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bmm150: add measurement repetition

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To reduce noise the magnetometer measures in burst and
average the data.
Use "regular" presets: max frequency is limited to 100Hz.
Using a more precise presets limit frequency to no more than 50Hz.

BRANCH=smaug
TEST=Check magnetomter still works.
BUG=chrome-os-partner:39900

Change-Id: Ida6af86f6c207cc91e11378c129032f6d9e6b9ea
Signed-off-by: Gwendal Grignou <gwendal@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/291990
Reviewed-by: Sheng-liang Song <ssl@chromium.org>
This commit is contained in:
Gwendal Grignou
2015-08-06 15:42:44 -07:00
committed by ChromeOS Commit Bot
parent 0b79533f88
commit 179d5d3c83
4 changed files with 27 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
driver/accelgyro_bmi160.c
View File

@@ -400,9 +400,10 @@ static int set_data_rate(const struct motion_sensor_t *s,
}
break;
case MOTIONSENSE_TYPE_MAG:
if (reg_val > BMI160_ODR_800HZ) {
reg_val = BMI160_ODR_800HZ;
normalized_rate = 800000;
/* We use the regular preset we can go about 100Hz */
if (reg_val > BMI160_ODR_100HZ) {
reg_val = BMI160_ODR_100HZ;
normalized_rate = 100000;
} else if (reg_val < BMI160_ODR_0_78HZ) {
reg_val = BMI160_ODR_0_78HZ;
normalized_rate = 780;

2
driver/accelgyro_bmi160.h
View File

@@ -172,6 +172,8 @@ enum fifo_header {
/* odr = 100 / (1 << (8 - reg)) ,within limit */
#define BMI160_ODR_0_78HZ 0x01
#define BMI160_ODR_25HZ 0x06
#define BMI160_ODR_50HZ 0x07
#define BMI160_ODR_100HZ 0x08
#define BMI160_ODR_800HZ 0x0b
#define BMI160_ODR_1600HZ 0x0c
#define BMI160_ODR_3200HZ 0x0d

8
driver/mag_bmm150.c
View File

@@ -115,6 +115,14 @@ int bmm150_init(const struct motion_sensor_t *s)
BMI150_READ_16BIT_COM_REG(regs->dig_z4, BMM150_REGA_DIG_Z4_LSB);
BMI150_READ_16BIT_COM_REG(regs->dig_xyz1, BMM150_REGA_DIG_XYZ1_LSB);
/* Set the repetition in "Regular Preset" */
raw_mag_write8(s->addr, BMM150_REPXY, 1 + 2 * BMM150_REP(REGULAR, XY));
raw_mag_write8(s->addr, BMM150_REPZ, 1 + BMM150_REP(REGULAR, Z));
ret = raw_mag_read8(s->addr, BMM150_REPXY, &val);
CPRINTS("repxy: 0x%02x", val);
ret = raw_mag_read8(s->addr, BMM150_REPZ, &val);
CPRINTS("repz: 0x%02x", val);
/*
* Set the compass forced mode, to sleep after each measure.
*/

14
driver/mag_bmm150.h
View File

@@ -34,8 +34,20 @@
#define BMM150_INT_CTRL 0x4d
/* Hidden registers for RHALL calculation */
#define BMM150_REPXY 0x51
#define BMM150_LOW_POWER_nXY 3
#define BMM150_REGULAR_nXY 9
#define BMM150_ENHANCED_nXY 15
#define BMM150_HIGH_ACCURACY_nXY 47
#define BMM150_REPZ 0x52
#define BMM150_LOW_POWER_nZ 3
#define BMM150_REGULAR_nZ 15
#define BMM150_ENHANCED_nZ 27
#define BMM150_HIGH_ACCURACY_nZ 83
#define BMM150_REP(_preset, _axis) CONCAT4(BMM150_, _preset, _n, _axis)
/* Hidden registers for RHALL calculation */
#define BMM150_REGA_DIG_X1 0x5d
#define BMM150_REGA_DIG_Y1 0x5e
#define BMM150_REGA_DIG_Z4_LSB 0x62