Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

akmsensormanager.cpp@2:11fe67783c4c, 2016-05-05 (annotated)

Committer:
coisme
Date:
Thu May 05 21:11:23 2016 +0000
Revision:
2:11fe67783c4c
Parent:
1:b46b8653331f
Child:
4:af13b985c689
Rev.D

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 "akmanglesensor.h"
masahikofukasawa 0:7a00359e701e 4 #include "akmhallswitch.h"
masahikofukasawa 0:7a00359e701e 5 #include "akmlinearsensor.h"
masahikofukasawa 1:b46b8653331f 6 #include "akmirsensor.h"
masahikofukasawa 0:7a00359e701e 7 #include "akmakd.h"
masahikofukasawa 0:7a00359e701e 8 #include "debug.h"
masahikofukasawa 0:7a00359e701e 9 #include "Message.h"
coisme 2:11fe67783c4c 10 #ifdef REV_D
coisme 2:11fe67783c4c 11 #include "mcp342x.h"
coisme 2:11fe67783c4c 12 #endif
masahikofukasawa 0:7a00359e701e 13
masahikofukasawa 0:7a00359e701e 14 #define FIRMWARE_VERSION 0x02
masahikofukasawa 0:7a00359e701e 15 #define MAGNETOMETER_ID 0x0A
masahikofukasawa 0:7a00359e701e 16
masahikofukasawa 0:7a00359e701e 17 #define CONV16I(high,low) ((int16_t)(((high) << 8) | (low)))
masahikofukasawa 0:7a00359e701e 18
masahikofukasawa 0:7a00359e701e 19
masahikofukasawa 0:7a00359e701e 20 static char* AKM_PRIMARY_ID_STR[] = {
masahikofukasawa 0:7a00359e701e 21 "AKD Daughter Cards(SPI)", // Temporary
masahikofukasawa 0:7a00359e701e 22 "Switch, Unipolar",
masahikofukasawa 0:7a00359e701e 23 "Switch, Onmipolar",
masahikofukasawa 0:7a00359e701e 24 "Latch, Bipolar",
masahikofukasawa 0:7a00359e701e 25 "Switch, Dual Output",
masahikofukasawa 0:7a00359e701e 26 "Onechip Encoder",
masahikofukasawa 0:7a00359e701e 27 "TBD1",
masahikofukasawa 0:7a00359e701e 28 "TBD2",
masahikofukasawa 0:7a00359e701e 29 "Linear Sensor Legacy",
masahikofukasawa 0:7a00359e701e 30 "Current Sensor",
masahikofukasawa 0:7a00359e701e 31 "MISC(Analog)",
masahikofukasawa 0:7a00359e701e 32 "Linear Sensor",
masahikofukasawa 1:b46b8653331f 33 "IR Sensor",
masahikofukasawa 0:7a00359e701e 34 "TBD3",
masahikofukasawa 0:7a00359e701e 35 "Angle Sensor(SPI)", // Temporary
masahikofukasawa 0:7a00359e701e 36 "AKD Daughter Cards(I2C)",
masahikofukasawa 0:7a00359e701e 37 };
masahikofukasawa 0:7a00359e701e 38
masahikofukasawa 0:7a00359e701e 39 AkmSensorManager::AkmSensorManager(SerialNano* com, UARTService* service)
masahikofukasawa 0:7a00359e701e 40 {
masahikofukasawa 0:7a00359e701e 41 serial = com;
masahikofukasawa 0:7a00359e701e 42 uartService = service;
masahikofukasawa 0:7a00359e701e 43 isEnabledBle = true;
masahikofukasawa 0:7a00359e701e 44 isEnabledUsb = true;
masahikofukasawa 0:7a00359e701e 45 eventCommandReceived = false;
masahikofukasawa 0:7a00359e701e 46 eventConnected = false;
masahikofukasawa 0:7a00359e701e 47 eventDisconnected = false;
masahikofukasawa 0:7a00359e701e 48 }
masahikofukasawa 0:7a00359e701e 49
masahikofukasawa 0:7a00359e701e 50 AkmSensorManager::Status AkmSensorManager::init()
masahikofukasawa 0:7a00359e701e 51 {
masahikofukasawa 0:7a00359e701e 52 sensor = AkmSensorManager::getAkmSensor();
