Taylor Street
Modified for compatibility with Rev.E. hardware
Fork of
AkmSensor
by 
AKM Development Platform
Diff: akmsensormanager.cpp
- Revision:
- 11:cef8dc1cf010
- Parent:
- 10:5c69b067d88a
- Child:
- 12:c06cd8b76358
diff -r 5c69b067d88a -r cef8dc1cf010 akmsensormanager.cpp
--- a/akmsensormanager.cpp Fri Jul 08 22:26:26 2016 +0000
+++ b/akmsensormanager.cpp Fri Jul 22 22:54:11 2016 +0000
@@ -1,12 +1,11 @@
#include "ble/services/UARTService.h"
#include "akmsensormanager.h"
-#include "akmanglesensor.h"
#include "akmhallswitch.h"
-#include "akmlinearsensor.h"
-#include "akmcurrentsensor.h"
+#include "akmanalogsensor.h"
#include "ak09970ctrl.h"
#include "ak9750ctrl.h"
#include "ak9752ctrl.h"
+#include "ak7451ctrl.h"
#include "ak7401ctrl.h"
#include "akmakd.h"
#include "debug.h"
@@ -17,6 +16,8 @@
#include "tca9554a.h"
#endif
+#define CR '\r'
+#define LF '\n'
#define FIRMWARE_VERSION 0x02
#define MAGNETOMETER_ID 0x0A
@@ -76,33 +77,10 @@
{
AkmSensor* sensor = NULL;
- // primary id check
-// id = AkmSensorManager::getId(ANALOG_SENSOR_ID,4);
-// subId = AkmSensorManager::getId(ANALOG_SENSOR_ID_SUB,4); // 4bit sub id
-
switch(primaryId){
case AkmSensor::AKM_PRIMARY_ID_AKD_SPI:
case AkmSensor::AKM_PRIMARY_ID_AKD_I2C:
{
-/*
-#ifdef REV_D
- {
- // Power on reset
- // RSV low to high for resetting(RSTN) AKD daughter card
- const int TIME_FOR_OE_MS = 100;
- const TCA9554A::Port PORT_RSV_RSTN = TCA9554A::PORT_0;
- I2C i2c(I2C_SDA, I2C_SCL);
- TCA9554A tca9554a(&i2c, TCA9554A::SLAVE_ADDRESS_38H);
- tca9554a.configurePort(PORT_RSV_RSTN, TCA9554A::DIR_OUTPUT);
- tca9554a.setPortLevel(PORT_RSV_RSTN, TCA9554A::LOW);
- wait_ms(TIME_FOR_OE_MS);
- tca9554a.setPortLevel(PORT_RSV_RSTN, TCA9554A::HIGH);
- }
-#endif
-*/
-
-// subId = AkmSensorManager::getId(ANALOG_SENSOR_ID_SUB,5); // Update subId for 5bit ID
-
if(subId != Ak09970Ctrl::SUB_ID_AK09970){
AkmAkd* akd = new AkmAkd();
sensor = akd;
@@ -111,27 +89,13 @@
Ak09970Ctrl* ak09970 = new Ak09970Ctrl();
sensor = ak09970;
}
-/*
-#ifdef REV_D
- {
- // Disable the level shifter of ADC
- const int TIME_FOR_OE_MS = 100;
- const TCA9554A::Port PORT_OE_LVS2 = TCA9554A::PORT_6;
- I2C i2c(I2C_SDA, I2C_SCL);
- TCA9554A tca9554a(&i2c, TCA9554A::SLAVE_ADDRESS_38H);
- // Makes sure that the OE is low first.
