From 65655aa78e762da40a39587078a9715c99d8eecc Mon Sep 17 00:00:00 2001 From: Niklas Kapelle Date: Mon, 9 Feb 2026 14:16:46 +0100 Subject: [PATCH] initial commit --- .gitignore | 1 + Cargo.lock | 80 ++ Cargo.toml | 15 + README.md | 7 + example/rp2040_embassy/.cargo/config.toml | 8 + example/rp2040_embassy/.gitignore | 1 + example/rp2040_embassy/Cargo.lock | 1437 +++++++++++++++++++++ example/rp2040_embassy/Cargo.toml | 23 + example/rp2040_embassy/build.rs | 21 + example/rp2040_embassy/memory.x | 5 + example/rp2040_embassy/src/main.rs | 76 ++ src/lib.rs | 405 ++++++ 12 files changed, 2079 insertions(+) create mode 100644 .gitignore create mode 100644 Cargo.lock create mode 100644 Cargo.toml create mode 100644 README.md create mode 100644 example/rp2040_embassy/.cargo/config.toml create mode 100644 example/rp2040_embassy/.gitignore create mode 100644 example/rp2040_embassy/Cargo.lock create mode 100644 example/rp2040_embassy/Cargo.toml create mode 100644 example/rp2040_embassy/build.rs create mode 100644 example/rp2040_embassy/memory.x create mode 100644 example/rp2040_embassy/src/main.rs create mode 100644 src/lib.rs diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..ea8c4bf --- /dev/null +++ b/.gitignore @@ -0,0 +1 @@ +/target diff --git a/Cargo.lock b/Cargo.lock new file mode 100644 index 0000000..4a1d503 --- /dev/null +++ b/Cargo.lock @@ -0,0 +1,80 @@ +# This file is automatically @generated by Cargo. +# It is not intended for manual editing. +version = 4 + +[[package]] +name = "bitflags" +version = "2.10.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "812e12b5285cc515a9c72a5c1d3b6d46a19dac5acfef5265968c166106e31dd3" + +[[package]] +name = "embedded-hal" +version = "1.0.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "361a90feb7004eca4019fb28352a9465666b24f840f5c3cddf0ff13920590b89" + +[[package]] +name = "embedded-hal-async" +version = "1.0.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0c4c685bbef7fe13c3c6dd4da26841ed3980ef33e841cddfa15ce8a8fb3f1884" +dependencies = [ + "embedded-hal", +] + +[[package]] +name = "maybe-async" +version = "0.2.10" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "5cf92c10c7e361d6b99666ec1c6f9805b0bea2c3bd8c78dc6fe98ac5bd78db11" +dependencies = [ + "proc-macro2", + "quote", + "syn", +] + +[[package]] +name = "mmc56x3" +version = "0.1.0" +dependencies = [ + "bitflags", + "embedded-hal", + "embedded-hal-async", + "maybe-async", +] + +[[package]] +name = "proc-macro2" +version = "1.0.106" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "8fd00f0bb2e90d81d1044c2b32617f68fcb9fa3bb7640c23e9c748e53fb30934" +dependencies = [ + "unicode-ident", +] + +[[package]] +name = "quote" +version = "1.0.44" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "21b2ebcf727b7760c461f091f9f0f539b77b8e87f2fd88131e7f1b433b3cece4" +dependencies = [ + "proc-macro2", +] + +[[package]] +name = "syn" +version = "2.0.114" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d4d107df263a3013ef9b1879b0df87d706ff80f65a86ea879bd9c31f9b307c2a" +dependencies = [ + "proc-macro2", + "quote", + "unicode-ident", +] + +[[package]] +name = "unicode-ident" +version = "1.0.23" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "537dd038a89878be9b64dd4bd1b260315c1bb94f4d784956b81e27a088d9a09e" diff --git a/Cargo.toml b/Cargo.toml new file mode 100644 index 