Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

akmsensormanager.cpp@30:5a241d9b3262, 2017-04-28 (annotated)

Committer:
masahikofukasawa
Date:
Fri Apr 28 20:32:31 2017 +0000
Revision:
30:5a241d9b3262
Parent:
29:b488d2c89fba
Child:
34:1ea3357c8d9a
release RevD7.014. Add register access for AK7401/AK7451. Also for multi sensor control.

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 27:41aa9fb23a2f 31 "DEMO",
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 29:b488d2c89fba 48 interrupt = NULL;
masahikofukasawa 29:b488d2c89fba 49 sensorIndex = 0;
masahikofukasawa 29:b488d2c89fba 50 sensorNum = 0;
masahikofukasawa 29:b488d2c89fba 51 drdyType = AkmAkd::INTERRUPT_DISABLED;
masahikofukasawa 0:7a00359e701e 52 }
masahikofukasawa 0:7a00359e701e 53
masahikofukasawa 10:5c69b067d88a 54 AkmSensorManager::Status AkmSensorManager::init(uint8_t id, uint8_t subid)
masahikofukasawa 0:7a00359e701e 55 {
masahikofukasawa 10:5c69b067d88a 56 primaryId = id;
masahikofukasawa 10:5c69b067d88a 57 subId = subid;
masahikofukasawa 29:b488d2c89fba 58 sensorIndex = 0;
masahikofukasawa 29:b488d2c89fba 59 sensorNum = 0;
masahikofukasawa 27:41aa9fb23a2f 60 if(AkmSensorManager::checkAkmSensor()!= true) 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 27:41aa9fb23a2f 81 bool AkmSensorManager::checkAkmSensor()
masahikofukasawa 29:b488d2c89fba 82 {
masahikofukasawa 29:b488d2c89fba 83 sensorNum = 0;
masahikofukasawa 29:b488d2c89fba 84
masahikofukasawa 29:b488d2c89fba 85 // int i=0;
masahikofukasawa 29:b488d2c89fba 86 // while(sensor[i] != NULL){
masahikofukasawa 29:b488d2c89fba 87 // delete(sensor[i]);
masahikofukasawa 29:b488d2c89fba 88 // i++;
masahikofukasawa 29:b488d2c89fba 89 // }
masahikofukasawa 29:b488d2c89fba 90 if(interrupt) delete interrupt;
masahikofukasawa 29:b488d2c89fba 91 drdyType = AkmAkd::INTERRUPT_DISABLED;
masahikofukasawa 0:7a00359e701e 92
masahikofukasawa 10:5c69b067d88a 93 switch(primaryId){
masahikofukasawa 17:9abb7c28709c 94
masahikofukasawa 7:e269411568c9 95 case AkmSensor::AKM_PRIMARY_ID_AKD_SPI:
masahikofukasawa 29:b488d2c89fba 96 {
masahikofukasawa 29:b488d2c89fba 97 MSG("#SPI Interface.\r\n");
masahikofukasawa 29:b488d2c89fba 98 }
masahikofukasawa 0:7a00359e701e 99 case AkmSensor::AKM_PRIMARY_ID_AKD_I2C:
masahikofukasawa 10:5c69b067d88a 100 {
masahikofukasawa 29:b488d2c89fba 101 if(subId == Ak09970Ctrl::SUB_ID_AK09970){
masahikofukasawa 29:b488d2c89fba 102 drdyType = AkmAkd::INTERRUPT_ENABLED_PP; // Only support push-pull
masahikofukasawa 29:b488d2c89fba 103 Ak09970Ctrl* ak09970 = new Ak09970Ctrl();
masahikofukasawa 29:b488d2c89fba 104 sensor[0] = ak09970;
masahikofukasawa 29:b488d2c89fba 105 sensorNum = 1;
masahikofukasawa 29:b488d2c89fba 106 MSG("#AK09970.\r\n");
masahikofukasawa 10:5c69b067d88a 107 }
masahikofukasawa 10:5c69b067d88a 108 else{
masahikofukasawa 29:b488d2c89fba 109 AkmAkd* akd = new AkmAkd();
masahikofukasawa 29:b488d2c89fba 110 drdyType = akd->getInterrupt(primaryId, subId);
masahikofukasawa 29:b488d2c89fba 111 sensor[0] = akd;
masahikofukasawa 29:b488d2c89fba 112 sensorNum = 1;
masahikofukasawa 29:b488d2c89fba 113 MSG("#e-Compass.\r\n");
masahikofukasawa 10:5c69b067d88a 114 }
masahikofukasawa 0:7a00359e701e 115 break;
masahikofukasawa 29:b488d2c89fba 116 }
masahikofukasawa 0:7a00359e701e 117 case AkmSensor::AKM_PRIMARY_ID_ANGLE_SENSOR:
masahikofukasawa 10:5c69b067d88a 118 {
masahikofukasawa 11:cef8dc1cf010 119 if(subId == Ak7451Ctrl::SUB_ID_AK7451){
masahikofukasawa 11:cef8dc1cf010 120 Ak7451Ctrl* ak7451ctrl = new Ak7451Ctrl();
masahikofukasawa 27:41aa9fb23a2f 121 sensor[0] = ak7451ctrl;
masahikofukasawa 29:b488d2c89fba 122 sensorNum = 1;
masahikofukasawa 10:5c69b067d88a 123 }
masahikofukasawa 10:5c69b067d88a 124 else if(subId == Ak7401Ctrl::SUB_ID_AK7401){
