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78 lines
3.0 KiB
C++
78 lines
3.0 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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#pragma once
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#include <drivers/drv_mag.h>
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#include <drivers/drv_hrt.h>
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#include <lib/cdev/CDev.hpp>
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#include <lib/conversion/rotation.h>
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#include <uORB/uORB.h>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/topics/sensor_mag.h>
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class PX4Magnetometer : public cdev::CDev
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{
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public:
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PX4Magnetometer(uint32_t device_id, uint8_t priority, enum Rotation rotation);
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~PX4Magnetometer() override;
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int ioctl(cdev::file_t *filp, int cmd, unsigned long arg) override;
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void set_device_type(uint8_t devtype);
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void set_error_count(uint64_t error_count) { _sensor_mag_pub.get().error_count = error_count; }
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void set_scale(float scale) { _sensor_mag_pub.get().scaling = scale; }
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void set_temperature(float temperature) { _sensor_mag_pub.get().temperature = temperature; }
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void set_external(bool external) { _sensor_mag_pub.get().is_external = external; }
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void set_sensitivity(float x, float y, float z) { _sensitivity = matrix::Vector3f{x, y, z}; }
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void update(hrt_abstime timestamp, int16_t x, int16_t y, int16_t z);
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void print_status();
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private:
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uORB::PublicationMultiData<sensor_mag_s> _sensor_mag_pub;
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const enum Rotation _rotation;
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matrix::Vector3f _calibration_scale{1.0f, 1.0f, 1.0f};
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matrix::Vector3f _calibration_offset{0.0f, 0.0f, 0.0f};
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matrix::Vector3f _sensitivity{1.0f, 1.0f, 1.0f};
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int _class_device_instance{-1};
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};
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