1 files changed, 123 insertions, 0 deletions
diff --git a/src/modules/uavcan/sensors/mag.cpp b/src/modules/uavcan/sensors/mag.cpp
new file mode 100644
index 000000000..8e6a9a22f
--- /dev/null
+++ b/src/modules/uavcan/sensors/mag.cpp
@@ -0,0 +1,123 @@
+/****************************************************************************
+ *
+ *   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"
+
+static const orb_id_t MAG_TOPICS[3] = {
+	ORB_ID(sensor_mag0),
+	ORB_ID(sensor_mag1),
+	ORB_ID(sensor_mag2)
+};
+
+const char *const UavcanMagnetometerBridge::NAME = "mag";
+
+UavcanMagnetometerBridge::UavcanMagnetometerBridge(uavcan::INode& node) :
+UavcanCDevSensorBridgeBase("uavcan_mag", "/dev/uavcan/mag", MAG_DEVICE_PATH, MAG_TOPICS),
+_sub_mag(node)
+{
+	_scale.x_scale = 1.0F;
+	_scale.y_scale = 1.0F;
+	_scale.z_scale = 1.0F;
+}
+
+int UavcanMagnetometerBridge::init()
+{
+	int res = device::CDev::init();
+	if (res < 0) {
+		return res;
+	}
+
+	res = _sub_mag.start(MagCbBinder(this, &UavcanMagnetometerBridge::mag_sub_cb));
+	if (res < 0) {
+		log("failed to start uavcan sub: %d", res);
+		return res;
+	}
+	return 0;
+}
+
+int UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	switch (cmd) {
+	case MAGIOCSSCALE: {
+		std::memcpy(&_scale, reinterpret_cast<const void*>(arg), sizeof(_scale));
+		return 0;
+	}
+	case MAGIOCGSCALE: {
+		std::memcpy(reinterpret_cast<void*>(arg), &_scale, sizeof(_scale));
+		return 0;
+	}
+	case MAGIOCSELFTEST: {
+		return 0;           // Nothing to do
+	}
+	case MAGIOCGEXTERNAL: {
+		return 0;           // We don't want anyone to transform the coordinate frame, so we declare it onboard
+	}
+	case MAGIOCSSAMPLERATE: {
+		return 0;           // Pretend that this stuff is supported to keep the sensor app happy
+	}
+	case MAGIOCCALIBRATE:
+	case MAGIOCGSAMPLERATE:
+	case MAGIOCSRANGE:
+	case MAGIOCGRANGE:
+	case MAGIOCSLOWPASS:
+	case MAGIOCEXSTRAP:
+	case MAGIOCGLOWPASS: {
+		return -EINVAL;
+	}
+	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.y_offset) * _scale.y_scale;
+	report.z = (msg.magnetic_field[2] - _scale.z_offset) * _scale.z_scale;
+
+	publish(msg.getSrcNodeID().get(), &report);
+}