1 /* 2 * Copyright (C) 2016 The Android Open Source Project 3 * 4 * Licensed under the Apache License, Version 2.0 (the "License"); 5 * you may not use this file except in compliance with the License. 6 * You may obtain a copy of the License at 7 * 8 * http://www.apache.org/licenses/LICENSE-2.0 9 * 10 * Unless required by applicable law or agreed to in writing, software 11 * distributed under the License is distributed on an "AS IS" BASIS, 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 * See the License for the specific language governing permissions and 14 * limitations under the License. 15 */ 16 17 #ifndef BOSCH_BMM150_H_ 18 19 #define BOSCH_BMM150_H_ 20 21 #include <stdio.h> 22 #include <stdint.h> 23 24 #ifdef __cplusplus 25 extern "C" { 26 #endif 27 28 #define kScale_mag 0.0625f // 1.0f / 16.0f; 29 30 #define BMM150_REG_DATA 0x42 31 #define BMM150_REG_CTRL_1 0x4b 32 #define BMM150_REG_CTRL_2 0x4c 33 #define BMM150_REG_REPXY 0x51 34 #define BMM150_REG_REPZ 0x52 35 #define BMM150_REG_DIG_X1 0x5d 36 #define BMM150_REG_DIG_Y1 0x5e 37 #define BMM150_REG_DIG_Z4_LSB 0x62 38 #define BMM150_REG_DIG_Z4_MSB 0x63 39 #define BMM150_REG_DIG_X2 0x64 40 #define BMM150_REG_DIG_Y2 0x65 41 #define BMM150_REG_DIG_Z2_LSB 0x68 42 #define BMM150_REG_DIG_Z2_MSB 0x69 43 #define BMM150_REG_DIG_Z1_LSB 0x6a 44 #define BMM150_REG_DIG_Z1_MSB 0x6b 45 #define BMM150_REG_DIG_XYZ1_LSB 0x6c 46 #define BMM150_REG_DIG_XYZ1_MSB 0x6d 47 #define BMM150_REG_DIG_Z3_LSB 0x6e 48 #define BMM150_REG_DIG_Z3_MSB 0x6f 49 #define BMM150_REG_DIG_XY2 0x70 50 #define BMM150_REG_DIG_XY1 0x71 51 52 #define BMM150_MAG_FLIP_OVERFLOW_ADCVAL ((int16_t)-4096) 53 #define BMM150_MAG_HALL_OVERFLOW_ADCVAL ((int16_t)-16384) 54 #define BMM150_MAG_OVERFLOW_OUTPUT ((int16_t)-32768) 55 #define BMM150_CALIB_HEX_LACKS 0x100000 56 #define BMM150_MAG_OVERFLOW_OUTPUT_S32 ((int32_t)(-2147483647-1)) 57 58 struct MagTask { 59 uint16_t dig_z1; 60 int16_t dig_z2, dig_z3, dig_z4; 61 uint16_t dig_xyz1; 62 uint8_t raw_dig_data[24]; 63 int8_t dig_x1, dig_y1, dig_x2, dig_y2; 64 uint8_t dig_xy1; 65 int8_t dig_xy2; 66 }; 67 68 #define MAG_I2C_ADDR 0x10 69 #define MAG_REG_DATA BMM150_REG_DATA 70 71 void bmm150SaveDigData(struct MagTask *magTask, uint8_t *data, size_t offset); 72 void parseMagData(struct MagTask *magTask, uint8_t *buf, float *x, float *y, float *z); 73 74 #ifdef __cplusplus 75 } 76 #endif 77 78 #endif // BOSCH_BMM150_H_ 79