masahikofukasawa 10:5c69b067d88a 125 Ak7401Ctrl* ak7401ctrl = new Ak7401Ctrl();
masahikofukasawa 27:41aa9fb23a2f 126 sensor[0] = ak7401ctrl;
masahikofukasawa 29:b488d2c89fba 127 sensorNum = 1;
masahikofukasawa 10:5c69b067d88a 128 }
masahikofukasawa 0:7a00359e701e 129 break;
masahikofukasawa 29:b488d2c89fba 130 }
masahikofukasawa 17:9abb7c28709c 131
masahikofukasawa 0:7a00359e701e 132 case AkmSensor::AKM_PRIMARY_ID_UNIPOLAR:
masahikofukasawa 0:7a00359e701e 133 case AkmSensor::AKM_PRIMARY_ID_OMNIPOLAR:
masahikofukasawa 0:7a00359e701e 134 case AkmSensor::AKM_PRIMARY_ID_LATCH:
masahikofukasawa 0:7a00359e701e 135 case AkmSensor::AKM_PRIMARY_ID_DUAL_OUTPUT:
masahikofukasawa 0:7a00359e701e 136 case AkmSensor::AKM_PRIMARY_ID_ONECHIP_ENCODER:
masahikofukasawa 10:5c69b067d88a 137 {
masahikofukasawa 10:5c69b067d88a 138 AkmHallSwitch* hallswitch = new AkmHallSwitch();
masahikofukasawa 27:41aa9fb23a2f 139 sensor[0] = hallswitch;
masahikofukasawa 29:b488d2c89fba 140 sensorNum = 1;
masahikofukasawa 0:7a00359e701e 141 break;
masahikofukasawa 10:5c69b067d88a 142 }
masahikofukasawa 27:41aa9fb23a2f 143 case AkmSensor::AKM_PRIMARY_ID_DEMO:
masahikofukasawa 27:41aa9fb23a2f 144 {
masahikofukasawa 29:b488d2c89fba 145 if(subId == 0x08){
masahikofukasawa 29:b488d2c89fba 146 drdyType = AkmAkd::INTERRUPT_ENABLED_OD; // Only support open drain type DRDY
masahikofukasawa 29:b488d2c89fba 147
masahikofukasawa 29:b488d2c89fba 148 Ak09970Ctrl* ak09970 = new Ak09970Ctrl();
masahikofukasawa 29:b488d2c89fba 149 sensor[0] = ak09970;
masahikofukasawa 29:b488d2c89fba 150 if(sensor[0]->init(AkmSensor::AKM_PRIMARY_ID_AKD_I2C, Ak09970Ctrl::SUB_ID_AK09970) != AkmSensor::SUCCESS){
masahikofukasawa 29:b488d2c89fba 151 MSG("#sensor[0]->init failed.\r\n");
masahikofukasawa 27:41aa9fb23a2f 152 return false; // couldn't find
masahikofukasawa 29:b488d2c89fba 153 }
masahikofukasawa 29:b488d2c89fba 154
masahikofukasawa 29:b488d2c89fba 155 Ak9752Ctrl* ak9752ctrl = new Ak9752Ctrl();
masahikofukasawa 29:b488d2c89fba 156 sensor[1] = ak9752ctrl;
masahikofukasawa 29:b488d2c89fba 157 if(sensor[1]->init(AkmSensor::AKM_PRIMARY_ID_IR_SENSOR, Ak9752Ctrl::SUB_ID_AK9752) != AkmSensor::SUCCESS){
masahikofukasawa 29:b488d2c89fba 158 MSG("#sensor[1]->init failed.\r\n");
masahikofukasawa 27:41aa9fb23a2f 159 return false; // couldn't find
masahikofukasawa 29:b488d2c89fba 160 }
masahikofukasawa 29:b488d2c89fba 161 sensorNum = 2;
masahikofukasawa 27:41aa9fb23a2f 162 }
masahikofukasawa 29:b488d2c89fba 163 break;
masahikofukasawa 27:41aa9fb23a2f 164 }
masahikofukasawa 4:af13b985c689 165 case AkmSensor::AKM_PRIMARY_ID_LINEAR_SENSOR:
masahikofukasawa 10:5c69b067d88a 166 case AkmSensor::AKM_PRIMARY_ID_CURRENT_SENSOR:
masahikofukasawa 10:5c69b067d88a 167 case AkmSensor::AKM_PRIMARY_ID_MISC_ANALOG:
masahikofukasawa 10:5c69b067d88a 168 {
masahikofukasawa 11:cef8dc1cf010 169 AkmAnalogSensor* analogsensor = new AkmAnalogSensor();
masahikofukasawa 27:41aa9fb23a2f 170 sensor[0] = analogsensor;
masahikofukasawa 29:b488d2c89fba 171 sensorNum = 1;
masahikofukasawa 0:7a00359e701e 172 break;
masahikofukasawa 10:5c69b067d88a 173 }
masahikofukasawa 17:9abb7c28709c 174
masahikofukasawa 1:b46b8653331f 175 case AkmSensor::AKM_PRIMARY_ID_IR_SENSOR:
masahikofukasawa 10:5c69b067d88a 176 {
masahikofukasawa 29:b488d2c89fba 177 drdyType = AkmAkd::INTERRUPT_ENABLED_OD;
masahikofukasawa 29:b488d2c89fba 178
masahikofukasawa 10:5c69b067d88a 179 if(subId == Ak9750Ctrl::SUB_ID_AK9750){
masahikofukasawa 10:5c69b067d88a 180 Ak9750Ctrl* ak9750ctrl = new Ak9750Ctrl();
masahikofukasawa 27:41aa9fb23a2f 181 sensor[0] = ak9750ctrl;
masahikofukasawa 29:b488d2c89fba 182 sensorNum = 1;
masahikofukasawa 15:1238993fd75f 183 }else if(subId == Ak9750Ctrl::SUB_ID_AK9753){
