PX4-Autopilot/src/drivers/uavcan/sensors/mag.cpp

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/**
 * @author Pavel Kirienko <pavel.kirienko@gmail.com>
 */

#include "mag.hpp"

#include <drivers/drv_hrt.h>
#include <systemlib/err.h>

#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>

const char *const UavcanMagnetometerBridge::NAME = "mag";

UavcanMagnetometerBridge::UavcanMagnetometerBridge(uavcan::INode &node, NodeInfoPublisher *node_info_publisher) :
	UavcanSensorBridgeBase("uavcan_mag", ORB_ID(sensor_mag), node_info_publisher),
	_sub_mag(node),
	_sub_mag2(node)
{
	set_device_type(DRV_MAG_DEVTYPE_UAVCAN);
}

int UavcanMagnetometerBridge::init()
{
	int res = _sub_mag.start(MagCbBinder(this, &UavcanMagnetometerBridge::mag_sub_cb));

	if (res < 0) {
		PX4_ERR("failed to start uavcan sub: %d", res);
		return res;
	}

	int res2 = _sub_mag2.start(Mag2CbBinder(this, &UavcanMagnetometerBridge::mag2_sub_cb));

	if (res2 < 0) {
		PX4_ERR("failed to start uavcan sub2: %d", res2);
		return res2;
	}

	return 0;
}

void UavcanMagnetometerBridge::mag_sub_cb(const
		uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::MagneticFieldStrength> &msg)
{
	uavcan_bridge::Channel *channel = get_channel_for_node(msg.getSrcNodeID().get(), msg.getIfaceIndex());

	if (channel == nullptr) {
		// Something went wrong - no channel to publish on; return
		return;
	}

	// Cast our generic CDev pointer to the sensor-specific driver class
	PX4Magnetometer *mag = (PX4Magnetometer *)channel->h_driver;

	if (mag == nullptr) {
		return;
	}

	// Register magnetometer capability with NodeInfoPublisher after first successful message
	if (_node_info_publisher != nullptr) {
		_node_info_publisher->registerDeviceCapability(msg.getSrcNodeID().get(), mag->get_device_id(),
				NodeInfoPublisher::DeviceCapability::MAGNETOMETER);
	}

	const float x = msg.magnetic_field_ga[0];
	const float y = msg.magnetic_field_ga[1];
	const float z = msg.magnetic_field_ga[2];

	mag->update(hrt_absolute_time(), x, y, z);
}

void
UavcanMagnetometerBridge::mag2_sub_cb(const
				      uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::MagneticFieldStrength2> &msg)
{
	uavcan_bridge::Channel *channel = get_channel_for_node(msg.getSrcNodeID().get(), msg.getIfaceIndex());

	if (channel == nullptr || channel->instance < 0) {
		// Something went wrong - no channel to publish on; return
		return;
	}

	// Cast our generic CDev pointer to the sensor-specific driver class
	PX4Magnetometer *mag = (PX4Magnetometer *)channel->h_driver;

	if (mag == nullptr) {
		return;
	}

	// Register magnetometer capability with NodeInfoPublisher after first successful message
	if (_node_info_publisher != nullptr) {
		_node_info_publisher->registerDeviceCapability(msg.getSrcNodeID().get(),
				mag->get_device_id(),
				NodeInfoPublisher::DeviceCapability::MAGNETOMETER);
	}

	const float x = msg.magnetic_field_ga[0];
	const float y = msg.magnetic_field_ga[1];
	const float z = msg.magnetic_field_ga[2];

	mag->update(hrt_absolute_time(), x, y, z);
}

int UavcanMagnetometerBridge::init_driver(uavcan_bridge::Channel *channel)
{
	// Build device ID using node_id and interface index
	uint32_t device_id = make_uavcan_device_id(static_cast<uint8_t>(channel->node_id), channel->iface_index);

	channel->h_driver = new PX4Magnetometer(device_id, ROTATION_NONE);

	if (channel->h_driver == nullptr) {
		return PX4_ERROR;
	}

	PX4Magnetometer *mag = (PX4Magnetometer *)channel->h_driver;

	channel->instance = mag->get_instance();

	if (channel->instance < 0) {
		PX4_ERR("UavcanMag: Unable to get an instance");
		delete mag;
		channel->h_driver = nullptr;
		return PX4_ERROR;
	}

	return PX4_OK;
}