static int es_read_reg(uint8_t reg_add, uint8_t *pData)
{
uint8_t data;
int res = 0;
i2c_cmd_handle_t cmd = i2c_cmd_link_create();
res |= i2c_master_start(cmd);
res |= i2c_master_write_byte(cmd, ES8388_ADDR, 1 /*ACK_CHECK_EN*/);
res |= i2c_master_write_byte(cmd, reg_add, 1 /*ACK_CHECK_EN*/);
res |= i2c_master_stop(cmd);
res |= i2c_master_cmd_begin(0, cmd, 1000 / portTICK_RATE_MS);
i2c_cmd_link_delete(cmd);
cmd = i2c_cmd_link_create();
res |= i2c_master_start(cmd);
res |= i2c_master_write_byte(cmd, ES8388_ADDR | 0x01, 1 /*ACK_CHECK_EN*/);
res |= i2c_master_read_byte(cmd, &data, 0x01/*NACK_VAL*/);
res |= i2c_master_stop(cmd);
res |= i2c_master_cmd_begin(0, cmd, 1000 / portTICK_RATE_MS);
i2c_cmd_link_delete(cmd);
ES_ASSERT(res, "es_read_reg error", -1);
*pData = data;
return res;
}
esp_err_t i2c_master_read(i2c_cmd_handle_t cmd_handle, uint8_t *data, size_t data_len, i2c_ack_type_t ack)
{
I2C_CHECK((data != NULL), I2C_ADDR_ERROR_STR, ESP_ERR_INVALID_ARG);
I2C_CHECK(cmd_handle != NULL, I2C_CMD_LINK_INIT_ERR_STR, ESP_ERR_INVALID_ARG);
I2C_CHECK(ack < I2C_MASTER_ACK_MAX, I2C_ACK_TYPE_ERR_STR, ESP_ERR_INVALID_ARG);
I2C_CHECK(data_len > 0, I2C_DATA_LEN_ERR_STR, ESP_ERR_INVALID_ARG);
if (ack != I2C_MASTER_LAST_NACK) {
return i2c_master_read_static(cmd_handle, data, data_len, ack);
} else {
if (data_len == 1) {
return i2c_master_read_byte(cmd_handle, data, I2C_MASTER_NACK);
} else {
esp_err_t ret;
// first read (data_len - 1) byte data with ACK,than read the end byte with NACK.
if ((ret = i2c_master_read_static(cmd_handle, data, data_len - 1, I2C_MASTER_ACK)) != ESP_OK) {
return ret;
}
return i2c_master_read_byte(cmd_handle, data + data_len - 1, I2C_MASTER_NACK);
}
}
}
int i2c_write_read(uint8_t stop, uint8_t slave, uint8_t rsize, uint8_t *rbuf, uint8_t wsize, uint8_t *wbuf)
{
if (rsize == 0 && wsize == 0) {
return ESP_OK;
}
i2c_cmd_handle_t cmd;
cmd = i2c_cmd_link_create();
i2c_master_start(cmd);
if (wsize) {
i2c_master_write_byte(cmd, ( slave << 1 ) | I2C_MASTER_WRITE, ACK_CHECK);
i2c_master_write(cmd, wbuf, wsize, ACK_CHECK);
if (!rsize) {
i2c_master_stop(cmd); \
esp_err_t ret = i2c_master_cmd_begin(I2C_NUM, cmd, 1000 / portTICK_RATE_MS); \
i2c_cmd_link_delete(cmd);
// I2C_FINISH;
return ret;
}
if (stop) { // rsize is nonzero
i2c_master_stop(cmd); \
esp_err_t ret = i2c_master_cmd_begin(I2C_NUM, cmd, 1000 / portTICK_RATE_MS); \
i2c_cmd_link_delete(cmd);
// I2C_FINISH;
if (ret)
return -1;
cmd = i2c_cmd_link_create();
i2c_master_start(cmd);
} else {
i2c_master_start(cmd);
}
i2c_master_write_byte(cmd, ( slave << 1 ) | I2C_MASTER_READ, ACK_CHECK);
} else {
// rsize must be nonzero because of the initial check at the top
i2c_master_write_byte(cmd, ( slave << 1 ) | I2C_MASTER_READ, ACK_CHECK);
}
if (rsize > 1) {
i2c_master_read(cmd, rbuf, rsize - 1, ACK_VAL);
}
i2c_master_read_byte(cmd, rbuf + rsize - 1, NACK_VAL);
I2C_FINISH;
return ret;
}
void task_hmc5883l(void *ignore) {
ESP_LOGD(tag, ">> hmc5883l");
i2c_config_t conf;
conf.mode = I2C_MODE_MASTER;
conf.sda_io_num = PIN_SDA;
conf.scl_io_num = PIN_CLK;
conf.sda_pullup_en = GPIO_PULLUP_ENABLE;
conf.scl_pullup_en = GPIO_PULLUP_ENABLE;
conf.master.clk_speed = 100000;
ESP_ERROR_CHECK(i2c_param_config(I2C_NUM_0, &conf));
