Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

akmsensormanager.cpp@13:d008249f0359, 2016-08-12 (annotated)

Committer:
masahikofukasawa
Date:
Fri Aug 12 00:04:48 2016 +0000
Revision:
13:d008249f0359
Parent:
12:c06cd8b76358
Child:
15:1238993fd75f
Ver008. Modified for faster BLE connection, and sensor name in the BLE device name.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
masahikofukasawa 0:7a00359e701e 1 #include "ble/services/UARTService.h"
masahikofukasawa 0:7a00359e701e 2 #include "akmsensormanager.h"
masahikofukasawa 0:7a00359e701e 3 #include "akmhallswitch.h"
masahikofukasawa 11:cef8dc1cf010 4 #include "akmanalogsensor.h"
masahikofukasawa 10:5c69b067d88a 5 #include "ak09970ctrl.h"
masahikofukasawa 10:5c69b067d88a 6 #include "ak9750ctrl.h"
masahikofukasawa 10:5c69b067d88a 7 #include "ak9752ctrl.h"
masahikofukasawa 11:cef8dc1cf010 8 #include "ak7451ctrl.h"
masahikofukasawa 10:5c69b067d88a 9 #include "ak7401ctrl.h"
masahikofukasawa 0:7a00359e701e 10 #include "akmakd.h"
masahikofukasawa 0:7a00359e701e 11 #include "debug.h"
masahikofukasawa 0:7a00359e701e 12 #include "Message.h"
coisme 2:11fe67783c4c 13 #ifdef REV_D
coisme 2:11fe67783c4c 14 #include "mcp342x.h"
masahikofukasawa 6:c4401549d68f 15 #include "I2CNano.h"
masahikofukasawa 7:e269411568c9 16 #include "tca9554a.h"
coisme 2:11fe67783c4c 17 #endif
masahikofukasawa 0:7a00359e701e 18
masahikofukasawa 11:cef8dc1cf010 19 #define CR '\r'
masahikofukasawa 11:cef8dc1cf010 20 #define LF '\n'
masahikofukasawa 0:7a00359e701e 21 #define FIRMWARE_VERSION 0x02
masahikofukasawa 0:7a00359e701e 22 #define MAGNETOMETER_ID 0x0A
masahikofukasawa 0:7a00359e701e 23
masahikofukasawa 0:7a00359e701e 24 #define CONV16I(high,low) ((int16_t)(((high) << 8) | (low)))
masahikofukasawa 0:7a00359e701e 25
masahikofukasawa 0:7a00359e701e 26
masahikofukasawa 10:5c69b067d88a 27 const char* AKM_PRIMARY_ID_STR[] = {
masahikofukasawa 7:e269411568c9 28 "AKD Daughter Cards(SPI)",
masahikofukasawa 0:7a00359e701e 29 "Switch, Unipolar",
masahikofukasawa 0:7a00359e701e 30 "Switch, Onmipolar",
masahikofukasawa 0:7a00359e701e 31 "Latch, Bipolar",
masahikofukasawa 0:7a00359e701e 32 "Switch, Dual Output",
masahikofukasawa 0:7a00359e701e 33 "Onechip Encoder",
masahikofukasawa 0:7a00359e701e 34 "TBD1",
masahikofukasawa 0:7a00359e701e 35 "TBD2",
masahikofukasawa 0:7a00359e701e 36 "Linear Sensor Legacy",
masahikofukasawa 0:7a00359e701e 37 "Current Sensor",
masahikofukasawa 0:7a00359e701e 38 "MISC(Analog)",
masahikofukasawa 0:7a00359e701e 39 "Linear Sensor",
masahikofukasawa 4:af13b985c689 40 "TBD3",
masahikofukasawa 1:b46b8653331f 41 "IR Sensor",
masahikofukasawa 7:e269411568c9 42 "Angle Sensor(SPI)",
masahikofukasawa 10:5c69b067d88a 43 "AKD Daughter Cards(I2C)"
masahikofukasawa 0:7a00359e701e 44 };
masahikofukasawa 0:7a00359e701e 45
masahikofukasawa 13:d008249f0359 46 AkmSensorManager::AkmSensorManager(SerialNano* com)
masahikofukasawa 0:7a00359e701e 47 {
masahikofukasawa 0:7a00359e701e 48 serial = com;
masahikofukasawa 0:7a00359e701e 49 isEnabledUsb = true;
masahikofukasawa 0:7a00359e701e 50 eventCommandReceived = false;
masahikofukasawa 0:7a00359e701e 51 eventConnected = false;
masahikofukasawa 0:7a00359e701e 52 eventDisconnected = false;
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 0:7a00359e701e 59 sensor = AkmSensorManager::getAkmSensor();
masahikofukasawa 0:7a00359e701e 60 if(sensor == NULL) return AkmSensorManager::ERROR;