masahikofukasawa 0:7a00359e701e 53 if(sensor == NULL) return AkmSensorManager::ERROR;
masahikofukasawa 0:7a00359e701e 54 return AkmSensorManager::SUCCESS;
masahikofukasawa 0:7a00359e701e 55 }
masahikofukasawa 0:7a00359e701e 56
masahikofukasawa 0:7a00359e701e 57 void AkmSensorManager::setEventConnected()
masahikofukasawa 0:7a00359e701e 58 {
masahikofukasawa 0:7a00359e701e 59 eventConnected = true;
masahikofukasawa 0:7a00359e701e 60 }
masahikofukasawa 0:7a00359e701e 61
masahikofukasawa 0:7a00359e701e 62 void AkmSensorManager::setEventDisconnected()
masahikofukasawa 0:7a00359e701e 63 {
masahikofukasawa 0:7a00359e701e 64 eventDisconnected = true;
masahikofukasawa 0:7a00359e701e 65 }
masahikofukasawa 0:7a00359e701e 66
masahikofukasawa 0:7a00359e701e 67 AkmSensor* AkmSensorManager::getAkmSensor()
masahikofukasawa 0:7a00359e701e 68 {
masahikofukasawa 0:7a00359e701e 69 AkmSensor* sensor = NULL;
masahikofukasawa 0:7a00359e701e 70
masahikofukasawa 0:7a00359e701e 71 // primary id check
masahikofukasawa 0:7a00359e701e 72 id = AkmSensorManager::getId(ANALOG_SENSOR_ID,4);
masahikofukasawa 0:7a00359e701e 73
masahikofukasawa 0:7a00359e701e 74 switch(id){
masahikofukasawa 0:7a00359e701e 75 case AkmSensor::AKM_PRIMARY_ID_AKD_I2C:
masahikofukasawa 0:7a00359e701e 76 subId = AkmSensorManager::getId(ANALOG_SENSOR_ID_SUB,5); // 5bit sub id
masahikofukasawa 0:7a00359e701e 77 AkmAkd* akd;
masahikofukasawa 0:7a00359e701e 78 akd = new AkmAkd();
masahikofukasawa 0:7a00359e701e 79 sensor = akd;
masahikofukasawa 0:7a00359e701e 80 break;
masahikofukasawa 0:7a00359e701e 81
masahikofukasawa 0:7a00359e701e 82 case AkmSensor::AKM_PRIMARY_ID_AKD_SPI: // Temporary
masahikofukasawa 0:7a00359e701e 83 case AkmSensor::AKM_PRIMARY_ID_ANGLE_SENSOR:
masahikofukasawa 0:7a00359e701e 84 subId = AkmSensorManager::getId(ANALOG_SENSOR_ID_SUB,4); // 4bit sub id
masahikofukasawa 0:7a00359e701e 85 AkmAngleSensor* angleSensor;
masahikofukasawa 0:7a00359e701e 86 angleSensor = new AkmAngleSensor();
masahikofukasawa 0:7a00359e701e 87 sensor = angleSensor;
masahikofukasawa 0:7a00359e701e 88 break;
masahikofukasawa 0:7a00359e701e 89
masahikofukasawa 0:7a00359e701e 90 case AkmSensor::AKM_PRIMARY_ID_UNIPOLAR:
masahikofukasawa 0:7a00359e701e 91 case AkmSensor::AKM_PRIMARY_ID_OMNIPOLAR:
masahikofukasawa 0:7a00359e701e 92 case AkmSensor::AKM_PRIMARY_ID_LATCH:
masahikofukasawa 0:7a00359e701e 93 case AkmSensor::AKM_PRIMARY_ID_DUAL_OUTPUT:
masahikofukasawa 0:7a00359e701e 94 case AkmSensor::AKM_PRIMARY_ID_ONECHIP_ENCODER:
masahikofukasawa 0:7a00359e701e 95 subId = AkmSensorManager::getId(ANALOG_SENSOR_ID_SUB,4); // 4bit sub id
masahikofukasawa 0:7a00359e701e 96 AkmHallSwitch* hallswitch;
masahikofukasawa 0:7a00359e701e 97 hallswitch = new AkmHallSwitch();
masahikofukasawa 0:7a00359e701e 98 sensor = hallswitch;
masahikofukasawa 0:7a00359e701e 99 break;
masahikofukasawa 0:7a00359e701e 100
masahikofukasawa 0:7a00359e701e 101 case AkmSensor::AKM_PRIMARY_ID_LINEAR_SENSOR_LEGACY:
