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| 1 | +#include <driver/i2c.h> |
| 2 | +#include <esp_log.h> |
| 3 | +#include <freertos/FreeRTOS.h> |
| 4 | +#include <freertos/task.h> |
| 5 | +#include <math.h> |
| 6 | + |
| 7 | +#include "sdkconfig.h" |
| 8 | + |
| 9 | +#define PIN_SDA 21 |
| 10 | +#define PIN_CLK 22 |
| 11 | +#define I2C_ADDRESS 0x1e |
| 12 | + |
| 13 | +static char tag[] = "hmc5883l"; |
| 14 | + |
| 15 | +#undef ESP_ERROR_CHECK |
| 16 | +#define ESP_ERROR_CHECK(x) do { esp_err_t rc = (x); if (rc != ESP_OK) { ESP_LOGE("err", "esp_err_t = %d", rc); assert(0 && #x);} } while(0); |
| 17 | + |
| 18 | +void task_hmc5883l(void *ignore) { |
| 19 | + ESP_LOGD(tag, ">> hmc5883l"); |
| 20 | + i2c_config_t conf; |
| 21 | + conf.mode = I2C_MODE_MASTER; |
| 22 | + conf.sda_io_num = PIN_SDA; |
| 23 | + conf.scl_io_num = PIN_CLK; |
| 24 | + conf.sda_pullup_en = GPIO_PULLUP_ENABLE; |
| 25 | + conf.scl_pullup_en = GPIO_PULLUP_ENABLE; |
| 26 | + conf.master.clk_speed = 100000; |
| 27 | + ESP_ERROR_CHECK(i2c_param_config(I2C_NUM_0, &conf)); |
| 28 | + ESP_ERROR_CHECK(i2c_driver_install(I2C_NUM_0, I2C_MODE_MASTER, 0, 0, 0)); |
| 29 | + |
| 30 | + uint8_t data[6]; |
| 31 | + |
| 32 | + i2c_cmd_handle_t cmd = i2c_cmd_link_create(); |
| 33 | + i2c_master_start(cmd); |
| 34 | + i2c_master_write_byte(cmd, (I2C_ADDRESS << 1) | I2C_MASTER_WRITE, 1); |
| 35 | + i2c_master_write_byte(cmd, 0x02, 1); // Mode register |
| 36 | + i2c_master_write_byte(cmd, 0x00, 1); // value 0 |
| 37 | + i2c_master_stop(cmd); |
| 38 | + i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000/portTICK_PERIOD_MS); |
| 39 | + i2c_cmd_link_delete(cmd); |
| 40 | + |
| 41 | + cmd = i2c_cmd_link_create(); |
| 42 | + i2c_master_start(cmd); |
| 43 | + i2c_master_write_byte(cmd, (I2C_ADDRESS << 1) | I2C_MASTER_WRITE, 1); |
| 44 | + i2c_master_write_byte(cmd, 0x01, 1); // Mode register |
| 45 | + i2c_master_write_byte(cmd, 0x20, 1); // value 0 |
| 46 | + i2c_master_stop(cmd); |
| 47 | + i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000/portTICK_PERIOD_MS); |
| 48 | + i2c_cmd_link_delete(cmd); |
| 49 | + |
| 50 | + cmd = i2c_cmd_link_create(); |
| 51 | + ESP_ERROR_CHECK(i2c_master_start(cmd)); |
| 52 | + ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (I2C_ADDRESS << 1) | I2C_MASTER_WRITE, 1)); |
| 53 | + ESP_ERROR_CHECK(i2c_master_write_byte(cmd, 10, 1)); // Data registers |
| 54 | + ESP_ERROR_CHECK(i2c_master_stop(cmd)); |
| 55 | + ESP_ERROR_CHECK(i2c_master_cmd_begin(I2C_NUM_0, cmd, 100/portTICK_PERIOD_MS)); |
| 56 | + i2c_cmd_link_delete(cmd); |
| 57 | + |
| 58 | + cmd = i2c_cmd_link_create(); |
| 59 | + ESP_ERROR_CHECK(i2c_master_start(cmd)); |
| 60 | + ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (I2C_ADDRESS << 1) | I2C_MASTER_READ, 1)); |
| 61 | + i2c_master_read_byte(cmd, data, 0); |
| 62 | + i2c_master_read_byte(cmd, data+1, 0); |
| 63 | + i2c_master_read_byte(cmd, data+2, 1); |
| 64 | + ESP_ERROR_CHECK(i2c_master_stop(cmd)); |
| 65 | + ESP_ERROR_CHECK(i2c_master_cmd_begin(I2C_NUM_0, cmd, 100/portTICK_PERIOD_MS)); |
| 66 | + i2c_cmd_link_delete(cmd); |
| 67 | + |
| 68 | + while(1) { |
| 69 | + cmd = i2c_cmd_link_create(); |
| 70 | + i2c_master_start(cmd); |
| 71 | + i2c_master_write_byte(cmd, (I2C_ADDRESS << 1) | I2C_MASTER_WRITE, 1); |
| 72 | + i2c_master_write_byte(cmd, 0x03, 1); // Data registers |
| 73 | + i2c_master_stop(cmd); |
| 74 | + i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000/portTICK_PERIOD_MS); |
| 75 | + i2c_cmd_link_delete(cmd); |
| 76 | + |
| 77 | + cmd = i2c_cmd_link_create(); |
| 78 | + i2c_master_start(cmd); |
| 79 | + i2c_master_write_byte(cmd, (I2C_ADDRESS << 1) | I2C_MASTER_READ, 1); |
| 80 | + i2c_master_read_byte(cmd, data, 0); |
| 81 | + i2c_master_read_byte(cmd, data+1, 0); |
| 82 | + i2c_master_read_byte(cmd, data+2, 0); |
| 83 | + i2c_master_read_byte(cmd, data+3, 0); |
| 84 | + i2c_master_read_byte(cmd, data+4, 0); |
| 85 | + i2c_master_read_byte(cmd, data+5, 1); |
| 86 | + i2c_master_stop(cmd); |
| 87 | + i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000/portTICK_PERIOD_MS); |
| 88 | + i2c_cmd_link_delete(cmd); |
| 89 | + |
| 90 | + short x = data[0] << 8 | data[1]; |
| 91 | + short z = data[2] << 8 | data[3]; |
| 92 | + short y = data[4] << 8 | data[5]; |
| 93 | + int angle = atan2((double)y,(double)x) * (180 / 3.14159265) + 180; // angle in degrees |
| 94 | + ESP_LOGD(tag, "angle: %d, x: %d, y: %d, z: %d", angle, x, y, z); |
| 95 | + vTaskDelay(1000/portTICK_PERIOD_MS); |
| 96 | + } |
| 97 | + |
| 98 | + vTaskDelete(NULL); |
| 99 | +} // task_hmc5883l |
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