AKM_AK09916_registers.hpp
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/****************************************************************************
*
* Copyright (c) 2019-2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file AKM_AK09916_registers.hpp
*
* Asahi Kasei Microdevices (AKM) AK09916 registers.
*
*/
#pragma once
#include <cstdint>
namespace AKM_AK09916
{
// TODO: move to a central header
static constexpr uint8_t Bit0 = (1 << 0);
static constexpr uint8_t Bit1 = (1 << 1);
static constexpr uint8_t Bit2 = (1 << 2);
static constexpr uint8_t Bit3 = (1 << 3);
static constexpr uint8_t Bit4 = (1 << 4);
static constexpr uint8_t Bit5 = (1 << 5);
static constexpr uint8_t Bit6 = (1 << 6);
static constexpr uint8_t Bit7 = (1 << 7);
static constexpr uint32_t I2C_SPEED = 400 * 1000; // 400 kHz I2C serial interface
static constexpr uint8_t I2C_ADDRESS_DEFAULT = 0b0001100;
static constexpr uint8_t Company_ID = 0x48;
static constexpr uint8_t Device_ID = 0x09;
enum class Register : uint8_t {
WIA1 = 0x00, // Company ID of AKM
WIA2 = 0x01, // Device ID of AK09916
ST1 = 0x10, // Status 1
HXL = 0x11,
HXH = 0x12,
HYL = 0x13,
HYH = 0x14,
HZL = 0x15,
HZH = 0x16,
ST2 = 0x18, // Status 2
CNTL2 = 0x31, // Control 2
CNTL3 = 0x32, // Control 3
};
// ST1
enum ST1_BIT : uint8_t {
DOR = Bit1, // Data overrun
DRDY = Bit0, // Data is ready
};
// ST2
enum ST2_BIT : uint8_t {
HOFL = Bit3, // Magnetic sensor overflow
};
// CNTL2
enum CNTL2_BIT : uint8_t {
// MODE[4:0] bits
MODE1 = Bit1, // “00010”: Continuous measurement mode 1 (10Hz)
MODE2 = Bit2, // “00100”: Continuous measurement mode 2 (20Hz)
MODE3 = Bit2 | Bit1, // “00110”: Continuous measurement mode 3 (50Hz)
MODE4 = Bit3, // “01000”: Continuous measurement mode 4 (100Hz)
};
// CNTL3
enum CNTL3_BIT : uint8_t {
SRST = Bit0,
};
} // namespace AKM_AK09916