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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-23 12:06:46 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-11-23 12:06:46 +0100 |
commit | 461e9889b334865f1eec0c1d7a20067ff5a647ea (patch) | |
tree | 2ebcd3c57679153676a6674f60911c28f40c6031 /src/modules/uavcan/sensors/mag.cpp | |
parent | 4030b20de7921d5e9673ce18215f76f0820c1ec7 (diff) | |
parent | 138c25ec74f08db6f6759053d0200058a794c196 (diff) | |
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Merged master
Diffstat (limited to 'src/modules/uavcan/sensors/mag.cpp')
-rw-r--r-- | src/modules/uavcan/sensors/mag.cpp | 53 |
1 files changed, 40 insertions, 13 deletions
diff --git a/src/modules/uavcan/sensors/mag.cpp b/src/modules/uavcan/sensors/mag.cpp index 8e6a9a22f..35ebee542 100644 --- a/src/modules/uavcan/sensors/mag.cpp +++ b/src/modules/uavcan/sensors/mag.cpp @@ -37,6 +37,8 @@ #include "mag.hpp" +#include <systemlib/err.h> + static const orb_id_t MAG_TOPICS[3] = { ORB_ID(sensor_mag0), ORB_ID(sensor_mag1), @@ -49,6 +51,8 @@ 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; @@ -69,9 +73,36 @@ int UavcanMagnetometerBridge::init() return 0; } +ssize_t UavcanMagnetometerBridge::read(struct file *filp, char *buffer, size_t buflen) +{ + static uint64_t last_read = 0; + struct mag_report *mag_buf = reinterpret_cast<struct mag_report *>(buffer); + + /* buffer must be large enough */ + unsigned count = buflen / sizeof(struct mag_report); + if (count < 1) { + return -ENOSPC; + } + + if (last_read < _report.timestamp) { + /* copy report */ + lock(); + *mag_buf = _report; + last_read = _report.timestamp; + unlock(); + return sizeof(struct mag_report); + } else { + /* no new data available, warn caller */ + return -EAGAIN; + } +} + int UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long arg) { switch (cmd) { + case SENSORIOCSQUEUEDEPTH: { + return OK; // Pretend that this stuff is supported to keep APM happy + } case MAGIOCSSCALE: { std::memcpy(&_scale, reinterpret_cast<const void*>(arg), sizeof(_scale)); return 0; @@ -84,7 +115,7 @@ int UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long ar return 0; // Nothing to do } case MAGIOCGEXTERNAL: { - return 0; // We don't want anyone to transform the coordinate frame, so we declare it onboard + return 1; // declare it external rise it's priority and to allow for correct orientation compensation } case MAGIOCSSAMPLERATE: { return 0; // Pretend that this stuff is supported to keep the sensor app happy @@ -106,18 +137,14 @@ int UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long ar 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(); - } + lock(); + _report.range_ga = 1.3F; // Arbitrary number, doesn't really mean anything + _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; + _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; + unlock(); - publish(msg.getSrcNodeID().get(), &report); + publish(msg.getSrcNodeID().get(), &_report); } |