diff options
| -rw-r--r-- | driver/accelgyro_bmi160.c | 22 |
1 files changed, 19 insertions, 3 deletions
diff --git a/driver/accelgyro_bmi160.c b/driver/accelgyro_bmi160.c index 7beaa0de04..7959ac42ba 100644 --- a/driver/accelgyro_bmi160.c +++ b/driver/accelgyro_bmi160.c @@ -213,13 +213,14 @@ static int set_offset(const struct motion_sensor_t *s, static int perform_calib(const struct motion_sensor_t *s, int enable) { - int ret, val, en_flag, status, rate; - timestamp_t deadline; + int ret, val, en_flag, status, rate, range; + timestamp_t deadline, timeout; if (!enable) return EC_SUCCESS; rate = bmi_get_data_rate(s); + range = bmi_get_range(s); /* * Temporary set frequency to 100Hz to get enough data in a short * period of time. @@ -238,10 +239,24 @@ static int perform_calib(const struct motion_sensor_t *s, int enable) (BMI160_FOC_ACC_0G << BMI160_FOC_ACC_Y_OFFSET) | (val << BMI160_FOC_ACC_Z_OFFSET); en_flag = BMI160_OFFSET_ACC_EN; + /* + * Temporary set range to minimum to run calibration with + * full sensitivity + */ + bmi_set_range(s, 2, 0); + /* Timeout for accelerometer calibration */ + timeout.val = 400 * MSEC; break; case MOTIONSENSE_TYPE_GYRO: val = BMI160_FOC_GYRO_EN; en_flag = BMI160_OFFSET_GYRO_EN; + /* + * Temporary set range to minimum to run calibration with + * full sensitivity + */ + bmi_set_range(s, 125, 0); + /* Timeout for gyroscope calibration */ + timeout.val = 800 * MSEC; break; default: /* Not supported on Magnetometer */ @@ -252,7 +267,7 @@ static int perform_calib(const struct motion_sensor_t *s, int enable) BMI160_FOC_CONF, val); ret = bmi_write8(s->port, s->i2c_spi_addr_flags, BMI160_CMD_REG, BMI160_CMD_START_FOC); - deadline.val = get_time().val + 400 * MSEC; + deadline.val = get_time().val + timeout.val; do { if (timestamp_expired(deadline, NULL)) { ret = EC_RES_TIMEOUT; @@ -268,6 +283,7 @@ static int perform_calib(const struct motion_sensor_t *s, int enable) /* Calibration is successful, and loaded, use the result */ ret = bmi_enable_reg8(s, BMI160_OFFSET_EN_GYR98, en_flag, 1); end_perform_calib: + bmi_set_range(s, range, 0); set_data_rate(s, rate, 0); return ret; } |