0000000..7b2816a --- /dev/null +++ b/Cargo.toml @@ -0,0 +1,15 @@ +[package] +name = "mmc56x3" +version = "0.1.0" +edition = "2024" + +[dependencies] +embedded-hal-async = { version = "1.0.0" } +maybe-async = { version = "0.2.10" } +embedded-hal = { version = "1.0.0", optional = true } +bitflags = { version = "2.10.0", default-features = false } + + +[features] +sync = ["embedded-hal", "maybe-async/is_sync"] + diff --git a/README.md b/README.md new file mode 100644 index 0000000..6b35660 --- /dev/null +++ b/README.md @@ -0,0 +1,7 @@ +A Rust driver for the [MMC56X3](https://www.adafruit.com/product/5579) Triple-axis Magnetometer. + +Based on the [arduino driver](https://github.com/adafruit/Adafruit_MMC56x3). + +# Usage + +See [examples](./example). 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features = ["log"] } + +cortex-m = { version = "0.7.7", features = ["inline-asm"] } +cortex-m-rt = "0.7.5" +critical-section = "1.2.0" +heapless = "0.9.2" + +log = "0.4" + +mmc56x3 = { path = "../../" } diff --git a/example/rp2040_embassy/build.rs b/example/rp2040_embassy/build.rs new file mode 100644 index 0000000..5492f32 --- /dev/null +++ b/example/rp2040_embassy/build.rs @@ -0,0 +1,21 @@ +use std::env; +use std::fs::File; +use std::io::Write; +use std::path::PathBuf; + +fn main() { + // Put `memory.x` in our output directory and ensure it's + // on the linker search path. + let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap()); + File::create(out.join("memory.x")) + .unwrap() + .write_all(include_bytes!("memory.x")) + .unwrap(); + println!("cargo:rustc-link-search={}", out.display()); + + println!("cargo:rerun-if-changed=memory.x"); + + println!("cargo:rustc-link-arg-bins=--nmagic"); + println!("cargo:rustc-link-arg-bins=-Tlink.x"); + println!("cargo:rustc-link-arg-bins=-Tlink-rp.x"); +} diff --git a/example/rp2040_embassy/memory.x b/example/rp2040_embassy/memory.x new file mode 100644 index 0000000..6ed9849 --- /dev/null +++ b/example/rp2040_embassy/memory.x @@ -0,0 +1,5 @@ +MEMORY { + BOOT2 : ORIGIN = 0x10000000, LENGTH = 0x100 + FLASH : ORIGIN = 0x10000100, LENGTH = 2048K - 0x100 + RAM : ORIGIN = 0x20000000, LENGTH = 264K +} diff --git a/example/rp2040_embassy/src/main.rs b/example/rp2040_embassy/src/main.rs new file mode 100644 index 0000000..17c022f --- /dev/null +++ b/example/rp2040_embassy/src/main.rs @@ -0,0 +1,76 @@ +#![no_std] +#![no_main] + +use embassy_executor::Spawner; +use embassy_rp::{ + bind_interrupts, + i2c::{self, I2c}, + peripherals::{self, USB}, + usb::Driver, +}; +use embassy_time::{Delay, Timer}; +use log::{error, info}; +use mmc56x3::MMC56X3; + +#[panic_handler] +fn panic(info: &core::panic::PanicInfo) -> ! { + for _ in 0..20 { + error!("PANIC: {info}"); + } + info!("Doing cold boot from panic"); + embassy_rp::rom_data::reset_to_usb_boot(0, 0); + + loop {} +} + +bind_interrupts!(struct Irqs { + USBCTRL_IRQ => embassy_rp::usb::InterruptHandler; + I2C0_IRQ => i2c::InterruptHandler; +}); + +#[embassy_executor::task] +async fn logger_task(driver: Driver<'static, USB>) { + embassy_usb_logger::run!