Diff: akmsensormanager.cpp

Revision:

34:1ea3357c8d9a

Parent:

30:5a241d9b3262

Parent:

33:d3e1e9eb2ef9

Child:

37:c76d2edf3426

--- a/akmsensormanager.cpp	Fri Apr 28 20:32:31 2017 +0000
+++ b/akmsensormanager.cpp	Wed May 03 18:00:45 2017 +0000
@@ -8,6 +8,7 @@
 #include "ak9752ctrl.h"
 #include "ak7451ctrl.h"
 #include "ak7401ctrl.h"
+#include "ap1017ctrl.h"
 #include "akmakd.h"
 #include "debug.h"
 #include "Message.h"
@@ -193,7 +194,17 @@
             }
             break;
         }
-
+        case AkmSensor::AKM_PRIMARY_ID_MOTOR_DRIVER:
+        {       // TODO: Other motor driver cases
+            if(subId == Ap1017Ctrl::SUB_ID_AP1017){
+                Ap1017Ctrl* ap1017ctrl = new Ap1017Ctrl();
+                sensor[0] = ap1017ctrl;
+                sensorNum = 1;
+            }else{
+                return NULL;
+            }
+            break;
+        }
         default:
         {
             MSG("#Can't find ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
@@ -223,6 +234,8 @@
 
 void AkmSensorManager::dummyCallbackForCommandReceived(){}
 
+
+// For commands received via BLE
 AkmSensorManager::Status AkmSensorManager::commandReceived(char* buf){
     // Construct message
     Status status = SUCCESS;
@@ -230,15 +243,16 @@
     if ((Message::parse(&msg, buf)) != Message::SUCCESS) {
         MSG("#Failed to parse message. %s\r\n", buf);
         status = ERROR;
-        eventCommandReceived = false;
+        eventCommandReceived = false;           // Reset flag
     }else{       
-        eventCommandReceived = true;
+        eventCommandReceived = true;            // Set flag
 //        MSG("#Parsed message. %s\r\n", buf);
     }
     t.attach(callback(this, &AkmSensorManager::dummyCallbackForCommandReceived),0); // wake-up from ble.waitForEvent
     return status;
 }
 
+
 int16_t AkmSensorManager::getAdcData(MCP342X *mcp3428, MCP342X::AdcChannel ch, MCP342X::SampleSetting s) {
     const int WAIT_ADC_MS = 1;
 
@@ -257,32 +271,39 @@
     return data.value;
 }
 
+
 uint8_t AkmSensorManager::getId(PinName pin, uint8_t bits)
 {
     MSG("#GetID\r\n");
     
-    I2C i2c(I2C_SDA, I2C_SCL);
+    I2C i2c(I2C_SDA, I2C_SCL);      // establish I2C to read ID
+    
     // ADC
-    MCP342X mcp342x(&i2c, MCP342X::SLAVE_ADDRESS_6EH);
-    mcp342x.setConversionMode(MCP342X::ONE_SHOT);
+    MCP342X mcp342x(&i2c, MCP342X::SLAVE_ADDRESS_6EH);  // ADC to convert voltage
+    mcp342x.setConversionMode(MCP342X::ONE_SHOT);       // Set to single sample
     MCP342X::AdcChannel ch;
-    if (pin == ANALOG_SENSOR_ID) {
+    
+    if (pin == ANALOG_SENSOR_ID) {                      // Primary ID
         ch = MCP342X::ADC_CH1;
-    } else { // pin == ANALOG_SENSOR_ID_SUB
-        ch = MCP342X::ADC_CH2;
+    } else { // pin == ANALOG_SENSOR_ID_SUB         
+        ch = MCP342X::ADC_CH2;                          // Secondary ID
     }
+    
     int16_t val = getAdcData(&mcp342x, ch, MCP342X::SAMPLE_240HZ_12BIT);
     MSG("#12bit ADC Val = %d.\r\n", val);
     
+    // Voltage boundaries for ID voltage divider system
     const int16_t VAL_MAX = 3000-2048;   // Corresponds to 3V
     const int16_t VAL_MIN = -2048;       // Corresponds to 0V
     
