Taylor Street / AkmSensor

Modified for compatibility with Rev.E. hardware

Fork of AkmSensor by AKM Development Platform

Diff: akmakd.cpp

Revision:
19:8dcc4f323bdc
Parent:
18:b7182d5ad8d5
Child:
20:2fca76521680
--- a/akmakd.cpp	Tue Feb 21 23:46:12 2017 +0000
+++ b/akmakd.cpp	Wed Feb 22 18:47:01 2017 +0000
@@ -24,14 +24,80 @@
     if (drdy) delete drdy;
 }
 
+AkmSensor::Status AkmAkd::checkSensor( const uint8_t id, const uint8_t subid, AkmECompass::SensorType* type){
+    AK099XX* ak099xx;
+    AK8963* ak8963;
+    
+    switch(subid){
+        case AkmAkd::SUB_ID_AK8963N:
+        case AkmAkd::SUB_ID_AK8963C:
+            *type = AkmECompass::AK8963;
+            AkmAkd::sensorName = "AK8963";
+            ak8963 = new AK8963();
+            compass = ak8963;
+            break;
+        case AkmAkd::SUB_ID_AK09911C:
+            *type = AkmECompass::AK09911;
+            AkmAkd::sensorName = "AK09911C";
+            if(primaryId == AKM_PRIMARY_ID_AKD_SPI) 
+                return AkmSensor::ERROR;    // No SPI support
+            ak099xx = new AK099XX();
+            compass = ak099xx;
+            break;
+        case AkmAkd::SUB_ID_AK09912C:
+            *type = AkmECompass::AK09912;
+            AkmAkd::sensorName = "AK09912C";
+            ak099xx = new AK099XX();
+            compass = ak099xx;
+            break;
+        case AkmAkd::SUB_ID_AK09915C:
+            *type = AkmECompass::AK09915;
+            AkmAkd::sensorName = "AK09915C";
+            ak099xx = new AK099XX();
+            compass = ak099xx;
+            break;
+        case AkmAkd::SUB_ID_AK09915D:
+            *type = AkmECompass::AK09915;
+            AkmAkd::sensorName = "AK09915D";
+            ak099xx = new AK099XX();
+            compass = ak099xx;
+            break;
+        case AkmAkd::SUB_ID_AK09916C:
+            *type = AkmECompass::AK09916C;
+            AkmAkd::sensorName = "AK09916C";
+            if(primaryId == AKM_PRIMARY_ID_AKD_SPI) 
+                return AkmSensor::ERROR;    // No SPI support
+            ak099xx = new AK099XX();
+            compass = ak099xx;
+            break;
+        case AkmAkd::SUB_ID_AK09916D:
+            *type = AkmECompass::AK09916D;
+            AkmAkd::sensorName = "AK09916D";
+            if(primaryId == AKM_PRIMARY_ID_AKD_SPI) 
+                return AkmSensor::ERROR;    // No SPI support
+            ak099xx = new AK099XX();
+            compass = ak099xx;
+            break;
+        case AkmAkd::SUB_ID_AK09918:
+            *type = AkmECompass::AK09918;
+            AkmAkd::sensorName = "AK09918";
+            if(primaryId == AKM_PRIMARY_ID_AKD_SPI) 
+                return AkmSensor::ERROR;    // No SPI support
+            ak099xx = new AK099XX();
+            compass = ak099xx;
+            break;
+        default:
+            return AkmSensor::ERROR;
+    }
+    return AkmSensor::SUCCESS;    
+}
+
 AkmSensor::Status AkmAkd::init(const uint8_t id, const uint8_t subid){
     primaryId = id;
     subId = subid;
     
     AkmECompass::SensorType type;
-    AK099XX* ak099xx;
-    AK8963* ak8963;
-    
+
     mode = AkmECompass::MODE_POWER_DOWN;
     nsf = AkmECompass::NSF_DISABLE;
     sdr = AkmECompass::SDR_LOW_POWER_DRIVE;
@@ -44,63 +110,10 @@
         I2C* i2c = new I2C(I2C_SDA,I2C_SCL);
         i2c->frequency(I2C_SPEED_100KHZ);
 
