tmag5273

May 7, 2026 · View on GitHub

Platform-agnostic no_std driver for the TI TMAG5273 3-axis linear Hall-effect sensor, built on embedded-hal 1.0 traits.

Supported Variants

All eight TMAG5273 variants are supported:

Variant	Default I2C Address	Sensitivity (Low / High)
A1 / A2	`0x35`	v1: ±40 / ±80 mT · v2: ±133 / ±266 mT
B1 / B2	`0x22`	v1: ±40 / ±80 mT · v2: ±133 / ±266 mT
C1 / C2	`0x78`	v1: ±40 / ±80 mT · v2: ±133 / ±266 mT
D1 / D2	`0x44`	v1: ±40 / ±80 mT · v2: ±133 / ±266 mT

The letter (A–D) determines the factory-default I2C address. The number (1/2) determines the full-scale sensitivity range.

Add to Your Project

[dependencies]
tmag5273 = "3"

# Optional features:
# tmag5273 = { version = "3", features = ["crc"] }
# tmag5273 = { version = "3", features = ["defmt"] }
# tmag5273 = { version = "3", features = ["libm"] }

Quick Start

use tmag5273::{Tmag5273, ConfigBuilder};

// 1. Plug-and-play: scan the I2C bus, auto-detect variant and address
let sensor = Tmag5273::scan(i2c).expect("no TMAG5273 found");

// 2. Build a validated configuration (defaults: continuous, XYZ, temp enabled)
let config = ConfigBuilder::new().build()?;

// 3. Initialize: verifies manufacturer ID, applies config → Configured state
let mut sensor = sensor.init(&config)?;

// 4. Read magnetic field (all enabled axes)
let reading = sensor.read_magnetic()?;
if let Some(x) = reading.x {
    // x.0 is in millitesla (f32)
}

// 5. Read temperature
let temp = sensor.read_temperature()?;
// temp.0 is degrees Celsius (f32)

// 6. Coherent T+XYZ burst read (single 8-byte I2C transaction)
let all = sensor.read_all()?;

If you already know the variant, you can skip the scan:

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

let sensor = Tmag5273::new(i2c, DeviceVariant::B1);

Feature	Description
`crc`	Enables CRC-8 validation on all I2C reads. Burst reads use 4-byte block reads with per-block CRC.
`defmt`	Enables `defmt::Format` derives on all public types (requires `defmt` 1.0).
`libm`	Enables software angle computation (`plane_angles`, `magnitude_3d`), axis calibration (`AxisCalibrator`), and related types. Pure Rust, ~30KB.

Configuration

Use ConfigBuilder to construct a validated Config:

use tmag5273::{
    ConfigBuilder, OperatingMode, MagneticChannel, AngleEnable,
    ConversionAverage, Range, PowerNoiseMode, MagneticTempCoefficient,
};

let config = ConfigBuilder::new()
    .operating_mode(OperatingMode::ContinuousMeasure) // default
    .magnetic_channels_enabled(MagneticChannel::XYZ)  // default
    .temp_channel_enabled(true)                       // default
    .angle_enabled(AngleEnable::None)                 // default
    .conversion_average(ConversionAverage::X4)
    .xy_range(Range::High)                            // default: ±80 mT (v1)
    .z_range(Range::High)
    .power_noise_mode(PowerNoiseMode::LowNoise)        // default: LowActiveCurrent
    .magnetic_temp_coefficient(MagneticTempCoefficient::NdBFe)
    .build()?;

build() validates cross-field constraints before writing any register:

AngleEnable ≠ None requires at least two magnetic channels.
OperatingMode::WakeUpAndSleep requires SleepTime ≥ conversion time.
AngleEnable::YZ or AngleEnable::XZ requires matching XY and Z ranges.

Defaults (match SparkFun `begin()`)

Field	Default
`operating_mode`	`ContinuousMeasure`
`magnetic_channels_enabled`	`XYZ`
`temp_channel_enabled`	`true`
`angle_enabled`	`None`
`conversion_average`	`X1` (no averaging)
`xy_range` / `z_range`	`High` (±80 mT v1)
`power_noise_mode`	`LowActiveCurrent`
`i2c_glitch_filter`	`true`
`magnetic_temp_coefficient`	`None`

Conversion Time

Use ConversionAverage::conversion_time() to query the expected conversion duration (useful for polling delays or scheduling):

use tmag5273::{ConversionAverage, MagneticChannel, MicrosIsr};

let t: MicrosIsr = ConversionAverage::X8.conversion_time(MagneticChannel::XYZ, true);
// t.0 is microseconds

