MMC5603NJ地磁传感器（指南针示例）

怼烎@ 2022-09-09 01:57 652阅读 0赞

**目录**

概述

一、原理图

二、平台

三、编码

四、运行结果

五、总结

--------------------

## 概述 ##

最近项目上的需要，增加指南针功能，通过网上搜索得知，这个传感器的资料比较少，在此写了一个Demo，希望能帮助到需要的攻城狮们，一起学习一起探讨，加油 加油 加油！

## 一、原理图 ##

![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAQ2hfY2hhbXBpb24_size_11_color_FFFFFF_t_70_g_se_x_16][]

## 二、平台 ##

1、keil5.29

2、RTL8762D（瑞昱 蓝牙芯片）

## 三、编码 ##

1、mmc5603nj.h文件

/* Define to prevent recursive inclusion -------------------------------------*/
    #ifndef __MMC5603NJ_H__
    #define __MMC5603NJ_H__
    #include "stdint.h"
    
    #define MMC5603_7BITI2C_ADDRESS		0x30
    
    #define MMC5603_REG_DATA			0x00
    #define MMC5603_REG_XL				0x00
    #define MMC5603_REG_XH				0x01
    #define MMC5603_REG_YL				0x02
    #define MMC5603_REG_YH				0x03
    #define MMC5603_REG_ZL				0x04
    #define MMC5603_REG_ZH				0x05
    
    #define MMC5603_REG_STATUS1			0x18
    #define MMC5603_REG_STATUS0			0x19
    
    #define MMC5603_REG_ODR				0x1A
    #define MMC5603_REG_CTRL0			0x1B
    #define MMC5603_REG_CTRL1			0x1C
    #define MMC5603_REG_CTRL2			0x1D
    
    #define MMC5603_REG_X_THD			0x1E
    #define MMC5603_REG_Y_THD			0x1F
    #define MMC5603_REG_Z_THD			0x20
    
    #define MMC5603_REG_ST_X_VAL		0x27
    #define MMC5603_REG_ST_Y_VAL		0x28
    #define MMC5603_REG_ST_Z_VAL		0x29
    
    #define MMC5603_REG_PRODUCTID1		0x39
    
    /* Bit definition for control register ODR 0x1A */
    #define MMC5603_CMD_ODR_1HZ			0x01
    #define MMC5603_CMD_ODR_5HZ			0x05
    #define MMC5603_CMD_ODR_10HZ		0x0A
    #define MMC5603_CMD_ODR_50HZ		0x32
    #define MMC5603_CMD_ODR_100HZ		0x64
    #define MMC5603_CMD_ODR_200HZ		0xC8
    #define MMC5603_CMD_ODR_255HZ		0xFF
    
    /* Bit definition for control register 0 0x1B */
    #define MMC5603_CMD_TMM				0x01
    #define MMC5603_CMD_TMT         	0x02
    #define MMC5603_CMD_START_MDT		0x04
    #define MMC5603_CMD_SET				0x08
    #define MMC5603_CMD_RESET			0x10
    #define MMC5603_CMD_AUTO_SR_EN		0x20
    #define MMC5603_CMD_AUTO_ST_EN		0x40
    #define MMC5603_CMD_CMM_FREQ_EN		0x80
    
    /* Bit definition for control register 1 0x1C */
    #define MMC5603_CMD_BW00			0x00
    #define MMC5603_CMD_BW01			0x01
    #define MMC5603_CMD_BW10			0x02
    #define MMC5603_CMD_BW11			0x03
    #define MMC5603_CMD_ST_ENP			0x20
    #define MMC5603_CMD_ST_ENM			0x40
    #define MMC5603_CMD_SW_RST			0x80
    
    /* Bit definition for control register 2 0x1D */
    #define MMC5603_CMD_PART_SET1		0x00
    #define MMC5603_CMD_PART_SET25		0x01
    #define MMC5603_CMD_PART_SET75		0x02
    #define MMC5603_CMD_PART_SET100		0x03
    #define MMC5603_CMD_PART_SET250		0x04
    #define MMC5603_CMD_PART_SET500		0x05
    #define MMC5603_CMD_PART_SET1000	0x06
    #define MMC5603_CMD_PART_SET2000	0x07
    #define MMC5603_CMD_EN_PART_SET		0x08
    #define MMC5603_CMD_CMM_EN			0x10
    #define MMC5603_CMD_INT_MDT_EN		0x20
    #define MMC5603_CMD_INT_MD_EN		0x40
    #define MMC5603_CMD_HPOWER			0x80
    
