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drivers/magnetometer/ak09916: Add support to AK09915 #23909

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drivers/magnetometer/ak09916: Add support to AK09915 #23909

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34 changes: 17 additions & 17 deletions src/drivers/magnetometer/akm/ak09916/AK09916.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -78,7 +78,7 @@ bool AK09916::Reset()
void AK09916::print_status()
{
I2CSPIDriverBase::print_status();
PX4_INFO("Variant: %s", _is_ak09918 ? "AK09918" : "AK09916");
PX4_INFO("Variant: %s", device_name());

perf_print_counter(_reset_perf);
perf_print_counter(_bad_register_perf);
Expand All @@ -94,23 +94,25 @@ int AK09916::probe()
const uint8_t WIA1 = RegisterRead(Register::WIA1);
const uint8_t WIA2 = RegisterRead(Register::WIA2);

if ((WIA1 == Company_ID) && (WIA2 == Device_ID)) {
_is_ak09918 = false;
return PX4_OK;
}

if ((WIA1 == Company_ID) && (WIA2 == Device_ID_AK09918)) {
_is_ak09918 = true;
return PX4_OK;
}

if (WIA1 != Company_ID) {
if ((WIA1 != Company_ID)) {
PX4_DEBUG("unexpected WIA1 0x%02x", WIA1);
return PX4_ERROR;
}

if (WIA2 != Device_ID && WIA2 != Device_ID_AK09918) {
switch(static_cast<AKTYPE>(WIA2)) {
case AKTYPE::AK09916:
_device = AKTYPE::AK09916;
return PX4_OK;
case AKTYPE::AK09915:
_device = AKTYPE::AK09915;
return PX4_OK;
case AKTYPE::AK09918:
_device = AKTYPE::AK09918;
return PX4_OK;
default:
PX4_DEBUG("unexpected WIA2 0x%02x", WIA2);
}

};
}

return PX4_ERROR;
Expand All @@ -132,9 +134,7 @@ void AK09916::RunImpl()
break;

case STATE::WAIT_FOR_RESET: {
uint8_t device_id = _is_ak09918 ? Device_ID_AK09918 : Device_ID;

if ((RegisterRead(Register::WIA1) == Company_ID) && (RegisterRead(Register::WIA2) == device_id)) {
if ((RegisterRead(Register::WIA1) == Company_ID) && (static_cast<AKTYPE>(RegisterRead(Register::WIA2)) == _device)) {
// if reset succeeded then configure
_state = STATE::CONFIGURE;
ScheduleDelayed(100_ms);
Expand Down
22 changes: 21 additions & 1 deletion src/drivers/magnetometer/akm/ak09916/AK09916.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -64,6 +64,26 @@ class AK09916 : public device::I2C, public I2CSPIDriver<AK09916>
void print_status() override;

private:
enum class AKTYPE : uint8_t {
AK09916 = 0X09,
AK09915 = 0X10,
AK09918 = 0x0c,
};

constexpr char const* device_name() {
switch(_device) {
case AKTYPE::AK09916:
return "AK09916";
case AKTYPE::AK09915:
return "AK09915";
case AKTYPE::AK09918:
return "AK09918";
default:
return "Unknown";

};
}

struct register_config_t {
Register reg;
uint8_t set_bits{0};
Expand Down Expand Up @@ -107,5 +127,5 @@ class AK09916 : public device::I2C, public I2CSPIDriver<AK09916>
{ Register::CNTL2, CNTL2_BIT::MODE3_SET, CNTL2_BIT::MODE3_CLEAR },
};

bool _is_ak09918 {false};
AKTYPE _device;
};
2 changes: 0 additions & 2 deletions src/drivers/magnetometer/akm/ak09916/AKM_AK09916_registers.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -59,8 +59,6 @@ static constexpr uint32_t I2C_SPEED = 400 * 1000; // 400 kHz I2C serial interfac
static constexpr uint8_t I2C_ADDRESS_DEFAULT = 0b0001100;

static constexpr uint8_t Company_ID = 0x48;
static constexpr uint8_t Device_ID = 0x09;
static constexpr uint8_t Device_ID_AK09918 = 0x0C;

enum class Register : uint8_t {
WIA1 = 0x00, // Company ID of AKM
Expand Down
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