#include <mag.hpp>

Inheritance diagram for UavcanMagnetometerBridge:

Collaboration diagram for UavcanMagnetometerBridge:

Public Member Functions
	UavcanMagnetometerBridge (uavcan::INode &node)

const char *	get_name () const override
	Returns ASCII name of the bridge. More...

int	init () override
	Starts the bridge. More...

Public Member Functions inherited from UavcanCDevSensorBridgeBase
virtual	~UavcanCDevSensorBridgeBase ()

unsigned	get_num_redundant_channels () const override
	Returns number of active redundancy channels. More...

void	print_status () const override
	Prints current status in a human readable format to stdout. More...

Public Member Functions inherited from IUavcanSensorBridge
virtual	~IUavcanSensorBridge ()=default

Public Member Functions inherited from ListNode< IUavcanSensorBridge *>
void	setSibling (IUavcanSensorBridge * sibling)

const IUavcanSensorBridge *	getSibling () const

Public Member Functions inherited from device::CDev
	CDev (const char name, const char devname)
	Constructor. More...

virtual	~CDev ()=default

virtual int	ioctl (file_t *filep, int cmd, unsigned long arg)
	Perform an ioctl operation on the device. More...

Public Member Functions inherited from device::Device
	Device (const Device &)=delete

Device &	operator= (const Device &)=delete

	Device (Device &&)=delete

Device &	operator= (Device &&)=delete

virtual	~Device ()=default
	Destructor. More...

virtual int	read (unsigned address, void *data, unsigned count)
	Read directly from the device. More...

virtual int	write (unsigned address, void *data, unsigned count)
	Write directly to the device. More...

virtual int	ioctl (unsigned operation, unsigned &arg)
	Perform a device-specific operation. More...

uint32_t	get_device_id () const

DeviceBusType	get_device_bus_type () const
	Return the bus type the device is connected to. More...

void	set_device_bus_type (DeviceBusType bus_type)

uint8_t	get_device_bus () const
	Return the bus ID the device is connected to. More...

void	set_device_bus (uint8_t bus)

uint8_t	get_device_address () const
	Return the bus address of the device. More...

void	set_device_address (int address)

uint8_t	get_device_type () const
	Return the device type. More...

void	set_device_type (uint8_t devtype)

virtual bool	external () const

Public Member Functions inherited from cdev::CDev
	CDev (const char *devname)
	Constructor. More...

	CDev (const CDev &)=delete

CDev &	operator= (const CDev &)=delete

	CDev (CDev &&)=delete

CDev &	operator= (CDev &&)=delete

virtual int	open (file_t *filep)
	Handle an open of the device. More...

virtual int	close (file_t *filep)
	Handle a close of the device. More...

virtual ssize_t	read (file_t filep, char buffer, size_t buflen)
	Perform a read from the device. More...

virtual ssize_t	write (file_t filep, const char buffer, size_t buflen)
	Perform a write to the device. More...

virtual off_t	seek (file_t *filep, off_t offset, int whence)
	Perform a logical seek operation on the device. More...

virtual int	poll (file_t filep, px4_pollfd_struct_t fds, bool setup)
	Perform a poll setup/teardown operation. More...

const char *	get_devname () const
	Get the device name. More...

Static Public Attributes
static const char *const	NAME = "mag"

Static Public Attributes inherited from IUavcanSensorBridge
static constexpr unsigned	MAX_NAME_LEN = 20

Private Types
typedef uavcan::MethodBinder< UavcanMagnetometerBridge , void(UavcanMagnetometerBridge::)(const uavcan::ReceivedDataStructure< uavcan::equipment::ahrs::MagneticFieldStrength > &) >	MagCbBinder

typedef uavcan::MethodBinder< UavcanMagnetometerBridge , void(UavcanMagnetometerBridge::)(const uavcan::ReceivedDataStructure< uavcan::equipment::ahrs::MagneticFieldStrength2 > &) >	Mag2CbBinder

Private Member Functions
int	ioctl (struct file *filp, int cmd, unsigned long arg) override

void	mag_sub_cb (const uavcan::ReceivedDataStructure< uavcan::equipment::ahrs::MagneticFieldStrength > &msg)

void	mag2_sub_cb (const uavcan::ReceivedDataStructure< uavcan::equipment::ahrs::MagneticFieldStrength2 > &msg)

Private Attributes
uavcan::Subscriber< uavcan::equipment::ahrs::MagneticFieldStrength, MagCbBinder >	_sub_mag

uavcan::Subscriber< uavcan::equipment::ahrs::MagneticFieldStrength2, Mag2CbBinder >	_sub_mag2

mag_calibration_s	_scale {}

sensor_mag_s	_report {}

Additional Inherited Members
Public Types inherited from device::Device
enum	DeviceBusType { DeviceBusType_UNKNOWN = 0, DeviceBusType_I2C = 1, DeviceBusType_SPI = 2, DeviceBusType_UAVCAN = 3, DeviceBusType_SIMULATION = 4 }
	Device bus types for DEVID. More...

