mirror of https://github.com/ArduPilot/ardupilot
143 lines
3.8 KiB
C++
143 lines
3.8 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* AP_Compass_PX4.cpp - Arduino Library for PX4 magnetometer
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*
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*/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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#include "AP_Compass_PX4.h"
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <drivers/drv_device.h>
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#include <drivers/drv_mag.h>
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#include <drivers/drv_hrt.h>
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#include <stdio.h>
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#include <errno.h>
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extern const AP_HAL::HAL& hal;
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// Public Methods //////////////////////////////////////////////////////////////
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// constructor
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AP_Compass_PX4::AP_Compass_PX4(Compass &compass):
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AP_Compass_Backend(compass),
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_num_sensors(0)
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{
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}
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// detect the sensor
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AP_Compass_Backend *AP_Compass_PX4::detect(Compass &compass)
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{
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AP_Compass_PX4 *sensor = new AP_Compass_PX4(compass);
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if (sensor == NULL) {
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return NULL;
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}
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if (!sensor->init()) {
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delete sensor;
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return NULL;
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}
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return sensor;
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}
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bool AP_Compass_PX4::init(void)
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{
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_mag_fd[0] = open(MAG_BASE_DEVICE_PATH"0", O_RDONLY);
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_mag_fd[1] = open(MAG_BASE_DEVICE_PATH"1", O_RDONLY);
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_mag_fd[2] = open(MAG_BASE_DEVICE_PATH"2", O_RDONLY);
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_num_sensors = 0;
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for (uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
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if (_mag_fd[i] >= 0) {
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_num_sensors = i+1;
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}
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}
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if (_num_sensors == 0) {
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hal.console->printf("Unable to open " MAG_BASE_DEVICE_PATH"0" "\n");
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return false;
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}
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for (uint8_t i=0; i<_num_sensors; i++) {
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_instance[i] = register_compass();
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// get device id
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set_dev_id(_instance[i], ioctl(_mag_fd[i], DEVIOCGDEVICEID, 0));
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// average over up to 20 samples
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if (ioctl(_mag_fd[i], SENSORIOCSQUEUEDEPTH, 20) != 0) {
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hal.console->printf("Failed to setup compass queue\n");
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return false;
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}
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// remember if the compass is external
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set_external(_instance[i], ioctl(_mag_fd[i], MAGIOCGEXTERNAL, 0) > 0);
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_count[i] = 0;
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_sum[i].zero();
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}
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// give the driver a chance to run, and gather one sample
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hal.scheduler->delay(40);
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accumulate();
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if (_count[0] == 0) {
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hal.console->printf("Failed initial compass accumulate\n");
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}
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return true;
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}
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void AP_Compass_PX4::read(void)
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{
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// try to accumulate one more sample, so we have the latest data
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accumulate();
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for (uint8_t i=0; i<_num_sensors; i++) {
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// avoid division by zero if we haven't received any mag reports
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if (_count[i] == 0) continue;
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_sum[i] /= _count[i];
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_sum[i] *= 1000;
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publish_field(_sum[i], _instance[i]);
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_sum[i].zero();
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_count[i] = 0;
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}
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}
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void AP_Compass_PX4::accumulate(void)
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{
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struct mag_report mag_report;
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for (uint8_t i=0; i<_num_sensors; i++) {
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while (::read(_mag_fd[i], &mag_report, sizeof(mag_report)) == sizeof(mag_report) &&
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mag_report.timestamp != _last_timestamp[i]) {
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_sum[i] += Vector3f(mag_report.x, mag_report.y, mag_report.z);
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_count[i]++;
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_last_timestamp[i] = mag_report.timestamp;
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}
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}
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}
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#endif // CONFIG_HAL_BOARD
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