Use 8192 & 32768 to scale

copterust · Nov 12, 2022 · d774968 · d774968
1 parent d669b83
commit d774968
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Showing 2 changed files with 5 additions and 2 deletions.
diff --git a/src/conf.rs b/src/conf.rs
@@ -191,8 +191,8 @@ pub enum MagScale {
 impl MagScale {
     pub(crate) fn resolution(&self) -> f32 {
         match self {
-            MagScale::_14BITS => 10. * 4912. / 8190.,
-            MagScale::_16BITS => 10. * 4912. / 32760.0,
+            MagScale::_14BITS => 10. * 4912. / 8192.,
+            MagScale::_16BITS => 10. * 4912. / 32768.0,
         }
     }
 }

diff --git a/src/lib.rs b/src/lib.rs
@@ -708,9 +708,11 @@ impl<E, DEV> Mpu9250<DEV, Marg>
         AK8963::init(&mut self.dev, delay)?;
         delay.delay_ms(10);
         // First extract the factory calibration for each magnetometer axis
+        /// Power down
         AK8963::write(&mut self.dev, ak8963::Register::CNTL, 0x00)?;
         delay.delay_ms(10);
 
+        /// Fuse ROM access mode
         AK8963::write(&mut self.dev, ak8963::Register::CNTL, 0x0F)?;
         delay.delay_ms(20);
         let mag_x_bias = AK8963::read(&mut self.dev, ak8963::Register::ASAX)?;
@@ -722,6 +724,7 @@ impl<E, DEV> Mpu9250<DEV, Marg>
         self.mag_sensitivity_adjustments = [f32(mag_x_bias - 128) / 256. + 1.,
                                             f32(mag_y_bias - 128) / 256. + 1.,
                                             f32(mag_z_bias - 128) / 256. + 1.];
+        /// Power down magnetometer
         AK8963::write(&mut self.dev, ak8963::Register::CNTL, 0x00)?;
         delay.delay_ms(10);
         // Set magnetometer data resolution and sample ODR