mag.cpp
4.56 KB
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/****************************************************************************
*
* Copyright (c) 2014, 2015 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 Pavel Kirienko <pavel.kirienko@gmail.com>
*/
#include "mag.hpp"
#include <drivers/drv_hrt.h>
#include <systemlib/err.h>
#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
const char *const UavcanMagnetometerBridge::NAME = "mag";
UavcanMagnetometerBridge::UavcanMagnetometerBridge(uavcan::INode &node) :
UavcanSensorBridgeBase("uavcan_mag", ORB_ID(sensor_mag)),
_sub_mag(node),
_sub_mag2(node)
{
}
int UavcanMagnetometerBridge::init()
{
int res = _sub_mag.start(MagCbBinder(this, &UavcanMagnetometerBridge::mag_sub_cb));
if (res < 0) {
PX4_ERR("failed to start uavcan sub: %d", res);
return res;
}
int res2 = _sub_mag2.start(Mag2CbBinder(this, &UavcanMagnetometerBridge::mag2_sub_cb));
if (res2 < 0) {
PX4_ERR("failed to start uavcan sub2: %d", res2);
return res2;
}
return 0;
}
void UavcanMagnetometerBridge::mag_sub_cb(const
uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::MagneticFieldStrength> &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
PX4Magnetometer *mag = (PX4Magnetometer *)channel->h_driver;
if (mag == nullptr) {
return;
}
const float x = msg.magnetic_field_ga[0];
const float y = msg.magnetic_field_ga[1];
const float z = msg.magnetic_field_ga[2];
mag->update(hrt_absolute_time(), x, y, z);
}
void
UavcanMagnetometerBridge::mag2_sub_cb(const
uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::MagneticFieldStrength2> &msg)
{
uavcan_bridge::Channel *channel = get_channel_for_node(msg.getSrcNodeID().get());
if (channel == nullptr || channel->instance < 0) {
// Something went wrong - no channel to publish on; return
return;
}
// Cast our generic CDev pointer to the sensor-specific driver class
PX4Magnetometer *mag = (PX4Magnetometer *)channel->h_driver;
if (mag == nullptr) {
return;
}
const float x = msg.magnetic_field_ga[0];
const float y = msg.magnetic_field_ga[1];
const float z = msg.magnetic_field_ga[2];
mag->update(hrt_absolute_time(), x, y, z);
}
int UavcanMagnetometerBridge::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_MAG_DEVTYPE_UAVCAN;
device_id.devid_s.address = static_cast<uint8_t>(channel->node_id);
channel->h_driver = new PX4Magnetometer(device_id.devid, ROTATION_NONE);
if (channel->h_driver == nullptr) {
return PX4_ERROR;
}
PX4Magnetometer *mag = (PX4Magnetometer *)channel->h_driver;
channel->instance = mag->get_instance();
if (channel->instance < 0) {
PX4_ERR("UavcanMag: Unable to get an instance");
delete mag;
channel->h_driver = nullptr;
return PX4_ERROR;
}
mag->set_external(true);
return PX4_OK;
}