Taylor Street / AkmSensor

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Fork of AkmSensor by AKM Development Platform

akmsensormanager.cpp@48:427bdb7bf31b, 2017-12-19 (annotated)

Committer:
Masahiko Fukasawa
Date:
Tue Dec 19 12:18:13 2017 -0800
Revision:
48:427bdb7bf31b
Parent:
46:5938ad2039b0
Child:
49:c8f8946129b6
First commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
masahikofukasawa 0:7a00359e701e 1 #include "akmsensormanager.h"
masahikofukasawa 0:7a00359e701e 2
masahikofukasawa 0:7a00359e701e 3 #define MAGNETOMETER_ID 0x0A
masahikofukasawa 0:7a00359e701e 4 #define CONV16I(high,low) ((int16_t)(((high) << 8) | (low)))
masahikofukasawa 0:7a00359e701e 5
masahikofukasawa 10:5c69b067d88a 6 const char* AKM_PRIMARY_ID_STR[] = {
masahikofukasawa 7:e269411568c9 7 "AKD Daughter Cards(SPI)",
masahikofukasawa 0:7a00359e701e 8 "Switch, Unipolar",
masahikofukasawa 0:7a00359e701e 9 "Switch, Onmipolar",
masahikofukasawa 0:7a00359e701e 10 "Latch, Bipolar",
masahikofukasawa 0:7a00359e701e 11 "Switch, Dual Output",
masahikofukasawa 0:7a00359e701e 12 "Onechip Encoder",
masahikofukasawa 0:7a00359e701e 13 "TBD1",
masahikofukasawa 37:c76d2edf3426 14 "Current Sensor 3V",
masahikofukasawa 37:c76d2edf3426 15 "Test",
masahikofukasawa 37:c76d2edf3426 16 "Current Sensor 5V",
masahikofukasawa 0:7a00359e701e 17 "MISC(Analog)",
masahikofukasawa 0:7a00359e701e 18 "Linear Sensor",
masahikofukasawa 18:b7182d5ad8d5 19 "Motor Drivers",
masahikofukasawa 1:b46b8653331f 20 "IR Sensor",
masahikofukasawa 7:e269411568c9 21 "Angle Sensor(SPI)",
masahikofukasawa 10:5c69b067d88a 22 "AKD Daughter Cards(I2C)"
masahikofukasawa 0:7a00359e701e 23 };
masahikofukasawa 0:7a00359e701e 24
masahikofukasawa 13:d008249f0359 25 AkmSensorManager::AkmSensorManager(SerialNano* com)
masahikofukasawa 0:7a00359e701e 26 {
masahikofukasawa 0:7a00359e701e 27 serial = com;
tkstreet 43:45225713cd58 28
masahikofukasawa 0:7a00359e701e 29 isEnabledUsb = true;
masahikofukasawa 41:a3ea80c594ec 30 isEnabledBle = false;
masahikofukasawa 0:7a00359e701e 31 eventCommandReceived = false;
masahikofukasawa 0:7a00359e701e 32 eventConnected = false;
masahikofukasawa 0:7a00359e701e 33 eventDisconnected = false;
masahikofukasawa 29:b488d2c89fba 34 interrupt = NULL;
masahikofukasawa 29:b488d2c89fba 35 sensorIndex = 0;
masahikofukasawa 29:b488d2c89fba 36 sensorNum = 0;
masahikofukasawa 29:b488d2c89fba 37 drdyType = AkmAkd::INTERRUPT_DISABLED;
masahikofukasawa 0:7a00359e701e 38 }
masahikofukasawa 0:7a00359e701e 39
masahikofukasawa 10:5c69b067d88a 40 AkmSensorManager::Status AkmSensorManager::init(uint8_t id, uint8_t subid)
masahikofukasawa 0:7a00359e701e 41 {
masahikofukasawa 10:5c69b067d88a 42 primaryId = id;
masahikofukasawa 10:5c69b067d88a 43 subId = subid;
masahikofukasawa 29:b488d2c89fba 44 sensorIndex = 0;
masahikofukasawa 29:b488d2c89fba 45 sensorNum = 0;
masahikofukasawa 27:41aa9fb23a2f 46 if(AkmSensorManager::checkAkmSensor()!= true) return AkmSensorManager::ERROR;
masahikofukasawa 0:7a00359e701e 47 return AkmSensorManager::SUCCESS;
masahikofukasawa 0:7a00359e701e 48 }
masahikofukasawa 0:7a00359e701e 49
masahikofukasawa 13:d008249f0359 50
masahikofukasawa 13:d008249f0359 51 void AkmSensorManager::setBleUartService(UARTService* service)
masahikofukasawa 13:d008249f0359 52 {
masahikofukasawa 13:d008249f0359 53 uartService = service;
masahikofukasawa 13:d008249f0359 54 isEnabledBle = true;
masahikofukasawa 13:d008249f0359 55 }
masahikofukasawa 13:d008249f0359 56
masahikofukasawa 0:7a00359e701e 57 void AkmSensorManager::setEventConnected()
masahikofukasawa 0:7a00359e701e 58 {
masahikofukasawa 0:7a00359e701e 59 eventConnected = true;
masahikofukasawa 0:7a00359e701e 60 }
masahikofukasawa 0:7a00359e701e 61
masahikofukasawa 0:7a00359e701e 62 void AkmSensorManager::setEventDisconnected()
masahikofukasawa 0:7a00359e701e 63 {
masahikofukasawa 0:7a00359e701e 64 eventDisconnected = true;
masahikofukasawa 0:7a00359e701e 65 }
masahikofukasawa 0:7a00359e701e 66
masahikofukasawa 27:41aa9fb23a2f 67 bool AkmSensorManager::checkAkmSensor()
masahikofukasawa 29:b488d2c89fba 68 {
masahikofukasawa 29:b488d2c89fba 69 sensorNum = 0;
masahikofukasawa 29:b488d2c89fba 70
masahikofukasawa 29:b488d2c89fba 71 // int i=0;
masahikofukasawa 29:b488d2c89fba 72 // while(sensor[i] != NULL){
masahikofukasawa 29:b488d2c89fba 73 // delete(sensor[i]);
masahikofukasawa 29:b488d2c89fba 74 // i++;
masahikofukasawa 29:b488d2c89fba 75 // }
masahikofukasawa 39:3821886c902e 76 detachInterrupt();
masahikofukasawa 29:b488d2c89fba 77 drdyType = AkmAkd::INTERRUPT_DISABLED;
masahikofukasawa 0:7a00359e701e 78
masahikofukasawa 10:5c69b067d88a 79 switch(primaryId){
masahikofukasawa 17:9abb7c28709c 80
masahikofukasawa 7:e269411568c9 81 case AkmSensor::AKM_PRIMARY_ID_AKD_SPI:
masahikofukasawa 29:b488d2c89fba 82 {
masahikofukasawa 29:b488d2c89fba 83 MSG("#SPI Interface.\r\n");
masahikofukasawa 29:b488d2c89fba 84 }
masahikofukasawa 0:7a00359e701e 85 case AkmSensor::AKM_PRIMARY_ID_AKD_I2C:
