🎨 Moving project to use event bus

esp32/include/peripherals/magnetometer.h

@@ -0,0 +1,59 @@
+#pragma once
+
+#include <list>
+#include <SPI.h>
+#include <Wire.h>
+#include <ArduinoJson.h>
+#include <utils/math_utils.h>
+
+#include <Adafruit_HMC5883_U.h>
+#include <Adafruit_Sensor.h>
+
+class Magnetometer {
+  public:
+    Magnetometer() : _mag(12345) {}
+
+    bool initialize() {
+        mag_success = _mag.begin();
+        return mag_success;
+    }
+
+    bool readMagnetometer() {
+        if (!mag_success) return false;
+        sensors_event_t event;
+        bool updated = _mag.getEvent(&event);
+        if (!updated) return false;
+        ypr[0] = event.magnetic.x;
+        ypr[1] = event.magnetic.y;
+        ypr[2] = event.magnetic.z;
+        heading = atan2(event.magnetic.y, event.magnetic.x);
+        heading += declinationAngle;
+        if (heading < 0) heading += 2 * PI;
+        if (heading > 2 * PI) heading -= 2 * PI;
+        heading *= 180 / M_PI;
+        return true;
+    }
+
+    float getMagX() { return mag_success ? ypr[0] : 0; }
+
+    float getMagY() { return mag_success ? ypr[1] : 0; }
+
+    float getMagZ() { return mag_success ? ypr[2] : 0; }
+
+    float getHeading() { return heading; }
+
+    void readMagnetometer(JsonObject& root) {
+        if (!mag_success) return;
+        root["heading"] = round2(getHeading());
+    }
+
+    bool active() { return mag_success; }
+
+  private:
+    Adafruit_HMC5883_Unified _mag;
+    bool mag_success {false};
+    float ypr[3];
+    float heading {0};
+
+    const float declinationAngle = 0.22;
+};