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Mar 1, 2017
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29 changes: 17 additions & 12 deletions hardware/compass/hmc5883l.c
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Original file line number Diff line number Diff line change
Expand Up @@ -32,29 +32,32 @@ void task_hmc5883l(void *ignore) {
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); // Mode register
i2c_master_write_byte(cmd, 0x00, 1); // value 0
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); // Mode register
i2c_master_write_byte(cmd, 0x20, 1); // value 0
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)); // Data registers
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));
Expand All @@ -66,23 +69,25 @@ void task_hmc5883l(void *ignore) {
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); // Data registers
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);
i2c_master_read_byte(cmd, data+1, 0);
i2c_master_read_byte(cmd, data+2, 0);
i2c_master_read_byte(cmd, data+3, 0);
i2c_master_read_byte(cmd, data+4, 0);
i2c_master_read_byte(cmd, data+5, 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);
Expand Down