Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

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

Committer:
tkstreet
Date:
Tue May 01 21:31:15 2018 +0000
Revision:
49:c8f8946129b6
Parent:
47:221ec4b404ec 
Modified for Rev.E. compatibility.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tkstreet 25:76c11ab5060e 1 #ifndef AP1017CTRL_H
tkstreet 25:76c11ab5060e 2 #define AP1017CTRL_H
tkstreet 25:76c11ab5060e 3
tkstreet 25:76c11ab5060e 4 #include "mbed.h"
tkstreet 25:76c11ab5060e 5 #include "akmsensor.h"
tkstreet 25:76c11ab5060e 6 #include "AP1017.h"
tkstreet 25:76c11ab5060e 7
tkstreet 26:4e436b0cbaf8 8 /**
tkstreet 26:4e436b0cbaf8 9 * Class for handling commands issued to the AP1017 motor driver.
tkstreet 26:4e436b0cbaf8 10 */
tkstreet 25:76c11ab5060e 11 class Ap1017Ctrl : public AkmSensor
tkstreet 25:76c11ab5060e 12 {
tkstreet 25:76c11ab5060e 13 public:
tkstreet 25:76c11ab5060e 14
tkstreet 25:76c11ab5060e 15 /**
tkstreet 25:76c11ab5060e 16 * Device Sub-ID.
tkstreet 25:76c11ab5060e 17 */
tkstreet 25:76c11ab5060e 18 typedef enum {
masahikofukasawa 37:c76d2edf3426 19 SUB_ID_AP1017 = 0x02, /**< AP1017: ID = 02h (5bit ID)*/
tkstreet 25:76c11ab5060e 20 } SubIdMotorDriver;
tkstreet 25:76c11ab5060e 21
tkstreet 25:76c11ab5060e 22 // Constructors and Destructors
tkstreet 25:76c11ab5060e 23 Ap1017Ctrl();
tkstreet 25:76c11ab5060e 24 virtual ~Ap1017Ctrl();
tkstreet 25:76c11ab5060e 25
tkstreet 25:76c11ab5060e 26 // Public Member Functions
tkstreet 25:76c11ab5060e 27 /**
tkstreet 25:76c11ab5060e 28 * Process for intializing the selected sensor.
tkstreet 25:76c11ab5060e 29 *
tkstreet 25:76c11ab5060e 30 * @return Termination status type for debugging purposes.
tkstreet 25:76c11ab5060e 31 */
tkstreet 25:76c11ab5060e 32 virtual AkmSensor::Status init(const uint8_t id, const uint8_t subid);
tkstreet 25:76c11ab5060e 33
tkstreet 25:76c11ab5060e 34 /**
tkstreet 25:76c11ab5060e 35 * Simple flag process to determine if an event has occurred.
tkstreet 25:76c11ab5060e 36 *
tkstreet 25:76c11ab5060e 37 * @return TRUE if event has occurred, FALSE if not.
tkstreet 25:76c11ab5060e 38 */
tkstreet 25:76c11ab5060e 39 virtual bool isEvent();
tkstreet 25:76c11ab5060e 40
tkstreet 25:76c11ab5060e 41 /**
tkstreet 25:76c11ab5060e 42 * Process abstraction for starting sensor operation.
tkstreet 25:76c11ab5060e 43 *
tkstreet 25:76c11ab5060e 44 * @return Termination status type for debugging purposes.
tkstreet 25:76c11ab5060e 45 */
tkstreet 25:76c11ab5060e 46 virtual AkmSensor::Status startSensor();
tkstreet 25:76c11ab5060e 47
tkstreet 25:76c11ab5060e 48 /**
tkstreet 25:76c11ab5060e 49 * Process abstraction for starting sensor operation.
tkstreet 25:76c11ab5060e 50 *
tkstreet 36:aafd15b3291b 51 * @param freq PWM frequency in Hz (2000 Hz by default).
tkstreet 25:76c11ab5060e 52 * @return Termination status type for debugging purposes.