masahikofukasawa 0:7a00359e701e 102 subId = AkmSensorManager::getId(ANALOG_SENSOR_ID_SUB,4); // 4bit sub id
masahikofukasawa 0:7a00359e701e 103 AkmLinearSensor* linearsensor;
masahikofukasawa 0:7a00359e701e 104 linearsensor = new AkmLinearSensor();
masahikofukasawa 0:7a00359e701e 105 sensor = linearsensor;
masahikofukasawa 0:7a00359e701e 106 break;
masahikofukasawa 0:7a00359e701e 107
masahikofukasawa 1:b46b8653331f 108 case AkmSensor::AKM_PRIMARY_ID_IR_SENSOR:
masahikofukasawa 1:b46b8653331f 109 subId = AkmSensorManager::getId(ANALOG_SENSOR_ID_SUB,4); // 4bit sub id
masahikofukasawa 1:b46b8653331f 110 AkmIrSensor* irsensor;
masahikofukasawa 1:b46b8653331f 111 irsensor = new AkmIrSensor();
masahikofukasawa 1:b46b8653331f 112 sensor = irsensor;
masahikofukasawa 1:b46b8653331f 113 break;
masahikofukasawa 1:b46b8653331f 114
masahikofukasawa 0:7a00359e701e 115 default:
masahikofukasawa 0:7a00359e701e 116 subId = AkmSensorManager::getId(ANALOG_SENSOR_ID_SUB,4); // 4bit sub id
masahikofukasawa 0:7a00359e701e 117 MSG("#Can't find ID=%d SubID=%d %s\r\n", id, subId, AKM_PRIMARY_ID_STR[id]);
masahikofukasawa 0:7a00359e701e 118 return NULL; // couldn't find
masahikofukasawa 0:7a00359e701e 119 }
masahikofukasawa 0:7a00359e701e 120
masahikofukasawa 0:7a00359e701e 121 if(sensor->init(id, subId) != AkmSensor::SUCCESS){
masahikofukasawa 1:b46b8653331f 122 MSG("#sensor->init failed. ID=%d SubID=%d %s\r\n", id, subId, AKM_PRIMARY_ID_STR[id]);
masahikofukasawa 0:7a00359e701e 123 return NULL; // couldn't find
masahikofukasawa 0:7a00359e701e 124 }
masahikofukasawa 0:7a00359e701e 125
masahikofukasawa 0:7a00359e701e 126 MSG("#ID=%d SubID=%d %s\r\n", id, subId, AKM_PRIMARY_ID_STR[id]);
masahikofukasawa 0:7a00359e701e 127 return sensor;
masahikofukasawa 0:7a00359e701e 128 }
masahikofukasawa 0:7a00359e701e 129
masahikofukasawa 0:7a00359e701e 130 AkmSensorManager::Status AkmSensorManager::commandReceived(char* buf){
masahikofukasawa 0:7a00359e701e 131 // Construct message
masahikofukasawa 0:7a00359e701e 132 Status status = SUCCESS;
masahikofukasawa 0:7a00359e701e 133
masahikofukasawa 0:7a00359e701e 134 Message::Status st;
masahikofukasawa 0:7a00359e701e 135 if ((st=Message::parse(&msg, buf)) != Message::SUCCESS) {
masahikofukasawa 0:7a00359e701e 136 MSG("#Failed to parse message. status = %02x. %s\n", st, buf);
masahikofukasawa 0:7a00359e701e 137 status = ERROR;
masahikofukasawa 0:7a00359e701e 138 eventCommandReceived = false;
masahikofukasawa 0:7a00359e701e 139 }
masahikofukasawa 0:7a00359e701e 140 eventCommandReceived = true;
masahikofukasawa 0:7a00359e701e 141 return status;
masahikofukasawa 0:7a00359e701e 142 }
masahikofukasawa 0:7a00359e701e 143
coisme 2:11fe67783c4c 144 #ifdef REV_D
coisme 2:11fe67783c4c 145 int16_t AkmSensorManager::getAdcData(MCP342X *mcp3428, MCP342X::AdcChannel ch, MCP342X::SampleSetting s) {
coisme 2:11fe67783c4c 146 const int WAIT_ADC_MS = 1;
coisme 2:11fe67783c4c 147
coisme 2:11fe67783c4c 148 // Configure channel and trigger.