(1024, log::LevelFilter::Info, driver); +} + +#[embassy_executor::main] +async fn main(spawner: Spawner) { + let p = embassy_rp::init(Default::default()); + + let driver = Driver::new(p.USB, Irqs); + spawner.must_spawn(logger_task(driver)); + + let sda = p.PIN_4; + let scl = p.PIN_5; + + let i2c = I2c::new_async(p.I2C0, scl, sda, Irqs, i2c::Config::default()); + + let mut device = MMC56X3::new(i2c, Delay); + device.init().await.expect("Failed to init"); + + device + .set_data_rate(mmc56x3::DataRate::Hz(100)) + .await + .expect("Failed to set data rate"); + + device + .set_continuous_mode(true) + .await + .expect("Failed to set continuous mode"); + + for _ in 0..20 { + Timer::after_secs(1).await; + + // let result = device.read_temperature().await; + // device.trigger_messurement().await.expect("Failed to trigger trigger_messurement"); + + match device.read_messurement().await { + Ok(d) => info!("Got: {:?}", d), + Err(e) => error!("Error: {:?}", e), + } + } + + info!("Doing cold boot"); + Timer::after_secs(1).await; + embassy_rp::rom_data::reset_to_usb_boot(0, 0); +} diff --git a/src/lib.rs b/src/lib.rs new file mode 100644 index 0000000..811be87 --- /dev/null +++ b/src/lib.rs @@ -0,0 +1,405 @@ +#![no_std] + +#[cfg(feature = "sync")] +use embedded_hal::i2c::{self}; + +use embedded_hal_async::delay::DelayNs; +#[cfg(not(feature = "sync"))] +use embedded_hal_async::i2c::{self}; + +use bitflags::bitflags; + +const REG_XOUT_0: u8 = 0x00; +const REG_XOUT_1: u8 = 0x01; +const REG_YOUT_0: u8 = 0x02; +const REG_YOUT_1: u8 = 0x03; +const REG_ZOUT_0: u8 = 0x04; +const REG_ZOUT_1: u8 = 0x05; +const REG_XOUT_2: u8 = 0x06; +const REG_YOUT_2: u8 = 0x07; +const REG_ZOUT_2: u8 = 0x08; +const REG_TOUT: u8 = 0x09; +const REG_STATUS1: u8 = 0x18; +const REG_ODR: u8 = 0x1A; +const REG_CONTROL0: u8 = 0x1B; +const REG_CONTROL1: u8 = 0x1C; +const REG_CONTROL2: u8 = 0x1D; +const REG_PRODUCT_ID: u8 = 0x39; + +const DEFAULT_ADDRESS: u8 = 0x30; + +const DEVICE_ID: u8 = 0x10; + +bitflags! { + /// Flags for status_1 register + #[derive(Debug, Clone, Copy, PartialEq, Eq)] + struct StatusRegisterFlags: u8 { + /// This bit is an indicator of successfully reading its OTP memory either as part of its power up + /// sequence, or after an I2C command that reloads the OTP memory, such as resetting the chip + /// and refreshing the OTP registers + const OTP_READ_DONE = 0b0001_0000; + + /// This bit is an indicator of the selftest signal, it keeps low once the device PASS selftest. + const SAT_SENSOR = 0b0010_0000; + + /// This bit indicates that a measurement of magnetic field is done and the data is ready to be + /// read. This bit is reset only when any of the magnetic data registers is read. + const MESSUREMENT_M_DONE = 0b0100_0000; + + /// This bit indicates that a measurement of temperature is done and the data is ready to be read. + /// This bit is reset only when the temperature register is read. + const MESSUREMENT_T_DONE = 0b1000_0000; + } +} + +bitflags! { + /// Flags for the control 0 register + #[derive(Debug, Clone, Copy, PartialEq, Eq)] + struct Control0RegisterFlags: u8 { + /// Take Measure of Magnetic field, or TM_M bit. Writing a 1 into this location causes the chip to + /// perform a magnetic measurement. This bit is self-clearing at the end of each measurement. + const TAKE_MESSUREMENT_M = 0b0000_0001; + + /// Take Measure of Temperature, or TM_T bit. Writing a 1 into this location causes the chip to + /// perform a temperature measurement. This bit is self-clearing at the end of each measurement. + const TAKE_MESSUREMENT_T = 0b0000_0010; + + /// Writing a 1 into this