masahikofukasawa 0:7a00359e701e 61 return AkmSensorManager::SUCCESS;
masahikofukasawa 0:7a00359e701e 62 }
masahikofukasawa 0:7a00359e701e 63
masahikofukasawa 13:d008249f0359 64
masahikofukasawa 13:d008249f0359 65 void AkmSensorManager::setBleUartService(UARTService* service)
masahikofukasawa 13:d008249f0359 66 {
masahikofukasawa 13:d008249f0359 67 uartService = service;
masahikofukasawa 13:d008249f0359 68 isEnabledBle = true;
masahikofukasawa 13:d008249f0359 69 }
masahikofukasawa 13:d008249f0359 70
masahikofukasawa 0:7a00359e701e 71 void AkmSensorManager::setEventConnected()
masahikofukasawa 0:7a00359e701e 72 {
masahikofukasawa 0:7a00359e701e 73 eventConnected = true;
masahikofukasawa 0:7a00359e701e 74 }
masahikofukasawa 0:7a00359e701e 75
masahikofukasawa 0:7a00359e701e 76 void AkmSensorManager::setEventDisconnected()
masahikofukasawa 0:7a00359e701e 77 {
masahikofukasawa 0:7a00359e701e 78 eventDisconnected = true;
masahikofukasawa 0:7a00359e701e 79 }
masahikofukasawa 0:7a00359e701e 80
masahikofukasawa 0:7a00359e701e 81 AkmSensor* AkmSensorManager::getAkmSensor()
masahikofukasawa 0:7a00359e701e 82 {
masahikofukasawa 0:7a00359e701e 83 AkmSensor* sensor = NULL;
masahikofukasawa 0:7a00359e701e 84
masahikofukasawa 10:5c69b067d88a 85 switch(primaryId){
masahikofukasawa 7:e269411568c9 86 case AkmSensor::AKM_PRIMARY_ID_AKD_SPI:
masahikofukasawa 0:7a00359e701e 87 case AkmSensor::AKM_PRIMARY_ID_AKD_I2C:
masahikofukasawa 10:5c69b067d88a 88 {
masahikofukasawa 10:5c69b067d88a 89 if(subId != Ak09970Ctrl::SUB_ID_AK09970){
masahikofukasawa 10:5c69b067d88a 90 AkmAkd* akd = new AkmAkd();
masahikofukasawa 10:5c69b067d88a 91 sensor = akd;
masahikofukasawa 10:5c69b067d88a 92 }
masahikofukasawa 10:5c69b067d88a 93 else{
masahikofukasawa 10:5c69b067d88a 94 Ak09970Ctrl* ak09970 = new Ak09970Ctrl();
masahikofukasawa 10:5c69b067d88a 95 sensor = ak09970;
masahikofukasawa 10:5c69b067d88a 96 }
masahikofukasawa 0:7a00359e701e 97 break;
masahikofukasawa 10:5c69b067d88a 98 }
masahikofukasawa 0:7a00359e701e 99 case AkmSensor::AKM_PRIMARY_ID_ANGLE_SENSOR:
masahikofukasawa 10:5c69b067d88a 100 {
masahikofukasawa 11:cef8dc1cf010 101 if(subId == Ak7451Ctrl::SUB_ID_AK7451){
masahikofukasawa 11:cef8dc1cf010 102 Ak7451Ctrl* ak7451ctrl = new Ak7451Ctrl();
masahikofukasawa 11:cef8dc1cf010 103 sensor = ak7451ctrl;
masahikofukasawa 10:5c69b067d88a 104 break;
masahikofukasawa 10:5c69b067d88a 105 }
masahikofukasawa 10:5c69b067d88a 106 else if(subId == Ak7401Ctrl::SUB_ID_AK7401){
masahikofukasawa 10:5c69b067d88a 107 Ak7401Ctrl* ak7401ctrl = new Ak7401Ctrl();
masahikofukasawa 10:5c69b067d88a 108 sensor = ak7401ctrl;
masahikofukasawa 10:5c69b067d88a 109 break;
masahikofukasawa 10:5c69b067d88a 110 }
masahikofukasawa 0:7a00359e701e 111 break;
masahikofukasawa 10:5c69b067d88a 112 }
masahikofukasawa 0:7a00359e701e 113 case AkmSensor::AKM_PRIMARY_ID_UNIPOLAR:
masahikofukasawa 0:7a00359e701e 114 case AkmSensor::AKM_PRIMARY_ID_OMNIPOLAR:
masahikofukasawa 0:7a00359e701e 115 case AkmSensor::AKM_PRIMARY_ID_LATCH:
masahikofukasawa 0:7a00359e701e 116 case AkmSensor::AKM_PRIMARY_ID_DUAL_OUTPUT:
masahikofukasawa 0:7a00359e701e 117 case AkmSensor::AKM_PRIMARY_ID_ONECHIP_ENCODER:
masahikofukasawa 10:5c69b067d88a 118 {
masahikofukasawa 10:5c69b067d88a 119 AkmHallSwitch* hallswitch = new AkmHallSwitch();
masahikofukasawa 0:7a00359e701e 120 sensor = hallswitch;
masahikofukasawa 0:7a00359e701e 121 break;
masahikofukasawa 10:5c69b067d88a 122 }