Static Public Member Functions inherited from IUavcanSensorBridge
static void	make_all (uavcan::INode &node, List< IUavcanSensorBridge *> &list)
	Sensor bridge factory. More...

Static Public Member Functions inherited from device::Device
static const char *	get_device_bus_string (DeviceBusType bus)

static int	device_id_print_buffer (char *buffer, int length, uint32_t id)
	Print decoded device id string to a buffer. More...

Protected Member Functions inherited from UavcanCDevSensorBridgeBase
	UavcanCDevSensorBridgeBase (const char name, const char devname, const char *class_devname, const orb_id_t orb_topic_sensor, const unsigned max_channels=DEFAULT_MAX_CHANNELS)

void	publish (const int node_id, const void *report)
	Sends one measurement into appropriate ORB topic. More...

Protected Member Functions inherited from device::Device
	Device (const char *name)

	Device (const char *name, DeviceBusType bus_type, uint8_t bus, uint8_t address, uint8_t devtype=0)

	Device (DeviceBusType bus_type, uint8_t bus, uint8_t address, uint8_t devtype=0)

Protected Member Functions inherited from cdev::CDev
virtual pollevent_t	poll_state (file_t *filep)
	Check the current state of the device for poll events from the perspective of the file. More...

virtual void	poll_notify (pollevent_t events)
	Report new poll events. More...

virtual void	poll_notify_one (px4_pollfd_struct_t *fds, pollevent_t events)
	Internal implementation of poll_notify. More...

virtual int	open_first (file_t *filep)
	Notification of the first open. More...

virtual int	close_last (file_t *filep)
	Notification of the last close. More...

virtual int	register_class_devname (const char *class_devname)
	Register a class device name, automatically adding device class instance suffix if need be. More...

virtual int	unregister_class_devname (const char *class_devname, unsigned class_instance)
	Register a class device name, automatically adding device class instance suffix if need be. More...

void	lock ()
	Take the driver lock. More...

void	unlock ()
	Release the driver lock. More...

int	unregister_driver_and_memory ()
	First, unregisters the driver. More...

Protected Attributes inherited from ListNode< IUavcanSensorBridge *>
IUavcanSensorBridge *	_list_node_sibling

Protected Attributes inherited from device::CDev
bool	_pub_blocked {false}
	true if publishing should be blocked More...

Protected Attributes inherited from device::Device
const char *	_name {nullptr}
	driver name More...

bool	_debug_enabled {false}
	if true, debug messages are printed More...

Protected Attributes inherited from cdev::CDev
px4_sem_t	_lock
	lock to protect access to all class members (also for derived classes) More...

Static Protected Attributes inherited from UavcanCDevSensorBridgeBase
static constexpr unsigned	DEFAULT_MAX_CHANNELS = 5

Static Protected Attributes inherited from cdev::CDev
static const px4_file_operations_t	fops = {}
	Pointer to the default cdev file operations table; useful for registering clone devices etc. More...

Detailed Description

Author: Pavel Kirienko pavel.nosp@m..kir.nosp@m.ienko.nosp@m.@gma.nosp@m.il.co.nosp@m.m

Definition at line 47 of file mag.hpp.

Member Typedef Documentation

◆ Mag2CbBinder

typedef uavcan::MethodBinder< UavcanMagnetometerBridge *, void (UavcanMagnetometerBridge::*) (const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::MagneticFieldStrength2> &) > UavcanMagnetometerBridge::Mag2CbBinder

private

Definition at line 73 of file mag.hpp.

◆ MagCbBinder

typedef uavcan::MethodBinder< UavcanMagnetometerBridge *, void (UavcanMagnetometerBridge::*) (const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::MagneticFieldStrength> &) > UavcanMagnetometerBridge::MagCbBinder

private

Definition at line 68 of file mag.hpp.

Constructor & Destructor Documentation

◆ UavcanMagnetometerBridge()

UavcanMagnetometerBridge::UavcanMagnetometerBridge ( uavcan::INode & node )

Definition at line 45 of file mag.cpp.

References _scale, DRV_MAG_DEVTYPE_HMC5883, mag_calibration_s::x_scale, mag_calibration_s::y_scale, and mag_calibration_s::z_scale.