    #define MMC5603_PRODUCT_ID			0x10
    #define MMC5603_MM_DONE_INT			0x01
    #define MMC5603_MT_DONE_INT			0x02
    #define MMC5603_MDT_FLAG_INT		0x04
    #define MMC5603_ST_FAIL_INT			0x08
    #define MMC5603_OTP_READ_DONE		0x10
    #define MMC5603_SAT_SENSOR			0x20
    #define MMC5603_MM_DONE				0x40
    #define MMC5603_MT_DONE				0x80
    
    // 16-bit mode, null field output (32768)
    #define	MMC5603_16BIT_OFFSET		32768
    #define	MMC5603_16BIT_SENSITIVITY	1024
    
    
    
    
    
    void MMC5603_Enable(void);
    uint8_t mmc5603nj_bpm_algo_handler(void);
    
    #endif /* __MMC5603NJ_IIC__H__ */
    
    /******************* (C) COPYRIGHT 2012 STMicroelectronics *****END OF FILE****/

2、mmc5603nj.c文件

/*********************************************************************************************************
    *               Copyright(c) 2018, Realtek Semiconductor Corporation. All rights reserved.
    **********************************************************************************************************
    * @file     mmc5603nj.c
    * @brief
    * @details
    * @author
    * @date
    * @version  v0.1
    *********************************************************************************************************
    */
    
    #include "trace.h"
    #include "rtl876x_spi.h"
    #include "rtl876x_i2c.h"
    #include "rtl876x_rcc.h"
    #include "rtl876x_gpio.h"
    #include "rtl876x_nvic.h"
    #include "board.h"
    #include "string.h"
    #include "hub_task.h"
    #include "os_sched.h"
    #include "os_timer.h"
    #include "SEGGER_RTT.h"
    #include "rtl876x_tim.h"
    #include "mmc5603nj.h"
    #include "math.h"
    
    
    #define GEOMAGNETISM_LOG_EN	(true)	
    #if (GEOMAGNETISM_LOG_EN == true)
    #include "stdio.h"
    #define GEOMAGNETISM_LOG		DBG_LOG
    #else
    #define HEART_LOG(...)
    #endif
    
    
    
    
    /* Indicate working mode of sensor */
    static uint8_t sensor_state = 1;
    
    /* Function declaration */
    
    /**
     * @brief Factory test mode
     */
    int MMC5603_Factory_Test_Mode(void);
    
    /**
     * @brief SET operation 
     */
    void MMC5603_SET(void);
    
    /**
     * @brief RESET operation 
     */
    void MMC5603_RESET(void);
    
    /**
     * @brief OTP read done check
     */
    int MMC5603_Check_OTP(void);
    
    /**
     * @brief Check Product ID
     */
    int MMC5603_CheckID(void);
    
    /**
     * @brief Auto self-test registers configuration
     */
    void MMC5603_Auto_SelfTest_Configuration(void);
    
    /**
     * @brief Auto self-test
     */
    int MMC5603_Auto_SelfTest(void);
    
    
    void mmc5603_Delay_ms(uint16_t delay_time)
    {
    	os_delay(delay_time);
    }
    
    uint8_t MMC5603_I2c_Write(uint8_t reg, uint8_t dat)
    {
    	uint8_t I2C_WriteBuf[2] = {0x0, 0x0};
        I2C_WriteBuf[0] = reg;
        I2C_WriteBuf[1] = dat;
        uint32_t time_out = SYSTEM_IIC_TIMEROUT;
        while ((I2C_GetFlagState(HRS_I2C_BUS, I2C_FLAG_TFE) == RESET) && (--time_out != 0));
    	time_out = SYSTEM_IIC_TIMEROUT;
        while ((I2C_GetFlagState(HRS_I2C_BUS, I2C_FLAG_MST_ACTIVITY) == SET) && (--time_out != 0));
        I2C_SetSlaveAddress(HRS_I2C_BUS, MMC5603_7BITI2C_ADDRESS);
        I2C_MasterWrite(HRS_I2C_BUS, I2C_WriteBuf, 2);
    	
    	if (time_out == 0) {
    		RtkWristbandSys.flag_field.i2c_bus_lock = true;
    	}
    	return 0;
    }
    