masahikofukasawa 15:1238993fd75f 184 Ak9750Ctrl* ak9753ctrl = new Ak9750Ctrl();
masahikofukasawa 27:41aa9fb23a2f 185 sensor[0] = ak9753ctrl;
masahikofukasawa 29:b488d2c89fba 186 sensorNum = 1;
masahikofukasawa 10:5c69b067d88a 187 }else if(subId == Ak9752Ctrl::SUB_ID_AK9752){
masahikofukasawa 10:5c69b067d88a 188 Ak9752Ctrl* ak9752ctrl = new Ak9752Ctrl();
masahikofukasawa 27:41aa9fb23a2f 189 sensor[0] = ak9752ctrl;
masahikofukasawa 29:b488d2c89fba 190 sensorNum = 1;
masahikofukasawa 10:5c69b067d88a 191 }else{
masahikofukasawa 27:41aa9fb23a2f 192 return false; // couldn't find
masahikofukasawa 10:5c69b067d88a 193 }
masahikofukasawa 1:b46b8653331f 194 break;
masahikofukasawa 10:5c69b067d88a 195 }
masahikofukasawa 17:9abb7c28709c 196
masahikofukasawa 0:7a00359e701e 197 default:
masahikofukasawa 10:5c69b067d88a 198 {
masahikofukasawa 17:9abb7c28709c 199 MSG("#Can't find ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
masahikofukasawa 27:41aa9fb23a2f 200 return false; // couldn't find
masahikofukasawa 10:5c69b067d88a 201 }
masahikofukasawa 0:7a00359e701e 202 }
masahikofukasawa 29:b488d2c89fba 203
masahikofukasawa 29:b488d2c89fba 204 if(primaryId != AkmSensor::AKM_PRIMARY_ID_DEMO){
masahikofukasawa 29:b488d2c89fba 205 for(int i=0; i<sensorNum; i++){
masahikofukasawa 29:b488d2c89fba 206 if(sensor[i]->init(primaryId, subId) != AkmSensor::SUCCESS){
masahikofukasawa 29:b488d2c89fba 207 MSG("#sensor[i]->init failed. ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
masahikofukasawa 29:b488d2c89fba 208 return false; // couldn't find
masahikofukasawa 29:b488d2c89fba 209 }
masahikofukasawa 29:b488d2c89fba 210 }
masahikofukasawa 27:41aa9fb23a2f 211 MSG("#ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
masahikofukasawa 0:7a00359e701e 212 }
masahikofukasawa 29:b488d2c89fba 213
masahikofukasawa 27:41aa9fb23a2f 214 return true;
masahikofukasawa 0:7a00359e701e 215 }
masahikofukasawa 0:7a00359e701e 216
masahikofukasawa 29:b488d2c89fba 217 void AkmSensorManager::detectDRDY(){
masahikofukasawa 29:b488d2c89fba 218 // MSG("#detect DRDY.\r\n");
masahikofukasawa 29:b488d2c89fba 219 for(int i=0; i<sensorNum; i++){
masahikofukasawa 29:b488d2c89fba 220 sensor[i]->setEvent();
masahikofukasawa 29:b488d2c89fba 221 }
masahikofukasawa 29:b488d2c89fba 222 }
masahikofukasawa 29:b488d2c89fba 223
masahikofukasawa 16:d85be9bafb80 224 void AkmSensorManager::dummyCallbackForCommandReceived(){}
masahikofukasawa 16:d85be9bafb80 225
masahikofukasawa 0:7a00359e701e 226 AkmSensorManager::Status AkmSensorManager::commandReceived(char* buf){
masahikofukasawa 0:7a00359e701e 227 // Construct message
masahikofukasawa 0:7a00359e701e 228 Status status = SUCCESS;
masahikofukasawa 0:7a00359e701e 229
masahikofukasawa 10:5c69b067d88a 230 if ((Message::parse(&msg, buf)) != Message::SUCCESS) {
masahikofukasawa 11:cef8dc1cf010 231 MSG("#Failed to parse message. %s\r\n", buf);
masahikofukasawa 0:7a00359e701e 232 status = ERROR;
masahikofukasawa 0:7a00359e701e 233 eventCommandReceived = false;
masahikofukasawa 15:1238993fd75f 234 }else{
masahikofukasawa 15:1238993fd75f 235 eventCommandReceived = true;
masahikofukasawa 16:d85be9bafb80 236 // MSG("#Parsed message. %s\r\n", buf);
masahikofukasawa 0:7a00359e701e 237 }
masahikofukasawa 16:d85be9bafb80 238 t.attach(callback(this, &AkmSensorManager::dummyCallbackForCommandReceived),0); // wake-up from ble.waitForEvent
masahikofukasawa 0:7a00359e701e 239 return status;
masahikofukasawa 0:7a00359e701e 240 }
masahikofukasawa 0:7a00359e701e 241
coisme 2:11fe67783c4c 242 int16_t AkmSensorManager::getAdcData(MCP342X *mcp3428, MCP342X::AdcChannel ch, MCP342X::SampleSetting s) {
coisme 2:11fe67783c4c 243 const int WAIT_ADC_MS = 1;
coisme 2:11fe67783c4c 244
coisme 2:11fe67783c4c 245 // Configure channel and trigger.
