unit_mag3110.hpp

Go to the documentation of this file.

/*
 * SPDX-FileCopyrightText: 2026 M5Stack Technology CO LTD
 *
 * SPDX-License-Identifier: MIT
 */
#ifndef M5_UNIT_IMU_UNIT_UNIT_MAG3110_HPP
#define M5_UNIT_IMU_UNIT_UNIT_MAG3110_HPP
 
#include <M5UnitComponent.hpp>
#include <m5_utility/container/circular_buffer.hpp>
#include <memory>
#include "unit_mag3110_data.hpp"
#include "../imu/imu_data_source.hpp"
 
namespace m5 {
namespace unit {
 
class UnitMAG3110 : public Component,
                    public PeriodicMeasurementAdapter<UnitMAG3110, mag3110::Data>,
                    public m5::imu::IMUDataSource {
    M5_UNIT_COMPONENT_HPP_BUILDER(UnitMAG3110, 0x0E);
 
public:
    struct config_t {
        bool start_periodic{true};
        mag3110::DataRate rate{mag3110::DataRate::Rate80Hz};
        mag3110::OverSampling over_sampling{mag3110::OverSampling::X16};
    };
 
    explicit UnitMAG3110(const uint8_t addr = DEFAULT_ADDRESS);
    virtual ~UnitMAG3110()
    {
    }
 
    virtual bool begin() override;
    virtual void update(const bool force = false) override;
 
    config_t config() const
    {
        return _cfg;
    }
    void config(const config_t& cfg)
    {
        _cfg = cfg;
    }
 
    bool softReset();
 
 
    bool writeDataRate(const mag3110::DataRate rate, const mag3110::OverSampling os);
    bool readDataRate(mag3110::DataRate& rate, mag3110::OverSampling& os);
 
 
    bool startPeriodicMeasurement(const mag3110::DataRate rate, const mag3110::OverSampling os);
    bool startPeriodicMeasurement();
    bool stopPeriodicMeasurement();
 
 
    bool sleep() override;
    bool wakeup() override;
 
    virtual m5::imu::Capability imuSpec() const override
    {
        return m5::imu::Capability::Mag;
    }
    virtual m5::imu::Capability readImuRaw(m5::imu::imu_raw_data_t& out) override;
    virtual void imuConvertParam(m5::imu::imu_convert_param_t& out) const override;
 
protected:
    bool start_periodic_measurement(const mag3110::DataRate rate, const mag3110::OverSampling os);
    bool start_periodic_measurement();
    bool stop_periodic_measurement();
    bool read_measurement(mag3110::Data& d);
 
    M5_UNIT_COMPONENT_PERIODIC_MEASUREMENT_ADAPTER_HPP_BUILDER(UnitMAG3110, mag3110::Data);
 
private:
    config_t _cfg{};
    // Live state, seeded from _cfg by begin() and thereafter owned by writeDataRate(); _cfg is only
    // ever read in begin()
    mag3110::DataRate _rate{mag3110::DataRate::Rate80Hz};
    mag3110::OverSampling _os{mag3110::OverSampling::X16};
    uint32_t _pushed{}, _consumed{};
    std::unique_ptr<m5::container::CircularBuffer<mag3110::Data>> _data{};
};
 
namespace mag3110 {
constexpr uint32_t DEFAULT_STORED_SIZE{4};
 
namespace command {
constexpr uint8_t REG_DR_STATUS{0x00};  // burst start: DR_STATUS + X/Y/Z (big-endian) = 7 bytes
constexpr uint8_t REG_WHO_AM_I{0x07};   // = 0xC4
constexpr uint8_t REG_CTRL_REG1{0x10};  // DR[7:5] OS[4:3] FR[2] TM[1] AC[0]
constexpr uint8_t REG_CTRL_REG2{0x11};  // AUTO_MRST_EN[7] RAW[5] Mag_RST[4]
}  // namespace command
}  // namespace mag3110
 
}  // namespace unit
}  // namespace m5
#endif