BHI260 + BMM150 magnetometer measurement confuse

[BadLagger]

Hello,

I am using BHI260 + BMM150 combination for get IMU data and using firmware Bosch_SHUTTLE_BHI260_BMM150.fw.h for this. Accelerometer and gyroscope data are fine. But I cann't find good coeficient for getting magnetometer data in uT. I am using Sensor Id = 19 (Magnetometer passthrough).Through experements with numbers I determinated that if i multiply all data from magnetometer to 0.0625 (=1/16) than I get values look like true. That is right? Should I multiply all data from magnetometer to 0.0625 for getting data in uT?

And the second moment. BHI260 has few different Sensor Id's: 19 - Magnetometer passthrough, 21 - Magnetometer uncalibrated, 22 - Magnetometer corrected. I tried all of them but the data stay the same. What the really difference between this Sensor Id's?

[BSTRobin]

Hello BadLagger,

Could we know your HW schematic and which driver code you used?

[BadLagger]

Hello, BSTRobin

I am using:

Hardware

- Bosch Sensortec’s BHI260AB shuttle board from one side;

- custom board based on SoC TI OMAP DM3730 from other side;

- connection type between boards is I2C;

Software

- on OMAP 3 I am using custom Linux with driver based on https://github.com/BoschSensortec/BHY2-Sensor-API (API was fully integrated in driver without changes)

- firmware that we are loading on Bosch Sensortec’s BHI260AB shuttle board:   https://github.com/BoschSensortec/BHY2-Sensor-API/tree/master/firmware/bhi260/Bosch_SHUTTLE_BHI260_B...

Application logic:

Application (from userspace) opens device file, reads and parse data. After that all MEMS data performs as following:

- Accelerometer x,y,z divide by 8192 for getting data in G (in driver set range 4);

- Gyroscope x,y,z divide by 65.6 for getting data in degrees(in driver set range 500);

- Magnitometer: x,y,z divide (or multiply) by ???? (<-that's all I want to know!!!) for getting data in uT (the range for magnetometer fixed and does not set in driver);

I am suggesting that I should divide magnetometer x,y,z by 16 (or multiply by 0.0625) for getting data in uT. That is correct suggesting?

[BSTRobin]

Hello BadLagger,

BHI260AB shuttle board used BMM150 magnitometer sensor, you could see BMM150 magnitometer sensor range from data sheet.

When you used BHY2-Sensor-API, could we know your SW code to check it?