Modified for compatibility with Rev.E. hardware
Fork of AkmSensor by
akmsensor.h@41:a3ea80c594ec, 2017-08-17 (annotated)
- Committer:
- masahikofukasawa
- Date:
- Thu Aug 17 19:59:10 2017 +0000
- Revision:
- 41:a3ea80c594ec
- Parent:
- 40:42e48427e4b7
- Child:
- 43:45225713cd58
Modified for AK09940
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 | 41:a3ea80c594ec | 14 | #define SPI_SPEED 1000000 // |
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 | 40:42e48427e4b7 | 18 | #define I2C_DRDY P0_11 |
masahikofukasawa | 41:a3ea80c594ec | 19 | #define I2C_SPEED 400000 // From RevD7.016 |
masahikofukasawa | 0:7a00359e701e | 20 | |
tkstreet | 23:50c98b286e41 | 21 | // Digital Port Pin Number Definitions |
masahikofukasawa | 0:7a00359e701e | 22 | #define DIGITAL_D0 P0_11 |
masahikofukasawa | 0:7a00359e701e | 23 | #define DIGITAL_D1 P0_9 |
masahikofukasawa | 0:7a00359e701e | 24 | |
tkstreet | 23:50c98b286e41 | 25 | // DRDY Port Pin Number Definitions |
masahikofukasawa | 0:7a00359e701e | 26 | |
tkstreet | 23:50c98b286e41 | 27 | // Analog In Pin Number Definitions |
masahikofukasawa | 0:7a00359e701e | 28 | #define ANALOG_IN_PIN P0_5 //P05 |
masahikofukasawa | 0:7a00359e701e | 29 | |
tkstreet | 23:50c98b286e41 | 30 | // Sampling rate for ADC |
masahikofukasawa | 11:cef8dc1cf010 | 31 | #define SENSOR_SAMPLING_RATE 0.1 // 10Hz |
masahikofukasawa | 0:7a00359e701e | 32 | |
tkstreet | 22:f44f1018081e | 33 | /** |
tkstreet | 22:f44f1018081e | 34 | * Abstract base class for general AKM sensors. |
tkstreet | 22:f44f1018081e | 35 | */ |
masahikofukasawa | 0:7a00359e701e | 36 | class AkmSensor |
masahikofukasawa | 0:7a00359e701e | 37 | { |
masahikofukasawa | 0:7a00359e701e | 38 | |
masahikofukasawa | 0:7a00359e701e | 39 | public: |
tkstreet | 23:50c98b286e41 | 40 | /** |
tkstreet | 23:50c98b286e41 | 41 | * Error type for debugging purposes. |
tkstreet | 23:50c98b286e41 | 42 | */ |
masahikofukasawa | 0:7a00359e701e | 43 | typedef enum { |
tkstreet | 34:1ea3357c8d9a | 44 | |
tkstreet | 23:50c98b286e41 | 45 | SUCCESS = 0, /**< Successful termination (0) */ |
tkstreet | 23:50c98b286e41 | 46 | ERROR, /**< Error during execution (1) */ |
masahikofukasawa | 0:7a00359e701e | 47 | } Status; |
masahikofukasawa | 0:7a00359e701e | 48 | |
tkstreet | 23:50c98b286e41 | 49 | /** |
tkstreet | 23:50c98b286e41 | 50 | * Primary IDs for the major categories of sensors. |
tkstreet | 23:50c98b286e41 | 51 | */ |
masahikofukasawa | 0:7a00359e701e | 52 | typedef enum { |
tkstreet | 23:50c98b286e41 | 53 | AKM_PRIMARY_ID_AKD_SPI = 0x0, /**< AKD SPI Devices */ |
tkstreet | 23:50c98b286e41 | 54 | AKM_PRIMARY_ID_UNIPOLAR = 0x1, /**< Unipolar Switches */ |
tkstreet | 23:50c98b286e41 | 55 | AKM_PRIMARY_ID_OMNIPOLAR = 0x2, /**< Omnipolar Switches */ |