masahikofukasawa 0:7a00359e701e 123 case AkmSensor::AKM_PRIMARY_ID_LINEAR_SENSOR_LEGACY:
masahikofukasawa 4:af13b985c689 124 case AkmSensor::AKM_PRIMARY_ID_LINEAR_SENSOR:
masahikofukasawa 10:5c69b067d88a 125 case AkmSensor::AKM_PRIMARY_ID_CURRENT_SENSOR:
masahikofukasawa 10:5c69b067d88a 126 case AkmSensor::AKM_PRIMARY_ID_MISC_ANALOG:
masahikofukasawa 10:5c69b067d88a 127 {
masahikofukasawa 11:cef8dc1cf010 128 AkmAnalogSensor* analogsensor = new AkmAnalogSensor();
masahikofukasawa 11:cef8dc1cf010 129 sensor = analogsensor;
masahikofukasawa 0:7a00359e701e 130 break;
masahikofukasawa 10:5c69b067d88a 131 }
masahikofukasawa 1:b46b8653331f 132 case AkmSensor::AKM_PRIMARY_ID_IR_SENSOR:
masahikofukasawa 10:5c69b067d88a 133 {
masahikofukasawa 10:5c69b067d88a 134 if(subId == Ak9750Ctrl::SUB_ID_AK9750){
masahikofukasawa 10:5c69b067d88a 135 Ak9750Ctrl* ak9750ctrl = new Ak9750Ctrl();
masahikofukasawa 10:5c69b067d88a 136 sensor = ak9750ctrl;
masahikofukasawa 10:5c69b067d88a 137 }else if(subId == Ak9752Ctrl::SUB_ID_AK9752){
masahikofukasawa 10:5c69b067d88a 138 Ak9752Ctrl* ak9752ctrl = new Ak9752Ctrl();
masahikofukasawa 10:5c69b067d88a 139 sensor = ak9752ctrl;
masahikofukasawa 10:5c69b067d88a 140 }else{
masahikofukasawa 10:5c69b067d88a 141 return NULL; // couldn't find
masahikofukasawa 10:5c69b067d88a 142 }
masahikofukasawa 10:5c69b067d88a 143
masahikofukasawa 1:b46b8653331f 144 break;
masahikofukasawa 10:5c69b067d88a 145 }
masahikofukasawa 0:7a00359e701e 146 default:
masahikofukasawa 10:5c69b067d88a 147 {
masahikofukasawa 10:5c69b067d88a 148 MSG("#Can't find ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
masahikofukasawa 0:7a00359e701e 149 return NULL; // couldn't find
masahikofukasawa 10:5c69b067d88a 150 }
masahikofukasawa 0:7a00359e701e 151 }
masahikofukasawa 11:cef8dc1cf010 152
masahikofukasawa 10:5c69b067d88a 153 if(sensor->init(primaryId, subId) != AkmSensor::SUCCESS){
masahikofukasawa 10:5c69b067d88a 154 MSG("#sensor->init failed. ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
masahikofukasawa 0:7a00359e701e 155 return NULL; // couldn't find
masahikofukasawa 0:7a00359e701e 156 }
masahikofukasawa 0:7a00359e701e 157
masahikofukasawa 10:5c69b067d88a 158 MSG("#ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
masahikofukasawa 0:7a00359e701e 159 return sensor;
masahikofukasawa 0:7a00359e701e 160 }
masahikofukasawa 0:7a00359e701e 161
masahikofukasawa 0:7a00359e701e 162 AkmSensorManager::Status AkmSensorManager::commandReceived(char* buf){
masahikofukasawa 0:7a00359e701e 163 // Construct message
masahikofukasawa 0:7a00359e701e 164 Status status = SUCCESS;
masahikofukasawa 0:7a00359e701e 165
masahikofukasawa 10:5c69b067d88a 166 if ((Message::parse(&msg, buf)) != Message::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 167 MSG("#Failed to parse message. %s\r\n", buf);
masahikofukasawa 0:7a00359e701e 168 status = ERROR;
masahikofukasawa 0:7a00359e701e 169 eventCommandReceived = false;
masahikofukasawa 0:7a00359e701e 170 }
masahikofukasawa 0:7a00359e701e 171 eventCommandReceived = true;
masahikofukasawa 0:7a00359e701e 172 return status;
masahikofukasawa 0:7a00359e701e 173 }
masahikofukasawa 0:7a00359e701e 174
coisme 2:11fe67783c4c 175 #ifdef REV_D
coisme 2:11fe67783c4c 176 int16_t AkmSensorManager::getAdcData(MCP342X *mcp3428, MCP342X::AdcChannel ch, MCP342X::SampleSetting s) {
coisme 2:11fe67783c4c 177 const int WAIT_ADC_MS = 1;
coisme 2:11fe67783c4c 178
coisme 2:11fe67783c4c 179 // Configure channel and trigger.
