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