8000 Thu Feb 16 22:52:10 CST 2017 · cnc4less/esp32-snippets@2edf093 · GitHub
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kolban
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Thu Feb 16 22:52:10 CST 2017
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‎hardware/compass/hmc5883l.c

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#include <driver/i2c.h>
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#include <esp_log.h>
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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#include <math.h>
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#include "sdkconfig.h"
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#define PIN_SDA 21
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#define PIN_CLK 22
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#define I2C_ADDRESS 0x1e
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static char tag[] = "hmc5883l";
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#undef ESP_ERROR_CHECK
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#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);
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void task_hmc5883l(void *ignore) {
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ESP_LOGD(tag, ">> hmc5883l");
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i2c_config_t conf;
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conf.mode = I2C_MODE_MASTER;
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conf.sda_io_num = PIN_SDA;
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conf.scl_io_num = PIN_CLK;
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conf.sda_pullup_en = GPIO_PULLUP_ENABLE;
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conf.scl_pullup_en = GPIO_PULLUP_ENABLE;
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conf.master.clk_speed = 100000;
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ESP_ERROR_CHECK(i2c_param_config(I2C_NUM_0, &conf));
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ESP_ERROR_CHECK(i2c_driver_install(I2C_NUM_0, I2C_MODE_MASTER, 0, 0, 0));
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uint8_t data[6];
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i2c_cmd_handle_t cmd = i2c_cmd_link_create();
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i2c_master_start(cmd);
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i2c_master_write_byte(cmd, (I2C_ADDRESS << 1) | I2C_MASTER_WRITE, 1);
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i2c_master_write_byte(cmd, 0x02, 1); // Mode register
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i2c_master_write_byte(cmd, 0x00, 1); // value 0
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i2c_master_stop(cmd);
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i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000/portTICK_PERIOD_MS);
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i2c_cmd_link_delete(cmd);
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cmd = i2c_cmd_link_create();
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i2c_master_start(cmd);
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i2c_master_write_byte(cmd, (I2C_ADDRESS << 1) | I2C_MASTER_WRITE, 1);
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i2c_master_write_byte(cmd, 0x01, 1); // Mode register
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i2c_master_write_byte(cmd, 0x20, 1); // value 0
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i2c_master_stop(cmd);
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i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000/portTICK_PERIOD_MS);
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i2c_cmd_link_delete(cmd);
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cmd = i2c_cmd_link_create();
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ESP_ERROR_CHECK(i2c_master_start(cmd));
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ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (I2C_ADDRESS << 1) | I2C_MASTER_WRITE, 1));
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ESP_ERROR_CHECK(i2c_master_write_byte(cmd, 10, 1)); // Data registers
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ESP_ERROR_CHECK(i2c_master_stop(cmd));
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ESP_ERROR_CHECK(i2c_master_cmd_begin(I2C_NUM_0, cmd, 100/portTICK_PERIOD_MS));
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i2c_cmd_link_delete(cmd);
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cmd = i2c_cmd_link_create();
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ESP_ERROR_CHECK(i2c_master_start(cmd));
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ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (I2C_ADDRESS << 1) | I2C_MASTER_READ, 1));
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i2c_master_read_byte(cmd, data, 0);
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i2c_master_read_byte(cmd, data+1, 0);
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i2c_master_read_byte(cmd, data+2, 1);
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ESP_ERROR_CHECK(i2c_master_stop(cmd));
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ESP_ERROR_CHECK(i2c_master_cmd_begin(I2C_NUM_0, cmd, 100/portTICK_PERIOD_MS));
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i2c_cmd_link_delete(cmd);
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while(1) {
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cmd = i2c_cmd_link_create();
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i2c_master_start(cmd);
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i2c_master_write_byte(cmd, (I2C_ADDRESS << 1) | I2C_MASTER_WRITE, 1);
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i2c_master_write_byte(cmd, 0x03, 1); // Data registers
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i2c_master_stop(cmd);
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i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000/portTICK_PERIOD_MS);
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i2c_cmd_link_delete(cmd);
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cmd = i2c_cmd_link_create();
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i2c_master_start(cmd);
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i2c_master_write_byte(cmd, (I2C_ADDRESS << 1) | I2C_MASTER_READ, 1);
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i2c_master_read_byte(cmd, data, 0);
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i2c_master_read_byte(cmd, data+1, 0);
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i2c_master_read_byte(cmd, data+2, 0);
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i2c_master_read_byte(cmd, data+3, 0);
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i2c_master_read_byte(cmd, data+4, 0);
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i2c_master_read_byte(cmd, data+5, 1);
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i2c_master_stop(cmd);
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i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000/portTICK_PERIOD_MS);
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i2c_cmd_link_delete(cmd);
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short x = data[0] << 8 | data[1];
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short z = data[2] << 8 | data[3];
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short y = data[4] << 8 | data[5];
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int angle = atan2((double)y,(double)x) * (180 / 3.14159265) + 180; // angle in degrees
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ESP_LOGD(tag, "angle: %d, x: %d, y: %d, z: %d", angle, x, y, z);
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vTaskDelay(1000/portTICK_PERIOD_MS);
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}
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vTaskDelete(NULL);
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} // task_hmc5883l

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