The AK09940A is a high-precision 3-axis magnetometer with I2C and SPI interfaces. Note that the SPI interface is in mode 0 and the max clock speed is 3MHz as specified in the datasheet.
The driver is implemented in Rust and supports both blocking and non-blocking SPI operations.
The blocking version is under the blocking module, and the non-blocking version is under the non_blocking module.
We support:
- Continuous mode
- Single shot mode
- External trigger mode (with FIFO)
In order to use the driver, you need to add the following to your Cargo.toml file:
[dependencies]
ak09940a = "0.2"let mag = ak09940a::non_blocking::AK09940A::new(spidev)
.continuous(0x03) // Refer to the datasheet for the mode ID
.await;
let mut mag = match mag {
Ok(mag) => Some(mag),
Err(e) => {
match e {
ak09940a::non_blocking::Error::Spi(e) => defmt::error!("SPI error: {:?}", e),
ak09940a::non_blocking::Error::InvalidWhoAmI(w) => {
defmt::error!("Invalid WHO_AM_I: {:?}", w)
}
ak09940a::non_blocking::Error::SensorBusy => defmt::error!("Sensor busy"),
ak09940a::non_blocking::Error::InvalidMode => defmt::error!("Invalid mode"),
}
None
}
};
loop {
let Ok((st1, hx, hy, hz, tmps, st2)) = mag.read_data().await;
// Do something with the data
defmt::info!("hx: {}", hx.magnitude());
defmt::info!("hy: {}", hy.magnitude());
defmt::info!("hz: {}", hz.magnitude());
defmt::info!("tmps: {}", tmps.milli_celsius());
}Apache-2.0