forked from Archive/PX4-Autopilot
UAVCAN magnetometer driver
This commit is contained in:
Pavel Kirienko
parent
54affaf633
commit
29dbe8aed5
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@ -49,7 +49,8 @@ SRCS += actuators/esc.cpp
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# Sensors
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SRCS += sensors/sensor_bridge.cpp \
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sensors/gnss.cpp
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sensors/gnss.cpp \
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sensors/mag.cpp
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#
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# libuavcan
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@ -0,0 +1,155 @@
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/****************************************************************************
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*
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* Copyright (C) 2014 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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UavcanMagnetometerBridge::UavcanMagnetometerBridge(uavcan::INode& node) :
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device::CDev("uavcan_mag", "/dev/uavcan/mag"),
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_sub_mag(node)
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{
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_scale.x_scale = 1.0F;
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_scale.y_scale = 1.0F;
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_scale.z_scale = 1.0F;
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}
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UavcanMagnetometerBridge::~UavcanMagnetometerBridge()
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{
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if (_class_instance > 0) {
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(void)unregister_class_devname(MAG_DEVICE_PATH, _class_instance);
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}
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}
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const char *UavcanMagnetometerBridge::get_name() const { return "mag"; }
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int UavcanMagnetometerBridge::init()
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{
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// Init the libuavcan subscription
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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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log("failed to start uavcan sub: %d", res);
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return res;
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}
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// Detect our device class
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_class_instance = register_class_devname(MAG_DEVICE_PATH);
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switch (_class_instance) {
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case CLASS_DEVICE_PRIMARY: {
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_orb_id = ORB_ID(sensor_mag0);
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break;
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}
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case CLASS_DEVICE_SECONDARY: {
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_orb_id = ORB_ID(sensor_mag1);
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break;
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}
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case CLASS_DEVICE_TERTIARY: {
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_orb_id = ORB_ID(sensor_mag2);
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break;
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}
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default: {
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log("invalid class instance: %d", _class_instance);
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(void)unregister_class_devname(MAG_DEVICE_PATH, _class_instance);
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return -1;
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}
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}
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log("inited with class instance %d", _class_instance);
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return 0;
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}
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int UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long arg)
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{
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switch (cmd) {
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case MAGIOCSSAMPLERATE:
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case MAGIOCGSAMPLERATE:
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case MAGIOCSRANGE:
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case MAGIOCGRANGE:
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case MAGIOCSLOWPASS:
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case MAGIOCGLOWPASS: {
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return -EINVAL;
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}
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case MAGIOCSSCALE: {
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std::memcpy(&_scale, reinterpret_cast<const void*>(arg), sizeof(_scale));
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log("new scale/offset: x: %f/%f y: %f/%f z: %f/%f",
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double(_scale.x_scale), double(_scale.x_offset),
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double(_scale.y_scale), double(_scale.y_offset),
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double(_scale.z_scale), double(_scale.z_offset));
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return 0;
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}
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case MAGIOCGSCALE: {
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std::memcpy(reinterpret_cast<void*>(arg), &_scale, sizeof(_scale));
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return 0;
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}
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case MAGIOCCALIBRATE:
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case MAGIOCEXSTRAP:
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case MAGIOCSELFTEST: {
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return -EINVAL;
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}
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case MAGIOCGEXTERNAL: {
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return 1;
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}
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default: {
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return CDev::ioctl(filp, cmd, arg);
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}
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}
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}
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void UavcanMagnetometerBridge::mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer> &msg)
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{
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auto report = ::mag_report();
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report.range_ga = 1.3F; // Arbitrary number, doesn't really mean anything
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report.timestamp = msg.getUtcTimestamp().toUSec();
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if (report.timestamp == 0) {
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report.timestamp = msg.getMonotonicTimestamp().toUSec();
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}
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report.x = (msg.magnetic_field[0] - _scale.x_offset) * _scale.x_scale;
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report.y = (msg.magnetic_field[1] - _scale.x_offset) * _scale.x_scale;
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report.z = (msg.magnetic_field[2] - _scale.x_offset) * _scale.x_scale;
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if (_orb_advert >= 0) {
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orb_publish(_orb_id, _orb_advert, &report);
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} else {
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_orb_advert = orb_advertise(_orb_id, &report);
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if (_orb_advert < 0) {
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log("ADVERT FAIL");
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} else {
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log("advertised");
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}
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}
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}
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@ -0,0 +1,72 @@
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/****************************************************************************
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*
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* Copyright (C) 2014 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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#pragma once
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#include "sensor_bridge.hpp"
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#include <drivers/device/device.h>
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#include <drivers/drv_mag.h>
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#include <uavcan/equipment/ahrs/Magnetometer.hpp>
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class UavcanMagnetometerBridge : public IUavcanSensorBridge, public device::CDev
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{
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public:
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UavcanMagnetometerBridge(uavcan::INode& node);
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~UavcanMagnetometerBridge() override;
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const char *get_name() const override;
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int init() override;
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private:
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int ioctl(struct file *filp, int cmd, unsigned long arg) override;
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void mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer> &msg);
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typedef uavcan::MethodBinder<UavcanMagnetometerBridge*,
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void (UavcanMagnetometerBridge::*)
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(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer>&)>
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MagCbBinder;
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uavcan::Subscriber<uavcan::equipment::ahrs::Magnetometer, MagCbBinder> _sub_mag;
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mag_scale _scale = {};
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orb_id_t _orb_id = nullptr;
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orb_advert_t _orb_advert = -1;
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int _class_instance = -1;
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};
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@ -37,11 +37,14 @@
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#include "sensor_bridge.hpp"
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#include "gnss.hpp"
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#include "mag.hpp"
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IUavcanSensorBridge* IUavcanSensorBridge::make(uavcan::INode &node, const char *bridge_name)
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{
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if (!std::strncmp("gnss", bridge_name, MaxNameLen)) {
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return new UavcanGnssBridge(node);
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} else if (!std::strncmp("mag", bridge_name, MaxNameLen)) {
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return new UavcanMagnetometerBridge(node);
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} else {
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return nullptr;
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}
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