coisme 2:11fe67783c4c 180 mcp3428->setChannel(ch);
coisme 2:11fe67783c4c 181 mcp3428->setSampleSetting(s);
coisme 2:11fe67783c4c 182 mcp3428->trigger();
coisme 2:11fe67783c4c 183
coisme 2:11fe67783c4c 184 // polling data (!blocking)
coisme 2:11fe67783c4c 185 MCP342X::Data data;
coisme 2:11fe67783c4c 186 do {
coisme 2:11fe67783c4c 187 wait_ms(WAIT_ADC_MS);
coisme 2:11fe67783c4c 188 mcp3428->getData(&data);
coisme 2:11fe67783c4c 189 } while(data.st == MCP342X::DATA_NOT_UPDATED);
coisme 2:11fe67783c4c 190
coisme 2:11fe67783c4c 191 return data.value;
coisme 2:11fe67783c4c 192 }
coisme 2:11fe67783c4c 193 #endif
masahikofukasawa 0:7a00359e701e 194
masahikofukasawa 0:7a00359e701e 195 uint8_t AkmSensorManager::getId(PinName pin, uint8_t bits)
masahikofukasawa 0:7a00359e701e 196 {
coisme 2:11fe67783c4c 197 #ifndef REV_D
coisme 2:11fe67783c4c 198 /* Rev.C */
masahikofukasawa 0:7a00359e701e 199 AnalogIn id(pin);
masahikofukasawa 11:cef8dc1cf010 200 MSG("#Voltage=%5.2f[V]\r\n",id*3.0);
masahikofukasawa 0:7a00359e701e 201 double s = id + 1.0/(double)(pow(2.0,bits+1));
masahikofukasawa 0:7a00359e701e 202 uint8_t value = (uint8_t)(s*pow(2.0,bits));
coisme 2:11fe67783c4c 203 #else
coisme 2:11fe67783c4c 204 /* Rev.D */
masahikofukasawa 11:cef8dc1cf010 205 MSG("#GetID\r\n");
masahikofukasawa 6:c4401549d68f 206
masahikofukasawa 6:c4401549d68f 207 I2C i2c(I2C_SDA, I2C_SCL);
coisme 2:11fe67783c4c 208 // ADC
coisme 2:11fe67783c4c 209 MCP342X mcp342x(&i2c, MCP342X::SLAVE_ADDRESS_6EH);
coisme 2:11fe67783c4c 210 mcp342x.setConversionMode(MCP342X::ONE_SHOT);
coisme 2:11fe67783c4c 211 MCP342X::AdcChannel ch;
coisme 2:11fe67783c4c 212 if (pin == ANALOG_SENSOR_ID) {
coisme 2:11fe67783c4c 213 ch = MCP342X::ADC_CH1;
coisme 2:11fe67783c4c 214 } else { // pin == ANALOG_SENSOR_ID_SUB
coisme 2:11fe67783c4c 215 ch = MCP342X::ADC_CH2;
coisme 2:11fe67783c4c 216 }
coisme 2:11fe67783c4c 217 int16_t val = getAdcData(&mcp342x, ch, MCP342X::SAMPLE_240HZ_12BIT);
masahikofukasawa 11:cef8dc1cf010 218 MSG("#12bit ADC Val = %d.\r\n", val);
coisme 2:11fe67783c4c 219
coisme 2:11fe67783c4c 220 const int16_t VAL_MAX = 3000-2048; // Corresponds to 3V
coisme 2:11fe67783c4c 221 const int16_t VAL_MIN = -2048; // Corresponds to 0V
coisme 2:11fe67783c4c 222
masahikofukasawa 6:c4401549d68f 223 uint8_t value = (uint8_t)((val - VAL_MIN)/(float)(VAL_MAX - VAL_MIN) * (1 << bits) + 0.5);
masahikofukasawa 11:cef8dc1cf010 224 MSG("#ID = %d.\r\n", value);
masahikofukasawa 6:c4401549d68f 225
coisme 2:11fe67783c4c 226 #endif
masahikofukasawa 0:7a00359e701e 227 return value;
masahikofukasawa 0:7a00359e701e 228 }
masahikofukasawa 0:7a00359e701e 229
masahikofukasawa 0:7a00359e701e 230 bool AkmSensorManager::isEvent()
masahikofukasawa 0:7a00359e701e 231 {
masahikofukasawa 0:7a00359e701e 232 return (sensor->isEvent() ||
masahikofukasawa 0:7a00359e701e 233 eventCommandReceived ||
masahikofukasawa 0:7a00359e701e 234 eventConnected ||
masahikofukasawa 0:7a00359e701e 235 eventDisconnected);
masahikofukasawa 0:7a00359e701e 236 }
masahikofukasawa 0:7a00359e701e 237
masahikofukasawa 0:7a00359e701e 238
masahikofukasawa 0:7a00359e701e 239 void AkmSensorManager::processCommand()
masahikofukasawa 0:7a00359e701e 240 {