    uint8_t MMC5603_I2c_Read(uint8_t reg, uint8_t *buf, uint8_t len)
    {
    	uint8_t tmp_buffer[1] = {0};
    	uint32_t time_out = SYSTEM_IIC_TIMEROUT;
    	
    	tmp_buffer[0] = reg;
        while ((I2C_GetFlagState(HRS_I2C_BUS, I2C_FLAG_TFE) == RESET) && (--time_out != 0));
    	time_out = SYSTEM_IIC_TIMEROUT;
        while ((I2C_GetFlagState(HRS_I2C_BUS, I2C_FLAG_MST_ACTIVITY) == SET) && (--time_out != 0));
    	
    //	I2C_SetSlaveAddress(HRS_I2C_BUS, (MMC5603_7BITI2C_ADDRESS  | (0x01<<7)));
    	I2C_SetSlaveAddress(HRS_I2C_BUS, MMC5603_7BITI2C_ADDRESS);
    		
        I2C_Status ret = I2C_RepeatRead(HRS_I2C_BUS, tmp_buffer, 1, buf, len);
    	
    	if (time_out == 0) {
    		RtkWristbandSys.flag_field.i2c_bus_lock = true;
    	}
    	
    	if (ret != I2C_Success) {
    		return 1;
    	}
    	return 0;
    }
    
    uint8_t MMC5603_Write_Reg(uint8_t regAddr, uint8_t data)
    {
    	return MMC5603_I2c_Write(regAddr, data);
    }
    
    uint8_t MMC5603_Read_Reg(uint8_t regAddr, uint8_t *buf)
    {
    	return MMC5603_I2c_Read(regAddr, buf, 1);
    }
    
    uint8_t MMC5603_MultiRead_Reg(uint8_t regAddr, uint8_t *buf, uint16_t len)
    {
    	return MMC5603_I2c_Read(regAddr, buf, len);
    }
    
    
    /*********************************************************************************
    * decription: Factory test mode 
    *********************************************************************************/
    int MMC5603_Factory_Test_Mode(void)
    {
    	int i;
    	uint8_t data_reg[6] ={0};
    	uint16_t data_set[3] = {0};
    	uint16_t data_reset[3] = {0};	
    	uint32_t delta_data[3] = {0};
    	
    	const uint16_t thr_srst_low = 100;			
    	
    	/* Write reg 0x1D */
    	/* Set Cmm_en bit '0', Disable continuous mode */	
    	MMC5603_Write_Reg(MMC5603_REG_CTRL2, 0x00);
    	
    	mmc5603_Delay_ms(20);
    	
    	/* Write reg 0x1B */
    	/* Set Auto_SR_en bit '0', Disable the function of automatic set/reset */
    	MMC5603_Write_Reg(MMC5603_REG_CTRL0, 0x00);	
    	
    	/* Write reg 0x1C, Set BW<1:0> = 00 */
    	MMC5603_Write_Reg(MMC5603_REG_CTRL1, 0x00); 	
    				
    	/* Do RESET operation */
    	MMC5603_RESET();	
    	/* Write 0x01 to register 0x1B, set Take_meas_M bit '1' */
    	MMC5603_Write_Reg(MMC5603_REG_CTRL0, MMC5603_CMD_TMM);	
    	/* Delay 10 ms to finish the TM operation */
    	mmc5603_Delay_ms(10);		
    	/* Read register data */
    	MMC5603_MultiRead_Reg(MMC5603_REG_DATA, data_reg, 6);
    	/* Get high 16bits data */
    	data_reset[0] = (uint16_t)(data_reg[0] << 8 | data_reg[1]);	//X axis
    	data_reset[1] = (uint16_t)(data_reg[2] << 8 | data_reg[3]);	//Y axis		
    	data_reset[2] = (uint16_t)(data_reg[4] << 8 | data_reg[5]);	//Z axis 
    	
