n", index);
tkstreet 36:aafd15b3291b 67 MSG("#AP1017: PWM Period = %.8f\r\n", interval);
tkstreet 36:aafd15b3291b 68 MSG("#AP1017: Pulse Period = %.8f\r\n", interval/index);
tkstreet 33:d3e1e9eb2ef9 69
tkstreet 36:aafd15b3291b 70
tkstreet 36:aafd15b3291b 71 pwm.attach(callback(this, &Ap1017Ctrl::pwmPeriod), interval);
tkstreet 36:aafd15b3291b 72 pulse.attach(callback(this, &Ap1017Ctrl::pwmOnPulse), interval/index);
tkstreet 36:aafd15b3291b 73
tkstreet 25:76c11ab5060e 74 return AkmSensor::SUCCESS;
tkstreet 25:76c11ab5060e 75 }
tkstreet 25:76c11ab5060e 76
tkstreet 36:aafd15b3291b 77 AkmSensor::Status Ap1017Ctrl::startSensor(const float freq)
tkstreet 25:76c11ab5060e 78 {
tkstreet 36:aafd15b3291b 79 interval = 1/freq;
tkstreet 33:d3e1e9eb2ef9 80
tkstreet 36:aafd15b3291b 81 MSG("#AP1017: Sensor started with interval argument.\r\n");
tkstreet 32:42c6b8fb1922 82
tkstreet 25:76c11ab5060e 83 return AkmSensor::SUCCESS;
tkstreet 25:76c11ab5060e 84 }
tkstreet 25:76c11ab5060e 85
tkstreet 25:76c11ab5060e 86 AkmSensor::Status Ap1017Ctrl::stopSensor()
tkstreet 36:aafd15b3291b 87 {
tkstreet 36:aafd15b3291b 88 pwm.detach();
tkstreet 33:d3e1e9eb2ef9 89
tkstreet 36:aafd15b3291b 90 ap1017->stop();
tkstreet 36:aafd15b3291b 91
tkstreet 36:aafd15b3291b 92 MSG("#AP1017: Sensor stopped.\r\n");
tkstreet 32:42c6b8fb1922 93
tkstreet 25:76c11ab5060e 94 return AkmSensor::SUCCESS;
tkstreet 25:76c11ab5060e 95 }
tkstreet 25:76c11ab5060e 96
tkstreet 25:76c11ab5060e 97 AkmSensor::Status Ap1017Ctrl::readSensorData(Message* msg)
tkstreet 25:76c11ab5060e 98 {
tkstreet 33:d3e1e9eb2ef9 99 MSG("#AP1017: No sensor data to read.\r\n");
tkstreet 33:d3e1e9eb2ef9 100
tkstreet 33:d3e1e9eb2ef9 101 return AkmSensor::ERROR;
tkstreet 25:76c11ab5060e 102 }
tkstreet 25:76c11ab5060e 103
tkstreet 25:76c11ab5060e 104 AkmSensor::Status Ap1017Ctrl::requestCommand(Message* in, Message* out)
tkstreet 36:aafd15b3291b 105 {
tkstreet 31:8635be9b2e35 106 AkmSensor::Status status = AkmSensor::SUCCESS;
tkstreet 31:8635be9b2e35 107
tkstreet 31:8635be9b2e35 108 Message::Command cmd = in->getCommand(); // Store command
tkstreet 31:8635be9b2e35 109 out->setCommand(cmd); // Load command into output
tkstreet 31:8635be9b2e35 110
tkstreet 31:8635be9b2e35 111 switch(cmd)
tkstreet 31:8635be9b2e35 112 {
tkstreet 31:8635be9b2e35 113 case Message::CMD_MOTOR_START_MOTOR:
tkstreet 31:8635be9b2e35 114 {
tkstreet 36:aafd15b3291b 115 if(startSensor() != AkmSensor::SUCCESS)
tkstreet 31:8635be9b2e35 116 {
tkstreet 31:8635be9b2e35 117 MSG("#AP1017: Failed to start motor.\r\n");
tkstreet 31:8635be9b2e35 118 return AkmSensor::ERROR;
tkstreet 31:8635be9b2e35 119 }
tkstreet 33:d3e1e9eb2ef9 120 else
tkstreet 33:d3e1e9eb2ef9 121 {
tkstreet 33:d3e1e9eb2ef9 122 MSG("#AP1017: Motor started.\r\n");
tkstreet 33:d3e1e9eb2ef9 123 }
tkstreet 31:8635be9b2e35 124 break;
tkstreet 31:8635be9b2e35 125 }
tkstreet 31:8635be9b2e35 126 case Message::CMD_MOTOR_STOP_MOTOR:
tkstreet 31:8635be9b2e35 127 {
tkstreet 36:aafd15b3291b 128 if(stopSensor() != AkmSensor::SUCCESS)
tkstreet 31:8635be9b2e35 129 {
tkstreet 31:8635be9b2e35 130 MSG("#AP1017: Failed to stop motor.\r\n");
