  A formal series transformation to Birkhoff-Gustavson normal form is obtained
for toroidal magnetic field configurations in the neighborhood of a magnetic
axis. Bishop's rotation-minimizing coordinates are used to obtain a local
orthogonal frame near the axis in which the metric is diagonal, even if the
curvature has zeros. We treat the cases of vacuum and force-free (Beltrami)
fields in a unified way, noting that the vector potential is essentially the
Poincar\'e-Liouville one-form of Hamiltonian dynamics, and the resulting
magnetic field corresponds to the canonical two-form of a nonautonomous
one-degree-of-freedom system. Canonical coordinates are obtained and Floquet
theory is used to transform to a frame in which the lowest-order Hamiltonian is
autonomous. The resulting magnetic axis can be elliptic or hyperbolic, and
resonant elliptic cases are treated. The resulting expansion for the field is
shown to be well-defined to all orders, and is explicitly computed to degree
four. An example is given for an axis with constant torsion near a 1:3
resonance.
