Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

Files at this revision

API Documentation at this revision

Comitter:
tkstreet
Date:
Tue May 01 21:31:15 2018 +0000
Parent:
48:427bdb7bf31b
Commit message:
Modified for Rev.E. compatibility.

Changed in this revision

akmanalogsensor.cpp Show annotated file Show diff for this revision Revisions of this file
akmanalogsensor.h Show annotated file Show diff for this revision Revisions of this file
akmsensor.h Show annotated file Show diff for this revision Revisions of this file
akmsensormanager.cpp Show annotated file Show diff for this revision Revisions of this file
akmsensormanager.h Show annotated file Show diff for this revision Revisions of this file
ap1017ctrl.cpp Show annotated file Show diff for this revision Revisions of this file
ap1017ctrl.h Show annotated file Show diff for this revision Revisions of this file
diff -r 427bdb7bf31b -r c8f8946129b6 akmanalogsensor.cpp
--- a/akmanalogsensor.cpp	Tue Dec 19 12:18:13 2017 -0800
+++ b/akmanalogsensor.cpp	Tue May 01 21:31:15 2018 +0000
@@ -1,29 +1,25 @@
 #include "akmanalogsensor.h"
 
+#define SCALING_CONSTANT_3V     0.5997202865
+#define SCALING_CONSTANT_5V     0.3603082852
 #define WAIT_ADC_MS 1
 
-/**
- * Constructor.
- *
- */
 AkmAnalogSensor::AkmAnalogSensor() : AkmSensor(){
     ain = NULL;
-    mcp3428 = NULL;
 }
 
-/**
- * Destructor.
- *
- */
+
 AkmAnalogSensor::~AkmAnalogSensor(){
     if(ain) delete ain;
-    if(mcp3428) delete mcp3428;
 }
 
-AkmSensor::Status AkmAnalogSensor::init(const uint8_t id, const uint8_t subid){
+
+AkmSensor::Status AkmAnalogSensor::init(const uint8_t p_id, const uint8_t s_id){
+    
     VERBOSE("#AkmAnalogSensor init()\r\n");
-    primaryId = id;
-    subId = subid;
+    
+    primaryId = p_id;
+    subId = s_id;
     
     if(primaryId == AKM_PRIMARY_ID_LINEAR_SENSOR && subId == AkmAnalogSensor::SUB_ID_EQ430L)             sensorName = "EQ-430L";
     else if(primaryId == AKM_PRIMARY_ID_LINEAR_SENSOR && subId == AkmAnalogSensor::SUB_ID_EQ431L)        sensorName = "EQ-431L";
@@ -53,24 +49,17 @@
     else if(primaryId == AKM_PRIMARY_ID_MISC_ANALOG && subId == AkmAnalogSensor::SUB_ID_EM3242)          sensorName = "EM3242";
     else if(primaryId == AKM_PRIMARY_ID_MISC_ANALOG && subId == AkmAnalogSensor::SUB_ID_AK9710)          sensorName = "AK9710";
     else return AkmSensor::ERROR;
-
-    MCP342X::AdcChannel channel = MCP342X::ADC_CH3;    // 0-5.0V out as default
+    
     if( ((primaryId == AKM_PRIMARY_ID_MISC_ANALOG) && (subId <= AKM_PRIMARY_ID_CURRENT_SENSOR_3V))
        || primaryId == AKM_PRIMARY_ID_CURRENT_SENSOR_3V){
-        channel = MCP342X::ADC_CH4;    // 0-3.0V out
+        
+        ain = new AnalogIn(ANALOG_IN_A0);
+        VERBOSE("#ADC Connected to 3V Channel\r\n");
     }
-    
-    // 16bit ADC
-    I2C* i2c = new I2C(I2C_SDA,I2C_SCL);
-    i2c->frequency(I2C_SPEED);
-    VERBOSE("#AkmAnalogSensor::init: I2C created at %d Hz\r\n", I2C_SPEED);
-    
-    // ADC setting
-    mcp3428 = new MCP342X(i2c, MCP342X::SLAVE_ADDRESS_6EH);
-    mcp3428->setChannel(channel);
-    mcp3428->setSampleSetting(MCP342X::SAMPLE_15HZ_16BIT);
-    mcp3428->setConversionMode(MCP342X::CONTINUOUS); 
-    VERBOSE("#AkmAnalogSensor::init: MPC342X ADC created\r\n");
+    else {
+        ain = new AnalogIn(ANALOG_IN_A0);;
+        VERBOSE("#ADC Connected to 5V Channel\r\n");
+    }
     
     interval = SENSOR_SAMPLING_RATE; // 10Hz
 
@@ -97,27 +86,49 @@
 }
 
 AkmSensor::Status AkmAnalogSensor::readSensorData(Message* msg){
+    
+    uint16_t ain16 = 0;
+    int16_t ain16_sign = 0;
+    double ain_norm = 0;
+    double ain_scl = 0;
+    
     VERBOSE("#AkmAnalogSensor: Reading sensor data\r\n");
     AkmSensor::clearEvent();
     
     msg->setCommand(Message::CMD_START_MEASUREMENT);
 
