Modified for compatibility with Rev.E. hardware
Fork of AkmSensor by
akmsensor.h@34:1ea3357c8d9a, 2017-05-03 (annotated)
- Committer:
- tkstreet
- Date:
- Wed May 03 18:00:45 2017 +0000
- Revision:
- 34:1ea3357c8d9a
- Parent:
- 29:b488d2c89fba
- Parent:
- 23:50c98b286e41
- Child:
- 37:c76d2edf3426
Release RevD7.015. Merged D7.014 with new documentation and updates to AP1017 driver.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
masahikofukasawa | 0:7a00359e701e | 1 | #ifndef AKMSENSOR_H |
masahikofukasawa | 0:7a00359e701e | 2 | #define AKMSENSOR_H |
masahikofukasawa | 0:7a00359e701e | 3 | |
masahikofukasawa | 0:7a00359e701e | 4 | #include "mbed.h" |
masahikofukasawa | 0:7a00359e701e | 5 | #include "Message.h" |
masahikofukasawa | 29:b488d2c89fba | 6 | //#include "debug.h" |
masahikofukasawa | 0:7a00359e701e | 7 | |
tkstreet | 23:50c98b286e41 | 8 | // SPI Pin Number Definitions |
tkstreet | 23:50c98b286e41 | 9 | #define SPI_SCK P0_8 // SPI, SCK |
tkstreet | 23:50c98b286e41 | 10 | #define SPI_MISO P0_9 // SPI, MISO |
masahikofukasawa | 0:7a00359e701e | 11 | #define SPI_MOSI P0_10 //SPI, MOSI |
masahikofukasawa | 4:af13b985c689 | 12 | #define SPI_CS P0_11 //SPI, CS |
masahikofukasawa | 7:e269411568c9 | 13 | #define SPI_DRDY P0_7 //SPI, DRDY |
masahikofukasawa | 0:7a00359e701e | 14 | |
tkstreet | 23:50c98b286e41 | 15 | // I2C Pin Number Definitions |
masahikofukasawa | 0:7a00359e701e | 16 | #define I2C_SCL P0_8 //I2C, SCL |
masahikofukasawa | 0:7a00359e701e | 17 | #define I2C_SDA P0_10 //I2C, SDA |
masahikofukasawa | 0:7a00359e701e | 18 | |
tkstreet | 23:50c98b286e41 | 19 | // Digital Port Pin Number Definitions |
masahikofukasawa | 0:7a00359e701e | 20 | #define DIGITAL_D0 P0_11 |
masahikofukasawa | 0:7a00359e701e | 21 | #define DIGITAL_D1 P0_9 |
masahikofukasawa | 0:7a00359e701e | 22 | |
tkstreet | 23:50c98b286e41 | 23 | // DRDY Port Pin Number Definitions |
masahikofukasawa | 7:e269411568c9 | 24 | #define I2C_DRDY P0_11 |
masahikofukasawa | 0:7a00359e701e | 25 | |
tkstreet | 23:50c98b286e41 | 26 | // Analog In Pin Number Definitions |
masahikofukasawa | 0:7a00359e701e | 27 | #define ANALOG_IN_PIN P0_5 //P05 |
masahikofukasawa | 0:7a00359e701e | 28 | |
tkstreet | 23:50c98b286e41 | 29 | // I2C Speed Standards |
masahikofukasawa | 0:7a00359e701e | 30 | #define I2C_SPEED_100KHZ 100000 |
masahikofukasawa | 0:7a00359e701e | 31 | #define I2C_SPEED_400KHZ 400000 |
masahikofukasawa | 0:7a00359e701e | 32 | |
tkstreet | 23:50c98b286e41 | 33 | // Sampling rate for ADC |
masahikofukasawa | 11:cef8dc1cf010 | 34 | #define SENSOR_SAMPLING_RATE 0.1 // 10Hz |
masahikofukasawa | 0:7a00359e701e | 35 | |
tkstreet | 22:f44f1018081e | 36 | /** |
tkstreet | 22:f44f1018081e | 37 | * Abstract base class for general AKM sensors. |
tkstreet | 22:f44f1018081e | 38 | */ |
masahikofukasawa | 0:7a00359e701e | 39 | class AkmSensor |
masahikofukasawa | 0:7a00359e701e | 40 | { |
masahikofukasawa | 0:7a00359e701e | 41 | |
masahikofukasawa | 0:7a00359e701e | 42 | public: |
tkstreet | 23:50c98b286e41 | 43 | /** |
tkstreet | 23:50c98b286e41 | 44 | * Error type for debugging purposes. |