masahikofukasawa 0:7a00359e701e 241 AkmSensorManager::Status status = AkmSensorManager::SUCCESS;
masahikofukasawa 0:7a00359e701e 242
masahikofukasawa 0:7a00359e701e 243 // Gets command in the message
masahikofukasawa 0:7a00359e701e 244 Message::Command cmd = msg.getCommand();
masahikofukasawa 0:7a00359e701e 245
masahikofukasawa 0:7a00359e701e 246 // Creates an message object to return
masahikofukasawa 0:7a00359e701e 247 Message resMsg;
masahikofukasawa 0:7a00359e701e 248
masahikofukasawa 0:7a00359e701e 249 // Return message has the same command as input
masahikofukasawa 0:7a00359e701e 250 resMsg.setCommand(cmd);
masahikofukasawa 0:7a00359e701e 251
masahikofukasawa 0:7a00359e701e 252 switch(cmd)
masahikofukasawa 0:7a00359e701e 253 {
masahikofukasawa 0:7a00359e701e 254 case Message::CMD_GET_FW_VERSION:
masahikofukasawa 11:cef8dc1cf010 255 {
masahikofukasawa 0:7a00359e701e 256 resMsg.setArgument(0, FIRMWARE_VERSION);
masahikofukasawa 0:7a00359e701e 257 throwMessage(&resMsg);
masahikofukasawa 11:cef8dc1cf010 258 MSG("#FW version is reported.\r\n");
masahikofukasawa 0:7a00359e701e 259 break;
masahikofukasawa 11:cef8dc1cf010 260 }
masahikofukasawa 0:7a00359e701e 261 case Message::CMD_GET_MAG_PART:
masahikofukasawa 11:cef8dc1cf010 262 {
masahikofukasawa 0:7a00359e701e 263 resMsg.setArgument(0, MAGNETOMETER_ID);
masahikofukasawa 0:7a00359e701e 264 throwMessage(&resMsg);
masahikofukasawa 11:cef8dc1cf010 265 MSG("#Mag ID is reported.\r\n");
masahikofukasawa 0:7a00359e701e 266 break;
masahikofukasawa 11:cef8dc1cf010 267 }
masahikofukasawa 0:7a00359e701e 268 case Message::CMD_SET_SERIAL_TARGET:
masahikofukasawa 11:cef8dc1cf010 269 {
masahikofukasawa 0:7a00359e701e 270 isEnabledBle = msg.getArgument(0)==Message::SW_ON ? true : false;
masahikofukasawa 0:7a00359e701e 271 isEnabledUsb = msg.getArgument(1)==Message::SW_ON ? true : false;
masahikofukasawa 0:7a00359e701e 272 break;
masahikofukasawa 11:cef8dc1cf010 273 }
masahikofukasawa 0:7a00359e701e 274 case Message::CMD_GET_ID: // return Primary ID and Sub ID
masahikofukasawa 11:cef8dc1cf010 275 {
masahikofukasawa 10:5c69b067d88a 276 resMsg.setArgument(0, primaryId);
masahikofukasawa 0:7a00359e701e 277 resMsg.setArgument(1, subId);
masahikofukasawa 0:7a00359e701e 278 throwMessage(&resMsg);
masahikofukasawa 11:cef8dc1cf010 279 MSG("#Mag ID is reported.\r\n");
masahikofukasawa 0:7a00359e701e 280 break;
masahikofukasawa 11:cef8dc1cf010 281 }
masahikofukasawa 0:7a00359e701e 282 case Message::CMD_STOP_MEASUREMENT:
masahikofukasawa 11:cef8dc1cf010 283 {
masahikofukasawa 0:7a00359e701e 284 if( sensor->stopSensor() != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
masahikofukasawa 0:7a00359e701e 285 resMsg.setArgument(0, status==AkmSensorManager::SUCCESS ? 0 : 1);
masahikofukasawa 0:7a00359e701e 286 throwMessage(&resMsg);
masahikofukasawa 11:cef8dc1cf010 287 MSG("#Stop measurement.\r\n");
masahikofukasawa 0:7a00359e701e 288 break;
masahikofukasawa 11:cef8dc1cf010 289 }
masahikofukasawa 0:7a00359e701e 290 case Message::CMD_START_MEASUREMENT:
masahikofukasawa 11:cef8dc1cf010 291 {
masahikofukasawa 11:cef8dc1cf010 292 int error_code = AkmSensor::SUCCESS;