- tca9554a.setPortLevel(PORT_OE_LVS2, TCA9554A::LOW);
- wait_ms(TIME_FOR_OE_MS);
- }
-#endif
-*/
break;
}
case AkmSensor::AKM_PRIMARY_ID_ANGLE_SENSOR:
{
- if(subId == AkmAngleSensor::SUB_ID_AK7451){
- AkmAngleSensor* angleSensor = new AkmAngleSensor();
- sensor = angleSensor;
+ if(subId == Ak7451Ctrl::SUB_ID_AK7451){
+ Ak7451Ctrl* ak7451ctrl = new Ak7451Ctrl();
+ sensor = ak7451ctrl;
break;
}
else if(subId == Ak7401Ctrl::SUB_ID_AK7401){
@@ -153,21 +117,11 @@
}
case AkmSensor::AKM_PRIMARY_ID_LINEAR_SENSOR_LEGACY:
case AkmSensor::AKM_PRIMARY_ID_LINEAR_SENSOR:
- {
- AkmLinearSensor* linearsensor = new AkmLinearSensor();
- sensor = linearsensor;
- break;
- }
case AkmSensor::AKM_PRIMARY_ID_CURRENT_SENSOR:
- {
- AkmCurrentSensor* currentsensor = new AkmCurrentSensor();
- sensor = currentsensor;
- break;
- }
case AkmSensor::AKM_PRIMARY_ID_MISC_ANALOG:
{
- AkmLinearSensor* linearsensor = new AkmLinearSensor();
- sensor = linearsensor;
+ AkmAnalogSensor* analogsensor = new AkmAnalogSensor();
+ sensor = analogsensor;
break;
}
case AkmSensor::AKM_PRIMARY_ID_IR_SENSOR:
@@ -190,12 +144,7 @@
return NULL; // couldn't find
}
}
-/*
-#ifdef REV_D
- // I2C turn off
- releaseTWI();
-#endif
-*/
+
if(sensor->init(primaryId, subId) != AkmSensor::SUCCESS){
MSG("#sensor->init failed. ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
return NULL; // couldn't find
@@ -210,7 +159,7 @@
Status status = SUCCESS;
if ((Message::parse(&msg, buf)) != Message::SUCCESS) {
- MSG("#Failed to parse message. %s\n", buf);
+ MSG("#Failed to parse message. %s\r\n", buf);
status = ERROR;
eventCommandReceived = false;
}
@@ -243,12 +192,12 @@
#ifndef REV_D
/* Rev.C */
AnalogIn id(pin);
- MSG("#Voltage=%5.2f[V]\n",id*3.0);
+ MSG("#Voltage=%5.2f[V]\r\n",id*3.0);
double s = id + 1.0/(double)(pow(2.0,bits+1));
uint8_t value = (uint8_t)(s*pow(2.0,bits));
#else
/* Rev.D */
- MSG("#GetID\n");
+ MSG("#GetID\r\n");
I2C i2c(I2C_SDA, I2C_SCL);
// ADC
@@ -261,13 +210,13 @@
ch = MCP342X::ADC_CH2;
}
int16_t val = getAdcData(&mcp342x, ch, MCP342X::SAMPLE_240HZ_12BIT);
- MSG("#12bit ADC Val = %d.\n", val);
+ MSG("#12bit ADC Val = %d.\r\n", val);
const int16_t VAL_MAX = 3000-2048; // Corresponds to 3V
const int16_t VAL_MIN = -2048; // Corresponds to 0V
uint8_t value = (uint8_t)((val - VAL_MIN)/(float)(VAL_MAX - VAL_MIN) * (1 << bits) + 0.5);
- MSG("#ID = %d.\n", value);
+ MSG("#ID = %d.\r\n", value);
#endif
return value;
@@ -298,55 +247,78 @@
switch(cmd)
{
case Message::CMD_GET_FW_VERSION:
+ {
resMsg.setArgument(0, FIRMWARE_VERSION);
throwMessage(&resMsg);
- MSG("#FW version is reported.\n");
+ MSG("#FW version is reported.\r\n");
break;
-
+ }
case Message::CMD_GET_MAG_PART:
+ {
resMsg.setArgument(0, MAGNETOMETER_ID);
throwMessage(&resMsg);
- MSG("#Mag ID is reported.\n");
+ MSG("#Mag ID is reported.\r\n");
break;
-
+ }
case Message::CMD_SET_SERIAL_TARGET:
+ {
isEnabledBle = msg.getArgument(0)==Message::SW_ON ? true : false;
isEnabledUsb = msg.getArgument(1)==Message::SW_ON ? true : false;
- resMsg.setArgument(0, 0);
- throwMessage(&resMsg);
- MSG("#Serial target is set.\n");
break;
-
+ }
case Message::CMD_GET_ID: // return Primary ID and Sub ID
+ {
resMsg.setArgument(0, primaryId);
resMsg.setArgument(1, subId);
throwMessage(&resMsg);
- wait(0.4); // wait for App initialization