coisme 2:11fe67783c4c 246 mcp3428->setChannel(ch);
coisme 2:11fe67783c4c 247 mcp3428->setSampleSetting(s);
coisme 2:11fe67783c4c 248 mcp3428->trigger();
coisme 2:11fe67783c4c 249
coisme 2:11fe67783c4c 250 // polling data (!blocking)
coisme 2:11fe67783c4c 251 MCP342X::Data data;
coisme 2:11fe67783c4c 252 do {
coisme 2:11fe67783c4c 253 wait_ms(WAIT_ADC_MS);
coisme 2:11fe67783c4c 254 mcp3428->getData(&data);
coisme 2:11fe67783c4c 255 } while(data.st == MCP342X::DATA_NOT_UPDATED);
coisme 2:11fe67783c4c 256
coisme 2:11fe67783c4c 257 return data.value;
coisme 2:11fe67783c4c 258 }
masahikofukasawa 0:7a00359e701e 259
masahikofukasawa 0:7a00359e701e 260 uint8_t AkmSensorManager::getId(PinName pin, uint8_t bits)
masahikofukasawa 0:7a00359e701e 261 {
masahikofukasawa 11:cef8dc1cf010 262 MSG("#GetID\r\n");
masahikofukasawa 6:c4401549d68f 263
masahikofukasawa 6:c4401549d68f 264 I2C i2c(I2C_SDA, I2C_SCL);
coisme 2:11fe67783c4c 265 // ADC
coisme 2:11fe67783c4c 266 MCP342X mcp342x(&i2c, MCP342X::SLAVE_ADDRESS_6EH);
coisme 2:11fe67783c4c 267 mcp342x.setConversionMode(MCP342X::ONE_SHOT);
coisme 2:11fe67783c4c 268 MCP342X::AdcChannel ch;
coisme 2:11fe67783c4c 269 if (pin == ANALOG_SENSOR_ID) {
coisme 2:11fe67783c4c 270 ch = MCP342X::ADC_CH1;
coisme 2:11fe67783c4c 271 } else { // pin == ANALOG_SENSOR_ID_SUB
coisme 2:11fe67783c4c 272 ch = MCP342X::ADC_CH2;
coisme 2:11fe67783c4c 273 }
coisme 2:11fe67783c4c 274 int16_t val = getAdcData(&mcp342x, ch, MCP342X::SAMPLE_240HZ_12BIT);
masahikofukasawa 11:cef8dc1cf010 275 MSG("#12bit ADC Val = %d.\r\n", val);
coisme 2:11fe67783c4c 276
coisme 2:11fe67783c4c 277 const int16_t VAL_MAX = 3000-2048; // Corresponds to 3V
coisme 2:11fe67783c4c 278 const int16_t VAL_MIN = -2048; // Corresponds to 0V
coisme 2:11fe67783c4c 279
masahikofukasawa 6:c4401549d68f 280 uint8_t value = (uint8_t)((val - VAL_MIN)/(float)(VAL_MAX - VAL_MIN) * (1 << bits) + 0.5);
masahikofukasawa 11:cef8dc1cf010 281 MSG("#ID = %d.\r\n", value);
masahikofukasawa 6:c4401549d68f 282
masahikofukasawa 0:7a00359e701e 283 return value;
masahikofukasawa 0:7a00359e701e 284 }
masahikofukasawa 0:7a00359e701e 285
masahikofukasawa 0:7a00359e701e 286 bool AkmSensorManager::isEvent()
masahikofukasawa 0:7a00359e701e 287 {
masahikofukasawa 29:b488d2c89fba 288 // check sensor related event
masahikofukasawa 29:b488d2c89fba 289 for(int i=0; i<sensorNum; i++){
masahikofukasawa 29:b488d2c89fba 290 if(sensor[i]->isEvent()){
masahikofukasawa 29:b488d2c89fba 291 return true;
masahikofukasawa 29:b488d2c89fba 292 }
masahikofukasawa 29:b488d2c89fba 293 }
masahikofukasawa 29:b488d2c89fba 294
masahikofukasawa 29:b488d2c89fba 295 // other events
masahikofukasawa 29:b488d2c89fba 296 return (
masahikofukasawa 0:7a00359e701e 297 eventCommandReceived ||
masahikofukasawa 0:7a00359e701e 298 eventConnected ||
masahikofukasawa 0:7a00359e701e 299 eventDisconnected);
masahikofukasawa 0:7a00359e701e 300 }
masahikofukasawa 0:7a00359e701e 301
masahikofukasawa 0:7a00359e701e 302 void AkmSensorManager::processCommand()
masahikofukasawa 0:7a00359e701e 303 {
masahikofukasawa 0:7a00359e701e 304 // Gets command in the message
masahikofukasawa 0:7a00359e701e 305 Message::Command cmd = msg.getCommand();
masahikofukasawa 0:7a00359e701e 306
masahikofukasawa 0:7a00359e701e 307 // Creates an message object to return
masahikofukasawa 0:7a00359e701e 308 Message resMsg;
masahikofukasawa 0:7a00359e701e 309
masahikofukasawa 0:7a00359e701e 310 // Return message has the same command as input
masahikofukasawa 0:7a00359e701e 311 resMsg.setCommand(cmd);
masahikofukasawa 0:7a00359e701e 312
masahikofukasawa 0:7a00359e701e 313 switch(cmd)
masahikofukasawa 0:7a00359e701e 314 {
masahikofukasawa 0:7a00359e701e 315 case Message::CMD_GET_FW_VERSION:
masahikofukasawa 11:cef8dc1cf010 316 {
masahikofukasawa 0:7a00359e701e 317 resMsg.setArgument(0, FIRMWARE_VERSION);
masahikofukasawa 0:7a00359e701e 318 throwMessage(&resMsg);
masahikofukasawa 11:cef8dc1cf010 319 MSG("#FW version is reported.\r\n");
masahikofukasawa 0:7a00359e701e 320 break;