masahikofukasawa 10:5c69b067d88a 86 {
masahikofukasawa 29:b488d2c89fba 87 if(subId == Ak09970Ctrl::SUB_ID_AK09970){
masahikofukasawa 29:b488d2c89fba 88 drdyType = AkmAkd::INTERRUPT_ENABLED_PP; // Only support push-pull
masahikofukasawa 29:b488d2c89fba 89 Ak09970Ctrl* ak09970 = new Ak09970Ctrl();
masahikofukasawa 29:b488d2c89fba 90 sensor[0] = ak09970;
masahikofukasawa 29:b488d2c89fba 91 sensorNum = 1;
masahikofukasawa 29:b488d2c89fba 92 MSG("#AK09970.\r\n");
masahikofukasawa 10:5c69b067d88a 93 }
masahikofukasawa 10:5c69b067d88a 94 else{
masahikofukasawa 29:b488d2c89fba 95 AkmAkd* akd = new AkmAkd();
masahikofukasawa 29:b488d2c89fba 96 drdyType = akd->getInterrupt(primaryId, subId);
masahikofukasawa 29:b488d2c89fba 97 sensor[0] = akd;
masahikofukasawa 29:b488d2c89fba 98 sensorNum = 1;
masahikofukasawa 29:b488d2c89fba 99 MSG("#e-Compass.\r\n");
masahikofukasawa 10:5c69b067d88a 100 }
masahikofukasawa 0:7a00359e701e 101 break;
masahikofukasawa 29:b488d2c89fba 102 }
masahikofukasawa 0:7a00359e701e 103 case AkmSensor::AKM_PRIMARY_ID_ANGLE_SENSOR:
masahikofukasawa 10:5c69b067d88a 104 {
masahikofukasawa 11:cef8dc1cf010 105 if(subId == Ak7451Ctrl::SUB_ID_AK7451){
masahikofukasawa 11:cef8dc1cf010 106 Ak7451Ctrl* ak7451ctrl = new Ak7451Ctrl();
masahikofukasawa 27:41aa9fb23a2f 107 sensor[0] = ak7451ctrl;
masahikofukasawa 29:b488d2c89fba 108 sensorNum = 1;
masahikofukasawa 10:5c69b067d88a 109 }
masahikofukasawa 10:5c69b067d88a 110 else if(subId == Ak7401Ctrl::SUB_ID_AK7401){
masahikofukasawa 10:5c69b067d88a 111 Ak7401Ctrl* ak7401ctrl = new Ak7401Ctrl();
masahikofukasawa 27:41aa9fb23a2f 112 sensor[0] = ak7401ctrl;
masahikofukasawa 29:b488d2c89fba 113 sensorNum = 1;
masahikofukasawa 10:5c69b067d88a 114 }
masahikofukasawa 0:7a00359e701e 115 break;
masahikofukasawa 29:b488d2c89fba 116 }
masahikofukasawa 17:9abb7c28709c 117
masahikofukasawa 0:7a00359e701e 118 case AkmSensor::AKM_PRIMARY_ID_UNIPOLAR:
masahikofukasawa 0:7a00359e701e 119 case AkmSensor::AKM_PRIMARY_ID_OMNIPOLAR:
masahikofukasawa 0:7a00359e701e 120 case AkmSensor::AKM_PRIMARY_ID_LATCH:
masahikofukasawa 0:7a00359e701e 121 case AkmSensor::AKM_PRIMARY_ID_DUAL_OUTPUT:
masahikofukasawa 0:7a00359e701e 122 case AkmSensor::AKM_PRIMARY_ID_ONECHIP_ENCODER:
masahikofukasawa 10:5c69b067d88a 123 {
masahikofukasawa 10:5c69b067d88a 124 AkmHallSwitch* hallswitch = new AkmHallSwitch();
masahikofukasawa 27:41aa9fb23a2f 125 sensor[0] = hallswitch;
masahikofukasawa 29:b488d2c89fba 126 sensorNum = 1;
masahikofukasawa 0:7a00359e701e 127 break;
masahikofukasawa 10:5c69b067d88a 128 }
Masahiko Fukasawa 48:427bdb7bf31b 129 /*
masahikofukasawa 27:41aa9fb23a2f 130 case AkmSensor::AKM_PRIMARY_ID_DEMO:
masahikofukasawa 27:41aa9fb23a2f 131 {
masahikofukasawa 29:b488d2c89fba 132 if(subId == 0x08){
masahikofukasawa 29:b488d2c89fba 133 drdyType = AkmAkd::INTERRUPT_ENABLED_OD; // Only support open drain type DRDY
masahikofukasawa 29:b488d2c89fba 134
masahikofukasawa 29:b488d2c89fba 135 Ak09970Ctrl* ak09970 = new Ak09970Ctrl();
masahikofukasawa 29:b488d2c89fba 136 sensor[0] = ak09970;
masahikofukasawa 29:b488d2c89fba 137 if(sensor[0]->init(AkmSensor::AKM_PRIMARY_ID_AKD_I2C, Ak09970Ctrl::SUB_ID_AK09970) != AkmSensor::SUCCESS){
masahikofukasawa 39:3821886c902e 138 MSG("#Error: sensor[0]->init failed.\r\n");
masahikofukasawa 27:41aa9fb23a2f 139 return false; // couldn't find
masahikofukasawa 29:b488d2c89fba 140 }
masahikofukasawa 29:b488d2c89fba 141
masahikofukasawa 29:b488d2c89fba 142 Ak9752Ctrl* ak9752ctrl = new Ak9752Ctrl();
masahikofukasawa 29:b488d2c89fba 143 sensor[1] = ak9752ctrl;
masahikofukasawa 29:b488d2c89fba 144 if(sensor[1]->init(AkmSensor::AKM_PRIMARY_ID_IR_SENSOR, Ak9752Ctrl::SUB_ID_AK9752) != AkmSensor::SUCCESS){
masahikofukasawa 39:3821886c902e 145 MSG("#Error: sensor[1]->init failed.\r\n");
masahikofukasawa 27:41aa9fb23a2f 146 return false; // couldn't find
masahikofukasawa 29:b488d2c89fba 147 }
masahikofukasawa 29:b488d2c89fba 148 sensorNum = 2;
masahikofukasawa 27:41aa9fb23a2f 149 }
masahikofukasawa 29:b488d2c89fba 150 break;
masahikofukasawa 27:41aa9fb23a2f 151 }
Masahiko Fukasawa 48:427bdb7bf31b 152 */
masahikofukasawa 4:af13b985c689 153 case AkmSensor::AKM_PRIMARY_ID_LINEAR_SENSOR:
masahikofukasawa 37:c76d2edf3426 154 case AkmSensor::AKM_PRIMARY_ID_CURRENT_SENSOR_3V:
masahikofukasawa 37:c76d2edf3426 155 case AkmSensor::AKM_PRIMARY_ID_CURRENT_SENSOR_5V:
masahikofukasawa 10:5c69b067d88a 156 case AkmSensor::AKM_PRIMARY_ID_MISC_ANALOG:
masahikofukasawa 10:5c69b067d88a 157 {
masahikofukasawa 11:cef8dc1cf010 158 AkmAnalogSensor* analogsensor = new AkmAnalogSensor();
masahikofukasawa 27:41aa9fb23a2f 159 sensor[0] = analogsensor;
masahikofukasawa 29:b488d2c89fba 160 sensorNum = 1;
masahikofukasawa 0:7a00359e701e 161 break;
masahikofukasawa 10:5c69b067d88a 162 }
masahikofukasawa 17:9abb7c28709c 163
masahikofukasawa 1:b46b8653331f 164 case AkmSensor::AKM_PRIMARY_ID_IR_SENSOR:
masahikofukasawa 10:5c69b067d88a 165 {
masahikofukasawa 29:b488d2c89fba 166 drdyType = AkmAkd::INTERRUPT_ENABLED_OD;