ESP_ERROR_CHECK(i2c_driver_install(I2C_NUM_0, I2C_MODE_MASTER, 0, 0, 0));
uint8_t data[6];
i2c_cmd_handle_t cmd = i2c_cmd_link_create();
i2c_master_start(cmd);
i2c_master_write_byte(cmd, (I2C_ADDRESS << 1) | I2C_MASTER_WRITE, 1);
i2c_master_write_byte(cmd, 0x02, 1); // 0x02 = "Mode register"
i2c_master_write_byte(cmd, 0x00, 1); // 0x00 = "Continuous-Measurement Mode"
i2c_master_stop(cmd);
i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000/portTICK_PERIOD_MS);
i2c_cmd_link_delete(cmd);
//Set value in "Configuration Register B"
cmd = i2c_cmd_link_create();
i2c_master_start(cmd);
i2c_master_write_byte(cmd, (I2C_ADDRESS << 1) | I2C_MASTER_WRITE, 1);
i2c_master_write_byte(cmd, 0x01, 1); // 0x01 = "Configuration Register B"
i2c_master_write_byte(cmd, 0x20, 1); // 0x20 = default Gain setting
i2c_master_stop(cmd);
i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000/portTICK_PERIOD_MS);
i2c_cmd_link_delete(cmd);
//Set active register to "Identification Register A"
cmd = i2c_cmd_link_create();
ESP_ERROR_CHECK(i2c_master_start(cmd));
ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (I2C_ADDRESS << 1) | I2C_MASTER_WRITE, 1));
ESP_ERROR_CHECK(i2c_master_write_byte(cmd, 10, 1)); //10 = 0x0A = "Identification Register A"
ESP_ERROR_CHECK(i2c_master_stop(cmd));
ESP_ERROR_CHECK(i2c_master_cmd_begin(I2C_NUM_0, cmd, 100/portTICK_PERIOD_MS));
i2c_cmd_link_delete(cmd);
//Get data from Identification Register A, B and C
cmd = i2c_cmd_link_create();
ESP_ERROR_CHECK(i2c_master_start(cmd));
ESP_ERROR_CHECK(i2c_master_write_byte(cmd, (I2C_ADDRESS << 1) | I2C_MASTER_READ, 1));
i2c_master_read_byte(cmd, data, 0);
i2c_master_read_byte(cmd, data+1, 0);
i2c_master_read_byte(cmd, data+2, 1);
ESP_ERROR_CHECK(i2c_master_stop(cmd));
ESP_ERROR_CHECK(i2c_master_cmd_begin(I2C_NUM_0, cmd, 100/portTICK_PERIOD_MS));
i2c_cmd_link_delete(cmd);
while(1) {
//Set active registert to "Data Output X MSB Register"
cmd = i2c_cmd_link_create();
i2c_master_start(cmd);
i2c_master_write_byte(cmd, (I2C_ADDRESS << 1) | I2C_MASTER_WRITE, 1);
i2c_master_write_byte(cmd, 0x03, 1); //0x03 = "Data Output X MSB Register"
i2c_master_stop(cmd);
i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000/portTICK_PERIOD_MS);
i2c_cmd_link_delete(cmd);
//Read values for X, Y and Z
cmd = i2c_cmd_link_create();
i2c_master_start(cmd);
i2c_master_write_byte(cmd, (I2C_ADDRESS << 1) | I2C_MASTER_READ, 1);
i2c_master_read_byte(cmd, data, 0); //"Data Output X MSB Register"
i2c_master_read_byte(cmd, data+1, 0); //"Data Output X LSB Register"
i2c_master_read_byte(cmd, data+2, 0); //"Data Output Z MSB Register"
i2c_master_read_byte(cmd, data+3, 0); //"Data Output Z LSB Register"
i2c_master_read_byte(cmd, data+4, 0); //"Data Output Y MSB Register"
i2c_master_read_byte(cmd, data+5, 1); //"Data Output Y LSB Register "
i2c_master_stop(cmd);
i2c_master_cmd_begin(I2C_NUM_0, cmd, 1000/portTICK_PERIOD_MS);
i2c_cmd_link_delete(cmd);
short x = data[0] << 8 | data[1];
short z = data[2] << 8 | data[3];
short y = data[4] << 8 | data[5];
int angle = atan2((double)y,(double)x) * (180 / 3.14159265) + 180; // angle in degrees
ESP_LOGD(tag, "angle: %d, x: %d, y: %d, z: %d", angle, x, y, z);
vTaskDelay(1000/portTICK_PERIOD_MS);
}
vTaskDelete(NULL);
} // task_hmc5883l