coisme 2:11fe67783c4c 149 mcp3428->setChannel(ch);
coisme 2:11fe67783c4c 150 mcp3428->setSampleSetting(s);
coisme 2:11fe67783c4c 151 mcp3428->trigger();
coisme 2:11fe67783c4c 152
coisme 2:11fe67783c4c 153 // polling data (!blocking)
coisme 2:11fe67783c4c 154 MCP342X::Data data;
coisme 2:11fe67783c4c 155 do {
coisme 2:11fe67783c4c 156 wait_ms(WAIT_ADC_MS);
coisme 2:11fe67783c4c 157 mcp3428->getData(&data);
coisme 2:11fe67783c4c 158 } while(data.st == MCP342X::DATA_NOT_UPDATED);
coisme 2:11fe67783c4c 159
coisme 2:11fe67783c4c 160 return data.value;
coisme 2:11fe67783c4c 161 }
coisme 2:11fe67783c4c 162 #endif
masahikofukasawa 0:7a00359e701e 163
masahikofukasawa 0:7a00359e701e 164 uint8_t AkmSensorManager::getId(PinName pin, uint8_t bits)
masahikofukasawa 0:7a00359e701e 165 {
coisme 2:11fe67783c4c 166 #ifndef REV_D
coisme 2:11fe67783c4c 167 /* Rev.C */
masahikofukasawa 0:7a00359e701e 168 AnalogIn id(pin);
masahikofukasawa 1:b46b8653331f 169 MSG("#Voltage=%5.2f[V]\n",id*3.0);
masahikofukasawa 0:7a00359e701e 170 double s = id + 1.0/(double)(pow(2.0,bits+1));
masahikofukasawa 0:7a00359e701e 171 uint8_t value = (uint8_t)(s*pow(2.0,bits));
coisme 2:11fe67783c4c 172 #else
coisme 2:11fe67783c4c 173 /* Rev.D */
coisme 2:11fe67783c4c 174 MSG("GetID\n");
coisme 2:11fe67783c4c 175 I2C i2c(I2C_SDA0, I2C_SCL0);
coisme 2:11fe67783c4c 176 // ADC
coisme 2:11fe67783c4c 177 MCP342X mcp342x(&i2c, MCP342X::SLAVE_ADDRESS_6EH);
coisme 2:11fe67783c4c 178 mcp342x.setConversionMode(MCP342X::ONE_SHOT);
coisme 2:11fe67783c4c 179 MCP342X::AdcChannel ch;
coisme 2:11fe67783c4c 180 if (pin == ANALOG_SENSOR_ID) {
coisme 2:11fe67783c4c 181 ch = MCP342X::ADC_CH1;
coisme 2:11fe67783c4c 182 } else { // pin == ANALOG_SENSOR_ID_SUB
coisme 2:11fe67783c4c 183 ch = MCP342X::ADC_CH2;
coisme 2:11fe67783c4c 184 }
coisme 2:11fe67783c4c 185 int16_t val = getAdcData(&mcp342x, ch, MCP342X::SAMPLE_240HZ_12BIT);
coisme 2:11fe67783c4c 186 MSG("#12bit ADC Val = %d.\n", val);
coisme 2:11fe67783c4c 187
coisme 2:11fe67783c4c 188 const int16_t VAL_MAX = 3000-2048; // Corresponds to 3V
coisme 2:11fe67783c4c 189 const int16_t VAL_MIN = -2048; // Corresponds to 0V
coisme 2:11fe67783c4c 190
coisme 2:11fe67783c4c 191 uint8_t value = (uint8_t)((val - VAL_MIN)/(float)(VAL_MAX - VAL_MIN) * (1 << bits));
coisme 2:11fe67783c4c 192 MSG("ID = %d.", value);
coisme 2:11fe67783c4c 193 #endif
masahikofukasawa 0:7a00359e701e 194 return value;
masahikofukasawa 0:7a00359e701e 195 }
masahikofukasawa 0:7a00359e701e 196
masahikofukasawa 0:7a00359e701e 197 bool AkmSensorManager::isEvent()
masahikofukasawa 0:7a00359e701e 198 {
