bmi160: add support for raw mag samples

Bug: 33693823
Test: run mag and verify output data looks correct
Change-Id: I756adebd5258b143edb36b7fea320b0a25786339
Signed-off-by: Ben Fennema <fennema@google.com>

6 files changed, 9 insertions, 6 deletions

diff --git a/firmware/os/drivers/bosch_bmi160/akm_ak09915_slave.c b/firmware/os/drivers/bosch_bmi160/akm_ak09915_slave.c
index 371f997b..286ff219 100644
--- a/firmware/os/drivers/bosch_bmi160/akm_ak09915_slave.c
+++ b/firmware/os/drivers/bosch_bmi160/akm_ak09915_slave.c
@@ -17,8 +17,6 @@
 #include <string.h>
 #include "akm_ak09915_slave.h"
 
-#define kScale_mag 0.15f
-
 void parseMagData(struct MagTask *magTask, uint8_t *buf, float *x, float *y, float *z) {
     int32_t raw_x = (*(int16_t *)&buf[0]);
     int32_t raw_y = (*(int16_t *)&buf[2]);
diff --git a/firmware/os/drivers/bosch_bmi160/akm_ak09915_slave.h b/firmware/os/drivers/bosch_bmi160/akm_ak09915_slave.h
index d7bb12e9..af9d5209 100644
--- a/firmware/os/drivers/bosch_bmi160/akm_ak09915_slave.h
+++ b/firmware/os/drivers/bosch_bmi160/akm_ak09915_slave.h
@@ -25,6 +25,8 @@
 extern "C" {
 #endif
 
+#define kScale_mag 0.15f
+
 #define AKM_AK09915_DEVICE_ID     0x1048
 #define AKM_AK09915_REG_WIA1      0x00
 #define AKM_AK09915_REG_DATA      0x11
diff --git a/firmware/os/drivers/bosch_bmi160/bosch_bmi160.c b/firmware/os/drivers/bosch_bmi160/bosch_bmi160.c
index c5477aa1..29e838c9 100644
--- a/firmware/os/drivers/bosch_bmi160/bosch_bmi160.c
+++ b/firmware/os/drivers/bosch_bmi160/bosch_bmi160.c
@@ -675,8 +675,9 @@ static const struct SensorInfo mSensorInfo[NUM_OF_SENSOR] =
     { DEC_INFO_RATE_BIAS("Gyroscope", GyrRates, SENS_TYPE_GYRO, NUM_AXIS_THREE,
             NANOHUB_INT_NONWAKEUP, 20, SENS_TYPE_GYRO_BIAS) },
 #ifdef MAG_SLAVE_PRESENT
-    { DEC_INFO_RATE_BIAS("Magnetometer", MagRates, SENS_TYPE_MAG, NUM_AXIS_THREE,
-            NANOHUB_INT_NONWAKEUP, 600, SENS_TYPE_MAG_BIAS) },
+    { DEC_INFO_RATE_RAW_BIAS("Magnetometer", MagRates, SENS_TYPE_MAG, NUM_AXIS_THREE,
+            NANOHUB_INT_NONWAKEUP, 600, SENS_TYPE_MAG_RAW, 1.0/kScale_mag,
+            SENS_TYPE_MAG_BIAS) },
 #endif
     { DEC_INFO("Step Detector", SENS_TYPE_STEP_DETECT, NUM_AXIS_EMBEDDED,
             NANOHUB_INT_NONWAKEUP, 100) },
diff --git a/firmware/os/drivers/bosch_bmi160/bosch_bmm150_slave.c b/firmware/os/drivers/bosch_bmi160/bosch_bmm150_slave.c
index 4a223fbd..3f21dc71 100644
--- a/firmware/os/drivers/bosch_bmi160/bosch_bmm150_slave.c
+++ b/firmware/os/drivers/bosch_bmi160/bosch_bmm150_slave.c
@@ -17,8 +17,6 @@
 #include <string.h>
 #include "bosch_bmm150_slave.h"
 
-#define kScale_mag 0.0625f         // 1.0f / 16.0f;
-
 void bmm150SaveDigData(struct MagTask *magTask, uint8_t *data, size_t offset)
 {
     // magnetometer temperature calibration data is read in 3 bursts of 8 byte
diff --git a/firmware/os/drivers/bosch_bmi160/bosch_bmm150_slave.h b/firmware/os/drivers/bosch_bmi160/bosch_bmm150_slave.h
index 59e53fba..abc82a98 100644
--- a/firmware/os/drivers/bosch_bmi160/bosch_bmm150_slave.h
+++ b/firmware/os/drivers/bosch_bmi160/bosch_bmm150_slave.h
@@ -25,6 +25,8 @@
 extern "C" {
 #endif
 
+#define kScale_mag 0.0625f         // 1.0f / 16.0f;
+
 #define BMM150_REG_DATA           0x42
 #define BMM150_REG_CTRL_1         0x4b
 #define BMM150_REG_CTRL_2         0x4c
diff --git a/firmware/os/inc/sensType.h b/firmware/os/inc/sensType.h
index b115467a..4a62b828 100644
--- a/firmware/os/inc/sensType.h
+++ b/firmware/os/inc/sensType.h
@@ -80,6 +80,8 @@ extern "C" {
 #define SENS_TYPE_GYRO_TEMP       57
 #define SENS_TYPE_MAG_TEMP        58
 
+#define SENS_TYPE_MAG_RAW         59
+
 #define SENS_TYPE_FIRST_USER      64 // event type necessarily begins with UserSensorEventHdr
 #define SENS_TYPE_LAST_USER       128