+    // Convert voltage to ID value
     uint8_t value = (uint8_t)((val - VAL_MIN)/(float)(VAL_MAX - VAL_MIN) * (1 << bits) + 0.5);
     MSG("#ID = %d.\r\n", value);
 
     return value;
 }
 
+
 bool AkmSensorManager::isEvent()
 {
     // check sensor related event
@@ -301,13 +322,13 @@
 
 void AkmSensorManager::processCommand()
 {
-    // Gets command in the message
+    // Extracts command contained in the message
     Message::Command cmd = msg.getCommand();
     
-    // Creates an message object to return
+    // Creates a message object to return
     Message resMsg;
     
-    // Return message has the same command as input
+    // Return message contains the extracted command
     resMsg.setCommand(cmd);
     
     switch(cmd)
@@ -435,6 +456,10 @@
             }
             break;
         }
+        case Message::CMD_MOTOR_START_MOTOR:
+        case Message::CMD_MOTOR_STOP_MOTOR:
+        case Message::CMD_MOTOR_SET_DIRECTION:
+        case Message::CMD_MOTOR_SET_DUTY_CYCLE:
         case Message::CMD_PROGSW_GET_THRESHOLD:
         case Message::CMD_PROGSW_SET_THRESHOLD:
         case Message::CMD_PROGSW_GET_READ_COFIGURATION:
@@ -488,13 +513,13 @@
 AkmSensorManager::Status AkmSensorManager::processEvent()
 {
     AkmSensorManager::Status status = AkmSensorManager::SUCCESS;
-   
-    // command received from the host
+    
+    // If event is a command received from BLE
     if(eventCommandReceived)
     {
 //        MSG("#Command received.\r\n");
         processCommand();
-        eventCommandReceived = false;
+        eventCommandReceived = false;          // clear the flag
     }
 
     // check sensor event
@@ -502,22 +527,24 @@
         if( sensor[i]->isEvent() ){
             Message msg;
             if( sensor[i]->readSensorData(&msg) != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
-            throwMessage(&msg);
+            throwMessage(&msg);     // Process and output message to USB/BLE
         }
     }
 
-    if(eventConnected)     // BLE connected. Start sensor.
+    if(eventConnected)     // If BLE connected, clear flag and start sensor.
     {
-        eventConnected = false;   
+        eventConnected = false;                 // clear the flag
         MSG("#BLE connected.\r\n");
     }
-    if(eventDisconnected)  // BLE dis-connected. Stop sensor.
+    
+    // If event is the BLE being disconnected, stop the sensor
+    if(eventDisconnected)
     {
         MSG("#BLE dis-connected.\r\n");
         for(int i=0; i<sensorNum; i++){
             if( sensor[i]->stopSensor() != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;        
         }
-        eventDisconnected = false;
+        eventDisconnected = false;      // clear the flag
     }
     return status;
 }
@@ -526,13 +553,13 @@
     int len = Message::getMaxMessageLength();
     char buf[len];
     
-    buf[0] = '$';
+    buf[0] = '$';           // Output message prefix
 
-    // Processes command
+    // Processes command in msg to ASCII
     char cmd = (char)msg->getCommand();
     Message::charToAscii(&buf[1], &cmd);
     
-    // Processes arguments
+    // Processes arguments in msg to ASCII
     for (int i=0; i < msg->getArgNum(); i++) {
         char arg = msg->getArgument(i);
         Message::charToAscii(&buf[3+2*i], &arg);
@@ -548,14 +575,16 @@
     buf[tIdx++] = CR;        // '\r'
     buf[tIdx++] = LF;        // '\n' 
     buf[tIdx] = '\0';    
-    if(isEnabledBle) uartService->writeString(buf);            
+    
+    // If BLE is enabled, send to AKDP app
+    if(isEnabledBle) uartService->writeString(buf);
+    
+    // If USB is enabled, send to serial terminal
     if(isEnabledUsb) serial->printf(buf);
     
     return SUCCESS;   
 }
 
-
-
 char* AkmSensorManager::my_strcat(char* str1, char* str2)
 {
     int num1;