Diff: ak7401ctrl.cpp

Revision:

11:cef8dc1cf010

Parent:

10:5c69b067d88a

Child:

13:d008249f0359

--- a/ak7401ctrl.cpp	Fri Jul 08 22:26:26 2016 +0000
+++ b/ak7401ctrl.cpp	Fri Jul 22 22:54:11 2016 +0000
@@ -35,25 +35,27 @@
 
         status = ak7401->setOperationMode(AK7401::AK7401_USER_MODE);
         if( status != AK7401::SUCCESS ){
-            MSG("#AK7401 user mode failed.\n"); 
+            MSG("#AK7401 user mode failed.\r\n"); 
             return AkmSensor::ERROR;
         }
-        MSG("#AK7401 user mode succeed.\n"); 
+        MSG("#AK7401 user mode succeed.\r\n"); 
                 
         char data[2] = {0x00,0x07};                 // set clockwise rotation
         status = ak7401->writeEEPROM(0x05,data);    // set clockwise
         if( status != AK7401::SUCCESS ){
-            MSG("#AK7401 write EEPROM failed.\n"); 
+            MSG("#AK7401 write EEPROM failed.\r\n"); 
             return AkmSensor::ERROR;
         }
-        MSG("#AK7401 write EEPROM succeed.\n"); 
+        MSG("#AK7401 write EEPROM succeed.\r\n"); 
         
         status = ak7401->setOperationMode(AK7401::AK7401_NORMAL_MODE);
         if( status != AK7401::SUCCESS ){
-            MSG("#AK7401 normal mode failed.\n"); 
+            MSG("#AK7401 normal mode failed.\r\n"); 
             return AkmSensor::ERROR;
         }
-        MSG("#AK7401 normal mode succeed.\n"); 
+        MSG("#AK7401 normal mode succeed.\r\n");
+        
+        interval = SENSOR_SAMPLING_RATE;  // 10Hz
     }
     else{
         return AkmSensor::ERROR;
@@ -71,7 +73,6 @@
 }
 
 AkmSensor::Status Ak7401Ctrl::startSensor(){
-    interval = 0.1;  // 10Hz
     ticker.attach(this, &Ak7401Ctrl::eventCallback, interval);
     return AkmSensor::SUCCESS;
 }
@@ -114,33 +115,33 @@
          {
              AK7401::Status st;
             if( Ak7401Ctrl::stopSensor() != AkmSensor::SUCCESS ){
-                MSG("#Error stop sensor\n");
+                MSG("#Error stop sensor\r\n");
                 status = AkmSensor::ERROR;
             }
             
             st = ak7401->setOperationMode(AK7401::AK7401_USER_MODE);
             if( st != AK7401::SUCCESS ){
-                MSG("#Error when set user mode\n");
+                MSG("#Error when set user mode\r\n");
                 status = AkmSensor::ERROR;
             }
             char temp[2] = {0x00,0x00};
             st = ak7401->writeRegister(0x06,temp);
             if( st != AK7401::SUCCESS ){
-                MSG("#Error temp read: code=%d\n",st);
+                MSG("#Error temp read: code=%d\r\n",st);
                 status =  AkmSensor::ERROR;
             }
             st = ak7401->setAngleZero();    // reset ZP data
             if( st != AK7401::SUCCESS ){
-                MSG("#Error setAngleZero: code=%d\n",st);
+                MSG("#Error setAngleZero: code=%d\r\n",st);
                 status =  AkmSensor::ERROR;
             }
             st = ak7401->setOperationMode(AK7401::AK7401_NORMAL_MODE);
             if( st != AK7401::SUCCESS ){
-                MSG("#Error when set normal mode\n");
+                MSG("#Error when set normal mode\r\n");
                 status =  AkmSensor::ERROR;
             }
             if( Ak7401Ctrl::startSensor(interval) != AkmSensor::SUCCESS ){
-                MSG("#Error start sensor\n");
+                MSG("#Error start sensor\r\n");
                 status =  AkmSensor::ERROR;
             }
             if( status == AkmSensor::ERROR ){
@@ -152,7 +153,7 @@
         }
         default:
         {
-            MSG("#Error no command.\n");
+            MSG("#Error no command.\r\n");
             status =  AkmSensor::ERROR;
             break;
         }