Crate tmag5273 

Platform-agnostic no_std driver for the TI TMAG5273 3-axis Hall-effect sensor.

This crate provides a type-safe, zero-allocation driver for the TMAG5273 family of linear 3D Hall-effect sensors over I2C, using embedded-hal 1.0 traits.

Supported Variants

All eight TMAG5273 variants are supported (A1, A2, B1, B2, C1, C2, D1, D2), differing in default I2C address and magnetic field sensitivity range.

Variant	Address	XY range (low / high)	Z range (low / high)
A1, B1, C1, D1	0x35, 0x22, 0x78, 0x44	±40 / ±80 mT	±40 / ±80 mT
A2, B2, C2, D2	0x35, 0x22, 0x78, 0x44	±133 / ±266 mT	±133 / ±266 mT

Quick Start

Three ways to construct the driver (simplest first):

use tmag5273::{Tmag5273, DeviceVariant, ConfigBuilder};

// Option 1: Plug-and-play — scans all known addresses, auto-detects variant
// let sensor = Tmag5273::scan(i2c).expect("no TMAG5273 found");

// Option 2: Known address, auto-detect variant
// let sensor = Tmag5273::detect(i2c, 0x22).expect("no sensor at 0x22");

// Option 3: Fully explicit — no I2C activity until init()
let sensor = Tmag5273::new(i2c, DeviceVariant::B1);

// Configure and initialize
let config = ConfigBuilder::new().build().unwrap();
// let mut sensor = sensor.init(&config).unwrap();

// Read measurements
// let mag = sensor.read_magnetic().unwrap();
// let temp = sensor.read_temperature().unwrap();
// let all = sensor.read_all().unwrap(); // coherent temp + mag in one burst

Features

• crc — Enables CRC-8 validation on I2C reads (disables burst reads)
• defmt — Enables defmt::Format derives on all public types
• libm — Enables the L3 analysis layer: magnitude_3d(), plane_angles() with per-plane angle/magnitude, AxisCalibrator for auto-detecting the optimal hardware angle axis pair, and related types (PlaneAxis, PlaneAngle, PlaneAngles, AxisRecommendation)

Structs

AngleReading

Angle measurement result from the TMAG5273 angle engine.

AxisCalibratorlibm

Accumulates per-axis running statistics from MagneticReading samples and recommends the optimal hardware angle configuration.

AxisRecommendationlibm

Recommended hardware angle configuration from AxisCalibrator::recommend.

CalibrationConfig

Magnetic gain and offset calibration configuration.

Celsius

Temperature in degrees Celsius.

Config

Validated device configuration for the TMAG5273.

ConfigBuilder

Builder for validated Config.

Configured

Typestate marker type: sensor has been initialized and is ready for measurement.

ConversionStatus

Parsed contents of the CONV_STATUS register (0x18).

Cordic

CORDIC-based angle tracking mode.

CordicMagnitude

Hardware-computed 2-axis CORDIC magnitude in millitesla.

Crossings

Total zero-crossings counted by a ZeroCrossing tracker.

Degrees

Absolute sensor angle in degrees, always in the range [0°, 360°].

DeviceStatus

Parsed contents of the DEVICE_STATUS register (0x1C).

InitError

Initialization failure that returns the I2C bus and delay backend to the caller.

InterruptConfig

Interrupt configuration for the TMAG5273.

Lsb

Raw 8-bit threshold register value.

MagneticReading

Magnetic field reading from all enabled axes.

MicrosIsr

Duration in micros_isreconds.

MicrosRange

A range of micros_isrecond durations, matching Linux usleep_range(min, max) semantics.

MilliTesla

Magnetic flux density in millitesla.

NoDelay

Zero-sized no-op delay backend (default).

PlaneAnglelibm

Angle and magnitude for a single canonical plane.

PlaneAngleslibm

Angle and magnitude results for all three canonical planes.

RotationTracker

Rotation tracker with compile-time pole count and algorithm selection.

Rpm

Rotational speed in revolutions per minute.

SensorReading

Complete sensor reading from a single conversion cycle.

SignedDegrees

Signed angular delta in degrees, used for rotation steps and displacements.

TempThresholdConfig

Temperature threshold register code (7-bit, T_CONFIG bits [7:1]).

ThresholdConfig

Per-axis threshold configuration for magnetic field and temperature.

Tmag5273

Driver for the TI TMAG5273 3-axis Hall-effect sensor.

Unconfigured

Typestate marker type: sensor has not been initialized.

Welfordlibm

Welford’s online algorithm for numerically stable mean and variance.

ZeroCrossing

Zero-crossing Schmitt trigger tracking mode.

Enums

AngleEnable

Angle calculation axis pair.

Axis

Single physical sensor axis.

ConfigError

Errors that can occur during ConfigBuilder::build().

ConversionAverage

Conversion averaging samples (maps to CONV_AVG field in DEVICE_CONFIG_1[4:2]).

DeviceVariant

TMAG5273 device variant.

Diagnostics

Per-sample diagnostic checking policy.

Error

Errors produced by the TMAG5273 driver.

I2cReadMode

I2C read mode for the TMAG5273.

InterruptMode

Interrupt routing mode (maps to INT_MODE field in INT_CONFIG_1[4:2]).

InterruptState

INT pin assertion behavior.

MagneticChannel

Magnetic channel selection.

MagneticGainChannel

Gain adjustment channel selection.

MagneticTempCoefficient

Magnetic temperature compensation coefficient (maps to MAG_TEMPCO field in DEVICE_CONFIG_1[6:5]).

MagneticThresholdDirection

Threshold crossing direction.

OperatingMode

Operating mode for the TMAG5273.

PlaneAxislibm

Canonical measurement plane for 2-axis angle computation.

PoleCount

Supported magnet pole counts for rotation tracking.

PowerNoiseMode

Power mode.

Range

Magnetic field measurement range.

SleepTime

Sleep duration between measurements in wake-up-and-sleep mode (maps to SLEEPTIME field in SENSOR_CONFIG_1[3:0]).

ThresholdCrossingCount

Number of threshold crossings before the interrupt is asserted (maps to THRX_COUNT field in SENSOR_CONFIG_2[6]).

ThresholdHysteresis

Threshold hysteresis mode — maps to the THR_HYST field in DEVICE_CONFIG_2[7:5].

TriggerMode

Trigger mode for standby conversions.

Constants

WAKE_DELAY

Wake-up delay range after transitioning from Sleep to an active mode.

WAKE_RETRY_DELAY

Inter-retry delay between NACK’d register reads during set_mode() wake.

Traits

TrackingMode

Marker trait for rotation tracking algorithm selection.

Type Aliases

CordicTracker

Type alias for the 2-pole CORDIC-based rotation tracker.