Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

akmsensormanager.cpp@24:1d37438f31a9, 2017-04-13 (annotated)

Committer:
tkstreet
Date:
Thu Apr 13 22:50:02 2017 +0000
Revision:
24:1d37438f31a9
Parent:
23:50c98b286e41
Parent:
18:b7182d5ad8d5
Child:
33:d3e1e9eb2ef9
Merge of revisions 20 and 23

Who changed what in which revision?

UserRevisionLine numberNew contents of line
masahikofukasawa 0:7a00359e701e 1 #include "ble/services/UARTService.h"
masahikofukasawa 15:1238993fd75f 2 #include "akdphwinfo.h"
masahikofukasawa 0:7a00359e701e 3 #include "akmsensormanager.h"
masahikofukasawa 0:7a00359e701e 4 #include "akmhallswitch.h"
masahikofukasawa 11:cef8dc1cf010 5 #include "akmanalogsensor.h"
masahikofukasawa 10:5c69b067d88a 6 #include "ak09970ctrl.h"
masahikofukasawa 10:5c69b067d88a 7 #include "ak9750ctrl.h"
masahikofukasawa 10:5c69b067d88a 8 #include "ak9752ctrl.h"
masahikofukasawa 11:cef8dc1cf010 9 #include "ak7451ctrl.h"
masahikofukasawa 10:5c69b067d88a 10 #include "ak7401ctrl.h"
masahikofukasawa 0:7a00359e701e 11 #include "akmakd.h"
masahikofukasawa 0:7a00359e701e 12 #include "debug.h"
masahikofukasawa 0:7a00359e701e 13 #include "Message.h"
coisme 2:11fe67783c4c 14 #include "mcp342x.h"
masahikofukasawa 6:c4401549d68f 15 #include "I2CNano.h"
masahikofukasawa 0:7a00359e701e 16
masahikofukasawa 0:7a00359e701e 17 #define MAGNETOMETER_ID 0x0A
masahikofukasawa 0:7a00359e701e 18
masahikofukasawa 0:7a00359e701e 19 #define CONV16I(high,low) ((int16_t)(((high) << 8) | (low)))
masahikofukasawa 0:7a00359e701e 20
masahikofukasawa 0:7a00359e701e 21
masahikofukasawa 10:5c69b067d88a 22 const char* AKM_PRIMARY_ID_STR[] = {
masahikofukasawa 7:e269411568c9 23 "AKD Daughter Cards(SPI)",
masahikofukasawa 0:7a00359e701e 24 "Switch, Unipolar",
masahikofukasawa 0:7a00359e701e 25 "Switch, Onmipolar",
masahikofukasawa 0:7a00359e701e 26 "Latch, Bipolar",
masahikofukasawa 0:7a00359e701e 27 "Switch, Dual Output",
masahikofukasawa 0:7a00359e701e 28 "Onechip Encoder",
masahikofukasawa 0:7a00359e701e 29 "TBD1",
masahikofukasawa 0:7a00359e701e 30 "TBD2",
masahikofukasawa 0:7a00359e701e 31 "Linear Sensor Legacy",
masahikofukasawa 0:7a00359e701e 32 "Current Sensor",
masahikofukasawa 0:7a00359e701e 33 "MISC(Analog)",
masahikofukasawa 0:7a00359e701e 34 "Linear Sensor",
masahikofukasawa 18:b7182d5ad8d5 35 "Motor Drivers",
masahikofukasawa 1:b46b8653331f 36 "IR Sensor",
masahikofukasawa 7:e269411568c9 37 "Angle Sensor(SPI)",
masahikofukasawa 10:5c69b067d88a 38 "AKD Daughter Cards(I2C)"
masahikofukasawa 0:7a00359e701e 39 };
masahikofukasawa 0:7a00359e701e 40
masahikofukasawa 13:d008249f0359 41 AkmSensorManager::AkmSensorManager(SerialNano* com)
masahikofukasawa 0:7a00359e701e 42 {
masahikofukasawa 0:7a00359e701e 43 serial = com;
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 10:5c69b067d88a 50 AkmSensorManager::Status AkmSensorManager::init(uint8_t id, uint8_t subid)
masahikofukasawa 0:7a00359e701e 51 {
masahikofukasawa 10:5c69b067d88a 52 primaryId = id;
masahikofukasawa 10:5c69b067d88a 53 subId = subid;
masahikofukasawa 0:7a00359e701e 54 sensor = AkmSensorManager::getAkmSensor();
masahikofukasawa 0:7a00359e701e 55 if(sensor == NULL) return AkmSensorManager::ERROR;
