fix(icm20948): Fix endianness and scaling of magnetometer data#597
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fix(icm20948): Fix endianness and scaling of magnetometer data#597
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✅Static analysis result - no issues found! ✅ |
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| Icm20948<I>::RawValue Icm20948<I>::get_magnetometer_raw(std::error_code &ec) { | ||
| return get_raw(RegisterBank0::MAG_DATA, ec); | ||
| // the magnetometer data is read through the I2C master, but it has a | ||
| // different endianess than the accelerometer and gyroscope data. |
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Typo in comment: “endianess” should be “endianness”.
Suggested change
| // different endianess than the accelerometer and gyroscope data. | |
| // different endianness than the accelerometer and gyroscope data. |
Comment on lines
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| return { | ||
| static_cast<int16_t>(((raw_mag.x & 0xFF00) >> 8) | ((raw_mag.x & 0xFF) << 8)), | ||
| static_cast<int16_t>(((raw_mag.y & 0xFF00) >> 8) | ((raw_mag.y & 0xFF) << 8)), | ||
| static_cast<int16_t>(((raw_mag.z & 0xFF00) >> 8) | ((raw_mag.z & 0xFF) << 8)), | ||
| }; |
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The manual byte-swap logic is duplicated for x/y/z and is a bit hard to read/maintain. Consider extracting a small helper (e.g., a local lambda) that swaps a 16-bit value (ideally operating on uint16_t) and reuse it for each axis to reduce repetition and avoid subtle signed/bitshift pitfalls.
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Description
Motivation and Context
Closes #596
How has this been tested?
Build and run
icm20948/exampleand verify that magnetometer data is being read correctly and is scaled appropriately.Screenshots (if appropriate, e.g. schematic, board, console logs, lab pictures):
Types of changes
Checklist:
Software
.github/workflows/build.ymlfile to add my new test to the automated cloud build github action.