Reading Data

Magnetic Field

let reading = sensor.read_magnetic()?;
// reading.x, reading.y, reading.z are Option<MilliTesla>
// None for disabled channels

Temperature

let temp: tmag5273::Celsius = sensor.read_temperature()?;
// temp.0 is degrees Celsius

Angle (Hardware CORDIC Engine)

Requires AngleEnable ≠ None in the config.

use tmag5273::{ConfigBuilder, AngleEnable, MagneticChannel};

let config = ConfigBuilder::new()
    .angle_enabled(AngleEnable::XY)
    .magnetic_channels_enabled(MagneticChannel::XYX) // pseudo-simultaneous
    .build()?;

let mut sensor = sensor.init(&config)?;
let angle = sensor.read_angle()?;
// angle.angle.0 is degrees (0–360, f32)
// angle.magnitude.0 is millitesla (CordicMagnitude)

Software Angle Computation (`libm` feature)

Compute angle and magnitude for all three canonical planes from any MagneticReading — no hardware CORDIC configuration needed:

let reading = sensor.read_magnetic()?;
let planes = reading.plane_angles();

// Each plane is Option — None if axes missing or zero-magnitude field
if let Some(xy) = planes.xy {
    // xy.angle.0 — degrees (0–360), matching hardware CORDIC convention
    // xy.magnitude.0 — millitesla
    // xy.plane — PlaneAxis::XY
}

// Get the plane with the strongest signal
if let Some(dominant) = planes.dominant() {
    // dominant.plane tells you which axis pair has the strongest field
}

// 3-axis software magnitude
if let Some(mag) = reading.magnitude_3d() {
    // mag.0 — millitesla, sqrt(x² + y² + z²)
}

Auto-Axis Calibration (`libm` feature)

Automatically detect the optimal hardware angle axis pair by analyzing magnetic field variance during magnet rotation:

use tmag5273::{AxisCalibrator, ConfigBuilder};

// 1. Collect samples during magnet rotation
let mut cal = AxisCalibrator::default();
for _ in 0..50 {
    let reading = sensor.read_magnetic()?;
    cal.update(&reading);
    delay.delay_ms(100);
}

// 2. Get the recommended hardware configuration
if let Some(rec) = cal.recommend() {
    // rec.plane — the detected rotation plane (XY, YZ, or XZ)
    // rec.angle_enable — for ConfigBuilder::angle_enabled()
    // rec.magnetic_channel — for ConfigBuilder::magnetic_channels_enabled()
    // rec.variances — per-axis variance for transparency

    // 3. Apply to hardware
    let config = ConfigBuilder::new()
        .angle_enabled(rec.angle_enable)
        .magnetic_channels_enabled(rec.magnetic_channel)
        .build()?;

    let mut sensor = sensor.init(&config)?;
    let angle = sensor.read_angle()?; // hardware CORDIC, optimal axis pair
}

The calibrator uses Welford's online algorithm for numerically stable variance on f32. Fixed-size, zero heap allocation.

Rotation Tracking (RPM / IPI)

RotationTracker<const POLES_COUNT: u8, M: TrackingMode> is a const-generic rotation tracker with two algorithm modes selected at compile time:

Mode	Pole counts	Input	Returns from `update()`
`Cordic`	2 only	`Degrees` from CORDIC engine	`Option<SignedDegrees>` (signed delta)
`ZeroCrossing`	2, 3, or 4	`MilliTesla` (raw axis sample)	`Option<MicrosIsr>` (IPI on crossing)

POLES_COUNT and M are checked at compile time — invalid combinations (e.g. RotationTracker::<4, Cordic>) fail to compile.

CORDIC mode — diametrically magnetized 2-pole magnets only (TI SBAA463A §3.2). Multi-pole magnets produce phantom RPM and undercounting:

use tmag5273::{CordicTracker, MicrosIsr};

let mut tracker = CordicTracker::new(); // = RotationTracker::<2, Cordic>::new()

loop {
    let angle = sensor.read_angle()?;
    let elapsed = MicrosIsr(/* time since last update */);
    let _delta = tracker.update(angle.angle, elapsed);

    if let Some(rpm) = tracker.rpm() {
        // rpm.0 — revolutions per minute (f32)
    }
}

Zero-crossing mode — required for multi-pole ring magnets (Gicar 4-pole, 3-pole). Uses a Schmitt trigger on a single raw axis with hysteresis to reject noise. Returns the inter-pulse interval (IPI) when a crossing is detected:

use tmag5273::{RotationTracker, ZeroCrossing, MilliTesla, MicrosIsr};