tkstreet 31:8635be9b2e35 131 }
tkstreet 33:d3e1e9eb2ef9 132 else
tkstreet 33:d3e1e9eb2ef9 133 {
tkstreet 33:d3e1e9eb2ef9 134 MSG("#AP1017: Motor stopped.\r\n");
tkstreet 33:d3e1e9eb2ef9 135 }
tkstreet 31:8635be9b2e35 136 break;
tkstreet 31:8635be9b2e35 137 }
tkstreet 31:8635be9b2e35 138 case Message::CMD_MOTOR_SET_DIRECTION:
tkstreet 31:8635be9b2e35 139 {
tkstreet 32:42c6b8fb1922 140 if(ap1017->setDirection((AP1017::Rotation)(in->getArgument(0))) != AP1017::SUCCESS)
tkstreet 31:8635be9b2e35 141 {
tkstreet 31:8635be9b2e35 142 MSG("#AP1017: Failed to set motor direction.\r\n");
tkstreet 31:8635be9b2e35 143 }
tkstreet 33:d3e1e9eb2ef9 144 else
tkstreet 33:d3e1e9eb2ef9 145 {
tkstreet 33:d3e1e9eb2ef9 146 MSG("#AP1017: Direction changed.\r\n");
tkstreet 33:d3e1e9eb2ef9 147 }
tkstreet 31:8635be9b2e35 148 break;
tkstreet 31:8635be9b2e35 149 }
tkstreet 31:8635be9b2e35 150 case Message::CMD_MOTOR_SET_DUTY_CYCLE:
tkstreet 31:8635be9b2e35 151 {
tkstreet 32:42c6b8fb1922 152 if(ap1017->setSpeed((AP1017::Rotation)(in->getArgument(0))) != AP1017::SUCCESS)
tkstreet 31:8635be9b2e35 153 {
tkstreet 31:8635be9b2e35 154 MSG("#AP1017: Failed to set the duty cycle.\r\n");
tkstreet 31:8635be9b2e35 155 }
tkstreet 33:d3e1e9eb2ef9 156 else
tkstreet 33:d3e1e9eb2ef9 157 {
tkstreet 36:aafd15b3291b 158 MSG("#AP1017: Duty cycle changed: %.2f.\r\n", ap1017->getSpeed());
tkstreet 33:d3e1e9eb2ef9 159 }
tkstreet 31:8635be9b2e35 160 break;
tkstreet 31:8635be9b2e35 161 }
tkstreet 31:8635be9b2e35 162 default:
tkstreet 31:8635be9b2e35 163 {
tkstreet 33:d3e1e9eb2ef9 164 MSG("#AP1017: Invalid or unimplemented command.\r\n");
tkstreet 31:8635be9b2e35 165 status = AkmSensor::ERROR;
tkstreet 31:8635be9b2e35 166 }
tkstreet 31:8635be9b2e35 167 }
tkstreet 31:8635be9b2e35 168
tkstreet 31:8635be9b2e35 169 return status;
tkstreet 25:76c11ab5060e 170 }
tkstreet 25:76c11ab5060e 171
masahikofukasawa 47:221ec4b404ec 172 const char* Ap1017Ctrl::getSensorName()
tkstreet 25:76c11ab5060e 173 {
tkstreet 33:d3e1e9eb2ef9 174 MSG("#AP1017: Getting sensor name.\r\n");
tkstreet 33:d3e1e9eb2ef9 175
tkstreet 26:4e436b0cbaf8 176 return sensorName;
tkstreet 31:8635be9b2e35 177 }
tkstreet 31:8635be9b2e35 178
tkstreet 36:aafd15b3291b 179 // This callback function generates the period for the PWM
tkstreet 36:aafd15b3291b 180 void Ap1017Ctrl::pwmPeriod()
tkstreet 31:8635be9b2e35 181 {
tkstreet 36:aafd15b3291b 182 if(!ap1017->isMotorOn())
tkstreet 36:aafd15b3291b 183 ap1017->start();
tkstreet 36:aafd15b3291b 184 }
tkstreet 36:aafd15b3291b 185
tkstreet 36:aafd15b3291b 186 // This callback function generates period for the ON pulse
tkstreet 36:aafd15b3291b 187 void Ap1017Ctrl::pwmOnPulse()
tkstreet 36:aafd15b3291b 188 {
tkstreet 36:aafd15b3291b 189 static char pulseCounter = 0;
tkstreet 33:d3e1e9eb2ef9 190
tkstreet 36:aafd15b3291b 191 pulseCounter++;
tkstreet 36:aafd15b3291b 192
tkstreet 36:aafd15b3291b 193 if( (pulseCounter % index == 1) && ap1017->isMotorOn() )
tkstreet 36:aafd15b3291b 194 {
tkstreet 36:aafd15b3291b 195 ap1017->stop();
tkstreet 36:aafd15b3291b 196 }
tkstreet 25:76c11ab5060e 197 }