Diff: ap1017ctrl.cpp

Revision:

36:aafd15b3291b

Parent:

33:d3e1e9eb2ef9

Child:

40:42e48427e4b7

diff -r 35ad9dc51b21 -r aafd15b3291b ap1017ctrl.cpp
--- a/ap1017ctrl.cpp	Mon May 08 17:37:52 2017 +0000
+++ b/ap1017ctrl.cpp	Fri May 19 23:13:23 2017 +0000
@@ -1,37 +1,40 @@
 #include "ap1017ctrl.h"
 #include "debug.h"
 
+#define I2C_SPEED   400000
+
 Ap1017Ctrl::Ap1017Ctrl()
-{
-    MSG("#AP1017: Creating.\r\n");
-    
+{    
     ap1017 = NULL;
-    event = false;
     sensorName = "";
-    interval = 0;
+    interval = 1;
     
     MSG("#AP1017: Created.\r\n");
 }
 
 Ap1017Ctrl::~Ap1017Ctrl()
-{
-    MSG("#AP1017: Destroying.\r\n");
-    
+{    
     if(ap1017)
         delete ap1017;
+        
+    MSG("#AP1017: Destroyed.\r\n");
 }
 
 AkmSensor::Status Ap1017Ctrl::init(const uint8_t id, const uint8_t subid)
-{
-    MSG("#AP1017: Initializing...\r\n");
-    
+{    
     primaryId = id;
     subId = subid;
-    interval = 1;                   // Set timer interrupt interval to 1s
+    freq = 100;
+    interval = (freq > 0 ? 1/freq : 0);
+    
+    inputA = new DigitalOut(P0_11);
+    inputB = new DigitalOut(P0_9);
+    i2cMotor = new I2C(I2C_SDA0, I2C_SCL0);
+    i2cMotor->frequency(I2C_SPEED);
 
     switch (subId) {                // template for multiple drivers
         case SUB_ID_AP1017:
-            ap1017 = new AP1017();  // Instantiate AP1017
+            ap1017 = new AP1017(inputA, inputB, i2cMotor);  // Instantiate AP1017
             sensorName = "AP1017";
             MSG("#AP1017 found.\r\n");
             break;
@@ -42,44 +45,55 @@
     
     // Default settings
     ap1017->setDirection(AP1017::DIRECTION_CW);
-    ap1017->setSpeed(50.0);                         
+    ap1017->setSpeed(50.0);           
+    
+    MSG("#AP1017: Initialized.\r\n");      
 
     return AkmSensor::SUCCESS;
 }
 
 bool Ap1017Ctrl::isEvent()
 {    
-    return event;       // No feedback: always false
+    return false;       // No feedback: always false
 }
 
 AkmSensor::Status Ap1017Ctrl::startSensor()
-{
-    MSG("#AP1017: Starting sensor, no interval argument.\r\n");
+{    
+    if(freq > 0)
+        interval = 1/freq;
+
+    index = (uint8_t)(100.0/(ap1017->getSpeed()));
+
+    MSG("#AP1017: Sensor started with no interval argument.\r\n");
+    MSG("#AP1017: Speed = %.2f\r\n", ap1017->getSpeed());
+    MSG("#AP1017: Frequency = %.1f Hz\r\n", freq);
+    MSG("#AP1017: Index = %d\r\n", index);
+    MSG("#AP1017: PWM Period = %.8f\r\n", interval);
+    MSG("#AP1017: Pulse Period = %.8f\r\n", interval/index);
     
-    ticker.attach(callback(this, &Ap1017Ctrl::timerCallback), interval);
+
+    pwm.attach(callback(this, &Ap1017Ctrl::pwmPeriod), interval);
+    pulse.attach(callback(this, &Ap1017Ctrl::pwmOnPulse), interval/index);
+    
     return AkmSensor::SUCCESS;
 }
 
-AkmSensor::Status Ap1017Ctrl::startSensor(const float sec)
+AkmSensor::Status Ap1017Ctrl::startSensor(const float freq)
 {
-    MSG("#AP1017: Starting sensor with interval argument.\r\n");
+    interval = 1/freq;
     
-    // Initialize timer interrupt
-    interval = sec;
-    ticker.attach(callback(this, &Ap1017Ctrl::timerCallback), interval);
-    
-    ap1017->start();        // Start motor
+    MSG("#AP1017: Sensor started with interval argument.\r\n");
     
     return AkmSensor::SUCCESS;
 }
 
 AkmSensor::Status Ap1017Ctrl::stopSensor()
-{
-    MSG("#AP1017: Stopping sensor.\r\n");
+{   
+    pwm.detach();
     
-    ap1017->stop();         // Stop motor
-    ticker.detach();
-    event = false;
+    ap1017->stop(); 
+        
+    MSG("#AP1017: Sensor stopped.\r\n");
     
     return AkmSensor::SUCCESS;
 }
@@ -88,15 +102,11 @@
 {
     MSG("#AP1017: No sensor data to read.\r\n");
     
-    event = false;              // Reset event flag
-    
     return AkmSensor::ERROR;
 }
 
 AkmSensor::Status Ap1017Ctrl::requestCommand(Message* in, Message* out)
-{
-    MSG("#AP1017: Requesting command.\r\n");
-    
+{    
     AkmSensor::Status status = AkmSensor::SUCCESS;
     
     Message::Command cmd = in->getCommand();        // Store command
@@ -106,7 +116,7 @@
     {
         case Message::CMD_MOTOR_START_MOTOR:
         {
-            if(ap1017->start() != AP1017::SUCCESS)
+            if(startSensor() != AkmSensor::SUCCESS)
             {
                 MSG("#AP1017: Failed to start motor.\r\n");
                 return AkmSensor::ERROR;
@@ -119,7 +129,7 @@
         }
         case Message::CMD_MOTOR_STOP_MOTOR:
         {
-            if(ap1017->stop() != AP1017::SUCCESS)
+            if(stopSensor() != AkmSensor::SUCCESS)
             {
                 MSG("#AP1017: Failed to stop motor.\r\n");
             }
@@ -149,7 +159,7 @@
             }
             else
             {
-                MSG("#AP1017: Duty cycle changed.\r\n");
+                MSG("#AP1017: Duty cycle changed: %.2f.\r\n", ap1017->getSpeed());
             }    
             break;
         }
@@ -170,10 +180,22 @@
     return sensorName;
 }
 
-void Ap1017Ctrl::timerCallback()
+// This callback function generates the period for the PWM
+void Ap1017Ctrl::pwmPeriod()
 {
-    MSG("#AP1017: timerCallback()\r\n");
+    if(!ap1017->isMotorOn())
+        ap1017->start();   
+}
+
+// This callback function generates period for the ON pulse
+void Ap1017Ctrl::pwmOnPulse()
+{
+    static char pulseCounter = 0;
     
-    ap1017->setDirection(ap1017->getDirection());
-    ap1017->setSpeed(ap1017->getSpeed());
+    pulseCounter++;
+    
+    if( (pulseCounter % index == 1) && ap1017->isMotorOn() )
+    {
+        ap1017->stop();
+    }
 }
\ No newline at end of file