tkstreet | 23:50c98b286e41 | 56 | AKM_PRIMARY_ID_LATCH = 0x3, /**< Bipolar Latches */ |
tkstreet | 23:50c98b286e41 | 57 | AKM_PRIMARY_ID_DUAL_OUTPUT = 0x4, /**< Dual Output Switches */ |
tkstreet | 23:50c98b286e41 | 58 | AKM_PRIMARY_ID_ONECHIP_ENCODER = 0x5, /**< One-Chip Encoders */ |
tkstreet | 23:50c98b286e41 | 59 | AKM_PRIMARY_ID_TBD1 = 0x6, /**< Undefined */ |
masahikofukasawa | 37:c76d2edf3426 | 60 | AKM_PRIMARY_ID_CURRENT_SENSOR_3V = 0x7, /**< Current Sensor 3V Output */ |
tkstreet | 34:1ea3357c8d9a | 61 | AKM_PRIMARY_ID_DEMO = 0x8, /**< Demo Sensors */ |
masahikofukasawa | 37:c76d2edf3426 | 62 | AKM_PRIMARY_ID_CURRENT_SENSOR_5V = 0x9, /**< Current Sensors 5V Output */ |
tkstreet | 23:50c98b286e41 | 63 | AKM_PRIMARY_ID_MISC_ANALOG = 0xA, /**< Analog Devices */ |
tkstreet | 23:50c98b286e41 | 64 | AKM_PRIMARY_ID_LINEAR_SENSOR = 0xB, /**< Linear Sensors */ |
tkstreet | 23:50c98b286e41 | 65 | AKM_PRIMARY_ID_MOTOR_DRIVER = 0xC, /**< Motor Drivers */ |
tkstreet | 23:50c98b286e41 | 66 | AKM_PRIMARY_ID_IR_SENSOR = 0xD, /**< IR Sensors */ |
tkstreet | 23:50c98b286e41 | 67 | AKM_PRIMARY_ID_ANGLE_SENSOR = 0xE, /**< Angle Sensors */ |
tkstreet | 23:50c98b286e41 | 68 | AKM_PRIMARY_ID_AKD_I2C = 0xF, /**< AKD I2C Devices */ |
masahikofukasawa | 0:7a00359e701e | 69 | } SensorPrimaryId; |
masahikofukasawa | 0:7a00359e701e | 70 | |
tkstreet | 34:1ea3357c8d9a | 71 | |
masahikofukasawa | 27:41aa9fb23a2f | 72 | virtual ~AkmSensor(){}; |
tkstreet | 23:50c98b286e41 | 73 | |
tkstreet | 23:50c98b286e41 | 74 | /** |
tkstreet | 23:50c98b286e41 | 75 | * Process for intializing the selected sensor. |
tkstreet | 23:50c98b286e41 | 76 | * |
tkstreet | 23:50c98b286e41 | 77 | * @return Termination status type for debugging purposes. |
tkstreet | 23:50c98b286e41 | 78 | */ |
masahikofukasawa | 0:7a00359e701e | 79 | virtual Status init(const uint8_t id, const uint8_t subid) = 0; |
tkstreet | 23:50c98b286e41 | 80 | |
tkstreet | 23:50c98b286e41 | 81 | /** |
tkstreet | 23:50c98b286e41 | 82 | * Process abstraction for starting sensor operation. |
tkstreet | 23:50c98b286e41 | 83 | * |
tkstreet | 23:50c98b286e41 | 84 | * @return Termination status type for debugging purposes. |
tkstreet | 23:50c98b286e41 | 85 | */ |
masahikofukasawa | 0:7a00359e701e | 86 | virtual Status startSensor() = 0; |
tkstreet | 23:50c98b286e41 | 87 | |
tkstreet | 23:50c98b286e41 | 88 | /** |
tkstreet | 23:50c98b286e41 | 89 | * Process abstraction for starting sensor operation. |
tkstreet | 23:50c98b286e41 | 90 | * |
tkstreet | 23:50c98b286e41 | 91 | * @param sec Number of seconds of operation. |
tkstreet | 23:50c98b286e41 | 92 | * @return Termination status type for debugging purposes. |
tkstreet | 23:50c98b286e41 | 93 | */ |
masahikofukasawa | 0:7a00359e701e | 94 | virtual Status startSensor(const float sec) = 0; |