masahikofukasawa 0:7a00359e701e 199 return (sensor->isEvent() ||
masahikofukasawa 0:7a00359e701e 200 eventCommandReceived ||
masahikofukasawa 0:7a00359e701e 201 eventConnected ||
masahikofukasawa 0:7a00359e701e 202 eventDisconnected);
masahikofukasawa 0:7a00359e701e 203 }
masahikofukasawa 0:7a00359e701e 204
masahikofukasawa 0:7a00359e701e 205
masahikofukasawa 0:7a00359e701e 206 void AkmSensorManager::processCommand()
masahikofukasawa 0:7a00359e701e 207 {
masahikofukasawa 0:7a00359e701e 208 AkmSensorManager::Status status = AkmSensorManager::SUCCESS;
masahikofukasawa 0:7a00359e701e 209 // MSG("#processCommand.\n");
masahikofukasawa 0:7a00359e701e 210
masahikofukasawa 0:7a00359e701e 211 // Gets command in the message
masahikofukasawa 0:7a00359e701e 212 Message::Command cmd = msg.getCommand();
masahikofukasawa 0:7a00359e701e 213
masahikofukasawa 0:7a00359e701e 214 // Creates an message object to return
masahikofukasawa 0:7a00359e701e 215 Message resMsg;
masahikofukasawa 0:7a00359e701e 216
masahikofukasawa 0:7a00359e701e 217 // Return message has the same command as input
masahikofukasawa 0:7a00359e701e 218 resMsg.setCommand(cmd);
masahikofukasawa 0:7a00359e701e 219
masahikofukasawa 0:7a00359e701e 220 switch(cmd)
masahikofukasawa 0:7a00359e701e 221 {
masahikofukasawa 0:7a00359e701e 222 case Message::CMD_GET_FW_VERSION:
masahikofukasawa 0:7a00359e701e 223 resMsg.setArgument(0, FIRMWARE_VERSION);
masahikofukasawa 0:7a00359e701e 224 throwMessage(&resMsg);
masahikofukasawa 0:7a00359e701e 225 MSG("#FW version is reported.\n");
masahikofukasawa 0:7a00359e701e 226 break;
masahikofukasawa 0:7a00359e701e 227
masahikofukasawa 0:7a00359e701e 228 case Message::CMD_GET_MAG_PART:
masahikofukasawa 0:7a00359e701e 229 resMsg.setArgument(0, MAGNETOMETER_ID);
masahikofukasawa 0:7a00359e701e 230 throwMessage(&resMsg);
masahikofukasawa 0:7a00359e701e 231 MSG("#Mag ID is reported.\n");
masahikofukasawa 0:7a00359e701e 232 break;
masahikofukasawa 0:7a00359e701e 233
masahikofukasawa 0:7a00359e701e 234 case Message::CMD_SET_SERIAL_TARGET:
masahikofukasawa 0:7a00359e701e 235 isEnabledBle = msg.getArgument(0)==Message::SW_ON ? true : false;
masahikofukasawa 0:7a00359e701e 236 isEnabledUsb = msg.getArgument(1)==Message::SW_ON ? true : false;
masahikofukasawa 0:7a00359e701e 237 resMsg.setArgument(0, 0);
masahikofukasawa 0:7a00359e701e 238 throwMessage(&resMsg);
masahikofukasawa 0:7a00359e701e 239 MSG("#Serial out is set.\n");
masahikofukasawa 0:7a00359e701e 240 break;
masahikofukasawa 0:7a00359e701e 241
masahikofukasawa 0:7a00359e701e 242 case Message::CMD_GET_ID: // return Primary ID and Sub ID
