drivers/magnetometer/ak09916: Add support to AK09915

The only difference between the ak09915 and ak09916 is the communication method Signed-off-by: Patrick José Pereira <[email protected]>
PX4 · Nov 7, 2024 · 9422c4e · 9422c4e
1 parent 04b6412
commit 9422c4e
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Showing 3 changed files with 39 additions and 21 deletions.
diff --git a/src/drivers/magnetometer/akm/ak09916/AK09916.cpp b/src/drivers/magnetometer/akm/ak09916/AK09916.cpp
@@ -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);
@@ -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) {
-			PX4_DEBUG("unexpected WIA2 0x%02x", WIA2);
-		}
+		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;
@@ -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);

diff --git a/src/drivers/magnetometer/akm/ak09916/AK09916.hpp b/src/drivers/magnetometer/akm/ak09916/AK09916.hpp
@@ -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};
@@ -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;
 };
diff --git a/src/drivers/magnetometer/akm/ak09916/AKM_AK09916_registers.hpp b/src/drivers/magnetometer/akm/ak09916/AKM_AK09916_registers.hpp
@@ -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