From 2baa0a1d8584b4fff1df548437882fa6c908350e Mon Sep 17 00:00:00 2001
From: Daniel Friesel <derf@finalrewind.org>
Date: Mon, 13 Dec 2021 21:54:01 +0100
Subject: mpu9250: Implement getMagnet function

TODO: Use ASA[XYZ] for sensitivity adjustment
---
 src/driver/mpu9250.cc | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

(limited to 'src/driver')

diff --git a/src/driver/mpu9250.cc b/src/driver/mpu9250.cc
index de47597..3ad91c7 100644
--- a/src/driver/mpu9250.cc
+++ b/src/driver/mpu9250.cc
@@ -222,6 +222,21 @@ bool MPU9250::getRawMagnet(int *x, int *y, int *z)
 	}
 }
 
+bool MPU9250::getMagnet(float *ut_x, float *ut_y, float *ut_z)
+{
+	int x, y, z;
+	bool success = getRawMagnet(&x, &y, &z);
+
+	if (!success) {
+		return false;
+	}
+
+	*ut_x = x * 0.15;
+	*ut_y = y * 0.15;
+	*ut_z = z * 0.15;
+	return true;
+}
+
 // mpu9250.dfa
 
 void MPU9250::nineAxis()
-- 
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