-    if(primaryId == AKM_PRIMARY_ID_LINEAR_SENSOR || 
-            primaryId == AKM_PRIMARY_ID_MISC_ANALOG || 
-            primaryId == AKM_PRIMARY_ID_CURRENT_SENSOR_3V ||
-            primaryId == AKM_PRIMARY_ID_CURRENT_SENSOR_5V ){
-        MCP342X::Data data;
-        do {
-            VERBOSE("#Waiting..\r\n");
-            mcp3428->getData(&data);
-            wait_ms(WAIT_ADC_MS);
-        } while(data.st == MCP342X::DATA_NOT_UPDATED);
+    if(primaryId == AKM_PRIMARY_ID_LINEAR_SENSOR || primaryId == AKM_PRIMARY_ID_MISC_ANALOG || 
+       primaryId == AKM_PRIMARY_ID_CURRENT_SENSOR_3V || primaryId == AKM_PRIMARY_ID_CURRENT_SENSOR_5V )
+    {       
+        // Sample the ADC
+        ain_norm = ain->read();
+        ain_norm *= 1.97;
+
+        if(primaryId == AKM_PRIMARY_ID_CURRENT_SENSOR_3V){
+            ain_scl = ain_norm * 1.8 / SCALING_CONSTANT_3V;
+            VERBOSE("#3V scale = %.4f\r\n", ain_scl);
+        }
+        if(primaryId == AKM_PRIMARY_ID_CURRENT_SENSOR_5V){
+            ain_scl = ain_norm * 1.8 / SCALING_CONSTANT_5V;
+            VERBOSE("#5V scale = %.4f\r\n", ain_scl);
+        }
+
+        ain16 = (uint16_t)(65535 * ain_norm);
         
-        msg->setArgument( 0, (char)( (data.value&0xFF00) >> 8) );
-        msg->setArgument( 1, (char)( data.value & 0x00FF) );
-    }else{
-        msg->setArgument( 0, 0);
-        msg->setArgument( 1, 0);
+        //ain16_sign = (int16_t)ain16;
+        //ain16_sign = (int16_t)ain16 - 32768;
+        ain16_sign = (int16_t)ain_norm*48011.0 - 32768;
+        
+        VERBOSE("#ain_norm = %.4f\r\n", ain_norm);
+        VERBOSE("#ain16 = %d\r\n", ain16);  
+        VERBOSE("#ain16_sign = %d\r\n", ain16_sign);
+        
+        msg->setArgument(0, (char)((ain16_sign & 0xFF00) >> 8));
+        msg->setArgument(1, (char)(ain16_sign & 0x00FF));    
+    }
+    else{
+        msg->setArgument(0, 0);
+        msg->setArgument(1, 0);
         MSG("readSensorData Error\r\n");
         return AkmSensor::ERROR;
     }
diff -r 427bdb7bf31b -r c8f8946129b6 akmanalogsensor.h
--- a/akmanalogsensor.h	Tue Dec 19 12:18:13 2017 -0800
+++ b/akmanalogsensor.h	Tue May 01 21:31:15 2018 +0000
@@ -3,7 +3,7 @@
 
 #include "mbed.h"
 #include "akmsensor.h"
-#include "mcp342x.h"
+//#include "mcp342x.h"
 
 /**
  * Collection class for handling commands to all AKM Analog Sensor modules.
@@ -96,7 +96,7 @@
      *
      * @return Termination status type for debugging purposes.
      */
-    virtual AkmSensor::Status init(const uint8_t id, const uint8_t subid);
+    virtual AkmSensor::Status init(const uint8_t p_id, const uint8_t s_id);
     