tkstreet | 23:50c98b286e41 | 45 | */ |
masahikofukasawa | 0:7a00359e701e | 46 | typedef enum { |
tkstreet | 34:1ea3357c8d9a | 47 | |
tkstreet | 23:50c98b286e41 | 48 | SUCCESS = 0, /**< Successful termination (0) */ |
tkstreet | 23:50c98b286e41 | 49 | ERROR, /**< Error during execution (1) */ |
masahikofukasawa | 0:7a00359e701e | 50 | } Status; |
masahikofukasawa | 0:7a00359e701e | 51 | |
tkstreet | 23:50c98b286e41 | 52 | /** |
tkstreet | 23:50c98b286e41 | 53 | * Primary IDs for the major categories of sensors. |
tkstreet | 23:50c98b286e41 | 54 | */ |
masahikofukasawa | 0:7a00359e701e | 55 | typedef enum { |
tkstreet | 23:50c98b286e41 | 56 | AKM_PRIMARY_ID_AKD_SPI = 0x0, /**< AKD SPI Devices */ |
tkstreet | 23:50c98b286e41 | 57 | AKM_PRIMARY_ID_UNIPOLAR = 0x1, /**< Unipolar Switches */ |
tkstreet | 23:50c98b286e41 | 58 | AKM_PRIMARY_ID_OMNIPOLAR = 0x2, /**< Omnipolar Switches */ |
tkstreet | 23:50c98b286e41 | 59 | AKM_PRIMARY_ID_LATCH = 0x3, /**< Bipolar Latches */ |
tkstreet | 23:50c98b286e41 | 60 | AKM_PRIMARY_ID_DUAL_OUTPUT = 0x4, /**< Dual Output Switches */ |
tkstreet | 23:50c98b286e41 | 61 | AKM_PRIMARY_ID_ONECHIP_ENCODER = 0x5, /**< One-Chip Encoders */ |
tkstreet | 23:50c98b286e41 | 62 | AKM_PRIMARY_ID_TBD1 = 0x6, /**< Undefined */ |
tkstreet | 23:50c98b286e41 | 63 | AKM_PRIMARY_ID_TBD2 = 0x7, /**< Undefined */ |
tkstreet | 34:1ea3357c8d9a | 64 | AKM_PRIMARY_ID_DEMO = 0x8, /**< Demo Sensors */ |
tkstreet | 23:50c98b286e41 | 65 | AKM_PRIMARY_ID_CURRENT_SENSOR = 0x9, /**< Current Sensors */ |
tkstreet | 23:50c98b286e41 | 66 | AKM_PRIMARY_ID_MISC_ANALOG = 0xA, /**< Analog Devices */ |
tkstreet | 23:50c98b286e41 | 67 | AKM_PRIMARY_ID_LINEAR_SENSOR = 0xB, /**< Linear Sensors */ |
tkstreet | 23:50c98b286e41 | 68 | AKM_PRIMARY_ID_MOTOR_DRIVER = 0xC, /**< Motor Drivers */ |
tkstreet | 23:50c98b286e41 | 69 | AKM_PRIMARY_ID_IR_SENSOR = 0xD, /**< IR Sensors */ |
tkstreet | 23:50c98b286e41 | 70 | AKM_PRIMARY_ID_ANGLE_SENSOR = 0xE, /**< Angle Sensors */ |
tkstreet | 23:50c98b286e41 | 71 | AKM_PRIMARY_ID_AKD_I2C = 0xF, /**< AKD I2C Devices */ |
masahikofukasawa | 0:7a00359e701e | 72 | } SensorPrimaryId; |
masahikofukasawa | 0:7a00359e701e | 73 | |
tkstreet | 34:1ea3357c8d9a | 74 | |
masahikofukasawa | 27:41aa9fb23a2f | 75 | virtual ~AkmSensor(){}; |
tkstreet | 23:50c98b286e41 | 76 | |
tkstreet | 23:50c98b286e41 | 77 | /** |
tkstreet | 23:50c98b286e41 | 78 | * Process for intializing the selected sensor. |
tkstreet | 23:50c98b286e41 | 79 | * |
tkstreet | 23:50c98b286e41 | 80 | * @return Termination status type for debugging purposes. |
tkstreet | 23:50c98b286e41 | 81 | */ |
masahikofukasawa | 0:7a00359e701e | 82 | virtual Status init(const uint8_t id, const uint8_t subid) = 0; |
tkstreet | 23:50c98b286e41 | 83 | |
tkstreet | 23:50c98b286e41 | 84 | /** |
tkstreet | 23:50c98b286e41 | 85 | * Process abstraction for starting sensor operation. |
tkstreet | 23:50c98b286e41 | 86 | * |
tkstreet | 23:50c98b286e41 | 87 | * @return Termination status type for debugging purposes. |
tkstreet | 23:50c98b286e41 | 88 | */ |
