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Diffstat (limited to 'src/modules/uavcan/sensors/mag.hpp')
-rw-r--r-- | src/modules/uavcan/sensors/mag.hpp | 72 |
1 files changed, 72 insertions, 0 deletions
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; +}; |