/// <summary>
/// Returns the compensated magnetometer z axis data(micro-tesla) in float.
/// More details, permalink: https://github.com/BoschSensortec/BMM150-Sensor-API/blob/a20641f216057f0c54de115fe81b57368e119c01/bmm150.c#L1682
/// </summary>
/// <param name="z">axis raw value</param>
/// <param name="rhall">temperature compensation value (RHALL) </param>
/// <param name="trimData">trim registers values</param>
/// <returns>compensated magnetometer z axis data(micro-tesla) in float</returns>
public static double CompensateZ(double z, uint rhall, Bmm150TrimRegisterData trimData)
{
float retval = 0;
float processCompX0;
float processCompX1;
float processCompZ2;
float processCompZ3;
float processCompZ4;
float processCompZ5;
int bmm150_overflow_adcval_zaxis_hall = -16384;
// Overflow condition check
if ((z != bmm150_overflow_adcval_zaxis_hall) && (trimData.DigZ2 != 0) &&
(trimData.DigZ1 != 0) && (trimData.DigXyz1 != 0) && (rhall != 0))
{
// Processing compensation equations
processCompX0 = ((float)z) - ((float)trimData.DigZ4);
processCompX1 = ((float)rhall) - ((float)trimData.DigXyz1);
processCompZ2 = (((float)trimData.DigZ3) * processCompX1);
processCompZ3 = ((float)trimData.DigZ1) * ((float)rhall) / 32768.0f;
processCompZ4 = ((float)trimData.DigZ2) + processCompZ3;
processCompZ5 = (processCompX0 * 131072.0f) - processCompZ2;
retval = (processCompZ5 / ((processCompZ4) * 4.0f)) / 16.0f;
}
else
{
// Overflow, set output to 0.0f
retval = 0.0f;
}
return(retval);
}
/// <summary>
/// Returns the compensated magnetometer y axis data(micro-tesla) in float.
/// More details, permalink: https://github.com/BoschSensortec/BMM150-Sensor-API/blob/a20641f216057f0c54de115fe81b57368e119c01/bmm150.c#L1648
/// </summary>
/// <param name="y">axis raw value</param>
/// <param name="rhall">temperature compensation value (RHALL) </param>
/// <param name="trimData">trim registers values</param>
/// <returns>compensated magnetometer y axis data(micro-tesla) in float</returns>
public static double CompensateY(double y, uint rhall, Bmm150TrimRegisterData trimData)
{
float retval = 0;
float processCompY0;
float processCompY1;
float processCompY2;
float processCompY3;
float processCompY4;
int bmm150_overflow_adcval_xyaxes_flip = -4096;
// Overflow condition check
if ((y != bmm150_overflow_adcval_xyaxes_flip) && (rhall != 0) && (trimData.DigXyz1 != 0))
{
// Processing compensation equations
processCompY0 = ((float)trimData.DigXyz1) * 16384.0f / rhall;
retval = processCompY0 - 16384.0f;
processCompY1 = ((float)trimData.DigXy2) * (retval * retval / 268435456.0f);
processCompY2 = processCompY1 + retval * ((float)trimData.DigXy1) / 16384.0f;
processCompY3 = ((float)trimData.DigY2) + 160.0f;
processCompY4 = (float)(y * (((processCompY2) + 256.0f) * processCompY3));
retval = ((processCompY4 / 8192.0f) + (((float)trimData.DigY1) * 8.0f)) / 16.0f;
}
else
{
// Overflow, set output to 0.0f
retval = 0.0f;
}
return(retval);
}
/// <summary>
/// Constructor to use if Bmm150 is behind another element and need a special I2C protocol like
/// when used with the MPU9250
/// </summary>
/// <param name="i2cDevice">The I2C device</param>
/// <param name="Bmm150Interface">The specific interface to communicate with the Bmm150</param>
/// <param name="shouldDispose">True to dispose the I2C device when class is disposed</param>
public Bmm150(I2cDevice i2cDevice, Bmm150I2cBase Bmm150Interface, bool shouldDispose = true)
{
_i2cDevice = i2cDevice ?? throw new ArgumentNullException(nameof(i2cDevice));
_bmm150Interface = Bmm150Interface;
_shouldDispose = shouldDispose;
Initialize();
// After initializing the device we read the
_trimData = ReadTrimRegisters();
}
