UAVCAN magnetometer driver

4 files changed, 232 insertions, 1 deletions

diff --git a/src/modules/uavcan/module.mk b/src/modules/uavcan/module.mk
index 2b9729045..de411e1e2 100644
--- a/src/modules/uavcan/module.mk
+++ b/src/modules/uavcan/module.mk
@@ -49,7 +49,8 @@ SRCS += actuators/esc.cpp
 
 # Sensors
 SRCS += sensors/sensor_bridge.cpp    \
-        sensors/gnss.cpp
+        sensors/gnss.cpp             \
+        sensors/mag.cpp
 
 #
 # libuavcan
diff --git a/src/modules/uavcan/sensors/mag.cpp b/src/modules/uavcan/sensors/mag.cpp
new file mode 100644
index 000000000..41a1a5270
--- /dev/null
+++ b/src/modules/uavcan/sensors/mag.cpp
@@ -0,0 +1,155 @@
+/****************************************************************************
+ *
+ *   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"
+
+UavcanMagnetometerBridge::UavcanMagnetometerBridge(uavcan::INode& node) :
+device::CDev("uavcan_mag", "/dev/uavcan/mag"),
+_sub_mag(node)
+{
+	_scale.x_scale = 1.0F;
+	_scale.y_scale = 1.0F;
+	_scale.z_scale = 1.0F;
+}
+
+UavcanMagnetometerBridge::~UavcanMagnetometerBridge()
+{
+	if (_class_instance > 0) {
+		(void)unregister_class_devname(MAG_DEVICE_PATH, _class_instance);
+	}
+}
+
+const char *UavcanMagnetometerBridge::get_name() const { return "mag"; }
+
+int UavcanMagnetometerBridge::init()
+{
+	// Init the libuavcan subscription
+	int res = _sub_mag.start(MagCbBinder(this, &UavcanMagnetometerBridge::mag_sub_cb));
+	if (res < 0) {
+		log("failed to start uavcan sub: %d", res);
+		return res;
+	}
+
+	// Detect our device class
+	_class_instance = register_class_devname(MAG_DEVICE_PATH);
+	switch (_class_instance) {
+	case CLASS_DEVICE_PRIMARY: {
+		_orb_id = ORB_ID(sensor_mag0);
+		break;
+	}
+	case CLASS_DEVICE_SECONDARY: {
+		_orb_id = ORB_ID(sensor_mag1);
+		break;
+	}
+	case CLASS_DEVICE_TERTIARY: {
+		_orb_id = ORB_ID(sensor_mag2);
+		break;
+	}
+	default: {
+		log("invalid class instance: %d", _class_instance);
+		(void)unregister_class_devname(MAG_DEVICE_PATH, _class_instance);
+		return -1;
+	}
+	}
+
+	log("inited with class instance %d", _class_instance);
+	return 0;
+}
+
+int UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	switch (cmd) {
+	case MAGIOCSSAMPLERATE:
+	case MAGIOCGSAMPLERATE:
+	case MAGIOCSRANGE:
+	case MAGIOCGRANGE:
+	case MAGIOCSLOWPASS:
+	case MAGIOCGLOWPASS: {
+		return -EINVAL;
+	}
+	case MAGIOCSSCALE: {
+		std::memcpy(&_scale, reinterpret_cast<const void*>(arg), sizeof(_scale));
+		log("new scale/offset: x: %f/%f   y: %f/%f   z: %f/%f",
+		    double(_scale.x_scale), double(_scale.x_offset),
+		    double(_scale.y_scale), double(_scale.y_offset),
+		    double(_scale.z_scale), double(_scale.z_offset));
+		return 0;
+	}
+	case MAGIOCGSCALE: {
+		std::memcpy(reinterpret_cast<void*>(arg), &_scale, sizeof(_scale));
+		return 0;
+	}
+	case MAGIOCCALIBRATE:
+	case MAGIOCEXSTRAP:
+	case MAGIOCSELFTEST: {
+		return -EINVAL;
+	}
+	case MAGIOCGEXTERNAL: {
+		return 1;
+	}
+	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.x_offset) * _scale.x_scale;
+	report.z = (msg.magnetic_field[2] - _scale.x_offset) * _scale.x_scale;
+
+	if (_orb_advert >= 0) {
+		orb_publish(_orb_id, _orb_advert, &report);
+	} else {
+		_orb_advert = orb_advertise(_orb_id, &report);
+		if (_orb_advert < 0) {
+			log("ADVERT FAIL");
+		} else {
+			log("advertised");
+		}
+	}
+}
diff --git a/src/modules/uavcan/sensors/mag.hpp b/src/modules/uavcan/sensors/mag.hpp
new file mode 100644
index 000000000..7f23a0b8f
--- /dev/null
+++ b/src/modules/uavcan/sensors/mag.hpp
@@ -0,0 +1,72 @@
+/****************************************************************************
+ *
+ *   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>
+ */
+
+#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:
+	UavcanMagnetometerBridge(uavcan::INode& node);
+	~UavcanMagnetometerBridge() override;
+
+	const char *get_name() const override;
+
+	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;
+};
diff --git a/src/modules/uavcan/sensors/sensor_bridge.cpp b/src/modules/uavcan/sensors/sensor_bridge.cpp
index ba27d6c71..08fca73c5 100644
--- a/src/modules/uavcan/sensors/sensor_bridge.cpp
+++ b/src/modules/uavcan/sensors/sensor_bridge.cpp
@@ -37,11 +37,14 @@
 
 #include "sensor_bridge.hpp"
 #include "gnss.hpp"
+#include "mag.hpp"
 
 IUavcanSensorBridge* IUavcanSensorBridge::make(uavcan::INode &node, const char *bridge_name)
 {
 	if (!std::strncmp("gnss", bridge_name, MaxNameLen)) {
 		return new UavcanGnssBridge(node);
+	} else if (!std::strncmp("mag", bridge_name, MaxNameLen)) {
+		return new UavcanMagnetometerBridge(node);
 	} else {
 		return nullptr;
 	}