mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-15 07:00:35 +08:00
Daniel Agar
134 lines
4.4 KiB
C++
134 lines
4.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "PX4Magnetometer.hpp"
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#include <lib/drivers/device/Device.hpp>
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PX4Magnetometer::PX4Magnetometer(uint32_t device_id, uint8_t priority, enum Rotation rotation) :
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CDev(nullptr),
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_sensor_mag_pub{ORB_ID(sensor_mag), priority},
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_rotation{rotation}
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{
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_class_device_instance = register_class_devname(MAG_BASE_DEVICE_PATH);
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_sensor_mag_pub.get().device_id = device_id;
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_sensor_mag_pub.get().scaling = 1.0f;
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// force initial publish to allocate uORB buffer
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// TODO: can be removed once all drivers are in threads
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_sensor_mag_pub.update();
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}
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PX4Magnetometer::~PX4Magnetometer()
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{
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if (_class_device_instance != -1) {
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unregister_class_devname(MAG_BASE_DEVICE_PATH, _class_device_instance);
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}
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}
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int PX4Magnetometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
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{
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switch (cmd) {
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case MAGIOCSSCALE: {
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// Copy offsets and scale factors in
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mag_calibration_s cal{};
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memcpy(&cal, (mag_calibration_s *) arg, sizeof(cal));
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_calibration_offset = matrix::Vector3f{cal.x_offset, cal.y_offset, cal.z_offset};
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_calibration_scale = matrix::Vector3f{cal.x_scale, cal.y_scale, cal.z_scale};
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}
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return PX4_OK;
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case DEVIOCGDEVICEID:
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return _sensor_mag_pub.get().device_id;
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default:
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return -ENOTTY;
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}
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}
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void PX4Magnetometer::set_device_type(uint8_t devtype)
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{
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// current DeviceStructure
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union device::Device::DeviceId device_id;
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device_id.devid = _sensor_mag_pub.get().device_id;
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// update to new device type
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device_id.devid_s.devtype = devtype;
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// copy back to report
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_sensor_mag_pub.get().device_id = device_id.devid;
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}
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void PX4Magnetometer::update(hrt_abstime timestamp, int16_t x, int16_t y, int16_t z)
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{
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sensor_mag_s &report = _sensor_mag_pub.get();
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report.timestamp = timestamp;
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// Apply rotation (before scaling)
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float xraw_f = x;
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float yraw_f = y;
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float zraw_f = z;
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rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);
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// Apply range scale and the calibrating offset/scale
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const matrix::Vector3f val_calibrated{(((matrix::Vector3f{xraw_f, yraw_f, zraw_f} * report.scaling) - _calibration_offset).emult(_calibration_scale))};
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// Raw values (ADC units 0 - 65535)
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report.x_raw = x;
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report.y_raw = y;
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report.z_raw = z;
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report.x = val_calibrated(0);
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report.y = val_calibrated(1);
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report.z = val_calibrated(2);
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poll_notify(POLLIN);
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_sensor_mag_pub.update();
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}
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void PX4Magnetometer::print_status()
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{
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PX4_INFO(MAG_BASE_DEVICE_PATH " device instance: %d", _class_device_instance);
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PX4_INFO("calibration scale: %.5f %.5f %.5f", (double)_calibration_scale(0), (double)_calibration_scale(1),
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(double)_calibration_scale(2));
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PX4_INFO("calibration offset: %.5f %.5f %.5f", (double)_calibration_offset(0), (double)_calibration_offset(1),
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(double)_calibration_offset(2));
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print_message(_sensor_mag_pub.get());
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}
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