masahikofukasawa 0:7a00359e701e 56 return AkmSensorManager::SUCCESS;
masahikofukasawa 0:7a00359e701e 57 }
masahikofukasawa 0:7a00359e701e 58
masahikofukasawa 13:d008249f0359 59
masahikofukasawa 13:d008249f0359 60 void AkmSensorManager::setBleUartService(UARTService* service)
masahikofukasawa 13:d008249f0359 61 {
masahikofukasawa 13:d008249f0359 62 uartService = service;
masahikofukasawa 13:d008249f0359 63 isEnabledBle = true;
masahikofukasawa 13:d008249f0359 64 }
masahikofukasawa 13:d008249f0359 65
masahikofukasawa 0:7a00359e701e 66 void AkmSensorManager::setEventConnected()
masahikofukasawa 0:7a00359e701e 67 {
masahikofukasawa 0:7a00359e701e 68 eventConnected = true;
masahikofukasawa 0:7a00359e701e 69 }
masahikofukasawa 0:7a00359e701e 70
masahikofukasawa 0:7a00359e701e 71 void AkmSensorManager::setEventDisconnected()
masahikofukasawa 0:7a00359e701e 72 {
masahikofukasawa 0:7a00359e701e 73 eventDisconnected = true;
masahikofukasawa 0:7a00359e701e 74 }
masahikofukasawa 0:7a00359e701e 75
masahikofukasawa 0:7a00359e701e 76 AkmSensor* AkmSensorManager::getAkmSensor()
masahikofukasawa 0:7a00359e701e 77 {
masahikofukasawa 0:7a00359e701e 78 AkmSensor* sensor = NULL;
masahikofukasawa 0:7a00359e701e 79
masahikofukasawa 10:5c69b067d88a 80 switch(primaryId){
masahikofukasawa 17:9abb7c28709c 81
masahikofukasawa 7:e269411568c9 82 case AkmSensor::AKM_PRIMARY_ID_AKD_SPI:
masahikofukasawa 0:7a00359e701e 83 case AkmSensor::AKM_PRIMARY_ID_AKD_I2C:
masahikofukasawa 10:5c69b067d88a 84 {
masahikofukasawa 10:5c69b067d88a 85 if(subId != Ak09970Ctrl::SUB_ID_AK09970){
masahikofukasawa 10:5c69b067d88a 86 AkmAkd* akd = new AkmAkd();
masahikofukasawa 10:5c69b067d88a 87 sensor = akd;
masahikofukasawa 10:5c69b067d88a 88 }
masahikofukasawa 10:5c69b067d88a 89 else{
masahikofukasawa 10:5c69b067d88a 90 Ak09970Ctrl* ak09970 = new Ak09970Ctrl();
masahikofukasawa 10:5c69b067d88a 91 sensor = ak09970;
masahikofukasawa 10:5c69b067d88a 92 }
masahikofukasawa 0:7a00359e701e 93 break;
masahikofukasawa 10:5c69b067d88a 94 }
masahikofukasawa 17:9abb7c28709c 95
masahikofukasawa 0:7a00359e701e 96 case AkmSensor::AKM_PRIMARY_ID_ANGLE_SENSOR:
masahikofukasawa 10:5c69b067d88a 97 {
masahikofukasawa 11:cef8dc1cf010 98 if(subId == Ak7451Ctrl::SUB_ID_AK7451){
masahikofukasawa 11:cef8dc1cf010 99 Ak7451Ctrl* ak7451ctrl = new Ak7451Ctrl();
masahikofukasawa 11:cef8dc1cf010 100 sensor = ak7451ctrl;
masahikofukasawa 10:5c69b067d88a 101 break;
masahikofukasawa 10:5c69b067d88a 102 }
masahikofukasawa 10:5c69b067d88a 103 else if(subId == Ak7401Ctrl::SUB_ID_AK7401){
masahikofukasawa 10:5c69b067d88a 104 Ak7401Ctrl* ak7401ctrl = new Ak7401Ctrl();
masahikofukasawa 10:5c69b067d88a 105 sensor = ak7401ctrl;
masahikofukasawa 10:5c69b067d88a 106 break;
masahikofukasawa 10:5c69b067d88a 107 }
masahikofukasawa 0:7a00359e701e 108 break;
masahikofukasawa 10:5c69b067d88a 109 }
masahikofukasawa 17:9abb7c28709c 110
masahikofukasawa 0:7a00359e701e 111 case AkmSensor::AKM_PRIMARY_ID_UNIPOLAR:
masahikofukasawa 0:7a00359e701e 112 case AkmSensor::AKM_PRIMARY_ID_OMNIPOLAR:
masahikofukasawa 0:7a00359e701e 113 case AkmSensor::AKM_PRIMARY_ID_LATCH:
