altos/bmx160: Compute µT in bmx160 driver using trim data

[fw/altos] / src / drivers / ao_bmx160.h

diff --git a/src/drivers/ao_bmx160.h b/src/drivers/ao_bmx160.h
index 5552b536ffa385ec86a93c58feabe017d4e8fc34..9fc3334177b1208ad82f9e256f801fdf87177b32 100644 (file)
--- a/src/drivers/ao_bmx160.h
+++ b/src/drivers/ao_bmx160.h
@@ -25,7 +25,7 @@ struct ao_bmx160_sample {
        int16_t         mag_x;
        int16_t         mag_y;
        int16_t         mag_z;
        int16_t         mag_x;
        int16_t         mag_y;
        int16_t         mag_z;

-       int16_t         rhall;
+       uint16_t        rhall;

        int16_t         gyr_x;
        int16_t         gyr_y;
        int16_t         gyr_z;
        int16_t         gyr_x;
        int16_t         gyr_y;
        int16_t         gyr_z;


@@ -46,6 +46,20 @@ struct ao_bmx160_offset {
        uint8_t         offset_6;
 };
 
        uint8_t         offset_6;
 };
 

+struct ao_bmm150_trim {
+       int8_t          dig_x1;
+       int8_t          dig_y1;
+       int8_t          dig_x2;
+       int8_t          dig_y2;
+       uint16_t        dig_z1;
+       int16_t         dig_z2;
+       int16_t         dig_z3;
+       int16_t         dig_z4;
+       uint8_t         dig_xy1;
+       int8_t          dig_xy2;
+       uint16_t        dig_xyz1;
+};
+

 void
 ao_bmx160_init(void);
 
 void
 ao_bmx160_init(void);
 


@@ -188,6 +202,8 @@ ao_bmx160_init(void);
 #define BMX160_FOC_CONF                        0x69
 #define BMX160_CONF                    0x6A
 #define BMX160_IF_CONF                 0x6B
 #define BMX160_FOC_CONF                        0x69
 #define BMX160_CONF                    0x6A
 #define BMX160_IF_CONF                 0x6B

+#define  BMX160_IF_CONF_IF_MODE                        4
+#define  BMX160_IF_CONF_IF_MODE_AUTO_MAG               0x02

 #define BMX160_PMU_TRIGGER             0x6C
 #define BMX160_SELF_TEST               0x6D
 #define BMX160_NV_CONF                 0x70
 #define BMX160_PMU_TRIGGER             0x6C
 #define BMX160_SELF_TEST               0x6D
 #define BMX160_NV_CONF                 0x70


@@ -252,6 +268,30 @@ ao_bmx160_init(void);
 #define BMM150_REPZ                            0x52
 #define  BMM150_REPZ_VALUE(n)                          ((n) -1)
 
 #define BMM150_REPZ                            0x52
 #define  BMM150_REPZ_VALUE(n)                          ((n) -1)
 

+/* Trim Extended Registers */
+#define BMM150_DIG_X1                        0x5D
+#define BMM150_DIG_Y1                        0x5E
+#define BMM150_DIG_Z4_LSB                    0x62
+#define BMM150_DIG_Z4_MSB                    0x63
+#define BMM150_DIG_X2                        0x64
+#define BMM150_DIG_Y2                        0x65
+#define BMM150_DIG_Z2_LSB                    0x68
+#define BMM150_DIG_Z2_MSB                    0x69
+#define BMM150_DIG_Z1_LSB                    0x6A
+#define BMM150_DIG_Z1_MSB                    0x6B
+#define BMM150_DIG_XYZ1_LSB                  0x6C
+#define BMM150_DIG_XYZ1_MSB                  0x6D
+#define BMM150_DIG_Z3_LSB                    0x6E
+#define BMM150_DIG_Z3_MSB                    0x6F
+#define BMM150_DIG_XY2                       0x70
+#define BMM150_DIG_XY1                       0x71
+
+#define BMM150_XYAXES_FLIP_OVERFLOW_ADCVAL   -4096
+#define BMM150_ZAXIS_HALL_OVERFLOW_ADCVAL    -16384
+#define BMM150_OVERFLOW_OUTPUT               -32768
+#define BMM150_NEGATIVE_SATURATION_Z         -32767
+#define BMM150_POSITIVE_SATURATION_Z         32767
+

 #define BMX160_GYRO_FULLSCALE  ((float) 2000 * M_PI/180.0)
 
 static inline float
 #define BMX160_GYRO_FULLSCALE  ((float) 2000 * M_PI/180.0)
 
 static inline float