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/****************************************************************************
*
* 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"
const char *const UavcanMagnetometerBridge::NAME = "mag";
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);
}
}
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 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;
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");
}
}
}
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