     /**
      * Process abstraction for starting sensor operation.
@@ -142,7 +142,7 @@
 private: 
     Ticker          ticker;
     AnalogIn*       ain;
-    MCP342X*        mcp3428;
+    AnalogIn*       ain2;
     float           interval;
 };
 
diff -r 427bdb7bf31b -r c8f8946129b6 akmsensor.h
--- a/akmsensor.h	Tue Dec 19 12:18:13 2017 -0800
+++ b/akmsensor.h	Tue May 01 21:31:15 2018 +0000
@@ -8,6 +8,7 @@
 
 // Sampling rate for ADC
 #define SENSOR_SAMPLING_RATE             0.1        // 10Hz
+//#define SENSOR_SAMPLING_RATE            0.025       // 40Hz
 
 /**
  * Abstract base class for general AKM sensors.
@@ -89,7 +90,7 @@
     
     /**
      * Primary process for interfacing a sensor with the AKDP.  When implemented
-     * in sensor class, it will transfer commands between the the sensor control
+     * in sensor class, it will transfer commands between the sensor control
      * class and AkmSensorManager. 
      *
      * @param in Command message to be processed by sensor.
diff -r 427bdb7bf31b -r c8f8946129b6 akmsensormanager.cpp
--- a/akmsensormanager.cpp	Tue Dec 19 12:18:13 2017 -0800
+++ b/akmsensormanager.cpp	Tue May 01 21:31:15 2018 +0000
@@ -222,7 +222,9 @@
 //    }
 }
 
-void AkmSensorManager::dummyCallbackForCommandReceived(){}
+void AkmSensorManager::commandReceivedCallback(){
+	VERBOSE("#commandReceivedCallback: Command Received\r\n");	
+}
 
 
 // For commands received via BLE
@@ -238,11 +240,11 @@
         eventCommandReceived = true;            // Set flag
             VERBOSE("#Parsed message. %s\r\n", buf);
     }
-    t.attach(callback(this, &AkmSensorManager::dummyCallbackForCommandReceived),0); // wake-up from ble.waitForEvent
+    t.attach(callback(this, &AkmSensorManager::commandReceivedCallback),0); // wake-up from ble.waitForEvent
     return status;
 }
 
-
+/*
 int16_t AkmSensorManager::getAdcData(MCP342X *mcp3428, MCP342X::AdcChannel ch, MCP342X::SampleSetting s) {
     const int WAIT_ADC_MS = 1;
 
@@ -260,37 +262,39 @@
     
     return data.value;
 }
-
+*/
 
 uint8_t AkmSensorManager::getId(PinName pin, uint8_t bits)
 {
-    MSG("#GetID\r\n");
-    
-    I2C i2c(I2C_SDA, I2C_SCL);      // establish I2C to read ID
-    
-    // ADC
-    MCP342X mcp342x(&i2c, MCP342X::SLAVE_ADDRESS_6EH);  // ADC to convert voltage
-    mcp342x.setConversionMode(MCP342X::ONE_SHOT);       // Set to single sample
-    MCP342X::AdcChannel ch;
+    VERBOSE("#AkmSensorManager: GetID\r\n");
     
-    if (pin == ANALOG_SENSOR_ID) {                      // Primary ID
-        ch = MCP342X::ADC_CH1;
-    } else { // pin == ANALOG_SENSOR_ID_SUB         
-        ch = MCP342X::ADC_CH2;                          // Secondary ID
-    }
-    
-    int16_t val = getAdcData(&mcp342x, ch, MCP342X::SAMPLE_240HZ_12BIT);
-    MSG("#12bit ADC Val = %d.\r\n", val);
+    AnalogIn ain(pin);
+	double value = 0;
+	uint8_t ID = 0;
+	
+	value = ain.read();
+	
+	MSG("#ADC ID Raw Value: %.5f\r\n", value);
+
+	// Scale reading
+	// Range of reading is 0.0 to 1.0
+	value = 2.0 * (3.0 * value);
+//	value = (1/0.5555556) * (3.0 * value);		// multiply by 1/(voltage divider) and 3.0V
+
+	MSG("#ADC ID Reading: %.4f\r\n", value);
     
-    // Voltage boundaries for ID voltage divider system
-    const int16_t VAL_MAX = 3000-2048;   // Corresponds to 3V
-    const int16_t VAL_MIN = -2048;       // Corresponds to 0V
-    
-    // Convert voltage to ID value
-    uint8_t value = (uint8_t)((val - VAL_MIN)/(double)(VAL_MAX - VAL_MIN) * (1 << bits) + 0.5);
-    MSG("#ID = %d.\r\n", value);
-
-    return value;
+    if(bits == 4){
+	    // Convert reading into a 4-bit ID (i.e. 0-15)
+   		ID = (uint8_t)((value/3.0)*16 + 0.5);
+    	MSG("#4-bit ID = %d.\r\n", ID);
+	}
+	else if(bits == 5){
+		// Convert reading into a 5-bit ID (i.e. 0-15)
+   		ID = (uint8_t)((value/3.0)*32 + 0.5);
+    	MSG("#5-bit ID = %d.\r\n", ID);
+	}
+	
+    return ID;
 }
 