masahikofukasawa 0:7a00359e701e 243 if(id == 0) id = 0xE; // Temporary for Angle Sensor
masahikofukasawa 0:7a00359e701e 244 resMsg.setArgument(0, id);
masahikofukasawa 0:7a00359e701e 245 resMsg.setArgument(1, subId);
masahikofukasawa 0:7a00359e701e 246 throwMessage(&resMsg);
masahikofukasawa 0:7a00359e701e 247 wait(0.4); // wait for App initialization
masahikofukasawa 0:7a00359e701e 248 MSG("#Mag ID is reported.\n");
masahikofukasawa 0:7a00359e701e 249 break;
masahikofukasawa 0:7a00359e701e 250
masahikofukasawa 0:7a00359e701e 251 case Message::CMD_STOP_MEASUREMENT:
masahikofukasawa 0:7a00359e701e 252 if( sensor->stopSensor() != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
masahikofukasawa 0:7a00359e701e 253 resMsg.setArgument(0, status==AkmSensorManager::SUCCESS ? 0 : 1);
masahikofukasawa 0:7a00359e701e 254 throwMessage(&resMsg);
masahikofukasawa 0:7a00359e701e 255 MSG("#Stop measurement.\n");
masahikofukasawa 0:7a00359e701e 256 break;
masahikofukasawa 0:7a00359e701e 257
masahikofukasawa 0:7a00359e701e 258 case Message::CMD_START_MEASUREMENT:
masahikofukasawa 0:7a00359e701e 259 MSG("#Start measurement.\n");
masahikofukasawa 0:7a00359e701e 260 sensor->startSensor();
masahikofukasawa 0:7a00359e701e 261 // get initial sensor state for switch type sensors
masahikofukasawa 0:7a00359e701e 262 if( id == AkmSensor::AKM_PRIMARY_ID_UNIPOLAR ||
masahikofukasawa 0:7a00359e701e 263 id == AkmSensor::AKM_PRIMARY_ID_OMNIPOLAR ||
masahikofukasawa 0:7a00359e701e 264 id == AkmSensor::AKM_PRIMARY_ID_LATCH ||
masahikofukasawa 0:7a00359e701e 265 id == AkmSensor::AKM_PRIMARY_ID_DUAL_OUTPUT ||
masahikofukasawa 0:7a00359e701e 266 id == AkmSensor::AKM_PRIMARY_ID_ONECHIP_ENCODER ){
masahikofukasawa 0:7a00359e701e 267 Message temp;
masahikofukasawa 0:7a00359e701e 268 sensor->readSensorData(&temp);
masahikofukasawa 0:7a00359e701e 269 throwMessage(&temp);
masahikofukasawa 0:7a00359e701e 270 }
masahikofukasawa 0:7a00359e701e 271 break;
masahikofukasawa 0:7a00359e701e 272
masahikofukasawa 0:7a00359e701e 273 case Message::CMD_ANGLE_ZERO_RESET:
masahikofukasawa 1:b46b8653331f 274 case Message::CMD_IR_GET_THRESHOLD:
masahikofukasawa 1:b46b8653331f 275 case Message::CMD_IR_SET_THRESHOLD:
masahikofukasawa 1:b46b8653331f 276 case Message::CMD_IR_GET_HYSTERESIS:
masahikofukasawa 1:b46b8653331f 277 case Message::CMD_IR_SET_HYSTERESIS:
masahikofukasawa 1:b46b8653331f 278 case Message::CMD_IR_GET_INTERRUPT:
masahikofukasawa 1:b46b8653331f 279 case Message::CMD_IR_SET_INTERRUPT:
masahikofukasawa 1:b46b8653331f 280 case Message::CMD_IR_GET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 281 case Message::CMD_IR_SET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 282 case Message::CMD_IR_GET_THRESHOLD_EEPROM:
