mag.cpp

/*==========================================================================================
MIT License

Copyright (c) 2023-2025 https://madflight.com

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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SOFTWARE.
===========================================================================================*/

#define MF_MOD "MAG"

#include <Arduino.h> //Serial
#include "mag.h"
#include "MagGizmoQMC5883L.h"
#include "MagGizmoQMC6309.h"
#include "MagGizmoRM3100.h"

//create global module instance
Mag mag;

int Mag::setup() {
  cfg.printModule(MF_MOD);

  _samplePeriod = 1000000 / config.sampleRate;

  //clear state
   x = 0; //"North" magnetic flux [uT]
   y = 0; //"East" magnetic flux [uT]
   z = 0; //"Down" magnetic flux [uT]
   ts = 0; //last sample time in [us]

  //create gizmo
  delete gizmo;
  switch(config.gizmo) {
    case Cfg::mag_gizmo_enum::mf_NONE :
      gizmo = nullptr;
      break;
    case Cfg::mag_gizmo_enum::mf_QMC5883 :
      if(config.i2c_bus) {
        gizmo = new MagGizmoQMC5883L(config.i2c_bus, config.i2c_adr);
      }
      break;
    case Cfg::mag_gizmo_enum::mf_QMC6309 :
      if(config.i2c_bus) {
        gizmo = new MagGizmoQMC6309(config.i2c_bus); //i2c address is always 0x7C
      }
      break;
    case Cfg::mag_gizmo_enum::mf_RM3100 :
      gizmo = MagGizmoRM3100::create(config.i2c_bus);
      break;
  }

  //check gizmo
  if(!installed() && config.gizmo != Cfg::mag_gizmo_enum::mf_NONE) {
    Serial.println("\n" MF_MOD ": ERROR check pin/bus config\n");
    return -1001;
  }

  return 0;
}

bool Mag::update() {
  if(!gizmo) return false;

  //wait for next sample interval
  if(!schedule.interval(_samplePeriod)) return false;

  if(!gizmo->update(&x, &y, &z)) return false;

  //handle rotation for different mounting positions
  switch((Cfg::mag_align_enum)cfg.mag_align) {
    case Cfg::mag_align_enum::mf_CW0 :
      break;
    case Cfg::mag_align_enum::mf_CW90 :
      { float tmp; tmp=x; x=-y; y=tmp; }
      break;
    case Cfg::mag_align_enum::mf_CW180 :
      { x=-x; y=-y; }
      break;
    case Cfg::mag_align_enum::mf_CW270 :
      { float tmp; tmp=x; x=y; y=-tmp; }
      break;
    case Cfg::mag_align_enum::mf_CW0FLIP :
      { y=-y; z=-z; }
      break;
    case Cfg::mag_align_enum::mf_CW90FLIP :
      { float tmp; tmp=x; x=y; y=tmp; z=-z; }
      break;
    case Cfg::mag_align_enum::mf_CW180FLIP :
      { x=-x; z=-z; }
      break;
    case Cfg::mag_align_enum::mf_CW270FLIP :
      { float tmp; tmp=x; x=-y; y=-tmp; z=-z; }
      break;
  }

  ts = micros();
  return true;
}