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BMI160: Fix magnetometer error check #285

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merged 1 commit into from
Sep 22, 2023
Merged

BMI160: Fix magnetometer error check #285

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8 changes: 1 addition & 7 deletions lib/bmi160/BMI160.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -121,16 +121,10 @@ void BMI160::setMagDeviceAddress(uint8_t addr) {
setRegister(BMI160_RA_MAG_IF_0_DEVADDR, addr << 1); // 0 bit of address is reserved and needs to be shifted
}

bool BMI160::setMagRegister(uint8_t addr, uint8_t value) {
void BMI160::setMagRegister(uint8_t addr, uint8_t value) {
setRegister(BMI160_RA_MAG_IF_4_WRITE_VALUE, value);
setRegister(BMI160_RA_MAG_IF_3_WRITE_RA, addr);
delay(3);
I2CdevMod::readByte(devAddr, BMI160_RA_ERR, buffer);
if (buffer[0] & BMI160_ERR_MASK_I2C_FAIL) {
printf("BMI160: mag register proxy write error\n");
return false;
}
return true;
}

/** Get Device ID.
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15 changes: 8 additions & 7 deletions lib/bmi160/BMI160.h
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Expand Up @@ -52,7 +52,7 @@ THE SOFTWARE.
#define BMI160_RA_MAG_CONF 0x44
#define BMI160_RA_MAG_IF_0_DEVADDR 0x4B
#define BMI160_RA_MAG_IF_1_MODE 0x4C
#define BMI160_RA_MAG_IF_2_READ_RA 0x4D
#define BMI160_RA_MAG_IF_2_READ_RA 0x4D
#define BMI160_RA_MAG_IF_3_WRITE_RA 0x4E
#define BMI160_RA_MAG_IF_4_WRITE_VALUE 0x4F
#define BMI160_RA_IF_CONF 0x6B
Expand Down Expand Up @@ -343,11 +343,12 @@ typedef enum {
#define BMI160_FIFO_A_LEN 6

#define BMI160_RA_ERR 0x02
#define BMI160_ERR_MASK_MAG_DRDY_ERR 0x10000000
#define BMI160_ERR_MASK_DROP_CMD_ERR 0x01000000
#define BMI160_ERR_MASK_I2C_FAIL 0x00100000
#define BMI160_ERR_MASK_ERROR_CODE 0x00011110
#define BMI160_ERR_MASK_CHIP_NOT_OPERABLE 0x00000001
#define BMI160_ERR_MASK_MAG_DRDY_ERR 0b10000000
#define BMI160_ERR_MASK_DROP_CMD_ERR 0b01000000
// datasheet is unclear - reserved or i2c_fail_err?
// #define BMI160_ERR_MASK_I2C_FAIL 0b00100000
#define BMI160_ERR_MASK_ERROR_CODE 0b00011110
#define BMI160_ERR_MASK_CHIP_NOT_OPERABLE 0b00000001

/**
* Interrupt Latch Mode options
Expand Down Expand Up @@ -755,7 +756,7 @@ class BMI160 {
void waitForMagDrdy();
bool getSensorTime(uint32_t *v_sensor_time_u32);
void setMagDeviceAddress(uint8_t addr);
bool setMagRegister(uint8_t addr, uint8_t value);
void setMagRegister(uint8_t addr, uint8_t value);

bool getErrReg(uint8_t* out);
private:
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12 changes: 0 additions & 12 deletions src/sensors/bmi160sensor.cpp
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Expand Up @@ -33,12 +33,6 @@ void BMI160Sensor::initHMC(BMI160MagRate magRate) {
imu.setRegister(BMI160_RA_CMD, BMI160_CMD_MAG_MODE_NORMAL);
delay(60);

imu.setRegister(BMI160_RA_CMD, BMI160_EN_PULL_UP_REG_1);
imu.setRegister(BMI160_RA_CMD, BMI160_EN_PULL_UP_REG_2);
imu.setRegister(BMI160_RA_CMD, BMI160_EN_PULL_UP_REG_3);
imu.setRegister(BMI160_7F, BMI160_EN_PULL_UP_REG_4);
imu.setRegister(BMI160_7F, BMI160_EN_PULL_UP_REG_5);

/* Enable MAG interface */
imu.setRegister(BMI160_RA_IF_CONF, BMI160_IF_CONF_MODE_PRI_AUTO_SEC_MAG);
delay(1);
Expand All @@ -65,12 +59,6 @@ void BMI160Sensor::initQMC(BMI160MagRate magRate) {
imu.setRegister(BMI160_RA_CMD, BMI160_CMD_MAG_MODE_NORMAL);
delay(60);

imu.setRegister(BMI160_RA_CMD, BMI160_EN_PULL_UP_REG_1);
imu.setRegister(BMI160_RA_CMD, BMI160_EN_PULL_UP_REG_2);
imu.setRegister(BMI160_RA_CMD, BMI160_EN_PULL_UP_REG_3);
imu.setRegister(BMI160_7F, BMI160_EN_PULL_UP_REG_4);
imu.setRegister(BMI160_7F, BMI160_EN_PULL_UP_REG_5);

/* Enable MAG interface */
imu.setRegister(BMI160_RA_IF_CONF, BMI160_IF_CONF_MODE_PRI_AUTO_SEC_MAG);
delay(1);
Expand Down
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