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magn: Start magnetometer support #60

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Merged
ThomasFarstrike merged 1 commit into from
Feb 27, 2026
Merged

magn: Start magnetometer support #60

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4 changes: 4 additions & 0 deletions internal_filesystem/lib/mpos/imu/drivers/base.py
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,10 @@ def read_gyroscope(self):
"""Returns (x, y, z) in deg/s"""
raise NotImplementedError

def read_magnetometer(self):
"""Returns (x, y, z) in uT"""
raise NotImplementedError

def read_temperature(self):
"""Returns temperature in °C"""
raise NotImplementedError
Expand Down
10 changes: 9 additions & 1 deletion internal_filesystem/lib/mpos/imu/drivers/iio.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,11 +12,12 @@ class IIODriver(IMUDriverBase):
"""

accel_path: str
mag_path: str

def __init__(self):
super().__init__()
self.accel_path = self.find_iio_device_with_file("in_accel_x_raw")
print("path:", self.accel_path)
self.mag_path = self.find_iio_device_with_file("in_magn_x_raw")

def _p(self, name: str):
return self.accel_path + "/" + name
Expand Down Expand Up @@ -138,3 +139,10 @@ def read_gyroscope(self):
gy - self.gyro_offset[1],
gz - self.gyro_offset[2],
)

def read_magnetometer(self) -> tuple[float, float, float]:
gx = self._read_raw_scaled(self.mag_path + "/" + "in_magn_x_raw", self.mag_path + "/" + "in_magn_x_scale")
gy = self._read_raw_scaled(self.mag_path + "/" + "in_magn_y_raw", self.mag_path + "/" + "in_magn_y_scale")
gz = self._read_raw_scaled(self.mag_path + "/" + "in_magn_z_raw", self.mag_path + "/" + "in_magn_z_scale")

return (gx, gy, gz)
13 changes: 13 additions & 0 deletions internal_filesystem/lib/mpos/imu/manager.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
from mpos.imu.constants import (
TYPE_ACCELEROMETER,
TYPE_GYROSCOPE,
TYPE_MAGNETIC_FIELD,
TYPE_IMU_TEMPERATURE,
TYPE_SOC_TEMPERATURE,
TYPE_TEMPERATURE,
Expand Down Expand Up @@ -50,6 +51,15 @@ def init(self, i2c_bus, address=0x6B, mounted_position=FACING_SKY):
def init_iio(self):
self._imu_driver = IIODriver()
self._sensor_list = [
Sensor(
name="Magnetometer",
sensor_type=TYPE_MAGNETIC_FIELD,
vendor="Linux IIO",
version=1,
max_range="?",
resolution="?",
power_ma=0.2
),
Sensor(
name="Accelerometer",
sensor_type=TYPE_ACCELEROMETER,
Expand Down Expand Up @@ -156,6 +166,9 @@ def read_sensor_once(self, sensor):
elif sensor.type == TYPE_GYROSCOPE:
if self._imu_driver:
return self._imu_driver.read_gyroscope()
elif sensor.type == TYPE_MAGNETIC_FIELD:
if self._imu_driver:
return self._imu_driver.read_magnetometer()
elif sensor.type == TYPE_IMU_TEMPERATURE:
if self._imu_driver:
return self._imu_driver.read_temperature()
Expand Down
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