// 4-pole Gicar ring magnet, H ≈ 10% of peak-to-peak swing
let mut tracker = RotationTracker::<4, ZeroCrossing>::new(MilliTesla(0.8));

loop {
    let reading = sensor.read_magnetic()?;
    let elapsed = MicrosIsr(/* time since last update */);

    if let Some(x) = reading.x {
        if let Some(ipi) = tracker.update(x, elapsed) {
            // ipi.0 — microseconds between this and the previous pole transition
        }
    }

    if let Some(rpm) = tracker.rpm() {
        // average RPM since construction or last reset()
    }
}

Both modes share the same query API: rpm(), cumulative_revolutions(), reset(), max_abs_delta(). Sizes: Cordic 24 bytes, ZeroCrossing 20 bytes.

Coherent Burst Read

read_all() performs a single 8-byte I2C burst read (0x10–0x17), guaranteeing all values come from the same conversion cycle — no risk of mixing data from different cycles.

let reading: tmag5273::SensorReading = sensor.read_all()?;
// reading.temperature: Option<Celsius>
// reading.magnetic:    MagneticReading { x, y, z: Option<MilliTesla> }

Standby / Trigger Mode

In standby mode the device measures only when triggered:

use tmag5273::{ConfigBuilder, OperatingMode};

let config = ConfigBuilder::new()
    .operating_mode(OperatingMode::Standby)
    .build()?;
let mut sensor = sensor.init(&config)?;

// Trigger a conversion, then poll for completion
sensor.trigger_conversion()?;
let status = sensor.wait_for_conversion()?;

// Now safe to read
let reading = sensor.read_magnetic()?;

Runtime Controls

Method	Description
`set_mode(OperatingMode)`	Switch operating mode at runtime
`trigger_conversion()`	Trigger one conversion (standby / trigger mode)
`wait_for_conversion()` → `ConversionStatus`	Blocking poll with bounded retry
`is_conversion_complete()` → `bool`	Non-blocking check
`read_status()` → `DeviceStatus`	Read fault-flag register
`check_diag()` → `DeviceStatus`	Lazy diagnostic read (skips status if no fault)
`is_interrupt_active()` → `bool`	Read INT̅ pin state via `INTB_RB` register readback
`set_diagnostics(Diagnostics)`	Set per-sample diagnostic checking policy at runtime
`diagnostics()` → `Diagnostics`	Read current diagnostic policy
`set_crc_enabled(bool)`	Toggle sensor-side CRC-8 generation
`get_crc_enabled()` → `bool`	Read sensor-side CRC setting
`set_read_mode(I2cReadMode)`	Change I2C response format
`get_read_mode()` → `I2cReadMode`	Read current response format

Per-Sample Diagnostics

Opt-in per-sample CONV_STATUS.DIAG_STATUS checking on every measurement. Set at runtime via set_diagnostics() — no sensor re-initialization needed:

use tmag5273::Diagnostics;

// Halt on fault — returns Error::DiagnosticFailure(DeviceStatus)
sensor.set_diagnostics(Diagnostics::Halt);

// Warn on fault — emits defmt::warn! but reads succeed (requires `defmt` feature)
sensor.set_diagnostics(Diagnostics::Warn);

// Ignore faults — for noisy environments (EMI, motor controllers)
sensor.set_diagnostics(Diagnostics::Ignore);

// Default — no overhead, no extra I2C transactions
sensor.set_diagnostics(Diagnostics::Off);

Manual check_diag() works independently of this setting.

Advanced

Threshold Interrupts

use tmag5273::{
    ThresholdConfig, MagneticThresholdDirection, TempThresholdConfig,
    InterruptConfig, InterruptMode, InterruptState, ThresholdHysteresis,
};

sensor.set_thresholds(&ThresholdConfig {
    x: 50, y: 50, z: 50,
    temperature: TempThresholdConfig::DISABLED,
    direction: MagneticThresholdDirection::Above,
    hysteresis: ThresholdHysteresis::LimitCross,
    ..Default::default()
})?;

sensor.set_interrupt(&InterruptConfig {
    on_conversion_complete: false,
    on_threshold_crossing: true,
    mode: InterruptMode::ThroughInt,
    pin_behavior: InterruptState::Pulse10us,
    ..Default::default()
})?;

Gain / Offset Calibration

use tmag5273::{CalibrationConfig, MagneticGainChannel};

sensor.set_calibration(&CalibrationConfig {
    gain: 128,
    offset_1: 0,
    offset_2: 0,
    gain_channel: MagneticGainChannel::First,
    ..Default::default()
})?;

Wake-Up-and-Sleep Mode

Implements TI datasheet section 8.2.1.2 with TI-recommended settings: threshold interrupt on INT pin, 10 µs pulse.

