mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-06 18:38:52 +08:00
126 lines
4.0 KiB
C++
126 lines
4.0 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (C) 2014 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.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/**
|
|
* @author Pavel Kirienko <pavel.kirienko@gmail.com>
|
|
*/
|
|
|
|
#include "mag.hpp"
|
|
|
|
static const orb_id_t MAG_TOPICS[3] = {
|
|
ORB_ID(sensor_mag0),
|
|
ORB_ID(sensor_mag1),
|
|
ORB_ID(sensor_mag2)
|
|
};
|
|
|
|
const char *const UavcanMagnetometerBridge::NAME = "mag";
|
|
|
|
UavcanMagnetometerBridge::UavcanMagnetometerBridge(uavcan::INode& node) :
|
|
UavcanCDevSensorBridgeBase("uavcan_mag", "/dev/uavcan/mag", MAG_DEVICE_PATH, MAG_TOPICS),
|
|
_sub_mag(node)
|
|
{
|
|
_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_HMC5883;
|
|
|
|
_scale.x_scale = 1.0F;
|
|
_scale.y_scale = 1.0F;
|
|
_scale.z_scale = 1.0F;
|
|
}
|
|
|
|
int UavcanMagnetometerBridge::init()
|
|
{
|
|
int res = device::CDev::init();
|
|
if (res < 0) {
|
|
return res;
|
|
}
|
|
|
|
res = _sub_mag.start(MagCbBinder(this, &UavcanMagnetometerBridge::mag_sub_cb));
|
|
if (res < 0) {
|
|
log("failed to start uavcan sub: %d", res);
|
|
return res;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
int UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long arg)
|
|
{
|
|
switch (cmd) {
|
|
case MAGIOCSSCALE: {
|
|
std::memcpy(&_scale, reinterpret_cast<const void*>(arg), sizeof(_scale));
|
|
return 0;
|
|
}
|
|
case MAGIOCGSCALE: {
|
|
std::memcpy(reinterpret_cast<void*>(arg), &_scale, sizeof(_scale));
|
|
return 0;
|
|
}
|
|
case MAGIOCSELFTEST: {
|
|
return 0; // Nothing to do
|
|
}
|
|
case MAGIOCGEXTERNAL: {
|
|
return 0; // We don't want anyone to transform the coordinate frame, so we declare it onboard
|
|
}
|
|
case MAGIOCSSAMPLERATE: {
|
|
return 0; // Pretend that this stuff is supported to keep the sensor app happy
|
|
}
|
|
case MAGIOCCALIBRATE:
|
|
case MAGIOCGSAMPLERATE:
|
|
case MAGIOCSRANGE:
|
|
case MAGIOCGRANGE:
|
|
case MAGIOCSLOWPASS:
|
|
case MAGIOCEXSTRAP:
|
|
case MAGIOCGLOWPASS: {
|
|
return -EINVAL;
|
|
}
|
|
default: {
|
|
return CDev::ioctl(filp, cmd, arg);
|
|
}
|
|
}
|
|
}
|
|
|
|
void UavcanMagnetometerBridge::mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer> &msg)
|
|
{
|
|
auto report = ::mag_report();
|
|
|
|
report.range_ga = 1.3F; // Arbitrary number, doesn't really mean anything
|
|
|
|
report.timestamp = msg.getUtcTimestamp().toUSec();
|
|
if (report.timestamp == 0) {
|
|
report.timestamp = msg.getMonotonicTimestamp().toUSec();
|
|
}
|
|
|
|
report.x = (msg.magnetic_field[0] - _scale.x_offset) * _scale.x_scale;
|
|
report.y = (msg.magnetic_field[1] - _scale.y_offset) * _scale.y_scale;
|
|
report.z = (msg.magnetic_field[2] - _scale.z_offset) * _scale.z_scale;
|
|
|
|
publish(msg.getSrcNodeID().get(), &report);
|
|
}
|