PX4 sensor driver helpers

2026-07-03 09:20:35 +08:00 · 2018-10-20 10:26:30 -04:00
parent a2e9d9ffce
commit 91dcfb7ab2
12 changed files with 826 additions and 14 deletions
@@ -0,0 +1,151 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 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.
+ *
+ ****************************************************************************/
+
+
+#include "PX4Magnetometer.hpp"
+
+PX4Magnetometer::PX4Magnetometer(const char *path, device::Device  *interface, uint8_t dev_type, enum Rotation rotation,
+				 float scale) :
+	CDev(path),
+	_interface(interface)
+{
+	_device_id.devid = _interface->get_device_id();
+	// _device_id.devid_s.bus_type = (device::Device::DeviceBusType)_interface->get_device_bus_type();
+	// _device_id.devid_s.bus = _interface->get_device_bus();
+	// _device_id.devid_s.address = _interface->get_device_address();
+	_device_id.devid_s.devtype = dev_type;
+
+	CDev::init();
+
+	_class_device_instance = register_class_devname(MAG_BASE_DEVICE_PATH);
+
+	_rotation = rotation;
+	_scale = scale;
+
+	_cal.x_offset = 0;
+	_cal.x_scale  = 1.0f;
+	_cal.y_offset = 0;
+	_cal.y_scale  = 1.0f;
+	_cal.z_offset = 0;
+	_cal.z_scale  = 1.0f;
+}
+
+PX4Magnetometer::~PX4Magnetometer()
+{
+	if (_topic != nullptr) {
+		orb_unadvertise(_topic);
+	}
+}
+
+int PX4Magnetometer::init()
+{
+	mag_report report{};
+	report.device_id = _device_id.devid;
+
+	if (_topic == nullptr) {
+		_topic = orb_advertise_multi(ORB_ID(sensor_mag), &report, &_orb_class_instance, ORB_PRIO_HIGH - 1);
+
+		if (_topic == nullptr) {
+			PX4_ERR("Advertise failed.");
+			return PX4_ERROR;
+		}
+	}
+
+	return PX4_OK;
+}
+
+int PX4Magnetometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
+{
+	switch (cmd) {
+	case MAGIOCSSCALE:
+		// Copy scale in.
+		memcpy(&_cal, (struct mag_calibration_s *) arg, sizeof(_cal));
+		return OK;
+
+	case MAGIOCGSCALE:
+		// Copy scale out.
+		memcpy((struct mag_calibration_s *) arg, &_cal, sizeof(_cal));
+		return OK;
+
+	case DEVIOCGDEVICEID:
+		return _device_id.devid;
+
+	default:
+		// Give it to the superclass.
+		return CDev::ioctl(filp, cmd, arg);
+	}
+}
+
+void PX4Magnetometer::configure_filter(float sample_freq, float cutoff_freq)
+{
+	_filter_x.set_cutoff_frequency(sample_freq, cutoff_freq);
+	_filter_y.set_cutoff_frequency(sample_freq, cutoff_freq);
+	_filter_z.set_cutoff_frequency(sample_freq, cutoff_freq);
+}
+
+// @TODO: use fixed point math to reclaim CPU usage
+int PX4Magnetometer::publish(float x, float y, float z, float temperature)
+{
+	sensor_mag_s report{};
+
+	report.device_id   = _device_id.devid;
+	report.error_count = 0;
+	report.scaling 	   = _scale;
+	report.timestamp   = hrt_absolute_time();
+	report.temperature = temperature;
+	report.is_external = false;
+
+
+	// Raw values (ADC units 0 - 65535)
+	report.x_raw = x;
+	report.y_raw = y;
+	report.z_raw = z;
+
+	// Apply the rotation.
+	rotate_3f(_rotation, x, y, z);
+
+	// Apply FS range scale and the calibrating offset/scale
+	x = ((x * _scale) - _cal.x_offset) * _cal.x_scale;
+	y = ((y * _scale) - _cal.y_offset) * _cal.y_scale;
+	z = ((z * _scale) - _cal.z_offset) * _cal.z_scale;
+
+	// Filtered values
+	report.x = _filter_x.apply(x);
+	report.y = _filter_y.apply(y);
+	report.z = _filter_z.apply(z);
+
+	poll_notify(POLLIN);
+	orb_publish(ORB_ID(sensor_mag), _topic, &report);
+
+	return PX4_OK;
+}