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⚡ Replace third party libs with i2c bus drivers

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This commit is contained in:
Rune Harlyk
2026-01-24 14:30:27 +01:00
committed by Rune Harlyk
parent d9e752777f
commit dbc74d6f88
16 changed files with 1005 additions and 252 deletions
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esp32/include/peripherals/magnetometer.h
+13 -23
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@@ -1,13 +1,8 @@
#pragma once
#include <SPI.h>
#include <Wire.h>
#include <utils/math_utils.h>
#include <Adafruit_HMC5883_U.h>
#include <Adafruit_Sensor.h>
#include <peripherals/sensor.hpp>
#include <peripherals/drivers/hmc5883l.h>
struct MagnetometerMsg {
float rpy[3] {0, 0, 0};
@@ -19,34 +14,29 @@ class Magnetometer : public SensorBase<MagnetometerMsg> {
public:
bool initialize() override {
_msg.success = _mag.begin();
if (_msg.success) {
ESP_LOGI("MAG", "HMC5883L initialized successfully");
} else {
ESP_LOGE("MAG", "HMC5883L initialization failed");
}
return _msg.success;
}
bool update() override {
if (!_msg.success) return false;
sensors_event_t event;
bool updated = _mag.getEvent(&event);
if (!updated) return false;
_msg.rpy[0] = event.magnetic.x;
_msg.rpy[1] = event.magnetic.y;
_msg.rpy[2] = event.magnetic.z;
_msg.heading = atan2(event.magnetic.y, event.magnetic.x);
_msg.heading += declinationAngle;
if (_msg.heading < 0) _msg.heading += 2 * PI;
if (_msg.heading > 2 * PI) _msg.heading -= 2 * PI;
_msg.heading *= 180 / M_PI;
if (!_mag.update()) return false;
_msg.rpy[0] = _mag.getMagX();
_msg.rpy[1] = _mag.getMagY();
_msg.rpy[2] = _mag.getMagZ();
_msg.heading = _mag.getHeading();
return true;
}
float getMagX() { return _msg.rpy[0]; }
float getMagY() { return _msg.rpy[1]; }
float getMagZ() { return _msg.rpy[2]; }
float getHeading() { return _msg.heading; }
private:
Adafruit_HMC5883_Unified _mag {12345};
const float declinationAngle = 0.22;
};
HMC5883LDriver _mag;
};