masahikofukasawa | 0:7a00359e701e | 89 | virtual Status startSensor() = 0; |
tkstreet | 23:50c98b286e41 | 90 | |
tkstreet | 23:50c98b286e41 | 91 | /** |
tkstreet | 23:50c98b286e41 | 92 | * Process abstraction for starting sensor operation. |
tkstreet | 23:50c98b286e41 | 93 | * |
tkstreet | 23:50c98b286e41 | 94 | * @param sec Number of seconds of operation. |
tkstreet | 23:50c98b286e41 | 95 | * @return Termination status type for debugging purposes. |
tkstreet | 23:50c98b286e41 | 96 | */ |
masahikofukasawa | 0:7a00359e701e | 97 | virtual Status startSensor(const float sec) = 0; |
tkstreet | 23:50c98b286e41 | 98 | |
tkstreet | 23:50c98b286e41 | 99 | /** |
tkstreet | 23:50c98b286e41 | 100 | * Process abstraction for stopping sensor operation. |
tkstreet | 23:50c98b286e41 | 101 | * |
tkstreet | 23:50c98b286e41 | 102 | * @return Termination status type for debugging purposes. |
tkstreet | 23:50c98b286e41 | 103 | */ |
masahikofukasawa | 0:7a00359e701e | 104 | virtual Status stopSensor() = 0; |
tkstreet | 23:50c98b286e41 | 105 | |
tkstreet | 23:50c98b286e41 | 106 | /** |
tkstreet | 23:50c98b286e41 | 107 | * Process abstraction for reading data from the sensor. |
tkstreet | 23:50c98b286e41 | 108 | * |
tkstreet | 23:50c98b286e41 | 109 | * @param msg Message object that will hold the sensor data. |
tkstreet | 23:50c98b286e41 | 110 | * @return Termination status type for debugging purposes. |
tkstreet | 23:50c98b286e41 | 111 | */ |
masahikofukasawa | 0:7a00359e701e | 112 | virtual Status readSensorData(Message* msg) = 0; |
tkstreet | 23:50c98b286e41 | 113 | |
tkstreet | 23:50c98b286e41 | 114 | /** |
tkstreet | 23:50c98b286e41 | 115 | * Primary process for interfacing a sensor with the AKDP. When implemented |
tkstreet | 23:50c98b286e41 | 116 | * in sensor class, it will transfer commands between the the sensor control |
tkstreet | 23:50c98b286e41 | 117 | * class and AkmSensorManager. |
tkstreet | 23:50c98b286e41 | 118 | * |
tkstreet | 23:50c98b286e41 | 119 | * @param in Command message to be processed by sensor. |
tkstreet | 23:50c98b286e41 | 120 | * @param out Message returned from sensor. |
tkstreet | 23:50c98b286e41 | 121 | * @return Termination status type for debugging purposes. |
tkstreet | 23:50c98b286e41 | 122 | */ |
masahikofukasawa | 0:7a00359e701e | 123 | virtual Status requestCommand(Message* in, Message* out) = 0; |
tkstreet | 23:50c98b286e41 | 124 | |
tkstreet | 23:50c98b286e41 | 125 | /** |
tkstreet | 34:1ea3357c8d9a | 126 | * Set event flag. |
tkstreet | 34:1ea3357c8d9a | 127 | */ |
masahikofukasawa | 29:b488d2c89fba | 128 | virtual void setEvent(){ |
masahikofukasawa | 29:b488d2c89fba | 129 | // MSG("#setEvent called.\r\n"); |
masahikofukasawa | 29:b488d2c89fba | 130 | event = true; |
masahikofukasawa | 29:b488d2c89fba | 131 | } |
masahikofukasawa | 29:b488d2c89fba | 132 | |
tkstreet | 34:1ea3357c8d9a | 133 | /** |
tkstreet | 34:1ea3357c8d9a | 134 | * Clear event flag. |
tkstreet | 34:1ea3357c8d9a | 135 | */ |
masahikofukasawa | 29:b488d2c89fba | 136 | void clearEvent(){ |
masahikofukasawa | 29:b488d2c89fba | 137 | // MSG("#clearEvent called.\r\n"); |