masahikofukasawa 11:cef8dc1cf010 293 if(msg.getArgNum() == 0){
masahikofukasawa 11:cef8dc1cf010 294 error_code = sensor->startSensor();
masahikofukasawa 11:cef8dc1cf010 295 if( error_code != AkmSensor::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 296 MSG("#StartSensor Error. Code=%d\r\n",error_code);
masahikofukasawa 11:cef8dc1cf010 297 }
masahikofukasawa 11:cef8dc1cf010 298 else{
masahikofukasawa 11:cef8dc1cf010 299 MSG("#Start measurement.\r\n");
masahikofukasawa 11:cef8dc1cf010 300 }
masahikofukasawa 11:cef8dc1cf010 301 }else if(msg.getArgNum() == 1){
masahikofukasawa 11:cef8dc1cf010 302 float interval = (float)(1.0 / (float)msg.getArgument(0));
masahikofukasawa 11:cef8dc1cf010 303 error_code = sensor->startSensor(interval);
masahikofukasawa 11:cef8dc1cf010 304 if( error_code != AkmSensor::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 305 MSG("#StartSensor Error. Code=%d\r\n",error_code);
masahikofukasawa 11:cef8dc1cf010 306 }
masahikofukasawa 11:cef8dc1cf010 307 else{
masahikofukasawa 11:cef8dc1cf010 308 MSG("#Start measurement.\r\n");
masahikofukasawa 11:cef8dc1cf010 309 }
masahikofukasawa 11:cef8dc1cf010 310 }else{
masahikofukasawa 11:cef8dc1cf010 311 MSG("#StartSensor Error. Wrong Argument num.\r\n");
masahikofukasawa 11:cef8dc1cf010 312 }
masahikofukasawa 11:cef8dc1cf010 313 if(error_code == AkmSensor::SUCCESS){
masahikofukasawa 11:cef8dc1cf010 314 // get initial sensor state for switch type sensors
masahikofukasawa 11:cef8dc1cf010 315 if( primaryId == AkmSensor::AKM_PRIMARY_ID_UNIPOLAR ||
masahikofukasawa 11:cef8dc1cf010 316 primaryId == AkmSensor::AKM_PRIMARY_ID_OMNIPOLAR ||
masahikofukasawa 11:cef8dc1cf010 317 primaryId == AkmSensor::AKM_PRIMARY_ID_LATCH ||
masahikofukasawa 11:cef8dc1cf010 318 primaryId == AkmSensor::AKM_PRIMARY_ID_DUAL_OUTPUT ||
masahikofukasawa 11:cef8dc1cf010 319 primaryId == AkmSensor::AKM_PRIMARY_ID_ONECHIP_ENCODER ){
masahikofukasawa 11:cef8dc1cf010 320 Message temp;
masahikofukasawa 11:cef8dc1cf010 321 sensor->readSensorData(&temp);
masahikofukasawa 11:cef8dc1cf010 322 throwMessage(&temp);
masahikofukasawa 11:cef8dc1cf010 323 }
masahikofukasawa 0:7a00359e701e 324 }
masahikofukasawa 0:7a00359e701e 325 break;
masahikofukasawa 11:cef8dc1cf010 326 }
masahikofukasawa 9:6fa3e7b17c27 327 case Message::CMD_PROGSW_GET_THRESHOLD:
masahikofukasawa 9:6fa3e7b17c27 328 case Message::CMD_PROGSW_SET_THRESHOLD:
masahikofukasawa 9:6fa3e7b17c27 329 case Message::CMD_PROGSW_GET_READ_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 330 case Message::CMD_PROGSW_SET_READ_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 331 case Message::CMD_PROGSW_GET_SWITCH_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 332 case Message::CMD_PROGSW_SET_SWITCH_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 333 case Message::CMD_PROGSW_GET_OPERATION_MODE:
masahikofukasawa 9:6fa3e7b17c27 334 case Message::CMD_PROGSW_SET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 335 case Message::CMD_IR_GET_THRESHOLD:
masahikofukasawa 1:b46b8653331f 336 case Message::CMD_IR_SET_THRESHOLD:
masahikofukasawa 1:b46b8653331f 337 case Message::CMD_IR_GET_HYSTERESIS:
masahikofukasawa 1:b46b8653331f 338 case Message::CMD_IR_SET_HYSTERESIS:
