From 001efc1c0be26acc2eb5ab9e7cc722a84b3a3c17 Mon Sep 17 00:00:00 2001
From: Peter van der Perk <peter.vanderperk@nxp.com>
Date: Wed, 28 May 2025 10:31:24 +0200
Subject: [PATCH] Bosch: BMM350: Fix self-test on high ODR rate

We've to wait for atleast 6000us before doing self-test
---
 src/drivers/magnetometer/bosch/bmm350/BMM350.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/drivers/magnetometer/bosch/bmm350/BMM350.cpp b/src/drivers/magnetometer/bosch/bmm350/BMM350.cpp
index e4e8e19f9c..83f43a962b 100755
--- a/src/drivers/magnetometer/bosch/bmm350/BMM350.cpp
+++ b/src/drivers/magnetometer/bosch/bmm350/BMM350.cpp
@@ -34,6 +34,8 @@
 #include "BMM350.hpp"
 using namespace time_literals;
 
+#define MAX(a,b)          (a > b ? a : b)
+
 BMM350::BMM350(const I2CSPIDriverConfig &config) :
 	I2C(config),
 	I2CSPIDriver(config),
@@ -318,7 +320,7 @@ void BMM350::RunImpl()
 				_state = STATE::RESET;
 			}
 
-			ScheduleDelayed(OdrToUs(_mag_odr_mode));
+			ScheduleDelayed(MAX(6000_us, OdrToUs(_mag_odr_mode)));
 			break;
 		}