diff options
| author | Gwendal Grignou <gwendal@chromium.org> | 2015-09-11 12:02:26 -0700 |
|---|---|---|
| committer | chrome-bot <chrome-bot@chromium.org> | 2015-10-13 05:28:54 -0700 |
| commit | 828b55a7358ad5ec8bc27552bfb280eb173dd453 (patch) | |
| tree | b9430d2bf624ee2b6976eed211696b50ae56decb /driver/mag_bmm150.h | |
| parent | 0647f66f81de880af603a7fb70f57159519782ac (diff) | |
| download | chrome-ec-828b55a7358ad5ec8bc27552bfb280eb173dd453.tar.gz | |
common: Add magnetometer online calibration.
Code for hard iron calibration: Every seconds (or faster if enough
samples), find a sphere that fit the compass data.
Based on Android code.
BRANCH=smaug
BUG=chrome-os-partner:39900
TEST=Check hard-iron bias is removed. Works better outside.
Change-Id: Iab479d5113b6560b4f01b0fd87373d2eecdb9b54
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/299583
Reviewed-by: Anton Staaf <robotboy@chromium.org>
Diffstat (limited to 'driver/mag_bmm150.h')
| -rw-r--r-- | driver/mag_bmm150.h | 13 |
1 files changed, 9 insertions, 4 deletions
diff --git a/driver/mag_bmm150.h b/driver/mag_bmm150.h index f3a0a38f50..4a6af7ee0d 100644 --- a/driver/mag_bmm150.h +++ b/driver/mag_bmm150.h @@ -9,6 +9,7 @@ #define __CROS_EC_MAG_BMM150_H #include "accelgyro.h" +#include "mag_cal.h" #define BMM150_ADDR0 0x20 #define BMM150_ADDR1 0x22 @@ -86,13 +87,17 @@ struct bmm150_comp_registers { int8_t dig_xy2; uint16_t dig_xyz1; - - /* Factory or online calibration */ - int16_t offset[3]; }; +struct bmm150_private_data { + struct bmm150_comp_registers comp; + struct mag_cal_t cal; +}; #define BMM150_COMP_REG(_s) \ - (&BMI160_GET_DATA(_s)->comp_regs) + (&BMI160_GET_DATA(_s)->compass.comp) + +#define BMM150_CAL(_s) \ + (&BMI160_GET_DATA(_s)->compass.cal) /* Specific initialization of BMM150 when behing BMI160 */ int bmm150_init(const struct motion_sensor_t *s); |