path: root/src/modules/uavcan/sensors/mag.hpp

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/**
 * @author Pavel Kirienko <pavel.kirienko@gmail.com>
 */

#pragma once

#include "sensor_bridge.hpp"
#include <drivers/device/device.h>
#include <drivers/drv_mag.h>

#include <uavcan/equipment/ahrs/Magnetometer.hpp>

class UavcanMagnetometerBridge : public IUavcanSensorBridge, public device::CDev
{
public:
	static const char *const NAME;

	UavcanMagnetometerBridge(uavcan::INode& node);
	~UavcanMagnetometerBridge() override;

	const char *get_name() const override { return NAME; }

	int init() override;

private:
	int ioctl(struct file *filp, int cmd, unsigned long arg) override;

	void mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer> &msg);

	typedef uavcan::MethodBinder<UavcanMagnetometerBridge*,
		void (UavcanMagnetometerBridge::*)
			(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer>&)>
		MagCbBinder;

	uavcan::Subscriber<uavcan::equipment::ahrs::Magnetometer, MagCbBinder> _sub_mag;
	mag_scale _scale = {};
	orb_id_t _orb_id = nullptr;
	orb_advert_t _orb_advert = -1;
	int _class_instance = -1;
};