Diff: akmakd.cpp

Revision:

18:b7182d5ad8d5

Parent:

16:d85be9bafb80

Child:

19:8dcc4f323bdc

--- a/akmakd.cpp	Wed Jan 18 21:40:53 2017 +0000
+++ b/akmakd.cpp	Tue Feb 21 23:46:12 2017 +0000
@@ -88,6 +88,12 @@
                 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;
@@ -116,8 +122,8 @@
         }
         
         // read a data to reset DRDY 
-        AkmECompass::MagneticVector mag;
-        compass->getMagneticVector(&mag);
+//        AkmECompass::MagneticVector mag;
+//        compass->getMagneticVector(&mag);
         
     }else if(primaryId == AKM_PRIMARY_ID_AKD_SPI){
         
@@ -156,6 +162,8 @@
                 break;
             case AkmAkd::SUB_ID_AK09915D:
                 type = AkmECompass::AK09915;
+                ak099xx = new AK099XX();
+                compass = ak099xx;
                 AkmAkd::sensorName = "AK09915D";
                 break;
             case AkmAkd::SUB_ID_AK09916C:
@@ -168,6 +176,11 @@
                 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;
@@ -183,8 +196,8 @@
             return AkmSensor::ERROR;
         }
         // read a data to reset DRDY 
-        AkmECompass::MagneticVector mag;
-        compass->getMagneticVector(&mag);
+//        AkmECompass::MagneticVector mag;
+//        compass->getMagneticVector(&mag);
     }
     
     MSG("#%s detected.\r\n", AkmAkd::sensorName);
@@ -316,11 +329,31 @@
     switch(cmd){
         case Message::CMD_COMPASS_GET_OPERATION_MODE:
         {
-            if(compass->getOperationMode(&mode) != AkmECompass::SUCCESS) {
-                status = AkmSensor::ERROR;
-                MSG("#Error set operation mode.\r\n");
+            if(subId == AkmAkd::SUB_ID_AK09915C || subId == AkmAkd::SUB_ID_AK09915D){
+                if(compass->getOperationMode(&mode, &nsf, &sdr) != AkmECompass::SUCCESS) {
+                    status = AkmSensor::ERROR;
+                    MSG("#Error set operation mode.\r\n");
+                }else{
+                    out->setArgument(0,mode);
+                    out->setArgument(1,nsf);
+                    out->setArgument(2,sdr);
+                }                
+                
+            }else if(subId == AkmAkd::SUB_ID_AK09912C){
+                if(compass->getOperationMode(&mode, &nsf) != AkmECompass::SUCCESS) {
+                    status = AkmSensor::ERROR;
+                    MSG("#Error set operation mode.\r\n");
+                }else{
+                    out->setArgument(0,mode);
+                    out->setArgument(1,nsf);
+                }                
             }else{
-                out->setArgument(0,mode);
+                if(compass->getOperationMode(&mode) != AkmECompass::SUCCESS) {
+                    status = AkmSensor::ERROR;
+                    MSG("#Error set operation mode.\r\n");
+                }else{
+                    out->setArgument(0,mode);
+                }                
             }
             break;
         }