tkstreet | 23:50c98b286e41 | 95 | |
tkstreet | 23:50c98b286e41 | 96 | /** |
tkstreet | 23:50c98b286e41 | 97 | * Process abstraction for stopping sensor operation. |
tkstreet | 23:50c98b286e41 | 98 | * |
tkstreet | 23:50c98b286e41 | 99 | * @return Termination status type for debugging purposes. |
tkstreet | 23:50c98b286e41 | 100 | */ |
masahikofukasawa | 0:7a00359e701e | 101 | virtual Status stopSensor() = 0; |
tkstreet | 23:50c98b286e41 | 102 | |
tkstreet | 23:50c98b286e41 | 103 | /** |
tkstreet | 23:50c98b286e41 | 104 | * Process abstraction for reading data from the sensor. |
tkstreet | 23:50c98b286e41 | 105 | * |
tkstreet | 23:50c98b286e41 | 106 | * @param msg Message object that will hold the sensor data. |
tkstreet | 23:50c98b286e41 | 107 | * @return Termination status type for debugging purposes. |
tkstreet | 23:50c98b286e41 | 108 | */ |
masahikofukasawa | 0:7a00359e701e | 109 | virtual Status readSensorData(Message* msg) = 0; |
tkstreet | 23:50c98b286e41 | 110 | |
tkstreet | 23:50c98b286e41 | 111 | /** |
tkstreet | 23:50c98b286e41 | 112 | * Primary process for interfacing a sensor with the AKDP. When implemented |
tkstreet | 23:50c98b286e41 | 113 | * in sensor class, it will transfer commands between the the sensor control |
tkstreet | 23:50c98b286e41 | 114 | * class and AkmSensorManager. |
tkstreet | 23:50c98b286e41 | 115 | * |
tkstreet | 23:50c98b286e41 | 116 | * @param in Command message to be processed by sensor. |
tkstreet | 23:50c98b286e41 | 117 | * @param out Message returned from sensor. |
tkstreet | 23:50c98b286e41 | 118 | * @return Termination status type for debugging purposes. |
tkstreet | 23:50c98b286e41 | 119 | */ |
masahikofukasawa | 0:7a00359e701e | 120 | virtual Status requestCommand(Message* in, Message* out) = 0; |
tkstreet | 23:50c98b286e41 | 121 | |
tkstreet | 23:50c98b286e41 | 122 | /** |
tkstreet | 34:1ea3357c8d9a | 123 | * Set event flag. |
tkstreet | 34:1ea3357c8d9a | 124 | */ |
masahikofukasawa | 29:b488d2c89fba | 125 | virtual void setEvent(){ |
masahikofukasawa | 29:b488d2c89fba | 126 | // MSG("#setEvent called.\r\n"); |
masahikofukasawa | 29:b488d2c89fba | 127 | event = true; |
masahikofukasawa | 29:b488d2c89fba | 128 | } |
masahikofukasawa | 29:b488d2c89fba | 129 | |
tkstreet | 34:1ea3357c8d9a | 130 | /** |
tkstreet | 34:1ea3357c8d9a | 131 | * Clear event flag. |
tkstreet | 34:1ea3357c8d9a | 132 | */ |
masahikofukasawa | 29:b488d2c89fba | 133 | void clearEvent(){ |
masahikofukasawa | 29:b488d2c89fba | 134 | // MSG("#clearEvent called.\r\n"); |
masahikofukasawa | 29:b488d2c89fba | 135 | event = false; |
masahikofukasawa | 29:b488d2c89fba | 136 | } |
masahikofukasawa | 29:b488d2c89fba | 137 | |
tkstreet | 34:1ea3357c8d9a | 138 | /** |
tkstreet | 34:1ea3357c8d9a | 139 | * Checks if an event has occurred. |