masahikofukasawa 0:7a00359e701e 114 case AkmSensor::AKM_PRIMARY_ID_DUAL_OUTPUT:
masahikofukasawa 0:7a00359e701e 115 case AkmSensor::AKM_PRIMARY_ID_ONECHIP_ENCODER:
masahikofukasawa 10:5c69b067d88a 116 {
masahikofukasawa 10:5c69b067d88a 117 AkmHallSwitch* hallswitch = new AkmHallSwitch();
masahikofukasawa 0:7a00359e701e 118 sensor = hallswitch;
masahikofukasawa 0:7a00359e701e 119 break;
masahikofukasawa 10:5c69b067d88a 120 }
masahikofukasawa 17:9abb7c28709c 121 // case AkmSensor::AKM_PRIMARY_ID_LINEAR_SENSOR_LEGACY:
masahikofukasawa 4:af13b985c689 122 case AkmSensor::AKM_PRIMARY_ID_LINEAR_SENSOR:
masahikofukasawa 10:5c69b067d88a 123 case AkmSensor::AKM_PRIMARY_ID_CURRENT_SENSOR:
masahikofukasawa 10:5c69b067d88a 124 case AkmSensor::AKM_PRIMARY_ID_MISC_ANALOG:
masahikofukasawa 10:5c69b067d88a 125 {
masahikofukasawa 11:cef8dc1cf010 126 AkmAnalogSensor* analogsensor = new AkmAnalogSensor();
masahikofukasawa 11:cef8dc1cf010 127 sensor = analogsensor;
masahikofukasawa 0:7a00359e701e 128 break;
masahikofukasawa 10:5c69b067d88a 129 }
masahikofukasawa 17:9abb7c28709c 130
masahikofukasawa 1:b46b8653331f 131 case AkmSensor::AKM_PRIMARY_ID_IR_SENSOR:
masahikofukasawa 10:5c69b067d88a 132 {
masahikofukasawa 10:5c69b067d88a 133 if(subId == Ak9750Ctrl::SUB_ID_AK9750){
masahikofukasawa 10:5c69b067d88a 134 Ak9750Ctrl* ak9750ctrl = new Ak9750Ctrl();
masahikofukasawa 10:5c69b067d88a 135 sensor = ak9750ctrl;
masahikofukasawa 15:1238993fd75f 136 }else if(subId == Ak9750Ctrl::SUB_ID_AK9753){
masahikofukasawa 15:1238993fd75f 137 Ak9750Ctrl* ak9753ctrl = new Ak9750Ctrl();
masahikofukasawa 15:1238993fd75f 138 sensor = ak9753ctrl;
masahikofukasawa 10:5c69b067d88a 139 }else if(subId == Ak9752Ctrl::SUB_ID_AK9752){
masahikofukasawa 10:5c69b067d88a 140 Ak9752Ctrl* ak9752ctrl = new Ak9752Ctrl();
masahikofukasawa 10:5c69b067d88a 141 sensor = ak9752ctrl;
masahikofukasawa 10:5c69b067d88a 142 }else{
masahikofukasawa 10:5c69b067d88a 143 return NULL; // couldn't find
masahikofukasawa 10:5c69b067d88a 144 }
masahikofukasawa 10:5c69b067d88a 145
masahikofukasawa 1:b46b8653331f 146 break;
masahikofukasawa 10:5c69b067d88a 147 }
masahikofukasawa 17:9abb7c28709c 148
masahikofukasawa 0:7a00359e701e 149 default:
masahikofukasawa 10:5c69b067d88a 150 {
masahikofukasawa 17:9abb7c28709c 151 MSG("#Can't find ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
masahikofukasawa 0:7a00359e701e 152 return NULL; // couldn't find
masahikofukasawa 10:5c69b067d88a 153 }
masahikofukasawa 0:7a00359e701e 154 }
masahikofukasawa 11:cef8dc1cf010 155
masahikofukasawa 10:5c69b067d88a 156 if(sensor->init(primaryId, subId) != AkmSensor::SUCCESS){
masahikofukasawa 10:5c69b067d88a 157 MSG("#sensor->init failed. ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
masahikofukasawa 0:7a00359e701e 158 return NULL; // couldn't find
masahikofukasawa 0:7a00359e701e 159 }
masahikofukasawa 0:7a00359e701e 160
masahikofukasawa 10:5c69b067d88a 161 MSG("#ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
masahikofukasawa 0:7a00359e701e 162 return sensor;
masahikofukasawa 0:7a00359e701e 163 }
masahikofukasawa 0:7a00359e701e 164
masahikofukasawa 16:d85be9bafb80 165
