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 #include <string.h> 18 #include "bosch_bmm150_slave.h" 19 20 void bmm150SaveDigData(struct MagTask *magTask, uint8_t *data, size_t offset) 21 { 22 // magnetometer temperature calibration data is read in 3 bursts of 8 byte 23 // length each. 24 memcpy(&magTask->raw_dig_data[offset], data, 8); 25 26 if (offset == 16) { 27 // we have all the raw data. 28 29 static const size_t first_reg = BMM150_REG_DIG_X1; 30 magTask->dig_x1 = magTask->raw_dig_data[BMM150_REG_DIG_X1 - first_reg]; 31 magTask->dig_y1 = magTask->raw_dig_data[BMM150_REG_DIG_Y1 - first_reg]; 32 magTask->dig_x2 = magTask->raw_dig_data[BMM150_REG_DIG_X2 - first_reg]; 33 magTask->dig_y2 = magTask->raw_dig_data[BMM150_REG_DIG_Y2 - first_reg]; 34 magTask->dig_xy2 = magTask->raw_dig_data[BMM150_REG_DIG_XY2 - first_reg]; 35 magTask->dig_xy1 = magTask->raw_dig_data[BMM150_REG_DIG_XY1 - first_reg]; 36 37 magTask->dig_z1 = *(uint16_t *)(&magTask->raw_dig_data[BMM150_REG_DIG_Z1_LSB - first_reg]); 38 magTask->dig_z2 = *(int16_t *)(&magTask->raw_dig_data[BMM150_REG_DIG_Z2_LSB - first_reg]); 39 magTask->dig_z3 = *(int16_t *)(&magTask->raw_dig_data[BMM150_REG_DIG_Z3_LSB - first_reg]); 40 magTask->dig_z4 = *(int16_t *)(&magTask->raw_dig_data[BMM150_REG_DIG_Z4_LSB - first_reg]); 41 42 magTask->dig_xyz1 = *(uint16_t *)(&magTask->raw_dig_data[BMM150_REG_DIG_XYZ1_LSB - first_reg]); 43 } 44 } 45 46 static int32_t bmm150TempCompensateX(struct MagTask *magTask, int16_t mag_x, uint16_t rhall) 47 { 48 int32_t inter_retval = 0; 49 50 // some temp var to made the long calculation easier to read 51 int32_t temp_1, temp_2, temp_3, temp_4; 52 53 // no overflow 54 if (mag_x != BMM150_MAG_FLIP_OVERFLOW_ADCVAL) { 55 if ((rhall != 0) && (magTask->dig_xyz1 != 0)) { 56 57 inter_retval = ((int32_t)(((uint16_t) ((((int32_t)magTask->dig_xyz1) << 14) 58 / (rhall != 0 ? rhall : magTask->dig_xyz1))) - ((uint16_t)0x4000))); 59 60 } else { 61 inter_retval = BMM150_MAG_OVERFLOW_OUTPUT; 62 return inter_retval; 63 } 64 65 temp_1 = ((int32_t)magTask->dig_xy2) * ((((int32_t)inter_retval) * ((int32_t)inter_retval)) >> 7); 66 temp_2 = ((int32_t)inter_retval) * ((int32_t)(((int16_t)magTask->dig_xy1) << 7)); 67 temp_3 = ((temp_1 + temp_2) >> 9) + ((int32_t)BMM150_CALIB_HEX_LACKS); 68 temp_4 = ((int32_t)mag_x) * ((temp_3 * ((int32_t)(((int16_t)magTask->dig_x2) + ((int16_t)0xa0)))) >> 12); 69 70 inter_retval = ((int32_t)(temp_4 >> 13)) + (((int16_t)magTask->dig_x1) << 3); 71 72 // check the overflow output 73 if (inter_retval == (int32_t)BMM150_MAG_OVERFLOW_OUTPUT) 74 inter_retval = BMM150_MAG_OVERFLOW_OUTPUT_S32; 75 } else { 76 // overflow 77 inter_retval = BMM150_MAG_OVERFLOW_OUTPUT; 78 } 79 return inter_retval; 80 } 81 82 static int32_t bmm150TempCompensateY(struct MagTask *magTask, int16_t mag_y, uint16_t rhall) 83 { 84 int32_t inter_retval = 0; 85 86 // some temp var to made the long calculation easier to read 87 int32_t temp_1, temp_2, temp_3, temp_4; 88 89 // no overflow 90 if (mag_y != BMM150_MAG_FLIP_OVERFLOW_ADCVAL) { 91 if ((rhall != 0) && (magTask->dig_xyz1 != 0)) { 92 93 inter_retval = ((int32_t)(((uint16_t)((( (int32_t)magTask->dig_xyz1) << 14) 94 / (rhall != 0 ? rhall : magTask->dig_xyz1))) - ((uint16_t)0x4000))); 95 96 } else { 97 inter_retval = BMM150_MAG_OVERFLOW_OUTPUT; 98 return inter_retval; 99 } 100 101 temp_1 = ((int32_t)magTask->dig_xy2) * ((((int32_t) inter_retval) * ((int32_t)inter_retval)) >> 7); 102 temp_2 = ((int32_t)inter_retval) * ((int32_t)(((int16_t)magTask->dig_xy1) << 7)); 103 temp_3 = ((temp_1 + temp_2) >> 9) + ((int32_t)BMM150_CALIB_HEX_LACKS); 104 temp_4 = ((int32_t)mag_y) * ((temp_3 * ((int32_t)(((int16_t)magTask->dig_y2) + ((int16_t)0xa0)))) >> 12); 105 106 inter_retval = ((int32_t)(temp_4 >> 13)) + (((int16_t)magTask->dig_y1) << 3); 107 108 // check the overflow output 109 if (inter_retval == (int32_t)BMM150_MAG_OVERFLOW_OUTPUT) 110 inter_retval = BMM150_MAG_OVERFLOW_OUTPUT_S32; 111 } else { 112 // overflow 113 inter_retval = BMM150_MAG_OVERFLOW_OUTPUT; 114 } 115 return inter_retval; 116 } 117 118 static int32_t bmm150TempCompensateZ(struct MagTask *magTask, int16_t mag_z, uint16_t rhall) 119 { 120 int32_t retval = 0; 121 if (mag_z != BMM150_MAG_HALL_OVERFLOW_ADCVAL) { 122 if ((rhall != 0) && (magTask->dig_z2 != 0) && (magTask->dig_z1 != 0)) { 123 124 retval = ((((int32_t)(mag_z - magTask->dig_z4)) << 15) 125 - ((((int32_t)magTask->dig_z3) * ((int32_t)(((int16_t)rhall) - ((int16_t)magTask->dig_xyz1)))) >> 2)); 126 127 retval /= (magTask->dig_z2 128 + ((int16_t)(((((int32_t)magTask->dig_z1) * ((((int16_t)rhall) << 1))) + (1 << 15)) >> 16))); 129 } 130 } else { 131 retval = BMM150_MAG_OVERFLOW_OUTPUT; 132 } 133 return retval; 134 } 135 136 void parseMagData(struct MagTask *magTask, uint8_t *buf, float *x, float *y, float *z) { 137 int32_t mag_x = (*(int16_t *)&buf[0]) >> 3; 138 int32_t mag_y = (*(int16_t *)&buf[2]) >> 3; 139 int32_t mag_z = (*(int16_t *)&buf[4]) >> 1; 140 uint32_t mag_rhall = (*(uint16_t *)&buf[6]) >> 2; 141 142 int32_t raw_x = bmm150TempCompensateX(magTask, mag_x, mag_rhall); 143 int32_t raw_y = bmm150TempCompensateY(magTask, mag_y, mag_rhall); 144 int32_t raw_z = bmm150TempCompensateZ(magTask, mag_z, mag_rhall); 145 146 *x = (float)raw_x * kScale_mag; 147 *y = (float)raw_y * kScale_mag; 148 *z = (float)raw_z * kScale_mag; 149 } 150