tkstreet 25:76c11ab5060e 53 */
tkstreet 36:aafd15b3291b 54 virtual AkmSensor::Status startSensor(const float freq);
tkstreet 25:76c11ab5060e 55
tkstreet 25:76c11ab5060e 56 /**
tkstreet 25:76c11ab5060e 57 * Process abstraction for stopping sensor operation.
tkstreet 25:76c11ab5060e 58 *
tkstreet 25:76c11ab5060e 59 * @return Termination status type for debugging purposes.
tkstreet 25:76c11ab5060e 60 */
tkstreet 25:76c11ab5060e 61 virtual AkmSensor::Status stopSensor();
tkstreet 25:76c11ab5060e 62
tkstreet 25:76c11ab5060e 63 /**
tkstreet 25:76c11ab5060e 64 * Process abstraction for reading data from the sensor.
tkstreet 25:76c11ab5060e 65 *
tkstreet 25:76c11ab5060e 66 * @param msg Message object that will hold the sensor data.
tkstreet 25:76c11ab5060e 67 * @return Termination status type for debugging purposes.
tkstreet 25:76c11ab5060e 68 */
tkstreet 25:76c11ab5060e 69 virtual AkmSensor::Status readSensorData(Message* msg);
tkstreet 25:76c11ab5060e 70
tkstreet 25:76c11ab5060e 71 /**
tkstreet 25:76c11ab5060e 72 * Primary process for interfacing a sensor with the AKDP. When implemented
tkstreet 25:76c11ab5060e 73 * in sensor class, it will transfer commands between the the sensor control
tkstreet 25:76c11ab5060e 74 * class and AkmSensorManager.
tkstreet 25:76c11ab5060e 75 *
tkstreet 25:76c11ab5060e 76 * @param in Command message to be processed by sensor.
tkstreet 25:76c11ab5060e 77 * @param out Message returned from sensor.
tkstreet 25:76c11ab5060e 78 * @return Termination status type for debugging purposes.
tkstreet 25:76c11ab5060e 79 */
tkstreet 25:76c11ab5060e 80 virtual Status requestCommand(Message* in, Message* out);
tkstreet 25:76c11ab5060e 81
tkstreet 25:76c11ab5060e 82 /**
tkstreet 25:76c11ab5060e 83 * Get the name of the sensor in char format.
tkstreet 25:76c11ab5060e 84 *
tkstreet 25:76c11ab5060e 85 * @return Sensor name as a char array.
tkstreet 25:76c11ab5060e 86 */
masahikofukasawa 47:221ec4b404ec 87 virtual const char* getSensorName();
tkstreet 26:4e436b0cbaf8 88
tkstreet 36:aafd15b3291b 89 // Interrupt Service Routines
tkstreet 36:aafd15b3291b 90 void pwmPeriod();
tkstreet 36:aafd15b3291b 91 void pwmOnPulse();
tkstreet 25:76c11ab5060e 92
tkstreet 25:76c11ab5060e 93 private:
tkstreet 25:76c11ab5060e 94 uint8_t primaryId;
tkstreet 25:76c11ab5060e 95 uint8_t subId;
masahikofukasawa 47:221ec4b404ec 96 const char* sensorName;
tkstreet 25:76c11ab5060e 97
tkstreet 36:aafd15b3291b 98 DigitalOut* inputA;
tkstreet 36:aafd15b3291b 99 DigitalOut* inputB;
tkstreet 49:c8f8946129b6 100 DigitalOut* enable;
tkstreet 36:aafd15b3291b 101
tkstreet 25:76c11ab5060e 102 AP1017* ap1017;
tkstreet 36:aafd15b3291b 103 Ticker pwm;
tkstreet 36:aafd15b3291b 104 Ticker pulse;
tkstreet 36:aafd15b3291b 105 uint8_t index;
tkstreet 36:aafd15b3291b 106 float freq;
tkstreet 26:4e436b0cbaf8 107 float interval; // Timer interrupt interval
tkstreet 25:76c11ab5060e 108 };
tkstreet 25:76c11ab5060e 109
tkstreet 25:76c11ab5060e 110 #endif