| /* |
| * Copyright (C) 2016 The Android Open Source Project |
| * |
| * Licensed under the Apache License, Version 2.0 (the "License"); |
| * you may not use this file except in compliance with the License. |
| * You may obtain a copy of the License at |
| * |
| * http://www.apache.org/licenses/LICENSE-2.0 |
| * |
| * Unless required by applicable law or agreed to in writing, software |
| * distributed under the License is distributed on an "AS IS" BASIS, |
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| * See the License for the specific language governing permissions and |
| * limitations under the License. |
| */ |
| |
| #include <string.h> |
| #include "bosch_bmm150_slave.h" |
| |
| void bmm150SaveDigData(struct MagTask *magTask, uint8_t *data, size_t offset) |
| { |
| // magnetometer temperature calibration data is read in 3 bursts of 8 byte |
| // length each. |
| memcpy(&magTask->raw_dig_data[offset], data, 8); |
| |
| if (offset == 16) { |
| // we have all the raw data. |
| |
| static const size_t first_reg = BMM150_REG_DIG_X1; |
| magTask->dig_x1 = magTask->raw_dig_data[BMM150_REG_DIG_X1 - first_reg]; |
| magTask->dig_y1 = magTask->raw_dig_data[BMM150_REG_DIG_Y1 - first_reg]; |
| magTask->dig_x2 = magTask->raw_dig_data[BMM150_REG_DIG_X2 - first_reg]; |
| magTask->dig_y2 = magTask->raw_dig_data[BMM150_REG_DIG_Y2 - first_reg]; |
| magTask->dig_xy2 = magTask->raw_dig_data[BMM150_REG_DIG_XY2 - first_reg]; |
| magTask->dig_xy1 = magTask->raw_dig_data[BMM150_REG_DIG_XY1 - first_reg]; |
| |
| magTask->dig_z1 = *(uint16_t *)(&magTask->raw_dig_data[BMM150_REG_DIG_Z1_LSB - first_reg]); |
| magTask->dig_z2 = *(int16_t *)(&magTask->raw_dig_data[BMM150_REG_DIG_Z2_LSB - first_reg]); |
| magTask->dig_z3 = *(int16_t *)(&magTask->raw_dig_data[BMM150_REG_DIG_Z3_LSB - first_reg]); |
| magTask->dig_z4 = *(int16_t *)(&magTask->raw_dig_data[BMM150_REG_DIG_Z4_LSB - first_reg]); |
| |
| magTask->dig_xyz1 = *(uint16_t *)(&magTask->raw_dig_data[BMM150_REG_DIG_XYZ1_LSB - first_reg]); |
| } |
| } |
| |
| static int32_t bmm150TempCompensateX(struct MagTask *magTask, int16_t mag_x, uint16_t rhall) |
| { |
| int32_t inter_retval = 0; |
| |
| // some temp var to made the long calculation easier to read |
| int32_t temp_1, temp_2, temp_3, temp_4; |
| |
| // no overflow |
| if (mag_x != BMM150_MAG_FLIP_OVERFLOW_ADCVAL) { |
| if ((rhall != 0) && (magTask->dig_xyz1 != 0)) { |
| |
| inter_retval = ((int32_t)(((uint16_t) ((((int32_t)magTask->dig_xyz1) << 14) |
| / (rhall != 0 ? rhall : magTask->dig_xyz1))) - ((uint16_t)0x4000))); |
| |
| } else { |
| inter_retval = BMM150_MAG_OVERFLOW_OUTPUT; |
| return inter_retval; |
| } |
| |
| temp_1 = ((int32_t)magTask->dig_xy2) * ((((int32_t)inter_retval) * ((int32_t)inter_retval)) >> 7); |
| temp_2 = ((int32_t)inter_retval) * ((int32_t)(((int16_t)magTask->dig_xy1) << 7)); |
| temp_3 = ((temp_1 + temp_2) >> 9) + ((int32_t)BMM150_CALIB_HEX_LACKS); |
| temp_4 = ((int32_t)mag_x) * ((temp_3 * ((int32_t)(((int16_t)magTask->dig_x2) + ((int16_t)0xa0)))) >> 12); |
