In what century was Africa discovered?

If we talk about Europeans, then the Portuguese can be considered as the discoverers of Africa. It was the Portuguese sea expeditions of Bartolomeu Dias, then Vasco da Gama, who were the first to reach the shores of Africa, rounded it and entered the Indian Ocean. It was the 15th century. But this is already an exploration, not a discovery of the continent.
And the continent of Africa has been known since ancient times before our era. It is known that as early as 600 BC, the Phoenicians on their boats already went out into the ocean and sailed along the western coast of Africa. Ancient Arabs and Chinese manuscripts tell of voyages to Africa by sea. This is 2-3 centuries AD.