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UAVCAN Magnetometer driver update - no logical changes

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This commit is contained in:
Pavel Kirienko
2015-08-22 13:54:56 +02:00
committed by Lorenz Meier
parent 4ec16efe68
commit 473d321af8
2 changed files with 9 additions and 9 deletions
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src/modules/uavcan/sensors/mag.cpp
+5 -5
View File
@@ -45,7 +45,7 @@ UavcanMagnetometerBridge::UavcanMagnetometerBridge(uavcan::INode &node) :
UavcanCDevSensorBridgeBase("uavcan_mag", "/dev/uavcan/mag", MAG_BASE_DEVICE_PATH, ORB_ID(sensor_mag)), UavcanCDevSensorBridgeBase("uavcan_mag", "/dev/uavcan/mag", MAG_BASE_DEVICE_PATH, ORB_ID(sensor_mag)),
_sub_mag(node) _sub_mag(node)
{ {
_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_HMC5883; _device_id.devid_s.devtype = DRV_MAG_DEVTYPE_HMC5883; // <-- Why?
_scale.x_scale = 1.0F; _scale.x_scale = 1.0F;
_scale.y_scale = 1.0F; _scale.y_scale = 1.0F;
@@ -141,16 +141,16 @@ int UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long ar
} }
} }
void UavcanMagnetometerBridge::mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer> void UavcanMagnetometerBridge::mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::MagneticFieldStrength>
&msg) &msg)
{ {
lock(); lock();
_report.range_ga = 1.3F; // Arbitrary number, doesn't really mean anything _report.range_ga = 1.3F; // Arbitrary number, doesn't really mean anything
_report.timestamp = msg.getMonotonicTimestamp().toUSec(); _report.timestamp = msg.getMonotonicTimestamp().toUSec();
_report.x = (msg.magnetic_field[0] - _scale.x_offset) * _scale.x_scale; _report.x = (msg.magnetic_field_ga[0] - _scale.x_offset) * _scale.x_scale;
_report.y = (msg.magnetic_field[1] - _scale.y_offset) * _scale.y_scale; _report.y = (msg.magnetic_field_ga[1] - _scale.y_offset) * _scale.y_scale;
_report.z = (msg.magnetic_field[2] - _scale.z_offset) * _scale.z_scale; _report.z = (msg.magnetic_field_ga[2] - _scale.z_offset) * _scale.z_scale;
unlock(); unlock();
publish(msg.getSrcNodeID().get(), &_report); publish(msg.getSrcNodeID().get(), &_report);
src/modules/uavcan/sensors/mag.hpp
+4 -4
View File
@@ -40,7 +40,7 @@
#include "sensor_bridge.hpp" #include "sensor_bridge.hpp"
#include <drivers/drv_mag.h> #include <drivers/drv_mag.h>
#include <uavcan/equipment/ahrs/Magnetometer.hpp> #include <uavcan/equipment/ahrs/MagneticFieldStrength.hpp>
class UavcanMagnetometerBridge : public UavcanCDevSensorBridgeBase class UavcanMagnetometerBridge : public UavcanCDevSensorBridgeBase
{ {
@@ -57,14 +57,14 @@ private:
ssize_t read(struct file *filp, char *buffer, size_t buflen); ssize_t read(struct file *filp, char *buffer, size_t buflen);
int ioctl(struct file *filp, int cmd, unsigned long arg) override; int ioctl(struct file *filp, int cmd, unsigned long arg) override;
void mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer> &msg); void mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::MagneticFieldStrength> &msg);
typedef uavcan::MethodBinder < UavcanMagnetometerBridge *, typedef uavcan::MethodBinder < UavcanMagnetometerBridge *,
void (UavcanMagnetometerBridge::*) void (UavcanMagnetometerBridge::*)
(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer> &) > (const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::MagneticFieldStrength> &) >
MagCbBinder; MagCbBinder;
uavcan::Subscriber<uavcan::equipment::ahrs::Magnetometer, MagCbBinder> _sub_mag; uavcan::Subscriber<uavcan::equipment::ahrs::MagneticFieldStrength, MagCbBinder> _sub_mag;
mag_scale _scale = {}; mag_scale _scale = {};
mag_report _report = {}; mag_report _report = {};
}; };