location will cause the chip to do the Set operation, which will allow large set + /// current to flow through the sensor coils for 375ns. This bit is self-cleared at the end of Set operation. + const DO_SET = 0b0000_1000; + + /// Writing a 1 into this location will cause the chip to do the Reset operation, which will allow large + /// reset current to flow through the sensor coils for 375ns. This bit is self-cleared at the end of Reset operation. + const DO_RESET = 0b0001_0000; + + /// Writing a 1 into this location will enable the function of automatic set/reset. This function applies + /// to both on-demand and continuous-time measurements. This bit must be set to 1 in order to + /// activate the feature of periodic set. This bit is recommended to set to “1” in the application. + const AUTO_SET_RESET_EN = 0b0010_0000; + + /// Writing a 1 into this location will enable the function of automatic self-test. The threshold in + /// register 1EH, 1FH, 20H should be set before this bit is set to 1. This bit clears itself after the + /// operation is completed. + const AUTO_SELF_TEST_EN = 0b0100_0000; + + /// Writing a 1 into this location will start the calculation of the measurement period according to the + /// ODR. This bit should be set before continuous-mode measurements are started. This bit is self- + /// cleared after the measurement period is calculated by internal circuits. + const CMM_FRE_EN = 0b1000_0000; + } +} + +bitflags! { + /// Flags for the control 1 register + #[derive(Debug, Clone, Copy, PartialEq, Eq)] + struct Control1RegisterFlags: u8 { + const BANDWIDTH_0 = 0b0000_0001; + const BANDWIDTH_1 = 0b0000_0010; + + /// Writing “1” will disable this channel, and reduce Measurement Time and total charge per + /// measurement.When a channel is disabled it is simply skipped during Take Measure routine. Its + /// output register is not reset and will maintain the last value written to it when this channel was + /// active. + const X_INHIBI = 0b0000_0100; + + /// Writing “1” will disable this channel, and reduce Measurement Time and total charge per + /// measurement.When a channel is disabled it is simply skipped during Take Measure routine. Its + /// output register is not reset and will maintain the last value written to it when this channel was + /// active. Note: Y/Z needs to be inhibited the same time in case needed. + const Y_INHIBIT = 0b0000_1000; + + /// Writing “1” will disable this channel, and reduce Measurement Time and total charge per + /// measurement.When a channel is disabled it is simply skipped during Take Measure routine. Its + /// output register is not reset and will maintain the last value written to it when this channel was + /// active. Note: Y/Z needs to be inhibited the same time in case needed. + const Z_INHIBIT = 0b0001_0000; + + /// Writing 1 into this location will bring a DC current through the self-test coil of the sensor. This + /// current will cause an offset of the magnetic field. This function is used to check whether the + /// sensor has been saturated. + const ST_ENP = 0b0010_0000; + + /// The function of this bit is similar to ST_ENP, but the offset of the magnetic field is of opposite + /// polarity. + const ST_ENM = 0b0100_0000; + + /// Software Reset. Writing “1”will cause the part to reset, similar to power-up. It will clear all