    	/* Do SET operation */
    	MMC5603_SET();	
    	/* Write 0x01 to register 0x1B, set Take_meas_M bit '1' */
    	MMC5603_Write_Reg(MMC5603_REG_CTRL0,MMC5603_CMD_TMM);	
    	/* Delay 10 ms to finish the TM operation */
    	mmc5603_Delay_ms(10);		
    	/* Read register data */
    	MMC5603_MultiRead_Reg(MMC5603_REG_DATA, data_reg, 6);
    	/* Get high 16bits data */
    	data_set[0] = (uint16_t)(data_reg[0] << 8 | data_reg[1]);	//X axis
    	data_set[1] = (uint16_t)(data_reg[2] << 8 | data_reg[3]);	//Y axis		
    	data_set[2] = (uint16_t)(data_reg[4] << 8 | data_reg[5]);	//Z axis 	
    	
    	for (i = 0; i < 3; i++) 
    	{
    		if(data_set[i] >= data_reset[i])
    			delta_data[i] = data_set[i] - data_reset[i];
    		else
    			delta_data[i] = data_reset[i] - data_set[i];
    	}
    	
    	/* If output < 100lsb, fail*/
    	if (delta_data[0]<thr_srst_low && delta_data[1]<thr_srst_low && delta_data[2]<thr_srst_low)
    		return -1;	// fail
    	
    	return 1;	//pass
    }
    
    /*********************************************************************************
    * decription: SET operation 
    *********************************************************************************/
    void MMC5603_SET(void)
    {	
    	/* Write 0x08 to register 0x1B, set SET bit high */
    	MMC5603_Write_Reg(MMC5603_REG_CTRL0, MMC5603_CMD_SET);	
    	
    	/* Delay to finish the SET operation */
    	mmc5603_Delay_ms(1);
    	
    	return;	
    }
    
    /*********************************************************************************
    * decription: RESET operation 
    *********************************************************************************/
    void MMC5603_RESET(void)
    {	
    	/* Write 0x10 to register 0x1B, set RESET bit high */
    	MMC5603_Write_Reg(MMC5603_REG_CTRL0, MMC5603_CMD_RESET);
    	
    	/* Delay to finish the RESET operation */
    	mmc5603_Delay_ms(1);
    	
    	return;	
    }
    
    /*********************************************************************************
    * decription: Product ID check
    *********************************************************************************/
    int MMC5603_CheckID(void)
    {
    	unsigned char pro_id = 0;
    	
    	/* Read register 0x39, check product ID */
    	MMC5603_Read_Reg(MMC5603_REG_PRODUCTID1, &pro_id);	
    	GEOMAGNETISM_LOG("pro_id:%d \n", pro_id);
    	if (pro_id != MMC5603_PRODUCT_ID)		
    		return -1;
    	
    	return 1;
    }
    
    /*********************************************************************************
    * decription: Auto self-test registers configuration
    *********************************************************************************/
    void MMC5603_Auto_SelfTest_Configuration(void)
    {
    	int i;
    	uint8_t reg_value[3];
    	int16_t st_thr_data[3]={0};
    	int16_t st_thr_new[3]={0};
    	
    	int16_t st_thd[3]={0};
    	uint8_t st_thd_reg[3];		
    
    	/* Read trim data from reg 0x27-0x29 */
    	MMC5603_MultiRead_Reg(MMC5603_REG_ST_X_VAL, reg_value, 3);	
    	for (i = 0; i < 3; i++)
    	{
    		st_thr_data[i] = (int16_t)(reg_value[i]-128)*32; 
    		if (st_thr_data[i]<0)
    			st_thr_data[i] = -st_thr_data[i];
    		st_thr_new[i] = st_thr_data[i]-st_thr_data[i]/5;
    		
    		st_thd[i] = st_thr_new[i]/8;
    		if (st_thd[i] > 255)
    			st_thd_reg[i] = 0xFF;
    		else
    			st_thd_reg[i] = (uint8_t)st_thd[i];
    	}
    	/* Write threshold into the reg 0x1E-0x20 */
    	MMC5603_Write_Reg(MMC5603_REG_X_THD, st_thd_reg[0]);
    	MMC5603_Write_Reg(MMC5603_REG_Y_THD, st_thd_reg[1]);
    	MMC5603_Write_Reg(MMC5603_REG_Z_THD, st_thd_reg[2]);
    	
    	return;
    }
    
    /*********************************************************************************
    * decription: Auto self-test
    *********************************************************************************/
    int MMC5603_Auto_SelfTest(void)
    {
    	uint8_t reg_status = 0;
    	
    	/* Write 0x40 to register 0x1B, set Auto_st_en bit high */
    	MMC5603_Write_Reg(MMC5603_REG_CTRL0, MMC5603_CMD_AUTO_ST_EN);
    	
    	/* Delay 15ms to finish the selftest process */
    	mmc5603_Delay_ms(15);
    	