// Set thresholds first, then activate wake-and-sleep
sensor.set_thresholds(&threshold_config)?;
sensor.configure_wake_and_sleep()?;

Runtime I2C Address Change

// Change address and verify the device responds at the new address
sensor.change_address(0x30)?;
// Note: resets to factory default on power cycle

Error Handling

Error<E> is generic over the I2C bus error type:

Variant	Cause
`I2c(E)`	I2C bus error
`InvalidManufacturerId(u16)`	Device ID is not `0x5449` (ASCII "TI")
`VersionMismatch { expected, got }`	Device version does not match variant
`CrcMismatch { expected, computed }`	CRC-8 validation failed (`crc` feature)
`ConversionTimeout`	Conversion not ready within poll limit
`AngleNotEnabled`	`read_angle()` called without angle config
`InvalidRegisterValue { register, value }`	Unknown enum value in register
`NonStandardReadMode { mode }`	High-level read called in non-Standard I2C mode
`TempDisabled`	`read_temperature()` with temperature channel disabled
`DiagnosticFailure(DeviceStatus)`	Sensor diagnostic fault (`Diagnostics::Halt`)
`CrcFeatureRequired`	Sensor CRC enabled without `crc` Cargo feature
`AddressChangeFailed { old, new }`	Device did not respond at new address

ConfigError (from ConfigBuilder::build()):

Variant	Cause
`AngleRequiresTwoChannels`	Angle enabled with < 2 magnetic channels
`SleepShorterThanConversion`	Wake-sleep mode with sleep < conversion time
`IntPinTriggerRequiresStandby`	INT pin trigger in non-standby mode
`AngleMixedRanges`	YZ/XZ angle with mismatched XY and Z ranges

InitError<I2C, D> wraps Error together with the I2C bus and delay so callers can recover peripherals on initialization failure.

match sensor.init(&config) {
    Ok(s)   => { /* use s */ }
    Err(e)  => {
        // e.error: Error<I2C::Error>
        // e.i2c:  I2C bus — returned for reuse
    }
}

Shared I2C Bus

The driver takes ownership of the I2C bus. For a shared bus use embedded-hal-bus:

use embedded_hal_bus::i2c::RefCellDevice;
use core::cell::RefCell;

let bus = RefCell::new(i2c);
let sensor_a = Tmag5273::new(RefCellDevice::new(&bus), DeviceVariant::A1);
let sensor_b = Tmag5273::new(RefCellDevice::new(&bus), DeviceVariant::C1);

Cargo Commands

# Unit tests (no hardware required)
cargo test -p tmag5273                     # 349 tests (default features)
cargo test -p tmag5273 --features libm     # 450 tests (+ angle/calibrator/rotation)
cargo test -p tmag5273 --features crc      # 341 tests (+ CRC read paths)

# Build docs with feature annotations
cargo doc -p tmag5273 --all-features --open

# Verify bare-metal compilation
cargo check -p tmag5273 --target thumbv7em-none-eabihf

Design

Property	Detail
`no_std`	Zero allocations — no heap dependency
`#![forbid(unsafe_code)]`	No unsafe blocks in this crate
Typestate	`Unconfigured` → `Configured` enforced at compile time via `PhantomData`
Builder config	Cross-field validation at build time, not at register write
`InitError`	Returns the I2C bus on init failure for downstream recovery
Newtypes	`MilliTesla`, `Celsius`, `Degrees`, `MicrosIsr`, `CordicMagnitude` prevent unit confusion
Burst reads	`read_magnetic()` and `read_all()` use single I2C transactions for data coherence
Datasheet parity	Type names, field names, and constants trace to TI SBASAI4 Rev C sections
Welford variance	`AxisCalibrator` uses numerically stable online algorithm for f32 (`libm` feature)

Minimum Supported Rust Version

Rust 1.94 (edition 2024).

License

Licensed under either of

Apache License, Version 2.0 (LICENSE-APACHE or http://www.apache.org/licenses/LICENSE-2.0)
MIT license (LICENSE-MIT or http://opensource.org/licenses/MIT)

at your option.