masahikofukasawa 1:b46b8653331f 339 case Message::CMD_IR_GET_INTERRUPT:
masahikofukasawa 1:b46b8653331f 340 case Message::CMD_IR_SET_INTERRUPT:
masahikofukasawa 1:b46b8653331f 341 case Message::CMD_IR_GET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 342 case Message::CMD_IR_SET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 343 case Message::CMD_IR_GET_THRESHOLD_EEPROM:
masahikofukasawa 1:b46b8653331f 344 case Message::CMD_IR_SET_THRESHOLD_EEPROM:
masahikofukasawa 1:b46b8653331f 345 case Message::CMD_IR_GET_HYSTERESIS_EEPROM:
masahikofukasawa 1:b46b8653331f 346 case Message::CMD_IR_SET_HYSTERESIS_EEPROM:
masahikofukasawa 1:b46b8653331f 347 case Message::CMD_IR_GET_INTERRUPT_EEPROM:
masahikofukasawa 1:b46b8653331f 348 case Message::CMD_IR_SET_INTERRUPT_EEPROM:
masahikofukasawa 1:b46b8653331f 349 case Message::CMD_IR_GET_OPERATION_MODE_EEPROM:
masahikofukasawa 1:b46b8653331f 350 case Message::CMD_IR_SET_OPERATION_MODE_EEPROM:
masahikofukasawa 9:6fa3e7b17c27 351 case Message::CMD_ANGLE_ZERO_RESET:
masahikofukasawa 9:6fa3e7b17c27 352 case Message::CMD_REG_WRITE:
masahikofukasawa 9:6fa3e7b17c27 353 case Message::CMD_REG_WRITEN:
masahikofukasawa 9:6fa3e7b17c27 354 case Message::CMD_REG_READ:
masahikofukasawa 9:6fa3e7b17c27 355 case Message::CMD_REG_READN:
masahikofukasawa 9:6fa3e7b17c27 356 case Message::CMD_COMPASS_GET_OPERATION_MODE:
masahikofukasawa 9:6fa3e7b17c27 357 case Message::CMD_COMPASS_SET_OPERATION_MODE:
masahikofukasawa 11:cef8dc1cf010 358 {
masahikofukasawa 0:7a00359e701e 359 sensor->requestCommand(&msg,&resMsg);
masahikofukasawa 0:7a00359e701e 360 throwMessage(&resMsg);
masahikofukasawa 0:7a00359e701e 361 break;
masahikofukasawa 11:cef8dc1cf010 362 }
masahikofukasawa 0:7a00359e701e 363 default:
masahikofukasawa 11:cef8dc1cf010 364 {
masahikofukasawa 11:cef8dc1cf010 365 MSG("#Can't find command:%s\r\n", (char)cmd);
masahikofukasawa 0:7a00359e701e 366 break;
masahikofukasawa 11:cef8dc1cf010 367 }
masahikofukasawa 0:7a00359e701e 368 }
masahikofukasawa 0:7a00359e701e 369 }
masahikofukasawa 0:7a00359e701e 370
masahikofukasawa 0:7a00359e701e 371 AkmSensorManager::Status AkmSensorManager::processEvent()
masahikofukasawa 0:7a00359e701e 372 {
masahikofukasawa 0:7a00359e701e 373 AkmSensorManager::Status status = AkmSensorManager::SUCCESS;
masahikofukasawa 0:7a00359e701e 374
masahikofukasawa 0:7a00359e701e 375 // command received from the host
masahikofukasawa 0:7a00359e701e 376 if(eventCommandReceived)
masahikofukasawa 0:7a00359e701e 377 {
masahikofukasawa 0:7a00359e701e 378 processCommand();
masahikofukasawa 0:7a00359e701e 379 eventCommandReceived = false;
masahikofukasawa 0:7a00359e701e 380 }
masahikofukasawa 0:7a00359e701e 381 if(sensor->isEvent()) // sensor read data event
masahikofukasawa 0:7a00359e701e 382 {
masahikofukasawa 0:7a00359e701e 383 Message msg;
masahikofukasawa 0:7a00359e701e 384 if( sensor->readSensorData(&msg) != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
masahikofukasawa 0:7a00359e701e 385 throwMessage(&msg);
masahikofukasawa 0:7a00359e701e 386 }
masahikofukasawa 0:7a00359e701e 387
masahikofukasawa 0:7a00359e701e 388 if(eventConnected) // BLE connected. Start sensor.