-        switch(subid){
-            case AkmAkd::SUB_ID_AK8963N:
-            case AkmAkd::SUB_ID_AK8963C:
-                type = AkmECompass::AK8963;
-                ak8963 = new AK8963();
-                compass = ak8963;
-                AkmAkd::sensorName = "AK8963";
-                break;          
-            case AkmAkd::SUB_ID_AK09911C:
-                type = AkmECompass::AK09911;
-                ak099xx = new AK099XX();
-                compass = ak099xx;
-                AkmAkd::sensorName = "AK09911C";
-                break;
-            case AkmAkd::SUB_ID_AK09912C:
-                type = AkmECompass::AK09912;
-                ak099xx = new AK099XX();
-                compass = ak099xx;
-                AkmAkd::sensorName = "AK09912C";
-                break;
-            case AkmAkd::SUB_ID_AK09915C:
-                type = AkmECompass::AK09915;
-                ak099xx = new AK099XX();
-                compass = ak099xx;
-                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;
-                ak099xx = new AK099XX();
-                compass = ak099xx;
-                AkmAkd::sensorName = "AK09916C";
-                break;
-            case AkmAkd::SUB_ID_AK09916D:
-                type = AkmECompass::AK09916D;
-                ak099xx = new AK099XX();
-                compass = ak099xx;
-                AkmAkd::sensorName = "AK09916D";
-                break;
-            case AkmAkd::SUB_ID_AK09918:
-                type = AkmECompass::AK09918;
-                ak099xx = new AK099XX();
-                compass = ak099xx;
-                AkmAkd::sensorName = "AK09918";
-                break;
-            default:
-                return AkmSensor::ERROR;
-//                break;
+        if( checkSensor(id,subid,&type) != AkmSensor::SUCCESS ){
+            return AkmSensor::ERROR;
         }
         
-        bool foundSensor = false;
-        
         AkmECompass::SlaveAddress slaveAddr[] 
             = { AkmECompass::SLAVE_ADDR_1,
                 AkmECompass::SLAVE_ADDR_2,
@@ -112,19 +125,10 @@
             compass->init(i2c, slaveAddr[i], type);
             // Checks connectivity
             if(compass->checkConnection() == AkmECompass::SUCCESS) {
-                // found
-                foundSensor = true;
-                break;
+                MSG("#%s detected.\r\n", AkmAkd::sensorName);
+                return AkmSensor::SUCCESS;
             }
         }
-        if(foundSensor != true){
-            return AkmSensor::ERROR;
-        }
-        
-        // read a data to reset DRDY 
-//        AkmECompass::MagneticVector mag;
-//        compass->getMagneticVector(&mag);
-        
     }else if(primaryId == AKM_PRIMARY_ID_AKD_SPI){
         
         drdy = new InterruptIn(SPI_DRDY);    
@@ -135,73 +139,18 @@
         spi->frequency(1000000);
         
         DigitalOut* cs = new DigitalOut(SPI_CS);
-        
-        switch(subid){
-            case AkmAkd::SUB_ID_AK8963N:
-            case AkmAkd::SUB_ID_AK8963C:
-                type = AkmECompass::AK8963;
-                ak8963 = new AK8963();
-                compass = ak8963;
-                AkmAkd::sensorName = "AK8963";
-                break;          
-            case AkmAkd::SUB_ID_AK09911C:
-                type = AkmECompass::AK09911;
-                AkmAkd::sensorName = "AK09911C";
-                return AkmSensor::ERROR;
-            case AkmAkd::SUB_ID_AK09912C:
-                type = AkmECompass::AK09912;
-                ak099xx = new AK099XX();
-                compass = ak099xx;
-                AkmAkd::sensorName = "AK09912C";
-                break;
-            case AkmAkd::SUB_ID_AK09915C:
-                type = AkmECompass::AK09915;
-                ak099xx = new AK099XX();
-                compass = ak099xx;
-                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;
-                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;
-            case AkmAkd::SUB_ID_AK09918:
-                type = AkmECompass::AK09918;
-                AkmAkd::sensorName = "AK09918";
-                // doesn't support SPI
-                return AkmSensor::ERROR;
-            default:
-                return AkmSensor::ERROR;
-//                break;
+
+        if( checkSensor(id,subid,&type) != AkmSensor::SUCCESS ){
+            return AkmSensor::ERROR;
         }
         