    	/* Read register 0x18, check Sat_sensor bit */
    	MMC5603_Read_Reg(MMC5603_REG_STATUS1, &reg_status);	
    	if ((reg_status&MMC5603_SAT_SENSOR))
    		return -1;
    	
    	return 1;
    }
    
    /*********************************************************************************
    * decription: Continuous mode configuration with auto set and reset
    *********************************************************************************/
    void MMC5603_Continuous_Mode_With_Auto_SR(uint8_t bandwith, uint8_t sampling_rate)
    {
    	/* Write reg 0x1C, Set BW<1:0> = bandwith */
    	MMC5603_Write_Reg(MMC5603_REG_CTRL1, bandwith);
    	
    	/* Write reg 0x1A, set ODR<7:0> = sampling_rate */
    	MMC5603_Write_Reg(MMC5603_REG_ODR, sampling_rate); 
    	
    	/* Write reg 0x1B */
    	/* Set Auto_SR_en bit '1', Enable the function of automatic set/reset */
    	/* Set Cmm_freq_en bit '1', Start the calculation of the measurement period according to the ODR*/	
    	MMC5603_Write_Reg(MMC5603_REG_CTRL0, MMC5603_CMD_CMM_FREQ_EN|MMC5603_CMD_AUTO_SR_EN);
    
    	/* Write reg 0x1D */
    	/* Set Cmm_en bit '1', Enter continuous mode */	
    	MMC5603_Write_Reg(MMC5603_REG_CTRL2, MMC5603_CMD_CMM_EN);	
    	
    	return;
    }
    
    /*********************************************************************************
    * decription: Do selftest operation periodically
    *********************************************************************************/
    int MMC5603_Saturation_Checking(void)
    {	
    	int ret = 0; //1 pass, -1 fail, 0 elapsed time is less 5 seconds
    
    	/* If sampling rate is 50Hz, then do saturation checking every 250 loops, i.e. 5 seconds */
    	static int NumOfSamples = 250;
    	static int cnt = 0;
    
    	if ((cnt++) >= NumOfSamples) {
    		cnt = 0;
    		ret = MMC5603_Auto_SelfTest();
    		if (ret == -1) {
    			/* Sensor is saturated, need to do SET operation */
    			MMC5603_SET();		
    		}
    		
    		/* Do TM_M after selftest operation */
    		MMC5603_Write_Reg(MMC5603_REG_CTRL0, MMC5603_CMD_TMM);	
    		mmc5603_Delay_ms(8);
    	}
    
    	return ret;
    }
    
    /*********************************************************************************
    * decription: Auto switch the working mode between Auto_SR and SETonly
    *********************************************************************************/
    void MMC5603_Auto_Switch(uint16_t *mag)
    {
    	float mag_out[3];	
    	
    	mag_out[0] = ((float)mag[0] - MMC5603_16BIT_OFFSET)/MMC5603_16BIT_SENSITIVITY;
    	mag_out[1] = ((float)mag[1] - MMC5603_16BIT_OFFSET)/MMC5603_16BIT_SENSITIVITY;
    	mag_out[2] = ((float)mag[2] - MMC5603_16BIT_OFFSET)/MMC5603_16BIT_SENSITIVITY;
    	
    	if (sensor_state == 1) {
    		/* If X or Y axis output exceed 10 Gauss, then switch to single mode */
    		if ((fabs(mag_out[0])>10.0f) || (fabs(mag_out[1])>10.0f)) {	
    			sensor_state = 2;
    			
    			/* Disable continuous mode */	
    			MMC5603_Write_Reg(MMC5603_REG_CTRL2, 0x00);
    			mmc5603_Delay_ms(15);//Delay 15ms to finish the last sampling
    			
    			/* Do SET operation */
    			MMC5603_Write_Reg(MMC5603_REG_CTRL0, MMC5603_CMD_SET);	
    			mmc5603_Delay_ms(1);//Delay 1ms to finish the SET operation
    			
    			/* Do TM_M before next data reading */
    			MMC5603_Write_Reg(MMC5603_REG_CTRL0, MMC5603_CMD_TMM);	
    			mmc5603_Delay_ms(8);//Delay 8ms to finish the TM_M operation			
    		}	
    	} else if (sensor_state == 2) {
    		/* If both of X and Y axis output less than 8 Gauss, then switch to continuous mode with Auto_SR */
    		if ((fabs(mag_out[0])<8.0f) && (fabs(mag_out[1])<8.0f))	{	
    			sensor_state = 1;
    			