tkstreet | 23:50c98b286e41 | 140 | * |
tkstreet | 34:1ea3357c8d9a | 141 | * @return TRUE if event has occurred, FALSE otherwise. |
tkstreet | 34:1ea3357c8d9a | 142 | */ |
masahikofukasawa | 27:41aa9fb23a2f | 143 | bool isEvent(){ |
masahikofukasawa | 27:41aa9fb23a2f | 144 | return event; |
masahikofukasawa | 27:41aa9fb23a2f | 145 | } |
masahikofukasawa | 27:41aa9fb23a2f | 146 | |
tkstreet | 34:1ea3357c8d9a | 147 | /** |
tkstreet | 34:1ea3357c8d9a | 148 | * Retrieve the name of the sensor. |
tkstreet | 34:1ea3357c8d9a | 149 | * |
tkstreet | 34:1ea3357c8d9a | 150 | * @return Name of sensor as a character array. |
tkstreet | 23:50c98b286e41 | 151 | */ |
masahikofukasawa | 27:41aa9fb23a2f | 152 | char* getSensorName(){ |
masahikofukasawa | 27:41aa9fb23a2f | 153 | return sensorName; |
masahikofukasawa | 27:41aa9fb23a2f | 154 | }; |
masahikofukasawa | 27:41aa9fb23a2f | 155 | |
tkstreet | 34:1ea3357c8d9a | 156 | /** |
tkstreet | 34:1ea3357c8d9a | 157 | * Retrieve the primary ID of the sensor. |
tkstreet | 34:1ea3357c8d9a | 158 | * |
tkstreet | 34:1ea3357c8d9a | 159 | * @return Primary ID as an integer. |
tkstreet | 34:1ea3357c8d9a | 160 | */ |
masahikofukasawa | 27:41aa9fb23a2f | 161 | int getPrimaryId(){ |
masahikofukasawa | 27:41aa9fb23a2f | 162 | return primaryId; |
masahikofukasawa | 27:41aa9fb23a2f | 163 | }; |
masahikofukasawa | 27:41aa9fb23a2f | 164 | |
tkstreet | 34:1ea3357c8d9a | 165 | /** |
tkstreet | 34:1ea3357c8d9a | 166 | * Retrieve the Sub-ID of the sensor. |
tkstreet | 34:1ea3357c8d9a | 167 | * |
tkstreet | 34:1ea3357c8d9a | 168 | * @return Sub-ID as an integer. |
tkstreet | 34:1ea3357c8d9a | 169 | */ |
masahikofukasawa | 27:41aa9fb23a2f | 170 | int getSecondaryId(){ |
masahikofukasawa | 27:41aa9fb23a2f | 171 | return subId; |
masahikofukasawa | 27:41aa9fb23a2f | 172 | }; |
masahikofukasawa | 0:7a00359e701e | 173 | |
masahikofukasawa | 0:7a00359e701e | 174 | private: |
masahikofukasawa | 29:b488d2c89fba | 175 | bool event; |
masahikofukasawa | 0:7a00359e701e | 176 | |
masahikofukasawa | 27:41aa9fb23a2f | 177 | protected: |
masahikofukasawa | 27:41aa9fb23a2f | 178 | uint8_t primaryId; |
masahikofukasawa | 27:41aa9fb23a2f | 179 | uint8_t subId; |
masahikofukasawa | 27:41aa9fb23a2f | 180 | char* sensorName; |
masahikofukasawa | 27:41aa9fb23a2f | 181 | |
masahikofukasawa | 27:41aa9fb23a2f | 182 | AkmSensor(){ |
masahikofukasawa | 27:41aa9fb23a2f | 183 | event = false; |
masahikofukasawa | 27:41aa9fb23a2f | 184 | primaryId = 0; |
masahikofukasawa | 27:41aa9fb23a2f | 185 | subId = 0; |
masahikofukasawa | 27:41aa9fb23a2f | 186 | sensorName = ""; |
masahikofukasawa | 27:41aa9fb23a2f | 187 | }; |
masahikofukasawa | 0:7a00359e701e | 188 | }; |
masahikofukasawa | 0:7a00359e701e | 189 | |
masahikofukasawa | 0:7a00359e701e | 190 | #endif |