Modified for compatibility with Rev.E. hardware
Fork of AkmSensor by
Diff: akmakd.cpp
- Revision:
- 11:cef8dc1cf010
- Parent:
- 10:5c69b067d88a
- Child:
- 15:1238993fd75f
diff -r 5c69b067d88a -r cef8dc1cf010 akmakd.cpp --- a/akmakd.cpp Fri Jul 08 22:26:26 2016 +0000 +++ b/akmakd.cpp Fri Jul 22 22:54:11 2016 +0000 @@ -179,7 +179,7 @@ foundSensor = true; } if(foundSensor != true){ - MSG("#failed checkConnetion(SPI). %s\n",AkmAkd::sensorName); + MSG("#failed checkConnetion(SPI). %s\r\n",AkmAkd::sensorName); return AkmSensor::ERROR; } // read a data to reset DRDY @@ -187,7 +187,7 @@ compass->getMagneticVector(&mag); } - MSG("#%s detected.\n", AkmAkd::sensorName); + MSG("#%s detected.\r\n", AkmAkd::sensorName); return AkmSensor::SUCCESS; } @@ -207,28 +207,11 @@ } AkmSensor::Status AkmAkd::startSensor(){ - - // read once to clear DRDY pin + // read one data to clear DRDY AkmECompass::MagneticVector mag; - AkmECompass::Status status = compass->getMagneticVector(&mag); + compass->getMagneticVector(&mag); - if( subId == AkmAkd::SUB_ID_AK09915C || subId == AkmAkd::SUB_ID_AK09915D ){ - if(compass->setOperationMode(mode,nsf,sdr) != AkmECompass::SUCCESS) { - return AkmSensor::ERROR; - } - } - else if( subId == AkmAkd::SUB_ID_AK09912C ){ - if(compass->setOperationMode(mode,nsf) != AkmECompass::SUCCESS) { - return AkmSensor::ERROR; - } - } - else{ - if(compass->setOperationMode(mode) != AkmECompass::SUCCESS) { - return AkmSensor::ERROR; - } - } - - // DRDY interrupt enable + // enable interrupt if( primaryId == AKM_PRIMARY_ID_AKD_I2C && (subId == AkmAkd::SUB_ID_AK8963N || subId == AkmAkd::SUB_ID_AK8963C || @@ -247,20 +230,62 @@ // No DRDY ticker.attach(this, &AkmAkd::checkDRDY, 0.005); // 200Hz } + + // set operation mode + if( subId == AkmAkd::SUB_ID_AK09915C || subId == AkmAkd::SUB_ID_AK09915D ){ + if(compass->setOperationMode(mode,nsf,sdr) != AkmECompass::SUCCESS) { + MSG("#Start sensor failed.\r\n"); + return AkmSensor::ERROR; + } + } + else if( subId == AkmAkd::SUB_ID_AK09912C ){ + if(compass->setOperationMode(mode,nsf) != AkmECompass::SUCCESS) { + MSG("#Start sensor failed.\r\n"); + return AkmSensor::ERROR; + } + } + else{ + if(compass->setOperationMode(mode) != AkmECompass::SUCCESS) { + MSG("#Start sensor failed.\r\n"); + return AkmSensor::ERROR; + } + } + + MSG("#Start sensor succceeded.\r\n"); return AkmSensor::SUCCESS; } AkmSensor::Status AkmAkd::startSensor(const float sec){ - return AkmSensor::ERROR; // doesn't support + return AkmSensor::ERROR; } AkmSensor::Status AkmAkd::stopSensor(){ 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 ) ){ + drdy->rise(NULL); + } + else if( primaryId == AKM_PRIMARY_ID_AKD_I2C && + (subId == AkmAkd::SUB_ID_AK09915D || + subId == AkmAkd::SUB_ID_AK09916D ) ){ + // Open Drain DRDY + drdy->fall(NULL); + } + // Puts the device into power down mode. if(compass->setOperationMode(AkmECompass::MODE_POWER_DOWN) != AkmECompass::SUCCESS) { return AkmSensor::ERROR; } + // read one data to clear DRDY + AkmECompass::MagneticVector mag; + compass->getMagneticVector(&mag); + return AkmSensor::SUCCESS; } @@ -293,7 +318,7 @@ { if(compass->getOperationMode(&mode) != AkmECompass::SUCCESS) { status = AkmSensor::ERROR; - MSG("#Error set operation mode.\n"); + MSG("#Error set operation mode.\r\n"); } out->setArgument(0,mode); break; @@ -306,20 +331,20 @@ sdr = (AkmECompass::Sdr)in->getArgument(2); if(compass->setOperationMode(mode,nsf,sdr) != AkmECompass::SUCCESS) { status = AkmSensor::ERROR; - MSG("#Error set operation mode.\n"); + MSG("#Error set operation mode.\r\n"); } } 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; - MSG("#Error set operation mode.\n"); + MSG("#Error set operation mode.\r\n"); } } else{ if(compass->setOperationMode(mode) != AkmECompass::SUCCESS) { status = AkmSensor::ERROR; - MSG("#Error set operation mode.\n"); + MSG("#Error set operation mode.\r\n"); } } out->setArgument(0,(char)status); @@ -335,7 +360,7 @@ } if( compass->write(address, data, len) != AkmECompass::SUCCESS) { status = AkmSensor::ERROR; - MSG("#Error register write.\n"); + MSG("#Error register write.\r\n"); } out->setArgument(0,(char)status); break; @@ -347,7 +372,7 @@ char data; if( compass->read(address, &data, len) != AkmECompass::SUCCESS) { status = AkmSensor::ERROR; - MSG("#Error register read.\n"); + MSG("#Error register read.\r\n"); } out->setArgument(0,data); break; @@ -359,7 +384,7 @@ char data[len]; if( compass->read(address, data, len) != AkmECompass::SUCCESS) { status = AkmSensor::ERROR; - MSG("#Error register read.\n"); + MSG("#Error register read.\r\n"); } for(int i=0; i<len; i++){ out->setArgument(i, data[i]); @@ -368,7 +393,7 @@ } default: { - MSG("#Error no command.\n"); + MSG("#Error no command.\r\n"); status = AkmSensor::ERROR; break; }