masahikofukasawa 16:d85be9bafb80 166 void AkmSensorManager::dummyCallbackForCommandReceived(){}
masahikofukasawa 16:d85be9bafb80 167
masahikofukasawa 0:7a00359e701e 168 AkmSensorManager::Status AkmSensorManager::commandReceived(char* buf){
masahikofukasawa 0:7a00359e701e 169 // Construct message
masahikofukasawa 0:7a00359e701e 170 Status status = SUCCESS;
masahikofukasawa 0:7a00359e701e 171
masahikofukasawa 10:5c69b067d88a 172 if ((Message::parse(&msg, buf)) != Message::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 173 MSG("#Failed to parse message. %s\r\n", buf);
masahikofukasawa 0:7a00359e701e 174 status = ERROR;
masahikofukasawa 0:7a00359e701e 175 eventCommandReceived = false;
masahikofukasawa 15:1238993fd75f 176 }else{
masahikofukasawa 15:1238993fd75f 177 eventCommandReceived = true;
masahikofukasawa 16:d85be9bafb80 178 // MSG("#Parsed message. %s\r\n", buf);
masahikofukasawa 0:7a00359e701e 179 }
masahikofukasawa 16:d85be9bafb80 180 t.attach(callback(this, &AkmSensorManager::dummyCallbackForCommandReceived),0); // wake-up from ble.waitForEvent
masahikofukasawa 0:7a00359e701e 181 return status;
masahikofukasawa 0:7a00359e701e 182 }
masahikofukasawa 0:7a00359e701e 183
coisme 2:11fe67783c4c 184 int16_t AkmSensorManager::getAdcData(MCP342X *mcp3428, MCP342X::AdcChannel ch, MCP342X::SampleSetting s) {
coisme 2:11fe67783c4c 185 const int WAIT_ADC_MS = 1;
coisme 2:11fe67783c4c 186
coisme 2:11fe67783c4c 187 // Configure channel and trigger.
coisme 2:11fe67783c4c 188 mcp3428->setChannel(ch);
coisme 2:11fe67783c4c 189 mcp3428->setSampleSetting(s);
coisme 2:11fe67783c4c 190 mcp3428->trigger();
coisme 2:11fe67783c4c 191
coisme 2:11fe67783c4c 192 // polling data (!blocking)
coisme 2:11fe67783c4c 193 MCP342X::Data data;
coisme 2:11fe67783c4c 194 do {
coisme 2:11fe67783c4c 195 wait_ms(WAIT_ADC_MS);
coisme 2:11fe67783c4c 196 mcp3428->getData(&data);
coisme 2:11fe67783c4c 197 } while(data.st == MCP342X::DATA_NOT_UPDATED);
coisme 2:11fe67783c4c 198
coisme 2:11fe67783c4c 199 return data.value;
coisme 2:11fe67783c4c 200 }
masahikofukasawa 0:7a00359e701e 201
masahikofukasawa 0:7a00359e701e 202 uint8_t AkmSensorManager::getId(PinName pin, uint8_t bits)
masahikofukasawa 0:7a00359e701e 203 {
masahikofukasawa 11:cef8dc1cf010 204 MSG("#GetID\r\n");
masahikofukasawa 6:c4401549d68f 205
tkstreet 21:966724730ce6 206 I2C i2c(I2C_SDA, I2C_SCL); // establish I2C to read ID
tkstreet 21:966724730ce6 207
coisme 2:11fe67783c4c 208 // ADC
tkstreet 21:966724730ce6 209 MCP342X mcp342x(&i2c, MCP342X::SLAVE_ADDRESS_6EH); // ADC to convert voltage
tkstreet 21:966724730ce6 210 mcp342x.setConversionMode(MCP342X::ONE_SHOT); // Set to single sample
coisme 2:11fe67783c4c 211 MCP342X::AdcChannel ch;
tkstreet 21:966724730ce6 212
tkstreet 21:966724730ce6 213 if (pin == ANALOG_SENSOR_ID) { // Primary ID
coisme 2:11fe67783c4c 214 ch = MCP342X::ADC_CH1;
tkstreet 21:966724730ce6 215 } else { // pin == ANALOG_SENSOR_ID_SUB
tkstreet 21:966724730ce6 216 ch = MCP342X::ADC_CH2; // Secondary ID
coisme 2:11fe67783c4c 217 }
tkstreet 21:966724730ce6 218
coisme 2:11fe67783c4c 219 int16_t val = getAdcData(&mcp342x, ch, MCP342X::SAMPLE_240HZ_12BIT);
masahikofukasawa 11:cef8dc1cf010 220 MSG("#12bit ADC Val = %d.\r\n", val);
