STM32F103 и компас HMC6352, проблема коммуникации Опции

[D1mcon]

Всем привет! Работаю с МК STM32F103 и компасом HMC6352 по I2C. Но ни как не могу прочитать данные о курсе, всегда компас возвращает значение 0х42. В чем причина, понять не могу. Если кто работал с этим компасом, прошу помочь в решении проблемы.
Код программы

Код

#include "stm32f10x.h"
#include "stm32f10x_i2c.h"


GPIO_InitTypeDef         GPIO_InitStructure;
USART_InitTypeDef         USART_InitStructure;
I2C_InitTypeDef            I2C_InitStructure;
FlagStatus Status = SET;    

#define I2C1_SLAVE_ADDRESS7   0x42
#define HMC6352GetData          0x41
#define BufferSize             4
#define ClockSpeed             100000
typedef enum { FAILED = 0, PASSED = !FAILED} TestStatus;

int angle = 0;
void Delay(unsigned long ms)// delay 1 ms per count @ Crystal 8.0 MHz and PLL9x or SYSCLK = 72 MHz
{
    volatile unsigned long i,j;
    for (i = 0; i < ms; i++ )
    for (j = 0; j < 5525; j++ );
}

int HMC6352GetHeading( void)
{
   unsigned char data_l = 0, data_m = 0;
  

       /* Send I2C1 START condition */
      I2C_GenerateSTART(I2C1, ENABLE);
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));

    I2C_Send7bitAddress(I2C1, 0x42, I2C_Direction_Transmitter);
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED ));

   I2C_SendData(I2C1,0x41);
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED ));

   Delay(60);

   I2C_GenerateSTART(I2C1, ENABLE);
   while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));

   I2C_Send7bitAddress(I2C1, 0x43, I2C_Direction_Transmitter);
    while(!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED ));

   data_l = I2C_ReceiveData(I2C1);         // read LSB data byte
   data_m = I2C_ReceiveData(I2C1);         // read MSB data byte
   I2C_AcknowledgeConfig(I2C1, DISABLE);
                    
   I2C_GenerateSTOP(I2C1, ENABLE);      // send STOP condition
   return ( (data_m << 8) + data_l);   // return 16 bits data
}

void main()
{    

    SystemInit();
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA  | RCC_APB2Periph_AFIO, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1, ENABLE);

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
      /* I2C1 Periph clock enable */
      RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
    /* Configure I2C1 pins: SCL and SDA ----------------------------------------*/
      GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_6 | GPIO_Pin_7;
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
      GPIO_Init(GPIOB, &GPIO_InitStructure);

    /* I2C1 configuration ------------------------------------------------------*/
      I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
      I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;
      I2C_InitStructure.I2C_OwnAddress1 = I2C1_SLAVE_ADDRESS7;
      I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
      I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
      I2C_InitStructure.I2C_ClockSpeed = ClockSpeed;
      I2C_Init(I2C1, &I2C_InitStructure);

    /* Enable I2C1 */
      I2C_Cmd(I2C1, ENABLE);

    GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_9 | GPIO_Pin_4 | GPIO_Pin_5 | GPIO_Pin_6;
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
      GPIO_Init(GPIOA, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_9;
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
      GPIO_Init(GPIOA, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_10;
      GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
      GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
      GPIO_Init(GPIOA, &GPIO_InitStructure);


    
    USART_InitStructure.USART_BaudRate = 9600;
      USART_InitStructure.USART_WordLength = USART_WordLength_8b;
      USART_InitStructure.USART_StopBits = USART_StopBits_1;
      USART_InitStructure.USART_Parity = USART_Parity_No;
      USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
      USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;

    
    /* USART configuration */
      USART_Init(USART1, &USART_InitStructure);
    
      /* Enable USART */
      USART_Cmd(USART1, ENABLE);
    angle = HMC6352GetHeading();
    
    while(1)
    {
        
            angle = HMC6352GetHeading();
        USART_SendData(USART1, (uint8_t) angle);
    

    }