masahikofukasawa 29:b488d2c89fba 167
masahikofukasawa 10:5c69b067d88a 168 if(subId == Ak9750Ctrl::SUB_ID_AK9750){
masahikofukasawa 10:5c69b067d88a 169 Ak9750Ctrl* ak9750ctrl = new Ak9750Ctrl();
masahikofukasawa 27:41aa9fb23a2f 170 sensor[0] = ak9750ctrl;
masahikofukasawa 29:b488d2c89fba 171 sensorNum = 1;
masahikofukasawa 15:1238993fd75f 172 }else if(subId == Ak9750Ctrl::SUB_ID_AK9753){
masahikofukasawa 15:1238993fd75f 173 Ak9750Ctrl* ak9753ctrl = new Ak9750Ctrl();
masahikofukasawa 27:41aa9fb23a2f 174 sensor[0] = ak9753ctrl;
masahikofukasawa 29:b488d2c89fba 175 sensorNum = 1;
masahikofukasawa 10:5c69b067d88a 176 }else if(subId == Ak9752Ctrl::SUB_ID_AK9752){
masahikofukasawa 10:5c69b067d88a 177 Ak9752Ctrl* ak9752ctrl = new Ak9752Ctrl();
masahikofukasawa 27:41aa9fb23a2f 178 sensor[0] = ak9752ctrl;
masahikofukasawa 29:b488d2c89fba 179 sensorNum = 1;
masahikofukasawa 10:5c69b067d88a 180 }else{
masahikofukasawa 27:41aa9fb23a2f 181 return false; // couldn't find
masahikofukasawa 10:5c69b067d88a 182 }
masahikofukasawa 1:b46b8653331f 183 break;
masahikofukasawa 10:5c69b067d88a 184 }
tkstreet 33:d3e1e9eb2ef9 185 case AkmSensor::AKM_PRIMARY_ID_MOTOR_DRIVER:
tkstreet 33:d3e1e9eb2ef9 186 { // TODO: Other motor driver cases
tkstreet 33:d3e1e9eb2ef9 187 if(subId == Ap1017Ctrl::SUB_ID_AP1017){
tkstreet 33:d3e1e9eb2ef9 188 Ap1017Ctrl* ap1017ctrl = new Ap1017Ctrl();
tkstreet 34:1ea3357c8d9a 189 sensor[0] = ap1017ctrl;
tkstreet 34:1ea3357c8d9a 190 sensorNum = 1;
tkstreet 33:d3e1e9eb2ef9 191 }else{
tkstreet 33:d3e1e9eb2ef9 192 return NULL;
tkstreet 33:d3e1e9eb2ef9 193 }
tkstreet 33:d3e1e9eb2ef9 194 break;
tkstreet 33:d3e1e9eb2ef9 195 }
masahikofukasawa 0:7a00359e701e 196 default:
masahikofukasawa 10:5c69b067d88a 197 {
masahikofukasawa 39:3821886c902e 198 MSG("#Error: Can't find ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
masahikofukasawa 27:41aa9fb23a2f 199 return false; // couldn't find
masahikofukasawa 10:5c69b067d88a 200 }
masahikofukasawa 0:7a00359e701e 201 }
masahikofukasawa 29:b488d2c89fba 202
masahikofukasawa 29:b488d2c89fba 203 if(primaryId != AkmSensor::AKM_PRIMARY_ID_DEMO){
Masahiko Fukasawa 48:427bdb7bf31b 204 // for(int i=0; i<sensorNum; i++){
Masahiko Fukasawa 48:427bdb7bf31b 205 if(sensor[0]->init(primaryId, subId) != AkmSensor::SUCCESS){
masahikofukasawa 39:3821886c902e 206 MSG("#Error: sensor[i]->init failed. ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
masahikofukasawa 29:b488d2c89fba 207 return false; // couldn't find
masahikofukasawa 29:b488d2c89fba 208 }
Masahiko Fukasawa 48:427bdb7bf31b 209 // }
masahikofukasawa 27:41aa9fb23a2f 210 MSG("#ID=%d SubID=%d %s\r\n", primaryId, subId, AKM_PRIMARY_ID_STR[primaryId]);
masahikofukasawa 0:7a00359e701e 211 }
masahikofukasawa 29:b488d2c89fba 212
masahikofukasawa 39:3821886c902e 213 attachInterrupt();
masahikofukasawa 39:3821886c902e 214
masahikofukasawa 27:41aa9fb23a2f 215 return true;
masahikofukasawa 0:7a00359e701e 216 }
masahikofukasawa 0:7a00359e701e 217
masahikofukasawa 29:b488d2c89fba 218 void AkmSensorManager::detectDRDY(){
tkstreet 45:6af8fdde0ef3 219 VERBOSE("#detect DRDY.\r\n");
Masahiko Fukasawa 48:427bdb7bf31b 220 // for(int i=0; i<sensorNum; i++){
Masahiko Fukasawa 48:427bdb7bf31b 221 sensor[0]->setEvent();
Masahiko Fukasawa 48:427bdb7bf31b 222 // }
masahikofukasawa 29:b488d2c89fba 223 }
masahikofukasawa 29:b488d2c89fba 224
masahikofukasawa 16:d85be9bafb80 225 void AkmSensorManager::dummyCallbackForCommandReceived(){}
masahikofukasawa 16:d85be9bafb80 226
tkstreet 33:d3e1e9eb2ef9 227
tkstreet 33:d3e1e9eb2ef9 228 // For commands received via BLE
masahikofukasawa 0:7a00359e701e 229 AkmSensorManager::Status AkmSensorManager::commandReceived(char* buf){
masahikofukasawa 0:7a00359e701e 230 // Construct message
masahikofukasawa 0:7a00359e701e 231 Status status = SUCCESS;
masahikofukasawa 0:7a00359e701e 232
masahikofukasawa 10:5c69b067d88a 233 if ((Message::parse(&msg, buf)) != Message::SUCCESS) {
masahikofukasawa 39:3821886c902e 234 MSG("#Error: Failed to parse message. %s\r\n", buf);
masahikofukasawa 0:7a00359e701e 235 status = ERROR;
tkstreet 33:d3e1e9eb2ef9 236 eventCommandReceived = false; // Reset flag
masahikofukasawa 15:1238993fd75f 237 }else{
tkstreet 33:d3e1e9eb2ef9 238 eventCommandReceived = true; // Set flag
tkstreet 45:6af8fdde0ef3 239 VERBOSE("#Parsed message. %s\r\n", buf);
masahikofukasawa 0:7a00359e701e 240 }
masahikofukasawa 16:d85be9bafb80 241 t.attach(callback(this, &AkmSensorManager::dummyCallbackForCommandReceived),0); // wake-up from ble.waitForEvent
masahikofukasawa 0:7a00359e701e 242 return status;
masahikofukasawa 0:7a00359e701e 243 }
masahikofukasawa 0:7a00359e701e 244
tkstreet 33:d3e1e9eb2ef9 245
coisme 2:11fe67783c4c 246 int16_t AkmSensorManager::getAdcData(MCP342X *mcp3428, MCP342X::AdcChannel ch, MCP342X::SampleSetting s) {
coisme 2:11fe67783c4c 247 const int WAIT_ADC_MS = 1;
coisme 2:11fe67783c4c 248
coisme 2:11fe67783c4c 249 // Configure channel and trigger.