coisme 2:11fe67783c4c 221
tkstreet 21:966724730ce6 222 // Voltage boundaries for ID voltage divider system
coisme 2:11fe67783c4c 223 const int16_t VAL_MAX = 3000-2048; // Corresponds to 3V
coisme 2:11fe67783c4c 224 const int16_t VAL_MIN = -2048; // Corresponds to 0V
coisme 2:11fe67783c4c 225
tkstreet 21:966724730ce6 226 // Convert voltage to ID value
masahikofukasawa 6:c4401549d68f 227 uint8_t value = (uint8_t)((val - VAL_MIN)/(float)(VAL_MAX - VAL_MIN) * (1 << bits) + 0.5);
masahikofukasawa 11:cef8dc1cf010 228 MSG("#ID = %d.\r\n", value);
masahikofukasawa 6:c4401549d68f 229
masahikofukasawa 0:7a00359e701e 230 return value;
masahikofukasawa 0:7a00359e701e 231 }
masahikofukasawa 0:7a00359e701e 232
masahikofukasawa 0:7a00359e701e 233 bool AkmSensorManager::isEvent()
masahikofukasawa 0:7a00359e701e 234 {
masahikofukasawa 0:7a00359e701e 235 return (sensor->isEvent() ||
masahikofukasawa 0:7a00359e701e 236 eventCommandReceived ||
masahikofukasawa 0:7a00359e701e 237 eventConnected ||
masahikofukasawa 0:7a00359e701e 238 eventDisconnected);
masahikofukasawa 0:7a00359e701e 239 }
masahikofukasawa 0:7a00359e701e 240
masahikofukasawa 0:7a00359e701e 241 void AkmSensorManager::processCommand()
masahikofukasawa 0:7a00359e701e 242 {
tkstreet 23:50c98b286e41 243 // Extracts command contained in the message
masahikofukasawa 0:7a00359e701e 244 Message::Command cmd = msg.getCommand();
masahikofukasawa 0:7a00359e701e 245
tkstreet 21:966724730ce6 246 // Creates a message object to return
masahikofukasawa 0:7a00359e701e 247 Message resMsg;
masahikofukasawa 0:7a00359e701e 248
tkstreet 23:50c98b286e41 249 // Return message contains the extracted command
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 15:1238993fd75f 284 if( sensor->stopSensor() != AkmSensor::SUCCESS){
masahikofukasawa 15:1238993fd75f 285 resMsg.setArgument(0, 1);
masahikofukasawa 15:1238993fd75f 286 }else{
masahikofukasawa 15:1238993fd75f 287 resMsg.setArgument(0, 0);
masahikofukasawa 15:1238993fd75f 288 }
masahikofukasawa 0:7a00359e701e 289 throwMessage(&resMsg);
masahikofukasawa 11:cef8dc1cf010 290 MSG("#Stop measurement.\r\n");
masahikofukasawa 0:7a00359e701e 291 break;
masahikofukasawa 11:cef8dc1cf010 292 }
masahikofukasawa 0:7a00359e701e 293 case Message::CMD_START_MEASUREMENT:
masahikofukasawa 11:cef8dc1cf010 294 {
masahikofukasawa 11:cef8dc1cf010 295 int error_code = AkmSensor::SUCCESS;
masahikofukasawa 11:cef8dc1cf010 296 if(msg.getArgNum() == 0){
masahikofukasawa 11:cef8dc1cf010 297 error_code = sensor->startSensor();
masahikofukasawa 11:cef8dc1cf010 298 if( error_code != AkmSensor::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 299 MSG("#StartSensor Error. Code=%d\r\n",error_code);
masahikofukasawa 11:cef8dc1cf010 300 }
masahikofukasawa 11:cef8dc1cf010 301 else{
masahikofukasawa 11:cef8dc1cf010 302 MSG("#Start measurement.\r\n");
masahikofukasawa 11:cef8dc1cf010 303 }
masahikofukasawa 11:cef8dc1cf010 304 }else if(msg.getArgNum() == 1){
masahikofukasawa 11:cef8dc1cf010 305 float interval = (float)(1.0 / (float)msg.getArgument(0));
masahikofukasawa 11:cef8dc1cf010 306 error_code = sensor->startSensor(interval);