registers + /// and also re-read OTP as part of its startup routine. The power on time is 20mS + const SW_RESET = 0b1000_0000; + } +} + +bitflags! { + /// Flags for the control 2 register + #[derive(Debug, Clone, Copy, PartialEq, Eq)] + struct Control2RegisterFlags: u8 { + const PDR_0 = 0b0000_0001; + const PDR_1 = 0b0000_0010; + const PDR_2 = 0b0000_0100; + + /// Writing 1 into this location will enable the function of periodical set. + const EN_PRD_SET = 0b0000_1000; + + /// The device will enter continuous mode, if ODR has been set to a non-zero value and a 1 has + /// been written into Cmm_freq_en. The internal counter will start counting as well since this bit + /// is set. + const CMM_EN = 0b0001_0000; + + /// If this bit is set to 1 to achieve 1000Hz ODR. + const HPOWER = 0b1000_0000; + } +} + +#[derive(Debug, Clone, Copy)] +pub struct MagneticMessurement { + /// X-Axis in µT + pub x: f32, + + /// Y-Axis in µT + pub y: f32, + + /// Z-Axis in µT + pub z: f32, +} + +/// At what rate +pub enum DataRate { + Hz(u8), + Max1000Hz, +} + +#[derive(Debug)] +pub enum Error { + I2c(E), + Timeout, + NotAvailableInContinuousMode, +} + +impl From for Error { + fn from(e: E) -> Self { + Error::I2c(e) + } +} + +/// The MMC56X3 sensor +pub struct MMC56X3 +where + I: i2c::I2c, + D: DelayNs, +{ + i2c: I, + delay: D, + is_continuous_mode: bool, +} + +impl MMC56X3 +where + I: i2c::I2c, + D: DelayNs, +{ + pub fn new(i2c: I, delay: D) -> Self { + Self { + i2c, + delay, + is_continuous_mode: false, + } + } + + pub async fn init(&mut self) -> Result<(), Error> { + self.reset().await?; + + Ok(()) + } + + /// Resets the sensor to an initial state + pub async fn reset(&mut self) -> Result<(), Error> { + self.write_reg_controll_1(Control1RegisterFlags::SW_RESET) + .await?; + self.delay.delay_ms(20).await; // According to the datasheet power on time is 20ms + + self.magnet_set_reset().await?; + self.set_continuous_mode(false).await?; + + Ok(()) + } + + /// Pulse large currents through the sense coils to clear any offset + pub async fn magnet_set_reset(&mut self) -> Result<(), Error> { + self.write_reg_controll_0(Control0RegisterFlags::DO_SET) + .await?; + self.delay.delay_ns(375).await; // According to the datasheet this is how long it takes. + self.write_reg_controll_0(Control0RegisterFlags::empty()) + .await?; + Ok(()) + } + + pub async fn set_continuous_mode(&mut self, enable: bool) -> Result<(), Error> { + if enable { + self.write_reg_controll_0(Control0RegisterFlags::CMM_FRE_EN) + .await?; + self.write_reg_controll_2(Control2RegisterFlags::CMM_EN) + .await?; + self.is_continuous_mode = true; + } else { + self.write_reg_controll_2(Control2RegisterFlags::empty()) + .await?; + self.is_continuous_mode = false; + } + + Ok(()) + } + + pub async fn set_data_rate(&mut self, rate: DataRate) -> Result<(), Error> { + match rate { + DataRate::Hz(hz) => { + self.write_reg_odr(hz).await?; + self.write_reg_controll_2(Control2RegisterFlags::empty()) + .await?; + Ok(()) + } + DataRate::Max1000Hz => { + self.write_reg_odr(255).await?; + self.write_reg_controll_2(Control2RegisterFlags::HPOWER) + .await?; + Ok(()) + } + } + } + + /// Read temperature in Celcius with steps of 0.8 C + pub async fn read_temperature(&mut self) -> Result> { + if self.is_continuous_mode { + return