masahikofukasawa | 29:b488d2c89fba | 138 | event = false; |
masahikofukasawa | 29:b488d2c89fba | 139 | } |
masahikofukasawa | 29:b488d2c89fba | 140 | |
tkstreet | 34:1ea3357c8d9a | 141 | /** |
tkstreet | 34:1ea3357c8d9a | 142 | * Checks if an event has occurred. |
tkstreet | 23:50c98b286e41 | 143 | * |
tkstreet | 34:1ea3357c8d9a | 144 | * @return TRUE if event has occurred, FALSE otherwise. |
tkstreet | 34:1ea3357c8d9a | 145 | */ |
masahikofukasawa | 27:41aa9fb23a2f | 146 | bool isEvent(){ |
masahikofukasawa | 27:41aa9fb23a2f | 147 | return event; |
masahikofukasawa | 27:41aa9fb23a2f | 148 | } |
masahikofukasawa | 27:41aa9fb23a2f | 149 | |
tkstreet | 34:1ea3357c8d9a | 150 | /** |
tkstreet | 34:1ea3357c8d9a | 151 | * Retrieve the name of the sensor. |
tkstreet | 34:1ea3357c8d9a | 152 | * |
tkstreet | 34:1ea3357c8d9a | 153 | * @return Name of sensor as a character array. |
tkstreet | 23:50c98b286e41 | 154 | */ |
masahikofukasawa | 27:41aa9fb23a2f | 155 | char* getSensorName(){ |
masahikofukasawa | 27:41aa9fb23a2f | 156 | return sensorName; |
masahikofukasawa | 27:41aa9fb23a2f | 157 | }; |
masahikofukasawa | 27:41aa9fb23a2f | 158 | |
tkstreet | 34:1ea3357c8d9a | 159 | /** |
tkstreet | 34:1ea3357c8d9a | 160 | * Retrieve the primary ID of the sensor. |
tkstreet | 34:1ea3357c8d9a | 161 | * |
tkstreet | 34:1ea3357c8d9a | 162 | * @return Primary ID as an integer. |
tkstreet | 34:1ea3357c8d9a | 163 | */ |
masahikofukasawa | 27:41aa9fb23a2f | 164 | int getPrimaryId(){ |
masahikofukasawa | 27:41aa9fb23a2f | 165 | return primaryId; |
masahikofukasawa | 27:41aa9fb23a2f | 166 | }; |
masahikofukasawa | 27:41aa9fb23a2f | 167 | |
tkstreet | 34:1ea3357c8d9a | 168 | /** |
tkstreet | 34:1ea3357c8d9a | 169 | * Retrieve the Sub-ID of the sensor. |
tkstreet | 34:1ea3357c8d9a | 170 | * |
tkstreet | 34:1ea3357c8d9a | 171 | * @return Sub-ID as an integer. |
tkstreet | 34:1ea3357c8d9a | 172 | */ |
masahikofukasawa | 27:41aa9fb23a2f | 173 | int getSecondaryId(){ |
masahikofukasawa | 27:41aa9fb23a2f | 174 | return subId; |
masahikofukasawa | 27:41aa9fb23a2f | 175 | }; |
masahikofukasawa | 0:7a00359e701e | 176 | |
masahikofukasawa | 0:7a00359e701e | 177 | private: |
masahikofukasawa | 29:b488d2c89fba | 178 | bool event; |
masahikofukasawa | 0:7a00359e701e | 179 | |
masahikofukasawa | 27:41aa9fb23a2f | 180 | protected: |
masahikofukasawa | 27:41aa9fb23a2f | 181 | uint8_t primaryId; |
masahikofukasawa | 27:41aa9fb23a2f | 182 | uint8_t subId; |
masahikofukasawa | 27:41aa9fb23a2f | 183 | char* sensorName; |
masahikofukasawa | 27:41aa9fb23a2f | 184 | |
masahikofukasawa | 27:41aa9fb23a2f | 185 | AkmSensor(){ |
masahikofukasawa | 27:41aa9fb23a2f | 186 | event = false; |
masahikofukasawa | 27:41aa9fb23a2f | 187 | primaryId = 0; |
masahikofukasawa | 27:41aa9fb23a2f | 188 | subId = 0; |
masahikofukasawa | 27:41aa9fb23a2f | 189 | sensorName = ""; |
masahikofukasawa | 27:41aa9fb23a2f | 190 | }; |
masahikofukasawa | 0:7a00359e701e | 191 | }; |
masahikofukasawa | 0:7a00359e701e | 192 | |
masahikofukasawa | 0:7a00359e701e | 193 | #endif |