masahikofukasawa 11:cef8dc1cf010 307 if( error_code != AkmSensor::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 308 MSG("#StartSensor Error. Code=%d\r\n",error_code);
masahikofukasawa 11:cef8dc1cf010 309 }
masahikofukasawa 11:cef8dc1cf010 310 else{
masahikofukasawa 11:cef8dc1cf010 311 MSG("#Start measurement.\r\n");
masahikofukasawa 11:cef8dc1cf010 312 }
masahikofukasawa 11:cef8dc1cf010 313 }else{
masahikofukasawa 11:cef8dc1cf010 314 MSG("#StartSensor Error. Wrong Argument num.\r\n");
masahikofukasawa 11:cef8dc1cf010 315 }
masahikofukasawa 11:cef8dc1cf010 316 if(error_code == AkmSensor::SUCCESS){
masahikofukasawa 11:cef8dc1cf010 317 // get initial sensor state for switch type sensors
masahikofukasawa 11:cef8dc1cf010 318 if( primaryId == AkmSensor::AKM_PRIMARY_ID_UNIPOLAR ||
masahikofukasawa 11:cef8dc1cf010 319 primaryId == AkmSensor::AKM_PRIMARY_ID_OMNIPOLAR ||
masahikofukasawa 11:cef8dc1cf010 320 primaryId == AkmSensor::AKM_PRIMARY_ID_LATCH ||
masahikofukasawa 11:cef8dc1cf010 321 primaryId == AkmSensor::AKM_PRIMARY_ID_DUAL_OUTPUT ||
masahikofukasawa 11:cef8dc1cf010 322 primaryId == AkmSensor::AKM_PRIMARY_ID_ONECHIP_ENCODER ){
masahikofukasawa 11:cef8dc1cf010 323 Message temp;
masahikofukasawa 11:cef8dc1cf010 324 sensor->readSensorData(&temp);
masahikofukasawa 11:cef8dc1cf010 325 throwMessage(&temp);
masahikofukasawa 11:cef8dc1cf010 326 }
masahikofukasawa 0:7a00359e701e 327 }
masahikofukasawa 0:7a00359e701e 328 break;
masahikofukasawa 11:cef8dc1cf010 329 }
masahikofukasawa 9:6fa3e7b17c27 330 case Message::CMD_PROGSW_GET_THRESHOLD:
masahikofukasawa 9:6fa3e7b17c27 331 case Message::CMD_PROGSW_SET_THRESHOLD:
masahikofukasawa 9:6fa3e7b17c27 332 case Message::CMD_PROGSW_GET_READ_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 333 case Message::CMD_PROGSW_SET_READ_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 334 case Message::CMD_PROGSW_GET_SWITCH_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 335 case Message::CMD_PROGSW_SET_SWITCH_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 336 case Message::CMD_PROGSW_GET_OPERATION_MODE:
masahikofukasawa 9:6fa3e7b17c27 337 case Message::CMD_PROGSW_SET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 338 case Message::CMD_IR_GET_THRESHOLD:
masahikofukasawa 1:b46b8653331f 339 case Message::CMD_IR_SET_THRESHOLD:
masahikofukasawa 1:b46b8653331f 340 case Message::CMD_IR_GET_HYSTERESIS:
masahikofukasawa 1:b46b8653331f 341 case Message::CMD_IR_SET_HYSTERESIS:
masahikofukasawa 1:b46b8653331f 342 case Message::CMD_IR_GET_INTERRUPT:
masahikofukasawa 1:b46b8653331f 343 case Message::CMD_IR_SET_INTERRUPT:
masahikofukasawa 1:b46b8653331f 344 case Message::CMD_IR_GET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 345 case Message::CMD_IR_SET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 346 case Message::CMD_IR_GET_THRESHOLD_EEPROM:
masahikofukasawa 1:b46b8653331f 347 case Message::CMD_IR_SET_THRESHOLD_EEPROM:
masahikofukasawa 1:b46b8653331f 348 case Message::CMD_IR_GET_HYSTERESIS_EEPROM:
masahikofukasawa 1:b46b8653331f 349 case Message::CMD_IR_SET_HYSTERESIS_EEPROM:
masahikofukasawa 1:b46b8653331f 350 case Message::CMD_IR_GET_INTERRUPT_EEPROM:
