diff --git a/imu/imu.c b/imu/imu.c
index 64a0c61..82345c0 100644
--- a/imu/imu.c
+++ b/imu/imu.c
@@ -504,8 +504,8 @@ return IMU_OK;
 * 		imu_get_mag_xyz                                                        *
 *                                                                              *
 * DESCRIPTION:                                                                 * 
-* 		Return the pointer to structure that updates the x,y,z magnetometer    *
-*       values from the IMU                                                    *
+*       Return the pointer to structure that updates the x, y, z, and RHALL    *
+*       magnetometer values from the BMM150.                                   *
 *                                                                              *
 *******************************************************************************/
 IMU_STATUS imu_get_mag_xyz
@@ -516,52 +516,63 @@ IMU_STATUS imu_get_mag_xyz
 /*------------------------------------------------------------------------------
  Local variables 
 ------------------------------------------------------------------------------*/
-uint8_t     regMag[6];    /* Magnetometer register bytes      */
-uint16_t    mag_x_raw;    /* Raw magnetometer sensor readouts */ 
-uint16_t    mag_y_raw; 
-uint16_t    mag_z_raw; 
-IMU_STATUS  imu_status;   /* IMU status return codes          */
+uint8_t    regMag[8];      /* Magnetometer register bytes      */
+int16_t    mag_x_raw;      /* Raw magnetometer sensor readouts */
+int16_t    mag_y_raw;
+int16_t    mag_z_raw;
+uint16_t   mag_hall_raw;
+IMU_STATUS imu_status;     /* IMU status return codes           */
 
 
 /*------------------------------------------------------------------------------
  API function implementation 
 ------------------------------------------------------------------------------*/
 
-/* Read MAG_X, MAG_Y, MAG_Z high byte and low byte registers */
-#if   defined( A0002_REV1 )
-    imu_status = read_mag_regs( IMU_REG_MAG_XOUT_H, 
-                                &regMag[0]        , 
-                                sizeof( regMag ) );
-#elif defined( A0002_REV2 )
-    imu_status = read_mag_regs( MAG_REG_DATAX_L, 
-                                &regMag[0]     , 
-                                sizeof( regMag ) );
-#endif
+/* Read BMM150 X, Y, Z, and RHALL registers */
+imu_status = read_mag_regs( MAG_REG_DATAX_L,
+                            &regMag[0],
+                            sizeof( regMag ) );
 
-/* Check for HAL IMU error */
-if ( imu_status == IMU_TIMEOUT )
-	{
-	return IMU_TIMEOUT;
-	}
+/* Check for magnetometer read error */
+if ( imu_status != IMU_OK )
+    {
+    return imu_status;
+    }
 
-/* Combine high byte and low byte to 16 bit data */
-#if   defined( A0002_REV1 )
-    mag_x_raw  = ( (uint16_t) regMag[1] ) << 8 | regMag[0];
-    mag_y_raw  = ( (uint16_t) regMag[3] ) << 8 | regMag[2];
-    mag_z_raw  = ( (uint16_t) regMag[5] ) << 8 | regMag[4];
-#elif defined( A0002_REV2 )
-    mag_x_raw  = (   (uint16_t) regMag[1]                         << MAG_XY_MSB_BITSHIFT ) | 
-                 ( ( (uint16_t) regMag[0] && MAG_XY_LSB_BITMASK ) >> MAG_XY_LSB_BITSHIFT );
-    mag_y_raw  = (   (uint16_t) regMag[3]                         << MAG_XY_MSB_BITSHIFT ) | 
-                 ( ( (uint16_t) regMag[2] && MAG_XY_LSB_BITMASK ) >> MAG_XY_LSB_BITSHIFT );
-    mag_z_raw  = (   (uint16_t) regMag[5]                         << MAG_Z_MSB_BITSHIFT  ) | 
-                 ( ( (uint16_t) regMag[4] && MAG_Z_LSB_BITMASK )  >> MAG_Z_LSB_BITSHIFT  );
-#endif
+/* Combine and scale the packed BMM150 register values */
+mag_x_raw = (int16_t)(   (uint16_t) regMag[1]                        << MAG_XY_MSB_BITSHIFT ) |
+                     ( ( (uint16_t) regMag[0] & MAG_XY_LSB_BITMASK ) >> MAG_XY_LSB_BITSHIFT );
+
+mag_y_raw = (int16_t)(   (uint16_t) regMag[3]                        << MAG_XY_MSB_BITSHIFT ) |
+                     ( ( (uint16_t) regMag[2] & MAG_XY_LSB_BITMASK ) >> MAG_XY_LSB_BITSHIFT );
+
+mag_z_raw = (int16_t)(   (uint16_t) regMag[5]                       << MAG_Z_MSB_BITSHIFT ) |
+                     ( ( (uint16_t) regMag[4] & MAG_Z_LSB_BITMASK ) >> MAG_Z_LSB_BITSHIFT );
+
+mag_hall_raw = (uint16_t)(   (uint16_t) regMag[7]                            << MAG_RHALL_MSB_BITSHIFT ) |
+                          ( ( (uint16_t) regMag[6] & MAG_RHALL_LSB_BITMASK ) >> MAG_RHALL_LSB_BITSHIFT );
+
+/* Sign-extend the packed 13-bit X/Y and 15-bit Z measurements */
+if ( mag_x_raw & ( 1 << 12 ) )
+    {
+    mag_x_raw |= (int16_t) ~( ( 1 << 13 ) - 1 );
+    }
+
+if ( mag_y_raw & ( 1 << 12 ) )
+    {
+    mag_y_raw |= (int16_t) ~( ( 1 << 13 ) - 1 );
+    }
+
+if ( mag_z_raw & ( 1 << 14 ) )
+    {
+    mag_z_raw |= (int16_t) ~( ( 1 << 15 ) - 1 );
+    }
 
 /* Export sensor data */
-pIMU->mag_x = mag_x_raw;
-pIMU->mag_y = mag_y_raw;
-pIMU->mag_z = mag_z_raw;
+pIMU->mag_x    = mag_x_raw;
+pIMU->mag_y    = mag_y_raw;
+pIMU->mag_z    = mag_z_raw;
+pIMU->mag_hall = mag_hall_raw;
 
 return IMU_OK;
 } /* imu_get_mag_xyz */