coisme 2:11fe67783c4c 250 mcp3428->setChannel(ch);
coisme 2:11fe67783c4c 251 mcp3428->setSampleSetting(s);
coisme 2:11fe67783c4c 252 mcp3428->trigger();
coisme 2:11fe67783c4c 253
coisme 2:11fe67783c4c 254 // polling data (!blocking)
coisme 2:11fe67783c4c 255 MCP342X::Data data;
coisme 2:11fe67783c4c 256 do {
coisme 2:11fe67783c4c 257 wait_ms(WAIT_ADC_MS);
coisme 2:11fe67783c4c 258 mcp3428->getData(&data);
coisme 2:11fe67783c4c 259 } while(data.st == MCP342X::DATA_NOT_UPDATED);
coisme 2:11fe67783c4c 260
coisme 2:11fe67783c4c 261 return data.value;
coisme 2:11fe67783c4c 262 }
masahikofukasawa 0:7a00359e701e 263
tkstreet 33:d3e1e9eb2ef9 264
masahikofukasawa 0:7a00359e701e 265 uint8_t AkmSensorManager::getId(PinName pin, uint8_t bits)
masahikofukasawa 0:7a00359e701e 266 {
masahikofukasawa 11:cef8dc1cf010 267 MSG("#GetID\r\n");
masahikofukasawa 6:c4401549d68f 268
tkstreet 21:966724730ce6 269 I2C i2c(I2C_SDA, I2C_SCL); // establish I2C to read ID
tkstreet 21:966724730ce6 270
coisme 2:11fe67783c4c 271 // ADC
tkstreet 21:966724730ce6 272 MCP342X mcp342x(&i2c, MCP342X::SLAVE_ADDRESS_6EH); // ADC to convert voltage
tkstreet 21:966724730ce6 273 mcp342x.setConversionMode(MCP342X::ONE_SHOT); // Set to single sample
coisme 2:11fe67783c4c 274 MCP342X::AdcChannel ch;
tkstreet 21:966724730ce6 275
tkstreet 21:966724730ce6 276 if (pin == ANALOG_SENSOR_ID) { // Primary ID
coisme 2:11fe67783c4c 277 ch = MCP342X::ADC_CH1;
tkstreet 21:966724730ce6 278 } else { // pin == ANALOG_SENSOR_ID_SUB
tkstreet 21:966724730ce6 279 ch = MCP342X::ADC_CH2; // Secondary ID
coisme 2:11fe67783c4c 280 }
tkstreet 21:966724730ce6 281
coisme 2:11fe67783c4c 282 int16_t val = getAdcData(&mcp342x, ch, MCP342X::SAMPLE_240HZ_12BIT);
masahikofukasawa 11:cef8dc1cf010 283 MSG("#12bit ADC Val = %d.\r\n", val);
coisme 2:11fe67783c4c 284
tkstreet 21:966724730ce6 285 // Voltage boundaries for ID voltage divider system
coisme 2:11fe67783c4c 286 const int16_t VAL_MAX = 3000-2048; // Corresponds to 3V
coisme 2:11fe67783c4c 287 const int16_t VAL_MIN = -2048; // Corresponds to 0V
coisme 2:11fe67783c4c 288
tkstreet 21:966724730ce6 289 // Convert voltage to ID value
masahikofukasawa 46:5938ad2039b0 290 uint8_t value = (uint8_t)((val - VAL_MIN)/(double)(VAL_MAX - VAL_MIN) * (1 << bits) + 0.5);
masahikofukasawa 11:cef8dc1cf010 291 MSG("#ID = %d.\r\n", value);
masahikofukasawa 6:c4401549d68f 292
masahikofukasawa 0:7a00359e701e 293 return value;
masahikofukasawa 0:7a00359e701e 294 }
masahikofukasawa 0:7a00359e701e 295
tkstreet 33:d3e1e9eb2ef9 296
masahikofukasawa 0:7a00359e701e 297 bool AkmSensorManager::isEvent()
masahikofukasawa 0:7a00359e701e 298 {
masahikofukasawa 29:b488d2c89fba 299 // check sensor related event
Masahiko Fukasawa 48:427bdb7bf31b 300 // for(int i=0; i<sensorNum; i++){
Masahiko Fukasawa 48:427bdb7bf31b 301 if(sensor[0]->isEvent()){
masahikofukasawa 29:b488d2c89fba 302 return true;
masahikofukasawa 29:b488d2c89fba 303 }
Masahiko Fukasawa 48:427bdb7bf31b 304 // }
masahikofukasawa 29:b488d2c89fba 305
masahikofukasawa 29:b488d2c89fba 306 // other events
masahikofukasawa 29:b488d2c89fba 307 return (
masahikofukasawa 0:7a00359e701e 308 eventCommandReceived ||
masahikofukasawa 0:7a00359e701e 309 eventConnected ||
masahikofukasawa 0:7a00359e701e 310 eventDisconnected);
masahikofukasawa 0:7a00359e701e 311 }
masahikofukasawa 0:7a00359e701e 312
masahikofukasawa 0:7a00359e701e 313 void AkmSensorManager::processCommand()
masahikofukasawa 0:7a00359e701e 314 {
tkstreet 23:50c98b286e41 315 // Extracts command contained in the message
masahikofukasawa 0:7a00359e701e 316 Message::Command cmd = msg.getCommand();
masahikofukasawa 0:7a00359e701e 317
tkstreet 21:966724730ce6 318 // Creates a message object to return
masahikofukasawa 0:7a00359e701e 319 Message resMsg;
masahikofukasawa 0:7a00359e701e 320
tkstreet 23:50c98b286e41 321 // Return message contains the extracted command
masahikofukasawa 0:7a00359e701e 322 resMsg.setCommand(cmd);
masahikofukasawa 0:7a00359e701e 323
masahikofukasawa 0:7a00359e701e 324 switch(cmd)
masahikofukasawa 0:7a00359e701e 325 {
masahikofukasawa 0:7a00359e701e 326 case Message::CMD_GET_FW_VERSION:
masahikofukasawa 11:cef8dc1cf010 327 {
masahikofukasawa 0:7a00359e701e 328 resMsg.setArgument(0, FIRMWARE_VERSION);
masahikofukasawa 0:7a00359e701e 329 throwMessage(&resMsg);
masahikofukasawa 11:cef8dc1cf010 330 MSG("#FW version is reported.\r\n");
masahikofukasawa 0:7a00359e701e 331 break;
masahikofukasawa 11:cef8dc1cf010 332 }
masahikofukasawa 0:7a00359e701e 333 case Message::CMD_GET_MAG_PART:
masahikofukasawa 11:cef8dc1cf010 334 {
masahikofukasawa 0:7a00359e701e 335 resMsg.setArgument(0, MAGNETOMETER_ID);
masahikofukasawa 0:7a00359e701e 336 throwMessage(&resMsg);
masahikofukasawa 11:cef8dc1cf010 337 MSG("#Mag ID is reported.\r\n");
masahikofukasawa 0:7a00359e701e 338 break;
masahikofukasawa 11:cef8dc1cf010 339 }
