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AK09916: add support for AK09918

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The AK09918 seems to only differ in the WHO_AM_I ID.

Signed-off-by: Julian Oes <julian@oes.ch>
This commit is contained in:
Julian Oes
2023-03-14 19:36:40 +13:00
committed by Daniel Agar
parent 7be3279675
commit 695d48d6c9
3 changed files with 31 additions and 18 deletions
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src/drivers/magnetometer/akm/ak09916/AK09916.cpp
+28 -18
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@@ -78,6 +78,7 @@ bool AK09916::Reset()
void AK09916::print_status() void AK09916::print_status()
{ {
I2CSPIDriverBase::print_status(); I2CSPIDriverBase::print_status();
PX4_INFO("Variant: %s", _is_ak09918 ? "AK09918" : "AK09916");
perf_print_counter(_reset_perf); perf_print_counter(_reset_perf);
perf_print_counter(_bad_register_perf); perf_print_counter(_bad_register_perf);
@@ -94,15 +95,21 @@ int AK09916::probe()
const uint8_t WIA2 = RegisterRead(Register::WIA2); const uint8_t WIA2 = RegisterRead(Register::WIA2);
if ((WIA1 == Company_ID) && (WIA2 == Device_ID)) { 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; return PX4_OK;
} }
if (WIA1 != Company_ID) { if (WIA1 != Company_ID) {
DEVICE_DEBUG("unexpected WIA1 0x%02x", WIA1); PX4_DEBUG("unexpected WIA1 0x%02x", WIA1);
} }
if (WIA2 != Device_ID) { if (WIA2 != Device_ID && WIA2 != Device_ID_AK09918) {
DEVICE_DEBUG("unexpected WIA2 0x%02x", WIA2); PX4_DEBUG("unexpected WIA2 0x%02x", WIA2);
} }
} }
@@ -124,25 +131,28 @@ void AK09916::RunImpl()
ScheduleDelayed(100_ms); ScheduleDelayed(100_ms);
break; break;
case STATE::WAIT_FOR_RESET: case STATE::WAIT_FOR_RESET: {
if ((RegisterRead(Register::WIA1) == Company_ID) && (RegisterRead(Register::WIA2) == Device_ID)) { uint8_t device_id = _is_ak09918 ? Device_ID_AK09918 : Device_ID;
// if reset succeeded then configure
_state = STATE::CONFIGURE;
ScheduleDelayed(100_ms);
} else { if ((RegisterRead(Register::WIA1) == Company_ID) && (RegisterRead(Register::WIA2) == device_id)) {
// RESET not complete // if reset succeeded then configure
if (hrt_elapsed_time(&_reset_timestamp) > 30_s) { _state = STATE::CONFIGURE;
PX4_ERR("Reset failed, retrying"); ScheduleDelayed(100_ms);
Reset();
} else { } else {
PX4_DEBUG("Reset not complete, check again in 100 ms"); // RESET not complete
ScheduleDelayed(100_ms); if (hrt_elapsed_time(&_reset_timestamp) > 30_s) {
} PX4_ERR("Reset failed, retrying");
} Reset();
break; } else {
PX4_DEBUG("Reset not complete, check again in 100 ms");
ScheduleDelayed(100_ms);
}
}
break;
}
case STATE::CONFIGURE: case STATE::CONFIGURE:
if (Configure()) { if (Configure()) {
src/drivers/magnetometer/akm/ak09916/AK09916.hpp
+2
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@@ -106,4 +106,6 @@ private:
// Register | Set bits, Clear bits // Register | Set bits, Clear bits
{ Register::CNTL2, CNTL2_BIT::MODE3_SET, CNTL2_BIT::MODE3_CLEAR }, { Register::CNTL2, CNTL2_BIT::MODE3_SET, CNTL2_BIT::MODE3_CLEAR },
}; };
bool _is_ak09918 {false};
}; };
src/drivers/magnetometer/akm/ak09916/AKM_AK09916_registers.hpp
+1
View File
@@ -60,6 +60,7 @@ static constexpr uint8_t I2C_ADDRESS_DEFAULT = 0b0001100;
static constexpr uint8_t Company_ID = 0x48; static constexpr uint8_t Company_ID = 0x48;
static constexpr uint8_t Device_ID = 0x09; static constexpr uint8_t Device_ID = 0x09;
static constexpr uint8_t Device_ID_AK09918 = 0x0C;
enum class Register : uint8_t { enum class Register : uint8_t {
WIA1 = 0x00, // Company ID of AKM WIA1 = 0x00, // Company ID of AKM