masahikofukasawa 11:cef8dc1cf010 321 }
masahikofukasawa 0:7a00359e701e 322 case Message::CMD_GET_MAG_PART:
masahikofukasawa 11:cef8dc1cf010 323 {
masahikofukasawa 0:7a00359e701e 324 resMsg.setArgument(0, MAGNETOMETER_ID);
masahikofukasawa 0:7a00359e701e 325 throwMessage(&resMsg);
masahikofukasawa 11:cef8dc1cf010 326 MSG("#Mag ID is reported.\r\n");
masahikofukasawa 0:7a00359e701e 327 break;
masahikofukasawa 11:cef8dc1cf010 328 }
masahikofukasawa 0:7a00359e701e 329 case Message::CMD_SET_SERIAL_TARGET:
masahikofukasawa 11:cef8dc1cf010 330 {
masahikofukasawa 0:7a00359e701e 331 isEnabledBle = msg.getArgument(0)==Message::SW_ON ? true : false;
masahikofukasawa 0:7a00359e701e 332 isEnabledUsb = msg.getArgument(1)==Message::SW_ON ? true : false;
masahikofukasawa 0:7a00359e701e 333 break;
masahikofukasawa 11:cef8dc1cf010 334 }
masahikofukasawa 0:7a00359e701e 335 case Message::CMD_GET_ID: // return Primary ID and Sub ID
masahikofukasawa 11:cef8dc1cf010 336 {
masahikofukasawa 10:5c69b067d88a 337 resMsg.setArgument(0, primaryId);
masahikofukasawa 0:7a00359e701e 338 resMsg.setArgument(1, subId);
masahikofukasawa 0:7a00359e701e 339 throwMessage(&resMsg);
masahikofukasawa 29:b488d2c89fba 340 MSG("#ID is reported.\r\n");
masahikofukasawa 0:7a00359e701e 341 break;
masahikofukasawa 11:cef8dc1cf010 342 }
masahikofukasawa 29:b488d2c89fba 343 case Message::CMD_GET_SENSOR_INDEX:
masahikofukasawa 27:41aa9fb23a2f 344 {
masahikofukasawa 29:b488d2c89fba 345 resMsg.setArgument(0, sensorIndex);
masahikofukasawa 27:41aa9fb23a2f 346 throwMessage(&resMsg);
masahikofukasawa 29:b488d2c89fba 347 MSG("#Get Sensor Index=%d.\r\n", sensorIndex);
masahikofukasawa 27:41aa9fb23a2f 348 break;
masahikofukasawa 27:41aa9fb23a2f 349 }
masahikofukasawa 29:b488d2c89fba 350 case Message::CMD_SET_SENSOR_INDEX:
masahikofukasawa 27:41aa9fb23a2f 351 {
masahikofukasawa 29:b488d2c89fba 352 uint8_t index = (uint8_t)msg.getArgument(0);
masahikofukasawa 30:5a241d9b3262 353 if(msg.getArgNum() == 1 && index<sensorNum){
masahikofukasawa 28:dc4eb14e4d7e 354 resMsg.setArgument(0, 0);
masahikofukasawa 29:b488d2c89fba 355 sensorIndex = index;
masahikofukasawa 29:b488d2c89fba 356 MSG("#Set Sensor Index=%d.\r\n", sensorIndex);
masahikofukasawa 30:5a241d9b3262 357 }else{
masahikofukasawa 30:5a241d9b3262 358 resMsg.setArgument(0, 1);
masahikofukasawa 30:5a241d9b3262 359 MSG("#Error: Set Sensor Index=%d.\r\n", sensorIndex);
masahikofukasawa 29:b488d2c89fba 360 }
masahikofukasawa 28:dc4eb14e4d7e 361 throwMessage(&resMsg);
masahikofukasawa 27:41aa9fb23a2f 362 break;
masahikofukasawa 27:41aa9fb23a2f 363 }
masahikofukasawa 29:b488d2c89fba 364 case Message::CMD_GET_TOTAL_SENSOR_NUM:
masahikofukasawa 27:41aa9fb23a2f 365 {
masahikofukasawa 29:b488d2c89fba 366 resMsg.setArgument(0, sensorNum);
masahikofukasawa 27:41aa9fb23a2f 367 throwMessage(&resMsg);
masahikofukasawa 29:b488d2c89fba 368 MSG("#Get Sensor Total Num=%d.\r\n", sensorNum);
masahikofukasawa 27:41aa9fb23a2f 369 break;
masahikofukasawa 27:41aa9fb23a2f 370 }
masahikofukasawa 0:7a00359e701e 371 case Message::CMD_STOP_MEASUREMENT:
masahikofukasawa 11:cef8dc1cf010 372 {
masahikofukasawa 29:b488d2c89fba 373 if( sensor[sensorIndex]->stopSensor() != AkmSensor::SUCCESS){
masahikofukasawa 15:1238993fd75f 374 resMsg.setArgument(0, 1);
masahikofukasawa 15:1238993fd75f 375 }else{
masahikofukasawa 27:41aa9fb23a2f 376 resMsg.setArgument(0, 0);
masahikofukasawa 15:1238993fd75f 377 }
masahikofukasawa 0:7a00359e701e 378 throwMessage(&resMsg);
masahikofukasawa 29:b488d2c89fba 379 MSG("#Stop measurement:%s.\r\n",sensor[sensorIndex]->getSensorName());
masahikofukasawa 0:7a00359e701e 380 break;
masahikofukasawa 11:cef8dc1cf010 381 }
masahikofukasawa 0:7a00359e701e 382 case Message::CMD_START_MEASUREMENT:
masahikofukasawa 11:cef8dc1cf010 383 {
masahikofukasawa 11:cef8dc1cf010 384 int error_code = AkmSensor::SUCCESS;
masahikofukasawa 11:cef8dc1cf010 385 if(msg.getArgNum() == 0){
masahikofukasawa 29:b488d2c89fba 386 error_code = sensor[sensorIndex]->startSensor();