masahikofukasawa 1:b46b8653331f 351 case Message::CMD_IR_SET_INTERRUPT_EEPROM:
masahikofukasawa 1:b46b8653331f 352 case Message::CMD_IR_GET_OPERATION_MODE_EEPROM:
masahikofukasawa 1:b46b8653331f 353 case Message::CMD_IR_SET_OPERATION_MODE_EEPROM:
masahikofukasawa 9:6fa3e7b17c27 354 case Message::CMD_ANGLE_ZERO_RESET:
masahikofukasawa 9:6fa3e7b17c27 355 case Message::CMD_REG_WRITE:
masahikofukasawa 9:6fa3e7b17c27 356 case Message::CMD_REG_WRITEN:
masahikofukasawa 9:6fa3e7b17c27 357 case Message::CMD_REG_READ:
masahikofukasawa 9:6fa3e7b17c27 358 case Message::CMD_REG_READN:
masahikofukasawa 9:6fa3e7b17c27 359 case Message::CMD_COMPASS_GET_OPERATION_MODE:
masahikofukasawa 9:6fa3e7b17c27 360 case Message::CMD_COMPASS_SET_OPERATION_MODE:
masahikofukasawa 11:cef8dc1cf010 361 {
masahikofukasawa 15:1238993fd75f 362 AkmSensor::Status st = sensor->requestCommand(&msg,&resMsg);
masahikofukasawa 15:1238993fd75f 363 if( (resMsg.getArgNum() == 0) && (st != AkmSensor::SUCCESS) )
masahikofukasawa 15:1238993fd75f 364 {
masahikofukasawa 15:1238993fd75f 365 MSG("#Command failed.\r\n");
masahikofukasawa 15:1238993fd75f 366 }else{
masahikofukasawa 15:1238993fd75f 367 throwMessage(&resMsg);
masahikofukasawa 15:1238993fd75f 368 }
masahikofukasawa 0:7a00359e701e 369 break;
masahikofukasawa 11:cef8dc1cf010 370 }
masahikofukasawa 0:7a00359e701e 371 default:
masahikofukasawa 11:cef8dc1cf010 372 {
masahikofukasawa 15:1238993fd75f 373 MSG("#Can't find command.\r\n");
masahikofukasawa 0:7a00359e701e 374 break;
masahikofukasawa 11:cef8dc1cf010 375 }
masahikofukasawa 0:7a00359e701e 376 }
masahikofukasawa 0:7a00359e701e 377 }
masahikofukasawa 0:7a00359e701e 378
masahikofukasawa 0:7a00359e701e 379 AkmSensorManager::Status AkmSensorManager::processEvent()
masahikofukasawa 0:7a00359e701e 380 {
masahikofukasawa 0:7a00359e701e 381 AkmSensorManager::Status status = AkmSensorManager::SUCCESS;
masahikofukasawa 0:7a00359e701e 382
tkstreet 23:50c98b286e41 383 // If event is a command received from the host
masahikofukasawa 0:7a00359e701e 384 if(eventCommandReceived)
masahikofukasawa 0:7a00359e701e 385 {
masahikofukasawa 16:d85be9bafb80 386 // MSG("#Command received.\r\n");
masahikofukasawa 0:7a00359e701e 387 processCommand();
tkstreet 21:966724730ce6 388 eventCommandReceived = false; // clear the flag
masahikofukasawa 0:7a00359e701e 389 }
tkstreet 23:50c98b286e41 390
tkstreet 23:50c98b286e41 391 // If event is sensor read data event, read the message
tkstreet 23:50c98b286e41 392 if(sensor->isEvent())
masahikofukasawa 0:7a00359e701e 393 {
masahikofukasawa 16:d85be9bafb80 394 // MSG("#Sensor event received.\r\n");
masahikofukasawa 0:7a00359e701e 395 Message msg;
masahikofukasawa 0:7a00359e701e 396 if( sensor->readSensorData(&msg) != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
tkstreet 23:50c98b286e41 397 throwMessage(&msg); // Process and output message to USB/BLE
masahikofukasawa 0:7a00359e701e 398 }
masahikofukasawa 0:7a00359e701e 399
tkstreet 23:50c98b286e41 400 // If event is the BLE being connected, clear the flag and start sensor
tkstreet 23:50c98b286e41 401 if(eventConnected)
masahikofukasawa 0:7a00359e701e 402 {
