cmodule/m5unified_imu: Add magnetic support to IMU module.

Signed-off-by: imliubo <[email protected]>

Author: imliubo

m5stack/cmodules/m5unified/m5unified_imu.c

@@ -32,13 +32,15 @@ const mp_obj_type_t mp_m5_imu_type = {
 // -------- IMU wrapper
 MAKE_METHOD_0(imu, getAccel);
 MAKE_METHOD_0(imu, getGyro);
+MAKE_METHOD_0(imu, getMag);
 MAKE_METHOD_0(imu, isEnabled);
 MAKE_METHOD_0(imu, getType);
 
 STATIC const mp_rom_map_elem_t imu_member_table[] = {
     { MP_ROM_QSTR(MP_QSTR_IMU_TYPE),       MP_ROM_PTR(&mp_m5_imu_type) },
     MAKE_TABLE(imu, getAccel),
     MAKE_TABLE(imu, getGyro),
+    MAKE_TABLE(imu, getMag),
     MAKE_TABLE(imu, isEnabled),
     MAKE_TABLE(imu, getType),
 };

m5stack/components/M5Unified/mpy_m5imu.cpp

@@ -33,6 +33,17 @@ namespace m5
         return mp_obj_new_tuple(3, tuple);
     }
 
+    mp_obj_t imu_getMag(mp_obj_t self) {
+        float x = 0.0f,y = 0.0f,z = 0.0f;
+        getImu(self)->getMag(&x, &y, &z);
+        mp_obj_t tuple[3] = {
+            mp_obj_new_float(x),
+            mp_obj_new_float(y),
+            mp_obj_new_float(z),
+        };
+        return mp_obj_new_tuple(3, tuple);
+    }
+
     mp_obj_t imu_getType(mp_obj_t self) {
         return mp_obj_new_int(getImu(self)->getType());
     }