masahikofukasawa 11:cef8dc1cf010 387 if( error_code != AkmSensor::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 388 MSG("#StartSensor Error. Code=%d\r\n",error_code);
masahikofukasawa 11:cef8dc1cf010 389 }
masahikofukasawa 11:cef8dc1cf010 390 else{
masahikofukasawa 29:b488d2c89fba 391 switch(drdyType){
masahikofukasawa 29:b488d2c89fba 392 case AkmAkd::INTERRUPT_ENABLED_PP:
masahikofukasawa 29:b488d2c89fba 393 {
masahikofukasawa 29:b488d2c89fba 394 if(primaryId == AkmSensor::AKM_PRIMARY_ID_AKD_SPI) interrupt = new InterruptIn(SPI_DRDY);
masahikofukasawa 29:b488d2c89fba 395 else interrupt = new InterruptIn(I2C_DRDY);
masahikofukasawa 29:b488d2c89fba 396 interrupt->rise(callback(this, &AkmSensorManager::detectDRDY));
masahikofukasawa 29:b488d2c89fba 397 break;
masahikofukasawa 29:b488d2c89fba 398 }
masahikofukasawa 29:b488d2c89fba 399 case AkmAkd::INTERRUPT_ENABLED_OD:
masahikofukasawa 29:b488d2c89fba 400 {
masahikofukasawa 29:b488d2c89fba 401 if(primaryId == AkmSensor::AKM_PRIMARY_ID_AKD_SPI) interrupt = new InterruptIn(SPI_DRDY);
masahikofukasawa 29:b488d2c89fba 402 else interrupt = new InterruptIn(I2C_DRDY);
masahikofukasawa 29:b488d2c89fba 403 interrupt->fall(callback(this, &AkmSensorManager::detectDRDY));
masahikofukasawa 29:b488d2c89fba 404 break;
masahikofukasawa 29:b488d2c89fba 405 }
masahikofukasawa 29:b488d2c89fba 406 default:
masahikofukasawa 29:b488d2c89fba 407 {
masahikofukasawa 29:b488d2c89fba 408 // nothing.
masahikofukasawa 29:b488d2c89fba 409 }
masahikofukasawa 29:b488d2c89fba 410 }
masahikofukasawa 11:cef8dc1cf010 411 }
masahikofukasawa 11:cef8dc1cf010 412 }else if(msg.getArgNum() == 1){
masahikofukasawa 11:cef8dc1cf010 413 float interval = (float)(1.0 / (float)msg.getArgument(0));
masahikofukasawa 29:b488d2c89fba 414 error_code = sensor[sensorIndex]->startSensor(interval);
masahikofukasawa 11:cef8dc1cf010 415 if( error_code != AkmSensor::SUCCESS ){
masahikofukasawa 11:cef8dc1cf010 416 MSG("#StartSensor Error. Code=%d\r\n",error_code);
masahikofukasawa 11:cef8dc1cf010 417 }
masahikofukasawa 11:cef8dc1cf010 418 else{
masahikofukasawa 29:b488d2c89fba 419 if(interrupt) delete interrupt;
masahikofukasawa 11:cef8dc1cf010 420 }
masahikofukasawa 11:cef8dc1cf010 421 }else{
masahikofukasawa 11:cef8dc1cf010 422 MSG("#StartSensor Error. Wrong Argument num.\r\n");
masahikofukasawa 11:cef8dc1cf010 423 }
masahikofukasawa 11:cef8dc1cf010 424 if(error_code == AkmSensor::SUCCESS){
masahikofukasawa 11:cef8dc1cf010 425 // get initial sensor state for switch type sensors
masahikofukasawa 11:cef8dc1cf010 426 if( primaryId == AkmSensor::AKM_PRIMARY_ID_UNIPOLAR ||
masahikofukasawa 11:cef8dc1cf010 427 primaryId == AkmSensor::AKM_PRIMARY_ID_OMNIPOLAR ||
masahikofukasawa 11:cef8dc1cf010 428 primaryId == AkmSensor::AKM_PRIMARY_ID_LATCH ||
masahikofukasawa 11:cef8dc1cf010 429 primaryId == AkmSensor::AKM_PRIMARY_ID_DUAL_OUTPUT ||
masahikofukasawa 11:cef8dc1cf010 430 primaryId == AkmSensor::AKM_PRIMARY_ID_ONECHIP_ENCODER ){
masahikofukasawa 11:cef8dc1cf010 431 Message temp;
masahikofukasawa 29:b488d2c89fba 432 sensor[sensorIndex]->readSensorData(&temp);
masahikofukasawa 11:cef8dc1cf010 433 throwMessage(&temp);
masahikofukasawa 11:cef8dc1cf010 434 }
masahikofukasawa 0:7a00359e701e 435 }
masahikofukasawa 0:7a00359e701e 436 break;
masahikofukasawa 11:cef8dc1cf010 437 }
masahikofukasawa 9:6fa3e7b17c27 438 case Message::CMD_PROGSW_GET_THRESHOLD:
masahikofukasawa 9:6fa3e7b17c27 439 case Message::CMD_PROGSW_SET_THRESHOLD:
masahikofukasawa 9:6fa3e7b17c27 440 case Message::CMD_PROGSW_GET_READ_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 441 case Message::CMD_PROGSW_SET_READ_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 442 case Message::CMD_PROGSW_GET_SWITCH_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 443 case Message::CMD_PROGSW_SET_SWITCH_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 444 case Message::CMD_PROGSW_GET_OPERATION_MODE:
masahikofukasawa 9:6fa3e7b17c27 445 case Message::CMD_PROGSW_SET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 446 case Message::CMD_IR_GET_THRESHOLD:
masahikofukasawa 1:b46b8653331f 447 case Message::CMD_IR_SET_THRESHOLD:
masahikofukasawa 1:b46b8653331f 448 case Message::CMD_IR_GET_HYSTERESIS:
masahikofukasawa 1:b46b8653331f 449 case Message::CMD_IR_SET_HYSTERESIS:
masahikofukasawa 1:b46b8653331f 450 case Message::CMD_IR_GET_INTERRUPT:
masahikofukasawa 1:b46b8653331f 451 case Message::CMD_IR_SET_INTERRUPT:
masahikofukasawa 1:b46b8653331f 452 case Message::CMD_IR_GET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 453 case Message::CMD_IR_SET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 454 case Message::CMD_IR_GET_THRESHOLD_EEPROM:
masahikofukasawa 1:b46b8653331f 455 case Message::CMD_IR_SET_THRESHOLD_EEPROM:
masahikofukasawa 1:b46b8653331f 456 case Message::CMD_IR_GET_HYSTERESIS_EEPROM:
masahikofukasawa 1:b46b8653331f 457 case Message::CMD_IR_SET_HYSTERESIS_EEPROM:
masahikofukasawa 1:b46b8653331f 458 case Message::CMD_IR_GET_INTERRUPT_EEPROM:
masahikofukasawa 1:b46b8653331f 459 case Message::CMD_IR_SET_INTERRUPT_EEPROM:
masahikofukasawa 1:b46b8653331f 460 case Message::CMD_IR_GET_OPERATION_MODE_EEPROM:
masahikofukasawa 1:b46b8653331f 461 case Message::CMD_IR_SET_OPERATION_MODE_EEPROM:
masahikofukasawa 9:6fa3e7b17c27 462 case Message::CMD_ANGLE_ZERO_RESET:
masahikofukasawa 30:5a241d9b3262 463 case Message::CMD_ANGLE_READ:
masahikofukasawa 9:6fa3e7b17c27 464 case Message::CMD_REG_WRITE:
masahikofukasawa 9:6fa3e7b17c27 465 case Message::CMD_REG_WRITEN:
masahikofukasawa 9:6fa3e7b17c27 466 case Message::CMD_REG_READ:
masahikofukasawa 9:6fa3e7b17c27 467 case Message::CMD_REG_READN:
masahikofukasawa 9:6fa3e7b17c27 468 case Message::CMD_COMPASS_GET_OPERATION_MODE:
masahikofukasawa 9:6fa3e7b17c27 469 case Message::CMD_COMPASS_SET_OPERATION_MODE:
masahikofukasawa 11:cef8dc1cf010 470 {
masahikofukasawa 29:b488d2c89fba 471 AkmSensor::Status st = sensor[sensorIndex]->requestCommand(&msg,&resMsg);
masahikofukasawa 15:1238993fd75f 472 if( (resMsg.getArgNum() == 0) && (st != AkmSensor::SUCCESS) )
masahikofukasawa 15:1238993fd75f 473 {
masahikofukasawa 15:1238993fd75f 474 MSG("#Command failed.\r\n");
masahikofukasawa 15:1238993fd75f 475 }else{
masahikofukasawa 15:1238993fd75f 476 throwMessage(&resMsg);
masahikofukasawa 15:1238993fd75f 477 }
masahikofukasawa 0:7a00359e701e 478 break;
masahikofukasawa 11:cef8dc1cf010 479 }
masahikofukasawa 0:7a00359e701e 480 default:
masahikofukasawa 11:cef8dc1cf010 481 {
masahikofukasawa 15:1238993fd75f 482 MSG("#Can't find command.\r\n");
masahikofukasawa 0:7a00359e701e 483 break;
masahikofukasawa 11:cef8dc1cf010 484 }
masahikofukasawa 0:7a00359e701e 485 }
masahikofukasawa 0:7a00359e701e 486 }
masahikofukasawa 0:7a00359e701e 487
masahikofukasawa 0:7a00359e701e 488 AkmSensorManager::Status AkmSensorManager::processEvent()
masahikofukasawa 0:7a00359e701e 489 {
masahikofukasawa 0:7a00359e701e 490 AkmSensorManager::Status status = AkmSensorManager::SUCCESS;
masahikofukasawa 16:d85be9bafb80 491
masahikofukasawa 0:7a00359e701e 492 // command received from the host
masahikofukasawa 0:7a00359e701e 493 if(eventCommandReceived)
masahikofukasawa 0:7a00359e701e 494 {
masahikofukasawa 16:d85be9bafb80 495 // MSG("#Command received.\r\n");
masahikofukasawa 0:7a00359e701e 496 processCommand();
masahikofukasawa 0:7a00359e701e 497 eventCommandReceived = false;
masahikofukasawa 0:7a00359e701e 498 }
masahikofukasawa 29:b488d2c89fba 499
masahikofukasawa 29:b488d2c89fba 500 // check sensor event
masahikofukasawa 29:b488d2c89fba 501 for(int i=0; i<sensorNum; i++){
masahikofukasawa 29:b488d2c89fba 502 if( sensor[i]->isEvent() ){
masahikofukasawa 29:b488d2c89fba 503 Message msg;
masahikofukasawa 29:b488d2c89fba 504 if( sensor[i]->readSensorData(&msg) != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
masahikofukasawa 29:b488d2c89fba 505 throwMessage(&msg);
masahikofukasawa 29:b488d2c89fba 506 }
masahikofukasawa 0:7a00359e701e 507 }
masahikofukasawa 29:b488d2c89fba 508
masahikofukasawa 0:7a00359e701e 509 if(eventConnected) // BLE connected. Start sensor.