masahikofukasawa 0:7a00359e701e 340 case Message::CMD_SET_SERIAL_TARGET:
masahikofukasawa 11:cef8dc1cf010 341 {
masahikofukasawa 0:7a00359e701e 342 isEnabledBle = msg.getArgument(0)==Message::SW_ON ? true : false;
masahikofukasawa 0:7a00359e701e 343 isEnabledUsb = msg.getArgument(1)==Message::SW_ON ? true : false;
masahikofukasawa 0:7a00359e701e 344 break;
masahikofukasawa 11:cef8dc1cf010 345 }
masahikofukasawa 0:7a00359e701e 346 case Message::CMD_GET_ID: // return Primary ID and Sub ID
masahikofukasawa 11:cef8dc1cf010 347 {
masahikofukasawa 10:5c69b067d88a 348 resMsg.setArgument(0, primaryId);
masahikofukasawa 0:7a00359e701e 349 resMsg.setArgument(1, subId);
masahikofukasawa 0:7a00359e701e 350 throwMessage(&resMsg);
masahikofukasawa 29:b488d2c89fba 351 MSG("#ID is reported.\r\n");
masahikofukasawa 0:7a00359e701e 352 break;
masahikofukasawa 11:cef8dc1cf010 353 }
masahikofukasawa 29:b488d2c89fba 354 case Message::CMD_GET_SENSOR_INDEX:
masahikofukasawa 27:41aa9fb23a2f 355 {
masahikofukasawa 29:b488d2c89fba 356 resMsg.setArgument(0, sensorIndex);
masahikofukasawa 27:41aa9fb23a2f 357 throwMessage(&resMsg);
masahikofukasawa 29:b488d2c89fba 358 MSG("#Get Sensor Index=%d.\r\n", sensorIndex);
masahikofukasawa 27:41aa9fb23a2f 359 break;
masahikofukasawa 27:41aa9fb23a2f 360 }
masahikofukasawa 29:b488d2c89fba 361 case Message::CMD_SET_SENSOR_INDEX:
masahikofukasawa 27:41aa9fb23a2f 362 {
masahikofukasawa 29:b488d2c89fba 363 uint8_t index = (uint8_t)msg.getArgument(0);
masahikofukasawa 30:5a241d9b3262 364 if(msg.getArgNum() == 1 && index<sensorNum){
masahikofukasawa 28:dc4eb14e4d7e 365 resMsg.setArgument(0, 0);
masahikofukasawa 29:b488d2c89fba 366 sensorIndex = index;
masahikofukasawa 29:b488d2c89fba 367 MSG("#Set Sensor Index=%d.\r\n", sensorIndex);
masahikofukasawa 30:5a241d9b3262 368 }else{
masahikofukasawa 30:5a241d9b3262 369 resMsg.setArgument(0, 1);
masahikofukasawa 30:5a241d9b3262 370 MSG("#Error: Set Sensor Index=%d.\r\n", sensorIndex);
masahikofukasawa 29:b488d2c89fba 371 }
masahikofukasawa 28:dc4eb14e4d7e 372 throwMessage(&resMsg);
masahikofukasawa 27:41aa9fb23a2f 373 break;
masahikofukasawa 27:41aa9fb23a2f 374 }
masahikofukasawa 29:b488d2c89fba 375 case Message::CMD_GET_TOTAL_SENSOR_NUM:
masahikofukasawa 27:41aa9fb23a2f 376 {
masahikofukasawa 29:b488d2c89fba 377 resMsg.setArgument(0, sensorNum);
masahikofukasawa 27:41aa9fb23a2f 378 throwMessage(&resMsg);
masahikofukasawa 29:b488d2c89fba 379 MSG("#Get Sensor Total Num=%d.\r\n", sensorNum);
masahikofukasawa 0:7a00359e701e 380 break;
masahikofukasawa 11:cef8dc1cf010 381 }
masahikofukasawa 0:7a00359e701e 382 case Message::CMD_STOP_MEASUREMENT:
masahikofukasawa 11:cef8dc1cf010 383 {
masahikofukasawa 29:b488d2c89fba 384 if( sensor[sensorIndex]->stopSensor() != AkmSensor::SUCCESS){
masahikofukasawa 15:1238993fd75f 385 resMsg.setArgument(0, 1);
masahikofukasawa 15:1238993fd75f 386 }else{
masahikofukasawa 27:41aa9fb23a2f 387 resMsg.setArgument(0, 0);
masahikofukasawa 15:1238993fd75f 388 }
masahikofukasawa 0:7a00359e701e 389 throwMessage(&resMsg);
masahikofukasawa 39:3821886c902e 390
masahikofukasawa 39:3821886c902e 391 detachInterrupt();
masahikofukasawa 39:3821886c902e 392
masahikofukasawa 29:b488d2c89fba 393 MSG("#Stop measurement:%s.\r\n",sensor[sensorIndex]->getSensorName());
masahikofukasawa 0:7a00359e701e 394 break;
masahikofukasawa 11:cef8dc1cf010 395 }
masahikofukasawa 0:7a00359e701e 396 case Message::CMD_START_MEASUREMENT:
masahikofukasawa 11:cef8dc1cf010 397 {
masahikofukasawa 11:cef8dc1cf010 398 int error_code = AkmSensor::SUCCESS;
Masahiko Fukasawa 48:427bdb7bf31b 399 if(msg.getArgNum() == 0)
Masahiko Fukasawa 48:427bdb7bf31b 400 {
masahikofukasawa 29:b488d2c89fba 401 error_code = sensor[sensorIndex]->startSensor();
masahikofukasawa 11:cef8dc1cf010 402 if( error_code != AkmSensor::SUCCESS ){
masahikofukasawa 39:3821886c902e 403 MSG("#Error: StartSensor Error. Code=%d\r\n",error_code);
masahikofukasawa 11:cef8dc1cf010 404 }
Masahiko Fukasawa 48:427bdb7bf31b 405 else
Masahiko Fukasawa 48:427bdb7bf31b 406 {
Masahiko Fukasawa 48:427bdb7bf31b 407 switch(drdyType){
Masahiko Fukasawa 48:427bdb7bf31b 408 case AkmAkd::INTERRUPT_ENABLED_PP:
Masahiko Fukasawa 48:427bdb7bf31b 409 {
Masahiko Fukasawa 48:427bdb7bf31b 410 interrupt->rise(callback(this, &AkmSensorManager::detectDRDY));
Masahiko Fukasawa 48:427bdb7bf31b 411 break;
Masahiko Fukasawa 48:427bdb7bf31b 412 }
Masahiko Fukasawa 48:427bdb7bf31b 413 case AkmAkd::INTERRUPT_ENABLED_OD:
Masahiko Fukasawa 48:427bdb7bf31b 414 {
Masahiko Fukasawa 48:427bdb7bf31b 415 interrupt->fall(callback(this, &AkmSensorManager::detectDRDY));
Masahiko Fukasawa 48:427bdb7bf31b 416 break;
Masahiko Fukasawa 48:427bdb7bf31b 417 }
Masahiko Fukasawa 48:427bdb7bf31b 418 default:
Masahiko Fukasawa 48:427bdb7bf31b 419 {
Masahiko Fukasawa 48:427bdb7bf31b 420 // nothing.