- MSG("#Mag ID is reported.\n");
+ MSG("#Mag ID is reported.\r\n");
break;
-
+ }
case Message::CMD_STOP_MEASUREMENT:
+ {
if( sensor->stopSensor() != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
resMsg.setArgument(0, status==AkmSensorManager::SUCCESS ? 0 : 1);
throwMessage(&resMsg);
- MSG("#Stop measurement.\n");
+ MSG("#Stop measurement.\r\n");
break;
-
+ }
case Message::CMD_START_MEASUREMENT:
- MSG("#Start measurement.\n");
- sensor->startSensor();
- // get initial sensor state for switch type sensors
- if( primaryId == AkmSensor::AKM_PRIMARY_ID_UNIPOLAR ||
- primaryId == AkmSensor::AKM_PRIMARY_ID_OMNIPOLAR ||
- primaryId == AkmSensor::AKM_PRIMARY_ID_LATCH ||
- primaryId == AkmSensor::AKM_PRIMARY_ID_DUAL_OUTPUT ||
- primaryId == AkmSensor::AKM_PRIMARY_ID_ONECHIP_ENCODER ){
- Message temp;
- sensor->readSensorData(&temp);
- throwMessage(&temp);
+ {
+ int error_code = AkmSensor::SUCCESS;
+ if(msg.getArgNum() == 0){
+ error_code = sensor->startSensor();
+ if( error_code != AkmSensor::SUCCESS ){
+ MSG("#StartSensor Error. Code=%d\r\n",error_code);
+ }
+ else{
+ MSG("#Start measurement.\r\n");
+ }
+ }else if(msg.getArgNum() == 1){
+ float interval = (float)(1.0 / (float)msg.getArgument(0));
+ error_code = sensor->startSensor(interval);
+ if( error_code != AkmSensor::SUCCESS ){
+ MSG("#StartSensor Error. Code=%d\r\n",error_code);
+ }
+ else{
+ MSG("#Start measurement.\r\n");
+ }
+ }else{
+ MSG("#StartSensor Error. Wrong Argument num.\r\n");
+ }
+ if(error_code == AkmSensor::SUCCESS){
+ // get initial sensor state for switch type sensors
+ if( primaryId == AkmSensor::AKM_PRIMARY_ID_UNIPOLAR ||
+ primaryId == AkmSensor::AKM_PRIMARY_ID_OMNIPOLAR ||
+ primaryId == AkmSensor::AKM_PRIMARY_ID_LATCH ||
+ primaryId == AkmSensor::AKM_PRIMARY_ID_DUAL_OUTPUT ||
+ primaryId == AkmSensor::AKM_PRIMARY_ID_ONECHIP_ENCODER ){
+ Message temp;
+ sensor->readSensorData(&temp);
+ throwMessage(&temp);
+ }
}
break;
-
+ }
case Message::CMD_PROGSW_GET_THRESHOLD:
case Message::CMD_PROGSW_SET_THRESHOLD:
case Message::CMD_PROGSW_GET_READ_COFIGURATION:
@@ -378,13 +350,16 @@
case Message::CMD_REG_READN:
case Message::CMD_COMPASS_GET_OPERATION_MODE:
case Message::CMD_COMPASS_SET_OPERATION_MODE:
+ {
sensor->requestCommand(&msg,&resMsg);
throwMessage(&resMsg);
break;
-
+ }
default:
- MSG("#Can't find command:%s\n", (char)cmd);
+ {
+ MSG("#Can't find command:%s\r\n", (char)cmd);
break;
+ }
}
}
@@ -437,24 +412,14 @@
int tIdx = 3 + 2 * (msg->getArgNum());
int bufSize = sizeof(buf)/sizeof(buf[0]);
if ((tIdx + 3) > (bufSize - 1)) {
- MSG("#Error: Message data exceeds the buffer.\n");
+ MSG("#Error: Message data exceeds the buffer.\r\n");
return ERROR;
}
- buf[tIdx++] = 0x0D; // '\r'
- buf[tIdx++] = '\n';
- buf[tIdx] = '\0';
-
- // Send to the BLE buffer
+ buf[tIdx++] = CR; // '\r'
+ buf[tIdx++] = LF; // '\n'
+ buf[tIdx] = '\0';
if(isEnabledBle) uartService->writeString(buf);
if(isEnabledUsb) serial->printf(buf);
return SUCCESS;
-}
-/*
-void AkmSensorManager::releaseTWI(){
- NRF_TWI0->ENABLE = TWI_ENABLE_ENABLE_Disabled << TWI_ENABLE_ENABLE_Pos;
- NRF_TWI0->POWER = 0;
- NRF_TWI1->ENABLE = TWI_ENABLE_ENABLE_Disabled << TWI_ENABLE_ENABLE_Pos;
- NRF_TWI1->POWER = 0;
-}
-*/
\ No newline at end of file
+}
\ No newline at end of file