    			/* Enable continuous mode with Auto_SR */
    			MMC5603_Write_Reg(MMC5603_REG_CTRL0, MMC5603_CMD_CMM_FREQ_EN|MMC5603_CMD_AUTO_SR_EN);
    			MMC5603_Write_Reg(MMC5603_REG_CTRL2, MMC5603_CMD_CMM_EN);
    		} else {	
    			/* Sensor checking */
    			if (MMC5603_Saturation_Checking()==0) {			
    				/* Do TM_M before next data reading */
    				MMC5603_Write_Reg(MMC5603_REG_CTRL0, MMC5603_CMD_TMM);	
    			}
    		}		
    	}
    	
    	return;	
    }
    
    /*********************************************************************************
    * decription: Disable sensor continuous mode
    *********************************************************************************/
    void MMC5603_Disable(void)
    {
    	/* Write reg 0x1D */
    	/* Set Cmm_en bit '0', Disable continuous mode */	
    	MMC5603_Write_Reg(MMC5603_REG_CTRL2, 0x00);
    	
    	mmc5603_Delay_ms(20);
    	
    	return;
    }
    
    /*********************************************************************************
    * decription: Enable sensor
    *********************************************************************************/
    void MMC5603_Enable(void)
    {	
    	int ret = 0;
    	
    	/* Inite the sensor state */
    	sensor_state = 1;
    	
    	/* Check product ID */
    	ret = MMC5603_CheckID();
    	if (ret<0)
    		return;	
    	
    	/* Auto self-test registers configuration */
    	MMC5603_Auto_SelfTest_Configuration();
    		
    	/* Do SET operation */
    	MMC5603_SET();		
    
    	/* Work mode setting */
    	MMC5603_Continuous_Mode_With_Auto_SR(MMC5603_CMD_BW00, 50);
    	
    	mmc5603_Delay_ms(20);
    	
    	return;
    }
    
    /*********************************************************************************
    * decription: Read the data register and convert to magnetic field 
    *********************************************************************************/
    void MMC5603_GetData(float *mag_out)
    {
    	uint8_t data_reg[6] = {0};
    	uint16_t data_temp[3] = {0};
    			
    	/* Read register data */
    	MMC5603_MultiRead_Reg(MMC5603_REG_DATA, data_reg, 6);
    	
    	/* Get high 16bits data */
    	data_temp[0] = (uint16_t)(data_reg[0] << 8 | data_reg[1]);	
    	data_temp[1] = (uint16_t)(data_reg[2] << 8 | data_reg[3]);			
    	data_temp[2] = (uint16_t)(data_reg[4] << 8 | data_reg[5]); 
    
    	/* Transform to unit Gauss */
    	mag_out[0] = ((float)data_temp[0] - MMC5603_16BIT_OFFSET)/MMC5603_16BIT_SENSITIVITY; 
    	mag_out[1] = ((float)data_temp[1] - MMC5603_16BIT_OFFSET)/MMC5603_16BIT_SENSITIVITY;
    	mag_out[2] = ((float)data_temp[2] - MMC5603_16BIT_OFFSET)/MMC5603_16BIT_SENSITIVITY;
    
    	MMC5603_Auto_Switch(data_temp);	
    			
    	return;
    }
    
    
    
    uint8_t mmc5603nj_bpm_algo_handler(void)
    {	
    	float magnetic_field_x;
    	float magnetic_field_y;
    	float magnetic_field_z;
    	
    	/* Magnetic field vector, unit is gauss */
    	float mag_raw_data[3] = {0.0};	
    	
    	/* Get the MMC5603 data, unit is gauss */
    	MMC5603_GetData(mag_raw_data);	
    
    	magnetic_field_x = mag_raw_data[0];	//unit is gauss
    	magnetic_field_y = mag_raw_data[1];	//unit is gauss
    	magnetic_field_z = mag_raw_data[2];	//unit is gauss
    	