tkstreet 21:966724730ce6 403 eventConnected = false; // clear the flag
masahikofukasawa 12:c06cd8b76358 404 MSG("#BLE connected.\r\n");
masahikofukasawa 0:7a00359e701e 405 }
tkstreet 23:50c98b286e41 406
tkstreet 23:50c98b286e41 407 // If event is the BLE being disconnected, stop the sensor
tkstreet 23:50c98b286e41 408 if(eventDisconnected)
masahikofukasawa 0:7a00359e701e 409 {
masahikofukasawa 12:c06cd8b76358 410 MSG("#BLE dis-connected.\r\n");
masahikofukasawa 0:7a00359e701e 411 if( sensor->stopSensor() != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
tkstreet 21:966724730ce6 412 eventDisconnected = false; // clear the flag
masahikofukasawa 0:7a00359e701e 413 }
masahikofukasawa 0:7a00359e701e 414 return status;
masahikofukasawa 0:7a00359e701e 415 }
masahikofukasawa 0:7a00359e701e 416
masahikofukasawa 0:7a00359e701e 417 AkmSensorManager::Status AkmSensorManager::throwMessage(const Message *msg) {
masahikofukasawa 0:7a00359e701e 418 int len = Message::getMaxMessageLength();
masahikofukasawa 0:7a00359e701e 419 char buf[len];
masahikofukasawa 0:7a00359e701e 420
tkstreet 23:50c98b286e41 421 buf[0] = '$'; // Output message prefix
masahikofukasawa 0:7a00359e701e 422
tkstreet 23:50c98b286e41 423 // Processes command in msg to ASCII
masahikofukasawa 0:7a00359e701e 424 char cmd = (char)msg->getCommand();
masahikofukasawa 0:7a00359e701e 425 Message::charToAscii(&buf[1], &cmd);
masahikofukasawa 0:7a00359e701e 426
tkstreet 23:50c98b286e41 427 // Processes arguments in msg to ASCII
masahikofukasawa 0:7a00359e701e 428 for (int i=0; i < msg->getArgNum(); i++) {
masahikofukasawa 0:7a00359e701e 429 char arg = msg->getArgument(i);
masahikofukasawa 0:7a00359e701e 430 Message::charToAscii(&buf[3+2*i], &arg);
masahikofukasawa 0:7a00359e701e 431 }
masahikofukasawa 0:7a00359e701e 432
masahikofukasawa 0:7a00359e701e 433 // Add termination characters, 0x0D(\r), \n and \0, to the end of string
masahikofukasawa 0:7a00359e701e 434 int tIdx = 3 + 2 * (msg->getArgNum());
masahikofukasawa 0:7a00359e701e 435 int bufSize = sizeof(buf)/sizeof(buf[0]);
masahikofukasawa 0:7a00359e701e 436 if ((tIdx + 3) > (bufSize - 1)) {
masahikofukasawa 11:cef8dc1cf010 437 MSG("#Error: Message data exceeds the buffer.\r\n");
masahikofukasawa 0:7a00359e701e 438 return ERROR;
masahikofukasawa 0:7a00359e701e 439 }
masahikofukasawa 11:cef8dc1cf010 440 buf[tIdx++] = CR; // '\r'
masahikofukasawa 11:cef8dc1cf010 441 buf[tIdx++] = LF; // '\n'
masahikofukasawa 11:cef8dc1cf010 442 buf[tIdx] = '\0';
tkstreet 23:50c98b286e41 443
tkstreet 23:50c98b286e41 444 // If BLE is enabled, send to AKDP app (?)
tkstreet 23:50c98b286e41 445 if(isEnabledBle) uartService->writeString(buf);
tkstreet 23:50c98b286e41 446
tkstreet 23:50c98b286e41 447 // If USB is enabled, send to serial terminal (?)
masahikofukasawa 0:7a00359e701e 448 if(isEnabledUsb) serial->printf(buf);
masahikofukasawa 0:7a00359e701e 449
masahikofukasawa 0:7a00359e701e 450 return SUCCESS;
masahikofukasawa 12:c06cd8b76358 451 }
masahikofukasawa 13:d008249f0359 452
masahikofukasawa 13:d008249f0359 453 char* AkmSensorManager::getSensorName(){
masahikofukasawa 13:d008249f0359 454 return sensor->getSensorName();
masahikofukasawa 13:d008249f0359 455 }