masahikofukasawa 1:b46b8653331f 283 case Message::CMD_IR_SET_THRESHOLD_EEPROM:
masahikofukasawa 1:b46b8653331f 284 case Message::CMD_IR_GET_HYSTERESIS_EEPROM:
masahikofukasawa 1:b46b8653331f 285 case Message::CMD_IR_SET_HYSTERESIS_EEPROM:
masahikofukasawa 1:b46b8653331f 286 case Message::CMD_IR_GET_INTERRUPT_EEPROM:
masahikofukasawa 1:b46b8653331f 287 case Message::CMD_IR_SET_INTERRUPT_EEPROM:
masahikofukasawa 1:b46b8653331f 288 case Message::CMD_IR_GET_OPERATION_MODE_EEPROM:
masahikofukasawa 1:b46b8653331f 289 case Message::CMD_IR_SET_OPERATION_MODE_EEPROM:
masahikofukasawa 0:7a00359e701e 290 sensor->requestCommand(&msg,&resMsg);
masahikofukasawa 0:7a00359e701e 291 throwMessage(&resMsg);
masahikofukasawa 0:7a00359e701e 292 break;
masahikofukasawa 1:b46b8653331f 293
masahikofukasawa 0:7a00359e701e 294 default:
masahikofukasawa 0:7a00359e701e 295 MSG("#Can't find command:%s\n", (char)cmd);
masahikofukasawa 0:7a00359e701e 296 break;
masahikofukasawa 0:7a00359e701e 297 }
masahikofukasawa 0:7a00359e701e 298 }
masahikofukasawa 0:7a00359e701e 299
masahikofukasawa 0:7a00359e701e 300 AkmSensorManager::Status AkmSensorManager::processEvent()
masahikofukasawa 0:7a00359e701e 301 {
masahikofukasawa 0:7a00359e701e 302 AkmSensorManager::Status status = AkmSensorManager::SUCCESS;
masahikofukasawa 0:7a00359e701e 303
masahikofukasawa 0:7a00359e701e 304 // command received from the host
masahikofukasawa 0:7a00359e701e 305 if(eventCommandReceived)
masahikofukasawa 0:7a00359e701e 306 {
masahikofukasawa 0:7a00359e701e 307 processCommand();
masahikofukasawa 0:7a00359e701e 308 eventCommandReceived = false;
masahikofukasawa 0:7a00359e701e 309 }
masahikofukasawa 0:7a00359e701e 310 if(sensor->isEvent()) // sensor read data event
masahikofukasawa 0:7a00359e701e 311 {
masahikofukasawa 0:7a00359e701e 312 Message msg;
masahikofukasawa 0:7a00359e701e 313 if( sensor->readSensorData(&msg) != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
masahikofukasawa 0:7a00359e701e 314 throwMessage(&msg);
masahikofukasawa 0:7a00359e701e 315 }
masahikofukasawa 0:7a00359e701e 316
masahikofukasawa 0:7a00359e701e 317 if(eventConnected) // BLE connected. Start sensor.
masahikofukasawa 0:7a00359e701e 318 {
masahikofukasawa 0:7a00359e701e 319 // if( sensor->startSensor() != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
masahikofukasawa 0:7a00359e701e 320 eventConnected = false;
masahikofukasawa 0:7a00359e701e 321 }
masahikofukasawa 0:7a00359e701e 322 if(eventDisconnected) // BLE dis-connected. Stop sensor.
