gyro.cpp
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/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @author Dmitry Ponomarev <ponomarevda96@gmail.com>
*/
#include "gyro.hpp"
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
const char *const UavcanGyroBridge::NAME = "gyro";
UavcanGyroBridge::UavcanGyroBridge(uavcan::INode &node) :
UavcanSensorBridgeBase("uavcan_gyro", ORB_ID(sensor_gyro)),
_sub_imu_data(node)
{ }
int UavcanGyroBridge::init()
{
int res = _sub_imu_data.start(ImuCbBinder(this, &UavcanGyroBridge::imu_sub_cb));
if (res < 0) {
DEVICE_LOG("failed to start uavcan sub: %d", res);
return res;
}
return 0;
}
void UavcanGyroBridge::imu_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::RawIMU> &msg)
{
uavcan_bridge::Channel *channel = get_channel_for_node(msg.getSrcNodeID().get());
if (channel == nullptr) {
// Something went wrong - no channel to publish on; return
return;
}
// Cast our generic CDev pointer to the sensor-specific driver class
PX4Gyroscope *gyro = (PX4Gyroscope *)channel->h_driver;
if (gyro == nullptr) {
return;
}
gyro->update(hrt_absolute_time(),
msg.rate_gyro_latest[0],
msg.rate_gyro_latest[1],
msg.rate_gyro_latest[2]);
}
int UavcanGyroBridge::init_driver(uavcan_bridge::Channel *channel)
{
// update device id as we now know our device node_id
DeviceId device_id{_device_id};
device_id.devid_s.devtype = DRV_GYR_DEVTYPE_UAVCAN;
device_id.devid_s.address = static_cast<uint8_t>(channel->node_id);
channel->h_driver = new PX4Gyroscope(device_id.devid);
if (channel->h_driver == nullptr) {
return PX4_ERROR;
}
PX4Gyroscope *gyro = (PX4Gyroscope *)channel->h_driver;
channel->instance = gyro->get_instance();
if (channel->instance < 0) {
PX4_ERR("UavcanGyro: Unable to get a class instance");
delete gyro;
channel->h_driver = nullptr;
return PX4_ERROR;
}
return PX4_OK;
}