Masahiko Fukasawa 48:427bdb7bf31b 421 }
Masahiko Fukasawa 48:427bdb7bf31b 422 }
Masahiko Fukasawa 48:427bdb7bf31b 423 }
Masahiko Fukasawa 48:427bdb7bf31b 424 }
Masahiko Fukasawa 48:427bdb7bf31b 425 else if(msg.getArgNum() == 1)
Masahiko Fukasawa 48:427bdb7bf31b 426 {
masahikofukasawa 46:5938ad2039b0 427 float interval = (float)(1.0 / (double)msg.getArgument(0));
masahikofukasawa 29:b488d2c89fba 428 error_code = sensor[sensorIndex]->startSensor(interval);
masahikofukasawa 11:cef8dc1cf010 429 if( error_code != AkmSensor::SUCCESS ){
masahikofukasawa 39:3821886c902e 430 MSG("#Error: StartSensor Error. Code=%d\r\n",error_code);
masahikofukasawa 11:cef8dc1cf010 431 }
masahikofukasawa 11:cef8dc1cf010 432 else{
masahikofukasawa 39:3821886c902e 433 detachInterrupt();
masahikofukasawa 11:cef8dc1cf010 434 }
masahikofukasawa 11:cef8dc1cf010 435 }else{
tkstreet 44:0e251c736282 436 MSG("#Error: StartSensor Error: Wrong number of arguments.\r\n");
masahikofukasawa 11:cef8dc1cf010 437 }
masahikofukasawa 39:3821886c902e 438
masahikofukasawa 11:cef8dc1cf010 439 if(error_code == AkmSensor::SUCCESS){
masahikofukasawa 11:cef8dc1cf010 440 // get initial sensor state for switch type sensors
masahikofukasawa 11:cef8dc1cf010 441 if( primaryId == AkmSensor::AKM_PRIMARY_ID_UNIPOLAR ||
masahikofukasawa 11:cef8dc1cf010 442 primaryId == AkmSensor::AKM_PRIMARY_ID_OMNIPOLAR ||
masahikofukasawa 11:cef8dc1cf010 443 primaryId == AkmSensor::AKM_PRIMARY_ID_LATCH ||
masahikofukasawa 11:cef8dc1cf010 444 primaryId == AkmSensor::AKM_PRIMARY_ID_DUAL_OUTPUT ||
masahikofukasawa 11:cef8dc1cf010 445 primaryId == AkmSensor::AKM_PRIMARY_ID_ONECHIP_ENCODER ){
masahikofukasawa 11:cef8dc1cf010 446 Message temp;
masahikofukasawa 29:b488d2c89fba 447 sensor[sensorIndex]->readSensorData(&temp);
masahikofukasawa 11:cef8dc1cf010 448 throwMessage(&temp);
masahikofukasawa 11:cef8dc1cf010 449 }
Masahiko Fukasawa 48:427bdb7bf31b 450 MSG("#Start measurement:%s index=%d.\r\n",sensor[sensorIndex]->getSensorName(), sensorIndex);
masahikofukasawa 0:7a00359e701e 451 }
masahikofukasawa 0:7a00359e701e 452 break;
masahikofukasawa 11:cef8dc1cf010 453 }
tkstreet 33:d3e1e9eb2ef9 454 case Message::CMD_MOTOR_START_MOTOR:
tkstreet 33:d3e1e9eb2ef9 455 case Message::CMD_MOTOR_STOP_MOTOR:
tkstreet 33:d3e1e9eb2ef9 456 case Message::CMD_MOTOR_SET_DIRECTION:
tkstreet 33:d3e1e9eb2ef9 457 case Message::CMD_MOTOR_SET_DUTY_CYCLE:
masahikofukasawa 9:6fa3e7b17c27 458 case Message::CMD_PROGSW_GET_THRESHOLD:
masahikofukasawa 9:6fa3e7b17c27 459 case Message::CMD_PROGSW_SET_THRESHOLD:
masahikofukasawa 9:6fa3e7b17c27 460 case Message::CMD_PROGSW_GET_READ_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 461 case Message::CMD_PROGSW_SET_READ_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 462 case Message::CMD_PROGSW_GET_SWITCH_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 463 case Message::CMD_PROGSW_SET_SWITCH_COFIGURATION:
masahikofukasawa 9:6fa3e7b17c27 464 case Message::CMD_PROGSW_GET_OPERATION_MODE:
masahikofukasawa 9:6fa3e7b17c27 465 case Message::CMD_PROGSW_SET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 466 case Message::CMD_IR_GET_THRESHOLD:
masahikofukasawa 1:b46b8653331f 467 case Message::CMD_IR_SET_THRESHOLD:
masahikofukasawa 1:b46b8653331f 468 case Message::CMD_IR_GET_HYSTERESIS:
masahikofukasawa 1:b46b8653331f 469 case Message::CMD_IR_SET_HYSTERESIS:
masahikofukasawa 1:b46b8653331f 470 case Message::CMD_IR_GET_INTERRUPT:
masahikofukasawa 1:b46b8653331f 471 case Message::CMD_IR_SET_INTERRUPT:
masahikofukasawa 1:b46b8653331f 472 case Message::CMD_IR_GET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 473 case Message::CMD_IR_SET_OPERATION_MODE:
masahikofukasawa 1:b46b8653331f 474 case Message::CMD_IR_GET_THRESHOLD_EEPROM:
masahikofukasawa 1:b46b8653331f 475 case Message::CMD_IR_SET_THRESHOLD_EEPROM:
masahikofukasawa 1:b46b8653331f 476 case Message::CMD_IR_GET_HYSTERESIS_EEPROM:
masahikofukasawa 1:b46b8653331f 477 case Message::CMD_IR_SET_HYSTERESIS_EEPROM:
masahikofukasawa 1:b46b8653331f 478 case Message::CMD_IR_GET_INTERRUPT_EEPROM:
masahikofukasawa 1:b46b8653331f 479 case Message::CMD_IR_SET_INTERRUPT_EEPROM:
masahikofukasawa 1:b46b8653331f 480 case Message::CMD_IR_GET_OPERATION_MODE_EEPROM:
masahikofukasawa 1:b46b8653331f 481 case Message::CMD_IR_SET_OPERATION_MODE_EEPROM:
masahikofukasawa 9:6fa3e7b17c27 482 case Message::CMD_ANGLE_ZERO_RESET:
masahikofukasawa 30:5a241d9b3262 483 case Message::CMD_ANGLE_READ:
masahikofukasawa 9:6fa3e7b17c27 484 case Message::CMD_REG_WRITE:
masahikofukasawa 9:6fa3e7b17c27 485 case Message::CMD_REG_WRITEN:
masahikofukasawa 9:6fa3e7b17c27 486 case Message::CMD_REG_READ:
masahikofukasawa 9:6fa3e7b17c27 487 case Message::CMD_REG_READN:
masahikofukasawa 9:6fa3e7b17c27 488 case Message::CMD_COMPASS_GET_OPERATION_MODE:
masahikofukasawa 9:6fa3e7b17c27 489 case Message::CMD_COMPASS_SET_OPERATION_MODE:
masahikofukasawa 11:cef8dc1cf010 490 {
masahikofukasawa 29:b488d2c89fba 491 AkmSensor::Status st = sensor[sensorIndex]->requestCommand(&msg,&resMsg);
masahikofukasawa 15:1238993fd75f 492 if( (resMsg.getArgNum() == 0) && (st != AkmSensor::SUCCESS) )
masahikofukasawa 15:1238993fd75f 493 {
masahikofukasawa 39:3821886c902e 494 MSG("#Error: Command failed.\r\n");
masahikofukasawa 15:1238993fd75f 495 }else{
masahikofukasawa 15:1238993fd75f 496 throwMessage(&resMsg);
masahikofukasawa 15:1238993fd75f 497 }
masahikofukasawa 0:7a00359e701e 498 break;
masahikofukasawa 11:cef8dc1cf010 499 }
masahikofukasawa 0:7a00359e701e 500 default:
masahikofukasawa 11:cef8dc1cf010 501 {
masahikofukasawa 39:3821886c902e 502 MSG("#Error: Can't find command.\r\n");
masahikofukasawa 0:7a00359e701e 503 break;
masahikofukasawa 11:cef8dc1cf010 504 }
masahikofukasawa 0:7a00359e701e 505 }
masahikofukasawa 0:7a00359e701e 506 }
masahikofukasawa 0:7a00359e701e 507
masahikofukasawa 0:7a00359e701e 508 AkmSensorManager::Status AkmSensorManager::processEvent()
masahikofukasawa 0:7a00359e701e 509 {
masahikofukasawa 0:7a00359e701e 510 AkmSensorManager::Status status = AkmSensorManager::SUCCESS;
masahikofukasawa 0:7a00359e701e 511
tkstreet 33:d3e1e9eb2ef9 512 // If event is a command received from BLE
masahikofukasawa 0:7a00359e701e 513 if(eventCommandReceived)
masahikofukasawa 0:7a00359e701e 514 {
tkstreet 45:6af8fdde0ef3 515 VERBOSE("#Command received.\r\n");
masahikofukasawa 0:7a00359e701e 516 processCommand();
tkstreet 21:966724730ce6 517 eventCommandReceived = false; // clear the flag
masahikofukasawa 0:7a00359e701e 518 }
masahikofukasawa 29:b488d2c89fba 519
masahikofukasawa 29:b488d2c89fba 520 // check sensor event
Masahiko Fukasawa 48:427bdb7bf31b 521 // for(int i=0; i<sensorNum; i++){
Masahiko Fukasawa 48:427bdb7bf31b 522 if( sensor[0]->isEvent() ){
masahikofukasawa 29:b488d2c89fba 523 Message msg;
Masahiko Fukasawa 48:427bdb7bf31b 524 if( sensor[0]->readSensorData(&msg) != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
tkstreet 34:1ea3357c8d9a 525 throwMessage(&msg); // Process and output message to USB/BLE
masahikofukasawa 29:b488d2c89fba 526 }
Masahiko Fukasawa 48:427bdb7bf31b 527 // }
masahikofukasawa 0:7a00359e701e 528
tkstreet 34:1ea3357c8d9a 529 if(eventConnected) // If BLE connected, clear flag and start sensor.
masahikofukasawa 0:7a00359e701e 530 {
tkstreet 21:966724730ce6 531 eventConnected = false; // clear the flag
masahikofukasawa 12:c06cd8b76358 532 MSG("#BLE connected.\r\n");
masahikofukasawa 0:7a00359e701e 533 }
tkstreet 23:50c98b286e41 534
tkstreet 23:50c98b286e41 535 // If event is the BLE being disconnected, stop the sensor
tkstreet 23:50c98b286e41 536 if(eventDisconnected)
masahikofukasawa 0:7a00359e701e 537 {
tkstreet 45:6af8fdde0ef3 538 MSG("#BLE disconnected.\r\n");
Masahiko Fukasawa 48:427bdb7bf31b 539 // for(int i=0; i<sensorNum; i++){
Masahiko Fukasawa 48:427bdb7bf31b 540 if( sensor[0]->stopSensor() != AkmSensor::SUCCESS) status = AkmSensorManager::ERROR;
Masahiko Fukasawa 48:427bdb7bf31b 541 // }
tkstreet 34:1ea3357c8d9a 542 eventDisconnected = false; // clear the flag
masahikofukasawa 0:7a00359e701e 543 }
masahikofukasawa 0:7a00359e701e 544 return status;
masahikofukasawa 0:7a00359e701e 545 }
masahikofukasawa 0:7a00359e701e 546
masahikofukasawa 0:7a00359e701e 547 AkmSensorManager::Status AkmSensorManager::throwMessage(const Message *msg) {
masahikofukasawa 46:5938ad2039b0 548 const int len = Message::getMaxMessageLength();
masahikofukasawa 0:7a00359e701e 549 char buf[len];
masahikofukasawa 0:7a00359e701e 550
tkstreet 23:50c98b286e41 551 buf[0] = '$'; // Output message prefix
masahikofukasawa 0:7a00359e701e 552
tkstreet 23:50c98b286e41 553 // Processes command in msg to ASCII
masahikofukasawa 0:7a00359e701e 554 char cmd = (char)msg->getCommand();
masahikofukasawa 0:7a00359e701e 555 Message::charToAscii(&buf[1], &cmd);
masahikofukasawa 0:7a00359e701e 556
tkstreet 23:50c98b286e41 557 // Processes arguments in msg to ASCII
masahikofukasawa 0:7a00359e701e 558 for (int i=0; i < msg->getArgNum(); i++) {
masahikofukasawa 0:7a00359e701e 559 char arg = msg->getArgument(i);
masahikofukasawa 0:7a00359e701e 560 Message::charToAscii(&buf[3+2*i], &arg);
masahikofukasawa 0:7a00359e701e 561 }
masahikofukasawa 0:7a00359e701e 562
