move uavcan from modules to drivers

src/drivers/uavcan/sensors/mag.cpp

@@ -0,0 +1,152 @@
+/****************************************************************************
+ *
+ *   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>
+
+const char *const UavcanMagnetometerBridge::NAME = "mag";
+
+UavcanMagnetometerBridge::UavcanMagnetometerBridge(uavcan::INode &node) :
+	UavcanCDevSensorBridgeBase("uavcan_mag", "/dev/uavcan/mag", MAG_BASE_DEVICE_PATH, ORB_ID(sensor_mag)),
+	_sub_mag(node)
+{
+	_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_HMC5883;     // <-- Why?
+
+	_scale.x_scale = 1.0F;
+	_scale.y_scale = 1.0F;
+	_scale.z_scale = 1.0F;
+}
+
+int UavcanMagnetometerBridge::init()
+{
+	int res = device::CDev::init();
+
+	if (res < 0) {
+		return res;
+	}
+
+	res = _sub_mag.start(MagCbBinder(this, &UavcanMagnetometerBridge::mag_sub_cb));
+
+	if (res < 0) {
+		DEVICE_LOG("failed to start uavcan sub: %d", res);
+		return res;
+	}
+
+	return 0;
+}
+
+ssize_t UavcanMagnetometerBridge::read(struct file *filp, char *buffer, size_t buflen)
+{
+	static uint64_t last_read = 0;
+	struct mag_report *mag_buf = reinterpret_cast<struct mag_report *>(buffer);
+
+	/* buffer must be large enough */
+	unsigned count = buflen / sizeof(struct mag_report);
+
+	if (count < 1) {
+		return -ENOSPC;
+	}
+
+	if (last_read < _report.timestamp) {
+		/* copy report */
+		lock();
+		*mag_buf = _report;
+		last_read = _report.timestamp;
+		unlock();
+		return sizeof(struct mag_report);
+
+	} else {
+		/* no new data available, warn caller */
+		return -EAGAIN;
+	}
+}
+
+int UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	switch (cmd) {
+
+	case MAGIOCSSCALE: {
+			std::memcpy(&_scale, reinterpret_cast<const void *>(arg), sizeof(_scale));
+			return 0;
+		}
+
+	case MAGIOCGSCALE: {
+			std::memcpy(reinterpret_cast<void *>(arg), &_scale, sizeof(_scale));
+			return 0;
+		}
+
+	case MAGIOCGEXTERNAL: {
+			return 1;           // declare it external rise it's priority and to allow for correct orientation compensation
+		}
+
+	case MAGIOCCALIBRATE:
+	case MAGIOCSRANGE:
+	case MAGIOCEXSTRAP: {
+			return -EINVAL;
+		}
+
+	default: {
+			return CDev::ioctl(filp, cmd, arg);
+		}
+	}
+}
+
+void UavcanMagnetometerBridge::mag_sub_cb(const
+		uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::MagneticFieldStrength>
+		&msg)
+{
+	lock();
+	/*
+	 * FIXME HACK
+	 * This code used to rely on msg.getMonotonicTimestamp().toUSec() instead of HRT.
+	 * It stopped working when the time sync feature has been introduced, because it caused libuavcan
+	 * to use an independent time source (based on hardware TIM5) instead of HRT.
+	 * The proper solution is to be developed.
+	 */
+	_report.timestamp = hrt_absolute_time();
+	_report.device_id = _device_id.devid;
+	_report.is_external = true;
+
+	_report.x = (msg.magnetic_field_ga[0] - _scale.x_offset) * _scale.x_scale;
+	_report.y = (msg.magnetic_field_ga[1] - _scale.y_offset) * _scale.y_scale;
+	_report.z = (msg.magnetic_field_ga[2] - _scale.z_offset) * _scale.z_scale;
+	unlock();
+
+	publish(msg.getSrcNodeID().get(), &_report);
+}