-        bool foundSensor = false;
         compass->init(spi, cs, type);
         if(compass->checkConnection() == AkmECompass::SUCCESS) {
-            foundSensor = true;
-        }
-        if(foundSensor != true){
-            MSG("#failed checkConnetion(SPI). %s\r\n",AkmAkd::sensorName);
-            return AkmSensor::ERROR;
+            MSG("#%s detected.\r\n", AkmAkd::sensorName);
+            return AkmSensor::SUCCESS;
         }
-        // read a data to reset DRDY 
-//        AkmECompass::MagneticVector mag;
-//        compass->getMagneticVector(&mag);
     }
-    
-    MSG("#%s detected.\r\n", AkmAkd::sensorName);
-    return AkmSensor::SUCCESS;
+    return AkmSensor::ERROR;
 }
 
 
@@ -219,23 +168,41 @@
     return event;
 }
 
+AkmAkd::InterruptMode AkmAkd::getInterrupt(uint8_t primaryId, uint8_t subId){
+    AkmAkd::InterruptMode ret = AkmAkd::INTERRUPT_DISABLED;
+
+    if( primaryId == AKM_PRIMARY_ID_AKD_I2C && 
+        (subId == AkmAkd::SUB_ID_AK8963N ||
+         subId == AkmAkd::SUB_ID_AK8963C ||
+         subId == AkmAkd::SUB_ID_AK09912C ||
+         subId == AkmAkd::SUB_ID_AK09915C ) ){
+        ret = AkmAkd::INTERRUPT_ENABLED_PP;
+    }
+    else if( primaryId == AKM_PRIMARY_ID_AKD_I2C && 
+        (subId == AkmAkd::SUB_ID_AK09915D ||
+         subId == AkmAkd::SUB_ID_AK09916D ) ){       
+        ret = AkmAkd::INTERRUPT_ENABLED_OD;
+    }
+    else{
+        // No DRDY
+        // No DRDY use for SPI interface
+    }
+    return ret;
+}
+
+
 AkmSensor::Status AkmAkd::startSensor(){
     // read one data to clear DRDY 
     AkmECompass::MagneticVector mag;
     compass->getMagneticVector(&mag);
 
+    AkmAkd::InterruptMode int_mode = getInterrupt(primaryId,subId);
     // enable interrupt
-    if( primaryId == AKM_PRIMARY_ID_AKD_I2C && 
-        (subId == AkmAkd::SUB_ID_AK8963N ||
-         subId == AkmAkd::SUB_ID_AK8963C ||
-         subId == AkmAkd::SUB_ID_AK09912C ||
-         subId == AkmAkd::SUB_ID_AK09915C ) ){       
+    if( int_mode == AkmAkd::INTERRUPT_ENABLED_PP ){       
         // Push-Pull DRDY
         drdy->rise(callback(this, &AkmAkd::detectDRDY));
     }
-    else if( primaryId == AKM_PRIMARY_ID_AKD_I2C && 
-        (subId == AkmAkd::SUB_ID_AK09915D ||
-         subId == AkmAkd::SUB_ID_AK09916D ) ){       
+    else if( int_mode == AkmAkd::INTERRUPT_ENABLED_OD ){       
         // Open Drain DRDY
         drdy->fall(callback(this, &AkmAkd::detectDRDY));
     }
@@ -276,20 +243,18 @@
     ticker.detach();
     event = false;
 
-    // disable DRDY interrupt
-    if( primaryId == AKM_PRIMARY_ID_AKD_I2C && 
-        (subId == AkmAkd::SUB_ID_AK8963N ||
-         subId == AkmAkd::SUB_ID_AK8963C ||
-         subId == AkmAkd::SUB_ID_AK09912C ||
-         subId == AkmAkd::SUB_ID_AK09915C ) ){       
+    AkmAkd::InterruptMode int_mode = getInterrupt(primaryId,subId);
+    if( int_mode == AkmAkd::INTERRUPT_ENABLED_PP ){       
+        // Push-Pull DRDY
          drdy->rise(NULL);
     }
-    else if( primaryId == AKM_PRIMARY_ID_AKD_I2C && 
-        (subId == AkmAkd::SUB_ID_AK09915D ||
-         subId == AkmAkd::SUB_ID_AK09916D ) ){       
+    else if( int_mode == AkmAkd::INTERRUPT_ENABLED_OD ){       
         // Open Drain DRDY
         drdy->fall(NULL);
     }
+    else{
+        // No DRDY
+    }
     
     // Puts the device into power down mode.
     if(compass->setOperationMode(AkmECompass::MODE_POWER_DOWN) != AkmECompass::SUCCESS) {