masahikofukasawa 0:7a00359e701e 510 {
masahikofukasawa 0:7a00359e701e 511 eventConnected = false;
masahikofukasawa 12:c06cd8b76358 512 MSG("#BLE connected.\r\n");
masahikofukasawa 0:7a00359e701e 513 }
masahikofukasawa 0:7a00359e701e 514 if(eventDisconnected) // BLE dis-connected. Stop sensor.
masahikofukasawa 0:7a00359e701e 515 {
masahikofukasawa 12:c06cd8b76358 516 MSG("#BLE dis-connected.\r\n");
masahikofukasawa 29:b488d2c89fba 517 for(int i=0; i<sensorNum; i++){
masahikofukasawa 29:b488d2c89fba 518 if( sensor[i]->stopSensor() != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
masahikofukasawa 29:b488d2c89fba 519 }
masahikofukasawa 12:c06cd8b76358 520 eventDisconnected = false;
masahikofukasawa 0:7a00359e701e 521 }
masahikofukasawa 0:7a00359e701e 522 return status;
masahikofukasawa 0:7a00359e701e 523 }
masahikofukasawa 0:7a00359e701e 524
masahikofukasawa 0:7a00359e701e 525 AkmSensorManager::Status AkmSensorManager::throwMessage(const Message *msg) {
masahikofukasawa 0:7a00359e701e 526 int len = Message::getMaxMessageLength();
masahikofukasawa 0:7a00359e701e 527 char buf[len];
masahikofukasawa 0:7a00359e701e 528
masahikofukasawa 0:7a00359e701e 529 buf[0] = '$';
masahikofukasawa 0:7a00359e701e 530
masahikofukasawa 0:7a00359e701e 531 // Processes command
masahikofukasawa 0:7a00359e701e 532 char cmd = (char)msg->getCommand();
masahikofukasawa 0:7a00359e701e 533 Message::charToAscii(&buf[1], &cmd);
masahikofukasawa 0:7a00359e701e 534
masahikofukasawa 0:7a00359e701e 535 // Processes arguments
masahikofukasawa 0:7a00359e701e 536 for (int i=0; i < msg->getArgNum(); i++) {
masahikofukasawa 0:7a00359e701e 537 char arg = msg->getArgument(i);
masahikofukasawa 0:7a00359e701e 538 Message::charToAscii(&buf[3+2*i], &arg);
masahikofukasawa 0:7a00359e701e 539 }
masahikofukasawa 0:7a00359e701e 540
masahikofukasawa 0:7a00359e701e 541 // Add termination characters, 0x0D(\r), \n and \0, to the end of string
masahikofukasawa 0:7a00359e701e 542 int tIdx = 3 + 2 * (msg->getArgNum());
masahikofukasawa 0:7a00359e701e 543 int bufSize = sizeof(buf)/sizeof(buf[0]);
masahikofukasawa 0:7a00359e701e 544 if ((tIdx + 3) > (bufSize - 1)) {
masahikofukasawa 11:cef8dc1cf010 545 MSG("#Error: Message data exceeds the buffer.\r\n");
masahikofukasawa 0:7a00359e701e 546 return ERROR;
masahikofukasawa 0:7a00359e701e 547 }
masahikofukasawa 11:cef8dc1cf010 548 buf[tIdx++] = CR; // '\r'
masahikofukasawa 11:cef8dc1cf010 549 buf[tIdx++] = LF; // '\n'
masahikofukasawa 11:cef8dc1cf010 550 buf[tIdx] = '\0';
masahikofukasawa 0:7a00359e701e 551 if(isEnabledBle) uartService->writeString(buf);
masahikofukasawa 0:7a00359e701e 552 if(isEnabledUsb) serial->printf(buf);
masahikofukasawa 0:7a00359e701e 553
masahikofukasawa 0:7a00359e701e 554 return SUCCESS;
masahikofukasawa 12:c06cd8b76358 555 }
masahikofukasawa 13:d008249f0359 556
masahikofukasawa 29:b488d2c89fba 557
masahikofukasawa 29:b488d2c89fba 558
masahikofukasawa 27:41aa9fb23a2f 559 char* AkmSensorManager::my_strcat(char* str1, char* str2)
masahikofukasawa 27:41aa9fb23a2f 560 {
masahikofukasawa 27:41aa9fb23a2f 561 int num1;
masahikofukasawa 27:41aa9fb23a2f 562 char* str;
masahikofukasawa 27:41aa9fb23a2f 563
masahikofukasawa 27:41aa9fb23a2f 564 num1=strlen(str1) + strlen(str2);
masahikofukasawa 27:41aa9fb23a2f 565 str = (char *)malloc(num1 + 1);
masahikofukasawa 27:41aa9fb23a2f 566 sprintf(str,"%s%s",str1,str2);
masahikofukasawa 27:41aa9fb23a2f 567 return str;
masahikofukasawa 27:41aa9fb23a2f 568 }
masahikofukasawa 27:41aa9fb23a2f 569
masahikofukasawa 13:d008249f0359 570 char* AkmSensorManager::getSensorName(){
masahikofukasawa 29:b488d2c89fba 571 char* name = "";
masahikofukasawa 29:b488d2c89fba 572 for(int i=0; i<sensorNum; i++){
masahikofukasawa 29:b488d2c89fba 573 name = my_strcat(name, sensor[i]->getSensorName());
masahikofukasawa 29:b488d2c89fba 574 if( sensorNum > (i+1) )name = my_strcat(name, "+");
masahikofukasawa 27:41aa9fb23a2f 575 }
masahikofukasawa 27:41aa9fb23a2f 576 MSG("#Sensor Name='%s'.\r\n",name);
masahikofukasawa 27:41aa9fb23a2f 577 return name;
masahikofukasawa 13:d008249f0359 578 }