 
@@ -580,7 +584,7 @@
     return SUCCESS;   
 }
 
-char* AkmSensorManager::my_strcat(char* str1, char* str2)
+char* AkmSensorManager::stringConcat(char* str1, char* str2)
 {
     int num1;
     char* str;
@@ -594,8 +598,8 @@
 char* AkmSensorManager::getSensorName(){
     char* name = "";
 //    for(int i=0; i<sensorNum; i++){
-        name = my_strcat(name, (char *)sensor[0]->getSensorName());
-//        if( sensorNum > (i+1) )name = my_strcat(name, "+");
+        name = stringConcat(name, (char *)sensor[0]->getSensorName());
+//        if( sensorNum > (i+1) )name = stringConcat(name, "+");
 //    }
     MSG("#Sensor Name='%s'.\r\n",name);
     return name;
diff -r 427bdb7bf31b -r c8f8946129b6 akmsensormanager.h
--- a/akmsensormanager.h	Tue Dec 19 12:18:13 2017 -0800
+++ b/akmsensormanager.h	Tue May 01 21:31:15 2018 +0000
@@ -8,7 +8,6 @@
 #include "Message.h"
 #include "ble/BLE.h"
 #include "SerialNano.h"
-#include "mcp342x.h"
 #include "akmakd.h"
 #include "ble/services/UARTService.h"
 #include "akmhallswitch.h"
@@ -124,7 +123,11 @@
      * @param bits Number of bits of precision of value.
      * @return Returns the integer ID or SubID value.
      */
-    uint8_t getId(PinName pin, uint8_t bits);
+    static uint8_t getId(PinName pin, uint8_t bits);
+    
+    /**
+     * Detect if data is ready to be read.
+     */
     void detectDRDY();
         
 private:
@@ -153,9 +156,9 @@
     
     bool checkAkmSensor();
     void dataOut(char* str);
-    int16_t getAdcData(MCP342X *mcp3428, MCP342X::AdcChannel ch, MCP342X::SampleSetting s);
-    void dummyCallbackForCommandReceived();
-    char* my_strcat(char* str1, char* str2);
+//    int16_t getAdcData(MCP342X *mcp3428, MCP342X::AdcChannel ch, MCP342X::SampleSetting s);
+    void commandReceivedCallback();
+    char* stringConcat(char* str1, char* str2);
     void attachInterrupt();
     void detachInterrupt();
 };
diff -r 427bdb7bf31b -r c8f8946129b6 ap1017ctrl.cpp
--- a/ap1017ctrl.cpp	Tue Dec 19 12:18:13 2017 -0800
+++ b/ap1017ctrl.cpp	Tue May 01 21:31:15 2018 +0000
@@ -26,12 +26,11 @@
     
     inputA = new DigitalOut(DIGITAL_D0);
     inputB = new DigitalOut(DIGITAL_D1);
-    i2cMotor = new I2C(I2C_SDA0, I2C_SCL0);
-    i2cMotor->frequency(I2C_SPEED);
+    enable = new DigitalOut(DIGITAL_D9);
 
     switch (subId) {                // template for multiple drivers
         case SUB_ID_AP1017:
-            ap1017 = new AP1017(inputA, inputB, i2cMotor);  // Instantiate AP1017
+            ap1017 = new AP1017(inputA, inputB, enable);  // Instantiate AP1017
             sensorName = "AP1017";
             MSG("#AP1017 found.\r\n");
             break;
diff -r 427bdb7bf31b -r c8f8946129b6 ap1017ctrl.h
--- a/ap1017ctrl.h	Tue Dec 19 12:18:13 2017 -0800
+++ b/ap1017ctrl.h	Tue May 01 21:31:15 2018 +0000
@@ -91,14 +91,13 @@
     void pwmOnPulse();
 
 private:
-    //bool            event;
     uint8_t         primaryId;
     uint8_t         subId;
     const char*     sensorName;
 
     DigitalOut*     inputA;
     DigitalOut*     inputB;
-    I2C*            i2cMotor;
+    DigitalOut*     enable;
 
     AP1017*         ap1017;
     Ticker          pwm;