masahikofukasawa 0:7a00359e701e 563 // Add termination characters, 0x0D(\r), \n and \0, to the end of string
masahikofukasawa 0:7a00359e701e 564 int tIdx = 3 + 2 * (msg->getArgNum());
masahikofukasawa 0:7a00359e701e 565 int bufSize = sizeof(buf)/sizeof(buf[0]);
masahikofukasawa 0:7a00359e701e 566 if ((tIdx + 3) > (bufSize - 1)) {
masahikofukasawa 11:cef8dc1cf010 567 MSG("#Error: Message data exceeds the buffer.\r\n");
masahikofukasawa 0:7a00359e701e 568 return ERROR;
masahikofukasawa 0:7a00359e701e 569 }
masahikofukasawa 11:cef8dc1cf010 570 buf[tIdx++] = CR; // '\r'
masahikofukasawa 11:cef8dc1cf010 571 buf[tIdx++] = LF; // '\n'
masahikofukasawa 11:cef8dc1cf010 572 buf[tIdx] = '\0';
tkstreet 23:50c98b286e41 573
tkstreet 33:d3e1e9eb2ef9 574 // If BLE is enabled, send to AKDP app
tkstreet 23:50c98b286e41 575 if(isEnabledBle) uartService->writeString(buf);
tkstreet 23:50c98b286e41 576
tkstreet 33:d3e1e9eb2ef9 577 // If USB is enabled, send to serial terminal
masahikofukasawa 0:7a00359e701e 578 if(isEnabledUsb) serial->printf(buf);
masahikofukasawa 0:7a00359e701e 579
masahikofukasawa 0:7a00359e701e 580 return SUCCESS;
masahikofukasawa 12:c06cd8b76358 581 }
masahikofukasawa 13:d008249f0359 582
masahikofukasawa 27:41aa9fb23a2f 583 char* AkmSensorManager::my_strcat(char* str1, char* str2)
masahikofukasawa 27:41aa9fb23a2f 584 {
masahikofukasawa 27:41aa9fb23a2f 585 int num1;
masahikofukasawa 27:41aa9fb23a2f 586 char* str;
masahikofukasawa 27:41aa9fb23a2f 587
masahikofukasawa 27:41aa9fb23a2f 588 num1=strlen(str1) + strlen(str2);
masahikofukasawa 27:41aa9fb23a2f 589 str = (char *)malloc(num1 + 1);
masahikofukasawa 27:41aa9fb23a2f 590 sprintf(str,"%s%s",str1,str2);
masahikofukasawa 27:41aa9fb23a2f 591 return str;
masahikofukasawa 27:41aa9fb23a2f 592 }
masahikofukasawa 27:41aa9fb23a2f 593
masahikofukasawa 13:d008249f0359 594 char* AkmSensorManager::getSensorName(){
masahikofukasawa 29:b488d2c89fba 595 char* name = "";
Masahiko Fukasawa 48:427bdb7bf31b 596 // for(int i=0; i<sensorNum; i++){
Masahiko Fukasawa 48:427bdb7bf31b 597 name = my_strcat(name, (char *)sensor[0]->getSensorName());
Masahiko Fukasawa 48:427bdb7bf31b 598 // if( sensorNum > (i+1) )name = my_strcat(name, "+");
Masahiko Fukasawa 48:427bdb7bf31b 599 // }
masahikofukasawa 27:41aa9fb23a2f 600 MSG("#Sensor Name='%s'.\r\n",name);
masahikofukasawa 27:41aa9fb23a2f 601 return name;
masahikofukasawa 39:3821886c902e 602 }
masahikofukasawa 39:3821886c902e 603
masahikofukasawa 39:3821886c902e 604 void AkmSensorManager::attachInterrupt(){
masahikofukasawa 39:3821886c902e 605 switch(drdyType){
masahikofukasawa 39:3821886c902e 606 case AkmAkd::INTERRUPT_ENABLED_PP:
masahikofukasawa 39:3821886c902e 607 {
masahikofukasawa 39:3821886c902e 608 if(primaryId == AkmSensor::AKM_PRIMARY_ID_AKD_SPI) interrupt = new InterruptIn(SPI_DRDY);
masahikofukasawa 39:3821886c902e 609 else interrupt = new InterruptIn(I2C_DRDY);
masahikofukasawa 39:3821886c902e 610 break;
masahikofukasawa 39:3821886c902e 611 }
masahikofukasawa 39:3821886c902e 612 case AkmAkd::INTERRUPT_ENABLED_OD:
masahikofukasawa 39:3821886c902e 613 {
masahikofukasawa 39:3821886c902e 614 if(primaryId == AkmSensor::AKM_PRIMARY_ID_AKD_SPI) interrupt = new InterruptIn(SPI_DRDY);
masahikofukasawa 39:3821886c902e 615 else interrupt = new InterruptIn(I2C_DRDY);
masahikofukasawa 39:3821886c902e 616 break;
masahikofukasawa 39:3821886c902e 617 }
masahikofukasawa 39:3821886c902e 618 default:
masahikofukasawa 39:3821886c902e 619 {
masahikofukasawa 39:3821886c902e 620 // nothing.
masahikofukasawa 39:3821886c902e 621 }
masahikofukasawa 39:3821886c902e 622 }
masahikofukasawa 39:3821886c902e 623 }
masahikofukasawa 39:3821886c902e 624
masahikofukasawa 39:3821886c902e 625 void AkmSensorManager::detachInterrupt(){
masahikofukasawa 39:3821886c902e 626 switch(drdyType){
masahikofukasawa 39:3821886c902e 627 case AkmAkd::INTERRUPT_ENABLED_PP:
masahikofukasawa 39:3821886c902e 628 {
masahikofukasawa 39:3821886c902e 629 interrupt->rise(NULL);
masahikofukasawa 39:3821886c902e 630 break;
masahikofukasawa 39:3821886c902e 631 }
masahikofukasawa 39:3821886c902e 632 case AkmAkd::INTERRUPT_ENABLED_OD:
masahikofukasawa 39:3821886c902e 633 {
masahikofukasawa 39:3821886c902e 634 interrupt->fall(NULL);
masahikofukasawa 39:3821886c902e 635 break;
masahikofukasawa 39:3821886c902e 636 }
masahikofukasawa 39:3821886c902e 637 default:
masahikofukasawa 39:3821886c902e 638 {
masahikofukasawa 39:3821886c902e 639 // nothing.
masahikofukasawa 39:3821886c902e 640 }
masahikofukasawa 39:3821886c902e 641 }
masahikofukasawa 13:d008249f0359 642 }