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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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151 lines
4.6 KiB
C++
151 lines
4.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2014, 2015 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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/**
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* @author Pavel Kirienko <pavel.kirienko@gmail.com>
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*/
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#include "mag.hpp"
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#include <drivers/drv_hrt.h>
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#include <systemlib/err.h>
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#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
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const char *const UavcanMagnetometerBridge::NAME = "mag";
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UavcanMagnetometerBridge::UavcanMagnetometerBridge(uavcan::INode &node) :
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UavcanSensorBridgeBase("uavcan_mag", ORB_ID(sensor_mag)),
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_sub_mag(node),
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_sub_mag2(node)
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{
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}
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int UavcanMagnetometerBridge::init()
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{
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int res = _sub_mag.start(MagCbBinder(this, &UavcanMagnetometerBridge::mag_sub_cb));
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if (res < 0) {
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PX4_ERR("failed to start uavcan sub: %d", res);
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return res;
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}
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int res2 = _sub_mag2.start(Mag2CbBinder(this, &UavcanMagnetometerBridge::mag2_sub_cb));
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if (res2 < 0) {
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PX4_ERR("failed to start uavcan sub2: %d", res2);
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return res2;
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}
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return 0;
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}
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void UavcanMagnetometerBridge::mag_sub_cb(const
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uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::MagneticFieldStrength> &msg)
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{
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uavcan_bridge::Channel *channel = get_channel_for_node(msg.getSrcNodeID().get());
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if (channel == nullptr) {
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// Something went wrong - no channel to publish on; return
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return;
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}
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// Cast our generic CDev pointer to the sensor-specific driver class
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PX4Magnetometer *mag = (PX4Magnetometer *)channel->h_driver;
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if (mag == nullptr) {
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return;
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}
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const float x = msg.magnetic_field_ga[0];
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const float y = msg.magnetic_field_ga[1];
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const float z = msg.magnetic_field_ga[2];
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mag->update(hrt_absolute_time(), x, y, z);
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}
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void
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UavcanMagnetometerBridge::mag2_sub_cb(const
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uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::MagneticFieldStrength2> &msg)
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{
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uavcan_bridge::Channel *channel = get_channel_for_node(msg.getSrcNodeID().get());
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if (channel == nullptr || channel->instance < 0) {
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// Something went wrong - no channel to publish on; return
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return;
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}
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// Cast our generic CDev pointer to the sensor-specific driver class
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PX4Magnetometer *mag = (PX4Magnetometer *)channel->h_driver;
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if (mag == nullptr) {
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return;
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}
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const float x = msg.magnetic_field_ga[0];
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const float y = msg.magnetic_field_ga[1];
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const float z = msg.magnetic_field_ga[2];
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mag->update(hrt_absolute_time(), x, y, z);
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}
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int UavcanMagnetometerBridge::init_driver(uavcan_bridge::Channel *channel)
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{
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// update device id as we now know our device node_id
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DeviceId device_id{_device_id};
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device_id.devid_s.devtype = DRV_MAG_DEVTYPE_UAVCAN;
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device_id.devid_s.address = static_cast<uint8_t>(channel->node_id);
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channel->h_driver = new PX4Magnetometer(device_id.devid, ROTATION_NONE);
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if (channel->h_driver == nullptr) {
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return PX4_ERROR;
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}
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PX4Magnetometer *mag = (PX4Magnetometer *)channel->h_driver;
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channel->instance = mag->get_instance();
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if (channel->instance < 0) {
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PX4_ERR("UavcanMag: Unable to get an instance");
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delete mag;
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channel->h_driver = nullptr;
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return PX4_ERROR;
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}
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mag->set_external(true);
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return PX4_OK;
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}
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