| |
| inter_retval = ((int32_t)(temp_4 >> 13)) + (((int16_t)magTask->dig_x1) << 3); |
| |
| // check the overflow output |
| if (inter_retval == (int32_t)BMM150_MAG_OVERFLOW_OUTPUT) |
| inter_retval = BMM150_MAG_OVERFLOW_OUTPUT_S32; |
| } else { |
| // overflow |
| inter_retval = BMM150_MAG_OVERFLOW_OUTPUT; |
| } |
| return inter_retval; |
| } |
| |
| static int32_t bmm150TempCompensateY(struct MagTask *magTask, int16_t mag_y, uint16_t rhall) |
| { |
| int32_t inter_retval = 0; |
| |
| // some temp var to made the long calculation easier to read |
| int32_t temp_1, temp_2, temp_3, temp_4; |
| |
| // no overflow |
| if (mag_y != BMM150_MAG_FLIP_OVERFLOW_ADCVAL) { |
| if ((rhall != 0) && (magTask->dig_xyz1 != 0)) { |
| |
| inter_retval = ((int32_t)(((uint16_t)((( (int32_t)magTask->dig_xyz1) << 14) |
| / (rhall != 0 ? rhall : magTask->dig_xyz1))) - ((uint16_t)0x4000))); |
| |
| } else { |
| inter_retval = BMM150_MAG_OVERFLOW_OUTPUT; |
| return inter_retval; |
| } |
| |
| temp_1 = ((int32_t)magTask->dig_xy2) * ((((int32_t) inter_retval) * ((int32_t)inter_retval)) >> 7); |
| temp_2 = ((int32_t)inter_retval) * ((int32_t)(((int16_t)magTask->dig_xy1) << 7)); |
| temp_3 = ((temp_1 + temp_2) >> 9) + ((int32_t)BMM150_CALIB_HEX_LACKS); |
| temp_4 = ((int32_t)mag_y) * ((temp_3 * ((int32_t)(((int16_t)magTask->dig_y2) + ((int16_t)0xa0)))) >> 12); |
| |
| inter_retval = ((int32_t)(temp_4 >> 13)) + (((int16_t)magTask->dig_y1) << 3); |
| |
| // check the overflow output |
| if (inter_retval == (int32_t)BMM150_MAG_OVERFLOW_OUTPUT) |
| inter_retval = BMM150_MAG_OVERFLOW_OUTPUT_S32; |
| } else { |
| // overflow |
| inter_retval = BMM150_MAG_OVERFLOW_OUTPUT; |
| } |
| return inter_retval; |
| } |
| |
| static int32_t bmm150TempCompensateZ(struct MagTask *magTask, int16_t mag_z, uint16_t rhall) |
| { |
| int32_t retval = 0; |
| if (mag_z != BMM150_MAG_HALL_OVERFLOW_ADCVAL) { |
| if ((rhall != 0) && (magTask->dig_z2 != 0) && (magTask->dig_z1 != 0)) { |
| |
| retval = ((((int32_t)(mag_z - magTask->dig_z4)) << 15) |
| - ((((int32_t)magTask->dig_z3) * ((int32_t)(((int16_t)rhall) - ((int16_t)magTask->dig_xyz1)))) >> 2)); |
| |
| retval /= (magTask->dig_z2 |
| + ((int16_t)(((((int32_t)magTask->dig_z1) * ((((int16_t)rhall) << 1))) + (1 << 15)) >> 16))); |
| } |
| } else { |
| retval = BMM150_MAG_OVERFLOW_OUTPUT; |
| } |
| return retval; |
| } |
| |
| void parseMagData(struct MagTask *magTask, uint8_t *buf, float *x, float *y, float *z) { |
| int32_t mag_x = (*(int16_t *)&buf[0]) >> 3; |
| int32_t mag_y = (*(int16_t *)&buf[2]) >> 3; |
| int32_t mag_z = (*(int16_t *)&buf[4]) >> 1; |
| uint32_t mag_rhall = (*(uint16_t *)&buf[6]) >> 2; |
| |
| int32_t raw_x = bmm150TempCompensateX(magTask, mag_x, mag_rhall); |
| int32_t raw_y = bmm150TempCompensateY(magTask, mag_y, mag_rhall); |
| int32_t raw_z = bmm150TempCompensateZ(magTask, mag_z, mag_rhall); |
| |
| *x = (float)raw_x * kScale_mag; |
| *y = (float)raw_y * kScale_mag; |
| *z = (float)raw_z * kScale_mag; |
| } |
