Add rotation of value vector for magnetometer

src/drivers/ao_adxl375.c

@@ -85,13 +85,42 @@ ao_adxl375_reg_write(uint8_t addr, uint8_t value)
 static void
 ao_adxl375_value(struct ao_adxl375_sample *value)
 {
-	uint8_t	d[7];
+	uint8_t	d[7];  
+	float magic_number = (float)0.70710678118654752440084436210484; // 1/sqrt(2); could use double for higher percision 
+	struct ao_adxl375_sample sample;
+	struct ao_adxl375_sample result;
+
 
 	d[0] = AO_ADXL375_DATAX0 | AO_ADXL375_READ | AO_ADXL375_MULTI_BYTE;
 	ao_adxl375_start();
 	ao_spi_duplex(d, d, 7, AO_ADXL375_SPI_INDEX);
 	ao_adxl375_stop();
-	memcpy(value, &d[1], 6);
+
+	memcpy(&sample, &d[1], 6);
+
+// rotating x and y by 45 degree
+
+	/* Bias by 32768 to convert from uint16_t to int16_t */
+//	sample.x = (int16_t) ((((uint16_t) raw.x0 << 8) | raw.x1) - 32768);
+//	sample.y = (int16_t) ((((uint16_t) raw.y0 << 8) | raw.y1) - 32768);
+
+//	sample.x = (int16_t) ((((uint16_t) d[2] << 8) | d[3]) - 0);
+//	sample.y = (int16_t) ((((uint16_t) d[4] << 8) | d[5]) - 0);
+//	sample.z = (int16_t) ((((uint16_t) d[6] << 8) | d[7]) - 0);
+
+	// rotate value vector by 45 degrees mathimatical positive around z-axis
+	result.x = (int16_t)((sample.x - sample.y) * magic_number);
+	result.y = (int16_t)((sample.x + sample.y) * magic_number);
+	result.z = sample.z;
+	
+//	result.x = 0;
+//	result.y = 1;
+//	result.z = sample.z;
+
+
+	memcpy(value, &result, 6);
+
+//	memcpy(value, &d[1], 6);
 }
 
 struct ao_adxl375_total {

src/drivers/ao_bmi088.c

@@ -60,12 +60,20 @@ _ao_bmi088_acc_sample_read(struct ao_bmi088_acc_sample *sample)
 {
 	uint8_t dummy;
 	uint8_t addr = BMI088_ACC_DATA | 0x80;
+	struct ao_bmi088_acc_sample raw;
+	float magic_number = (float)0.70710678118654752440084436210484; // 1/sqrt(2); could use double for higher percision 
+
 
 	ao_bmi088_acc_start();
 	ao_spi_send(&addr, 1, AO_BMI088_SPI_BUS);
 	ao_spi_recv(&dummy, 1, AO_BMI088_SPI_BUS);	/* part sends garbage for first byte */
-	ao_spi_recv(sample, sizeof(struct ao_bmi088_acc_sample), AO_BMI088_SPI_BUS);
+	ao_spi_recv(&raw, sizeof(struct ao_bmi088_acc_sample), AO_BMI088_SPI_BUS);
 	ao_bmi088_acc_end();
+
+	// rotate value vector by 45 degrees mathimatical positice around z-axis
+	sample->x = (int16_t)((raw.x + raw.y) * magic_number);
+	sample->y = (int16_t)((raw.x - raw.y) * magic_number);
+	sample->z = raw.z;	
 }
 
 static void
@@ -98,7 +106,15 @@ _ao_bmi088_gyr_reg_write(uint8_t addr, uint8_t value)
 static void
 _ao_bmi088_gyr_sample_read(struct ao_bmi088_gyr_sample *sample)
 {
-	_ao_bmi088_gyr_read(BMI088_GYRO_DATA, sample, sizeof (struct ao_bmi088_gyr_sample));
+	struct ao_bmi088_gyr_sample raw;
+	float magic_number = (float)0.70710678118654752440084436210484; // 1/sqrt(2); could use double for higher percision 
+
+	_ao_bmi088_gyr_read(BMI088_GYRO_DATA, &raw, sizeof (struct ao_bmi088_gyr_sample));
+
+	// rotate value vector by 45 degrees mathimatical negative around z-axis
+	sample->x = (int16_t)((raw.x + raw.y) * magic_number);
+	sample->y = (int16_t)((raw.x - raw.y) * magic_number);
+	sample->z = raw.z;
 }
 
 static void

src/drivers/ao_mmc5983.c

@@ -232,11 +232,18 @@ static struct ao_mmc5983_raw raw;
 static void
 ao_mmc5983_sample(struct ao_mmc5983_sample *s)
 {
+	struct ao_mmc5983_sample sample;
+	float magic_number = (float)0.70710678118654752440084436210484; // 1/sqrt(2); could use double for higher percision 
+
 	ao_mmc5983_raw(&raw);
 
 	/* Bias by 32768 to convert from uint16_t to int16_t */
-	s->x = (int16_t) ((((uint16_t) raw.x0 << 8) | raw.x1) - 32768);
+	sample.x = (int16_t) ((((uint16_t) raw.x0 << 8) | raw.x1) - 32768);
-	s->y = (int16_t) ((((uint16_t) raw.y0 << 8) | raw.y1) - 32768);
+	sample.y = (int16_t) ((((uint16_t) raw.y0 << 8) | raw.y1) - 32768);
+
+	// rotate value vector by 45 degrees mathimatical negative around z-axis
+	s->x = (int16_t)((sample.x + sample.y) * magic_number);
+	s->y = (int16_t)((sample.x - sample.y) * magic_number);
 	s->z = (int16_t) ((((uint16_t) raw.z0 << 8) | raw.z1) - 32768);
 }
 

src/kernel/ao_sample.h

@@ -87,7 +87,7 @@ typedef int16_t			ao_v_t;
  * Above this height, the baro sensor doesn't work
  */
 #if HAS_MS5607
-#define AO_MAX_BARO_HEIGHT	40000
+#define AO_MAX_BARO_HEIGHT	30000
 #else
 #define AO_MAX_BARO_HEIGHT	12000
 #endif