Diff: akmakd.cpp

Revision:

10:5c69b067d88a

Parent:

9:6fa3e7b17c27

Child:

11:cef8dc1cf010

--- a/akmakd.cpp	Thu Jun 16 18:36:26 2016 +0000
+++ b/akmakd.cpp	Fri Jul 08 22:26:26 2016 +0000
@@ -52,23 +52,29 @@
                 compass = ak8963;
                 AkmAkd::sensorName = "AK8963";
                 break;          
-            case AkmAkd::SUB_ID_AK09911:
+            case AkmAkd::SUB_ID_AK09911C:
                 type = AkmECompass::AK09911;
                 ak099xx = new AK099XX();
                 compass = ak099xx;
-                AkmAkd::sensorName = "AK09911";
+                AkmAkd::sensorName = "AK09911C";
                 break;
-            case AkmAkd::SUB_ID_AK09912:
+            case AkmAkd::SUB_ID_AK09912C:
                 type = AkmECompass::AK09912;
                 ak099xx = new AK099XX();
                 compass = ak099xx;
-                AkmAkd::sensorName = "AK09912";
+                AkmAkd::sensorName = "AK09912C";
                 break;
-            case AkmAkd::SUB_ID_AK09915:
+            case AkmAkd::SUB_ID_AK09915C:
                 type = AkmECompass::AK09915;
                 ak099xx = new AK099XX();
                 compass = ak099xx;
-                AkmAkd::sensorName = "AK09915";
+                AkmAkd::sensorName = "AK09915C";
+                break;
+            case AkmAkd::SUB_ID_AK09915D:
+                type = AkmECompass::AK09915;
+                ak099xx = new AK099XX();
+                compass = ak099xx;
+                AkmAkd::sensorName = "AK09915D";
                 break;
             case AkmAkd::SUB_ID_AK09916C:
                 type = AkmECompass::AK09916C;
@@ -76,6 +82,12 @@
                 compass = ak099xx;
                 AkmAkd::sensorName = "AK09916C";
                 break;
+            case AkmAkd::SUB_ID_AK09916D:
+                type = AkmECompass::AK09916D;
+                ak099xx = new AK099XX();
+                compass = ak099xx;
+                AkmAkd::sensorName = "AK09916D";
+                break;
             default:
                 return AkmSensor::ERROR;
 //                break;
@@ -126,27 +138,36 @@
                 compass = ak8963;
                 AkmAkd::sensorName = "AK8963";
                 break;          
-            case AkmAkd::SUB_ID_AK09911:
+            case AkmAkd::SUB_ID_AK09911C:
                 type = AkmECompass::AK09911;
-                AkmAkd::sensorName = "AK09911";
+                AkmAkd::sensorName = "AK09911C";
                 return AkmSensor::ERROR;
-            case AkmAkd::SUB_ID_AK09912:
+            case AkmAkd::SUB_ID_AK09912C:
                 type = AkmECompass::AK09912;
                 ak099xx = new AK099XX();
                 compass = ak099xx;
-                AkmAkd::sensorName = "AK09912";
+                AkmAkd::sensorName = "AK09912C";
                 break;
-            case AkmAkd::SUB_ID_AK09915:
+            case AkmAkd::SUB_ID_AK09915C:
                 type = AkmECompass::AK09915;
                 ak099xx = new AK099XX();
                 compass = ak099xx;
-                AkmAkd::sensorName = "AK09915";
+                AkmAkd::sensorName = "AK09915C";
+                break;
+            case AkmAkd::SUB_ID_AK09915D:
+                type = AkmECompass::AK09915;
+                AkmAkd::sensorName = "AK09915D";
                 break;
             case AkmAkd::SUB_ID_AK09916C:
                 type = AkmECompass::AK09916C;
                 AkmAkd::sensorName = "AK09916C";
                 // doesn't support SPI
                 return AkmSensor::ERROR;
+            case AkmAkd::SUB_ID_AK09916D:
+                type = AkmECompass::AK09916D;
+                AkmAkd::sensorName = "AK09916D";
+                // doesn't support SPI
+                return AkmSensor::ERROR;
             default:
                 return AkmSensor::ERROR;
 //                break;
@@ -186,17 +207,17 @@
 }
 
 AkmSensor::Status AkmAkd::startSensor(){
+
     // read once to clear DRDY pin
     AkmECompass::MagneticVector mag;
     AkmECompass::Status status = compass->getMagneticVector(&mag);
 
-    // Puts the device into continuous measurement mode.
-    if(compass->getSensorType() == AkmECompass::AK09915){
+    if( subId == AkmAkd::SUB_ID_AK09915C || subId == AkmAkd::SUB_ID_AK09915D ){
         if(compass->setOperationMode(mode,nsf,sdr) != AkmECompass::SUCCESS) {
             return AkmSensor::ERROR;
         }
     }
-    else if(compass->getSensorType() == AkmECompass::AK09912){
+    else if( subId == AkmAkd::SUB_ID_AK09912C ){
         if(compass->setOperationMode(mode,nsf) != AkmECompass::SUCCESS) {
             return AkmSensor::ERROR;
         }
@@ -207,14 +228,23 @@
         }
     }
     
-    // DRDY interrupt enable for AK8963/AK09912/AK09915 with I2C interface
+    // DRDY interrupt enable
     if( primaryId == AKM_PRIMARY_ID_AKD_I2C && 
-        (compass->getSensorType() == AkmECompass::AK8963 ||
-         compass->getSensorType() == AkmECompass::AK09912 ||
-         compass->getSensorType() == AkmECompass::AK09915) ){       
+        (subId == AkmAkd::SUB_ID_AK8963N ||
+         subId == AkmAkd::SUB_ID_AK8963C ||
+         subId == AkmAkd::SUB_ID_AK09912C ||
+         subId == AkmAkd::SUB_ID_AK09915C ) ){       
+        // Push-Pull DRDY
         drdy->rise(this, &AkmAkd::detectDRDY);
     }
+    else if( primaryId == AKM_PRIMARY_ID_AKD_I2C && 
+        (subId == AkmAkd::SUB_ID_AK09915D ||
+         subId == AkmAkd::SUB_ID_AK09916D ) ){       
+        // Open Drain DRDY
+        drdy->fall(this, &AkmAkd::detectDRDY);
+    }
     else{
+        // No DRDY
         ticker.attach(this, &AkmAkd::checkDRDY, 0.005);  // 200Hz
     }
     return AkmSensor::SUCCESS;
@@ -271,7 +301,7 @@
         case Message::CMD_COMPASS_SET_OPERATION_MODE:
         {
             mode = (AkmECompass::OperationMode)in->getArgument(0);
-            if(compass->getSensorType() == AkmECompass::AK09915){
+            if(subId == AkmAkd::SUB_ID_AK09915C || subId == AkmAkd::SUB_ID_AK09915D){
                 nsf = (AkmECompass::Nsf)in->getArgument(1);
                 sdr = (AkmECompass::Sdr)in->getArgument(2);
                 if(compass->setOperationMode(mode,nsf,sdr) != AkmECompass::SUCCESS) {
@@ -279,7 +309,7 @@
                     MSG("#Error set operation mode.\n");
                 }
             }
-            else if(compass->getSensorType() == AkmECompass::AK09912){
+            else if(subId == AkmAkd::SUB_ID_AK09912C){
                 nsf = (AkmECompass::Nsf)in->getArgument(1);
                 if(compass->setOperationMode(mode,(AkmECompass::Nsf)nsf) != AkmECompass::SUCCESS) {
                     status =  AkmSensor::ERROR;