masahikofukasawa 0:7a00359e701e 323 {
masahikofukasawa 0:7a00359e701e 324 if( sensor->stopSensor() != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
masahikofukasawa 0:7a00359e701e 325 eventDisconnected = false;
masahikofukasawa 0:7a00359e701e 326 }
masahikofukasawa 0:7a00359e701e 327 return status;
masahikofukasawa 0:7a00359e701e 328 }
masahikofukasawa 0:7a00359e701e 329
masahikofukasawa 0:7a00359e701e 330 AkmSensorManager::Status AkmSensorManager::throwMessage(const Message *msg) {
masahikofukasawa 0:7a00359e701e 331 int len = Message::getMaxMessageLength();
masahikofukasawa 0:7a00359e701e 332 char buf[len];
masahikofukasawa 0:7a00359e701e 333
masahikofukasawa 0:7a00359e701e 334 buf[0] = '$';
masahikofukasawa 0:7a00359e701e 335
masahikofukasawa 0:7a00359e701e 336 // Processes command
masahikofukasawa 0:7a00359e701e 337 char cmd = (char)msg->getCommand();
masahikofukasawa 0:7a00359e701e 338 Message::charToAscii(&buf[1], &cmd);
masahikofukasawa 0:7a00359e701e 339
masahikofukasawa 0:7a00359e701e 340 // Processes arguments
masahikofukasawa 0:7a00359e701e 341 for (int i=0; i < msg->getArgNum(); i++) {
masahikofukasawa 0:7a00359e701e 342 char arg = msg->getArgument(i);
masahikofukasawa 0:7a00359e701e 343 Message::charToAscii(&buf[3+2*i], &arg);
masahikofukasawa 0:7a00359e701e 344 }
masahikofukasawa 0:7a00359e701e 345
masahikofukasawa 0:7a00359e701e 346 // Add termination characters, 0x0D(\r), \n and \0, to the end of string
masahikofukasawa 0:7a00359e701e 347 int tIdx = 3 + 2 * (msg->getArgNum());
masahikofukasawa 0:7a00359e701e 348 int bufSize = sizeof(buf)/sizeof(buf[0]);
masahikofukasawa 0:7a00359e701e 349 if ((tIdx + 3) > (bufSize - 1)) {
masahikofukasawa 0:7a00359e701e 350 MSG("#Error: Message data exceeds the buffer.\n");
masahikofukasawa 0:7a00359e701e 351 return ERROR;
masahikofukasawa 0:7a00359e701e 352 }
masahikofukasawa 0:7a00359e701e 353 buf[tIdx++] = 0x0D; // '\r'
masahikofukasawa 0:7a00359e701e 354 buf[tIdx++] = '\n';
masahikofukasawa 0:7a00359e701e 355 buf[tIdx] = '\0';
masahikofukasawa 0:7a00359e701e 356
masahikofukasawa 0:7a00359e701e 357 // Send to the BLE buffer
masahikofukasawa 0:7a00359e701e 358 // Hardware *hw = Hardware::getInstance();
masahikofukasawa 0:7a00359e701e 359 // hw->uartService->writeString(buf);
masahikofukasawa 0:7a00359e701e 360 if(isEnabledBle) uartService->writeString(buf);
masahikofukasawa 0:7a00359e701e 361 if(isEnabledUsb) serial->printf(buf);
masahikofukasawa 0:7a00359e701e 362
masahikofukasawa 0:7a00359e701e 363 // MSG("#A message thrown: \"%s\"\n", buf);
masahikofukasawa 0:7a00359e701e 364
masahikofukasawa 0:7a00359e701e 365 return SUCCESS;
masahikofukasawa 0:7a00359e701e 366 }
masahikofukasawa 0:7a00359e701e 367
masahikofukasawa 0:7a00359e701e 368 /*
masahikofukasawa 0:7a00359e701e 369 void AkmSensorManager::dataOut(char* str){
masahikofukasawa 0:7a00359e701e 370 if(isBleMode) uartService->writeString(str);
masahikofukasawa 0:7a00359e701e 371 if(isSerialMode) serial->printf(str);
masahikofukasawa 0:7a00359e701e 372 }
masahikofukasawa 0:7a00359e701e 373 */