PX4 sensor driver helpers

src/lib/drivers/magnetometer/PX4Magnetometer.hpp

@@ -0,0 +1,81 @@
+/****************************************************************************
+ *
+ *   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 <mathlib/math/filter/LowPassFilter2p.hpp>
+
+#include <drivers/device/integrator.h>
+#include <drivers/drv_mag.h>
+#include <drivers/drv_hrt.h>
+#include <lib/drivers/device/Device.hpp>
+#include <lib/cdev/CDev.hpp>
+#include <lib/conversion/rotation.h>
+#include <uORB/topics/sensor_mag.h>
+#include <uORB/uORB.h>
+
+class PX4Magnetometer : public cdev::CDev
+{
+
+public:
+	PX4Magnetometer(const char *name, device::Device  *interface, uint8_t dev_type, enum Rotation rotation, float scale);
+	~PX4Magnetometer() override;
+
+	int	init() override;
+	int	ioctl(cdev::file_t *filp, int cmd, unsigned long arg) override;
+
+	int publish(float x, float y, float z, float temperature);
+
+	void configure_filter(float sample_freq, float cutoff_freq);
+
+private:
+	// Pointer to the communication interface
+	const device::Device *_interface{nullptr};
+
+	mag_calibration_s _cal{};
+
+	orb_advert_t _topic{nullptr};
+
+	device::Device::DeviceId _device_id{};
+
+	int	_orb_class_instance{-1};
+
+	int _class_device_instance{-1};
+
+	enum Rotation _rotation {ROTATION_NONE};
+
+	float _scale{1.0f};
+
+	math::LowPassFilter2p _filter_x{100, 20};
+	math::LowPassFilter2p _filter_y{100, 20};
+	math::LowPassFilter2p _filter_z{100, 20};
+};