Err(Error::NotAvailableInContinuousMode); + } + + self.write_reg_controll_0(Control0RegisterFlags::TAKE_MESSUREMENT_T) + .await?; + + self.wait_for_status_flag(StatusRegisterFlags::MESSUREMENT_T_DONE) + .await?; + + let t_out = self.read_reg_temperature().await?; + + // The start of the temperature range starts a -75c + let temperature = -75.0 + (t_out as f32 * 0.8); + + Ok(temperature) + } + + pub async fn read_messurement(&mut self) -> Result> { + let mut data = [0u8; 9]; + self.read_registers(REG_XOUT_0, &mut data).await?; + + let x = ((data[0] as u32) << 12) | ((data[1] as u32) << 4) | ((data[6] as u32) >> 4); + let y = ((data[2] as u32) << 12) | ((data[3] as u32) << 4) | ((data[7] as u32) >> 4); + let z = ((data[4] as u32) << 12) | ((data[5] as u32) << 4) | ((data[8] as u32) >> 4); + + const OFFSET: u32 = 1 << 19; + + let x = x.wrapping_sub(OFFSET) as i32; + let y = y.wrapping_sub(OFFSET) as i32; + let z = z.wrapping_sub(OFFSET) as i32; + + // Apply resolution. At 20 Bit mode. + const RESOLUTION: f32 = 0.00625; + + let fx: f32 = x as f32 * RESOLUTION; + let fy: f32 = y as f32 * RESOLUTION; + let fz: f32 = z as f32 * RESOLUTION; + + Ok(MagneticMessurement { + x: fx, + y: fy, + z: fz, + }) + } + + pub async fn trigger_messurement(&mut self) -> Result<(), Error> { + self.write_reg_controll_0(Control0RegisterFlags::TAKE_MESSUREMENT_M) + .await?; + + self.wait_for_status_flag(StatusRegisterFlags::MESSUREMENT_M_DONE) + .await + } + + #[inline(always)] + pub async fn read_product_id(&mut self) -> Result> { + self.read_register(REG_PRODUCT_ID).await + } + + async fn wait_for_status_flag( + &mut self, + flag: StatusRegisterFlags, + ) -> Result<(), Error> { + for _ in 0..300 { + let status = self.read_reg_status().await?; + if status.contains(flag) { + return Ok(()); + } + self.delay.delay_ms(5).await; + } + + Err(Error::Timeout) + } + + #[inline(always)] + async fn read_reg_temperature(&mut self) -> Result> { + self.read_register(REG_TOUT).await + } + + #[inline(always)] + async fn read_reg_status(&mut self) -> Result> { + Ok(StatusRegisterFlags::from_bits_truncate( + self.read_register(REG_STATUS1).await?, + )) + } + + #[inline(always)] + async fn write_reg_odr(&mut self, data: u8) -> Result<(), Error> { + self.write_register(REG_ODR, data).await + } + + #[inline(always)] + async fn write_reg_controll_0( + &mut self, + value: Control0RegisterFlags, + ) -> Result<(), Error> { + self.write_register(REG_CONTROL0, value.bits()).await + } + + #[inline(always)] + async fn write_reg_controll_1( + &mut self, + value: Control1RegisterFlags, + ) -> Result<(), Error> { + self.write_register(REG_CONTROL1, value.bits()).await + } + + #[inline(always)] + async fn write_reg_controll_2( + &mut self, + value: Control2RegisterFlags, + ) -> Result<(), Error> { + self.write_register(REG_CONTROL2, value.bits()).await + } + + #[inline(always)] + async fn write_register(&mut self, reg: u8, value: u8) -> Result<(), Error> { + self.i2c.write(DEFAULT_ADDRESS, &[reg, value]).await?; + Ok(()) + } + + async fn read_register(&mut self, reg: u8) -> Result> { + let mut data = [0u8; 1]; + self.i2c + .write_read(DEFAULT_ADDRESS, &[reg], &mut data) + .await?; + Ok(data[0]) + } + + #[inline(always)] + async fn read_registers(&mut self, reg: u8, buffer: &mut [u8]) -> Result<(), Error> { + self.i2c.write_read(DEFAULT_ADDRESS, &[reg], buffer).await?; + Ok(()) + } +}