masahikofukasawa 0:7a00359e701e 389 {
masahikofukasawa 0:7a00359e701e 390 eventConnected = false;
masahikofukasawa 12:c06cd8b76358 391 MSG("#BLE connected.\r\n");
masahikofukasawa 0:7a00359e701e 392 }
masahikofukasawa 0:7a00359e701e 393 if(eventDisconnected) // BLE dis-connected. Stop sensor.
masahikofukasawa 0:7a00359e701e 394 {
masahikofukasawa 12:c06cd8b76358 395 MSG("#BLE dis-connected.\r\n");
masahikofukasawa 0:7a00359e701e 396 if( sensor->stopSensor() != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
masahikofukasawa 12:c06cd8b76358 397 eventDisconnected = false;
masahikofukasawa 0:7a00359e701e 398 }
masahikofukasawa 0:7a00359e701e 399 return status;
masahikofukasawa 0:7a00359e701e 400 }
masahikofukasawa 0:7a00359e701e 401
masahikofukasawa 0:7a00359e701e 402 AkmSensorManager::Status AkmSensorManager::throwMessage(const Message *msg) {
masahikofukasawa 0:7a00359e701e 403 int len = Message::getMaxMessageLength();
masahikofukasawa 0:7a00359e701e 404 char buf[len];
masahikofukasawa 0:7a00359e701e 405
masahikofukasawa 0:7a00359e701e 406 buf[0] = '$';
masahikofukasawa 0:7a00359e701e 407
masahikofukasawa 0:7a00359e701e 408 // Processes command
masahikofukasawa 0:7a00359e701e 409 char cmd = (char)msg->getCommand();
masahikofukasawa 0:7a00359e701e 410 Message::charToAscii(&buf[1], &cmd);
masahikofukasawa 0:7a00359e701e 411
masahikofukasawa 0:7a00359e701e 412 // Processes arguments
masahikofukasawa 0:7a00359e701e 413 for (int i=0; i < msg->getArgNum(); i++) {
masahikofukasawa 0:7a00359e701e 414 char arg = msg->getArgument(i);
masahikofukasawa 0:7a00359e701e 415 Message::charToAscii(&buf[3+2*i], &arg);
masahikofukasawa 0:7a00359e701e 416 }
masahikofukasawa 0:7a00359e701e 417
masahikofukasawa 0:7a00359e701e 418 // Add termination characters, 0x0D(\r), \n and \0, to the end of string
masahikofukasawa 0:7a00359e701e 419 int tIdx = 3 + 2 * (msg->getArgNum());
masahikofukasawa 0:7a00359e701e 420 int bufSize = sizeof(buf)/sizeof(buf[0]);
masahikofukasawa 0:7a00359e701e 421 if ((tIdx + 3) > (bufSize - 1)) {
masahikofukasawa 11:cef8dc1cf010 422 MSG("#Error: Message data exceeds the buffer.\r\n");
masahikofukasawa 0:7a00359e701e 423 return ERROR;
masahikofukasawa 0:7a00359e701e 424 }
masahikofukasawa 11:cef8dc1cf010 425 buf[tIdx++] = CR; // '\r'
masahikofukasawa 11:cef8dc1cf010 426 buf[tIdx++] = LF; // '\n'
masahikofukasawa 11:cef8dc1cf010 427 buf[tIdx] = '\0';
masahikofukasawa 0:7a00359e701e 428 if(isEnabledBle) uartService->writeString(buf);
masahikofukasawa 0:7a00359e701e 429 if(isEnabledUsb) serial->printf(buf);
masahikofukasawa 0:7a00359e701e 430
masahikofukasawa 0:7a00359e701e 431 return SUCCESS;
masahikofukasawa 12:c06cd8b76358 432 }
masahikofukasawa 13:d008249f0359 433
masahikofukasawa 13:d008249f0359 434 char* AkmSensorManager::getSensorName(){
masahikofukasawa 13:d008249f0359 435 return sensor->getSensorName();
masahikofukasawa 13:d008249f0359 436 }