    	/* Sampling interval is 20ms, and the sampling rate is 50Hz. */
    	mmc5603_Delay_ms(20);
    	
    	char Buffer_X[100]={0};
    	char Buffer_Y[100]={0};
    	char Buffer_Z[100]={0};
    	sprintf(Buffer_X,"%0.3f ",magnetic_field_x);    
    	sprintf(Buffer_Y,"%0.3f ",magnetic_field_y);    
    	sprintf(Buffer_Z,"%0.3f ",magnetic_field_z);                
    	GEOMAGNETISM_LOG("x1: %s gauss.",Buffer_X);
    	GEOMAGNETISM_LOG("y1: %s gauss.",Buffer_Y);
    	GEOMAGNETISM_LOG("z1: %s gauss.",Buffer_Z);
    	
    
        /*Shenzhen Guangdong
            Latitude纬度: 22° 32' 43.9" N
            Longitude经度: 114° 4' 5.9" E
            MA TSO LUNG
            Magnetic Declination地磁偏角: -3° 1' 
            Declination is NEGATIVE (WEST)
            Inclination: 34° 6' 
            Magnetic field strength磁场强度: 45442.3 nT=45.4423μT=0.454423Gauss*/    
    
         //方向角计算：方向角是X轴和Y轴读数的反正切，输出方向角与手机指南针功能对比，测量结果良好       
         //float Curent_Angle=(atan2((double)mag_raw_data[1],(double)mag_raw_data[0]) * (180 / 3.14159265) + 180+地磁偏角);
    
    	float Curent_Angle=(atan2((double)mag_raw_data[1],(double)mag_raw_data[0]) * (180 / 3.14159265) + 180 + 3);
    	char TEST_OK[]={"OK"};
    	char Angle[100]={0};
    	sprintf(Angle,"%0.2f ",Curent_Angle);
    	GEOMAGNETISM_LOG("Angle: %s ",Angle);
    	GEOMAGNETISM_LOG("%s",TEST_OK);
    	
    	
    
        return 0;
    }

3、main.c文件

#include <stdlib.h>
    #include "board.h"
    #include "os_sched.h"
    #include "string.h"
    #include "trace.h"
    #include "gap.h"
    #include "gap_adv.h"
    #include "gap_bond_le.h"
    #include "app_task.h"
    #include "communicate_task.h"
    #include "dlps.h"
    #include "ftl.h"
    #include "ias.h"
    #include "bas.h"
    #include "hids_media.h"
    #include "ancs.h"
    #include "ams.h"
    #include <gatts_client.h>
    #include "rtl876x_io_dlps.h"
    #include "rtl876x_rcc.h"
    #include "rtl876x_i2c.h"
    #include "otp_config.h"
    #include "rtl876x_lib_platform.h"
    #include "single_tone.h"
    #include "profile_server.h"
    #include "hub_clock.h"
    #include "app_flash_config.h"
    #include "profile_client.h"
    #include "ota_service.h"
    #include "hub_task.h"
    #include "hci_app.h"
    #include "flash_test_temp.h"
    #include "mmc5603nj.h"
    
    int main(void)
    {
    
    	le_gap_init(1);
    	gap_lib_init();
    	app_le_gap_init();
    	app_le_profile_init();
    	pwr_mgr_init();
    	task_init();
    	os_sched_start();
    
    
    }

## 四、运行结果   ![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAQ2hfY2hhbXBpb24_size_11_color_FFFFFF_t_70_g_se_x_16 1][] ##

![watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAQ2hfY2hhbXBpb24_size_14_color_FFFFFF_t_70_g_se_x_16][]

## 五、总结 ##

好了，就介绍到此为止，做个笔录，同时也希望能帮助到需要帮助的攻城狮们。

参考文章：

[MMC5603地磁传感器调试日志\_jerseyCEO的博客-CSDN博客][MMC5603_jerseyCEO_-CSDN]

[watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAQ2hfY2hhbXBpb24_size_11_color_FFFFFF_t_70_g_se_x_16]: /images/20220829/907cb0bfeea946909350929a1e3fbb3f.png
[watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAQ2hfY2hhbXBpb24_size_11_color_FFFFFF_t_70_g_se_x_16 1]: /images/20220829/b7aab69cd8724ddaaf254769c293e986.png
[watermark_type_ZHJvaWRzYW5zZmFsbGJhY2s_shadow_50_text_Q1NETiBAQ2hfY2hhbXBpb24_size_14_color_FFFFFF_t_70_g_se_x_16]: /images/20220829/bbd56dc8df6c41b0872b7b0b604c3f6e.png
[MMC5603_jerseyCEO_-CSDN]: https://blog.csdn.net/weixin_41675504/article/details/102564383