Member Function Documentation

◆ get_name()

const char* UavcanMagnetometerBridge::get_name ( ) const

inlineoverridevirtual

Returns ASCII name of the bridge.

Implements IUavcanSensorBridge.

Definition at line 54 of file mag.hpp.

References file, init(), ioctl(), mag2_sub_cb(), mag_sub_cb(), msg, and NAME.

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◆ init()

int UavcanMagnetometerBridge::init ( )

overridevirtual

Starts the bridge.

Returns: Non-negative value on success, negative on error.

Implements IUavcanSensorBridge.

Definition at line 58 of file mag.cpp.

References _sub_mag, _sub_mag2, device::CDev::init(), mag2_sub_cb(), and mag_sub_cb().

Referenced by get_name().

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◆ ioctl()

int UavcanMagnetometerBridge::ioctl	(	struct file *	filp,
		int	cmd,
		unsigned long	arg
	)

overrideprivate

Definition at line 84 of file mag.cpp.

References _scale, MAGIOCCALIBRATE, MAGIOCEXSTRAP, MAGIOCGEXTERNAL, MAGIOCGSCALE, MAGIOCSRANGE, and MAGIOCSSCALE.

Referenced by get_name().

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◆ mag2_sub_cb()

void UavcanMagnetometerBridge::mag2_sub_cb ( const uavcan::ReceivedDataStructure< uavcan::equipment::ahrs::MagneticFieldStrength2 > & msg )

private

Definition at line 139 of file mag.cpp.

References _report, _scale, sensor_mag_s::device_id, hrt_absolute_time(), sensor_mag_s::is_external, cdev::CDev::lock(), UavcanCDevSensorBridgeBase::publish(), sensor_mag_s::timestamp, cdev::CDev::unlock(), sensor_mag_s::x, mag_calibration_s::x_offset, mag_calibration_s::x_scale, sensor_mag_s::y, mag_calibration_s::y_offset, mag_calibration_s::y_scale, sensor_mag_s::z, mag_calibration_s::z_offset, and mag_calibration_s::z_scale.

Referenced by get_name(), and init().

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◆ mag_sub_cb()

void UavcanMagnetometerBridge::mag_sub_cb ( const uavcan::ReceivedDataStructure< uavcan::equipment::ahrs::MagneticFieldStrength > & msg )

private

Definition at line 115 of file mag.cpp.

References _report, _scale, sensor_mag_s::device_id, hrt_absolute_time(), sensor_mag_s::is_external, cdev::CDev::lock(), UavcanCDevSensorBridgeBase::publish(), sensor_mag_s::timestamp, cdev::CDev::unlock(), sensor_mag_s::x, mag_calibration_s::x_offset, mag_calibration_s::x_scale, sensor_mag_s::y, mag_calibration_s::y_offset, mag_calibration_s::y_scale, sensor_mag_s::z, mag_calibration_s::z_offset, and mag_calibration_s::z_scale.

Referenced by get_name(), and init().

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Member Data Documentation

◆ _report

sensor_mag_s UavcanMagnetometerBridge::_report {}

private

Definition at line 79 of file mag.hpp.

Referenced by mag2_sub_cb(), and mag_sub_cb().

◆ _scale

mag_calibration_s UavcanMagnetometerBridge::_scale {}

private

Definition at line 78 of file mag.hpp.

Referenced by ioctl(), mag2_sub_cb(), mag_sub_cb(), and UavcanMagnetometerBridge().

◆ _sub_mag

uavcan::Subscriber<uavcan::equipment::ahrs::MagneticFieldStrength, MagCbBinder> UavcanMagnetometerBridge::_sub_mag

private

Definition at line 75 of file mag.hpp.

Referenced by init().

◆ _sub_mag2

uavcan::Subscriber<uavcan::equipment::ahrs::MagneticFieldStrength2, Mag2CbBinder> UavcanMagnetometerBridge::_sub_mag2

private

Definition at line 76 of file mag.hpp.

Referenced by init().

◆ NAME

const char *const UavcanMagnetometerBridge::NAME = "mag"

static

Author: Pavel Kirienko pavel.nosp@m..kir.nosp@m.ienko.nosp@m.@gma.nosp@m.il.co.nosp@m.m

Definition at line 50 of file mag.hpp.

Referenced by get_name().

The documentation for this class was generated from the following files:

src/drivers/uavcan/sensors/mag.hpp
src/drivers/uavcan/sensors/mag.cpp

Public Member Functions

Static Public Attributes

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Mag2CbBinder

◆ MagCbBinder

Constructor & Destructor Documentation

◆ UavcanMagnetometerBridge()

Member Function Documentation

◆ get_name()

◆ init()

◆ ioctl()

◆ mag2_sub_cb()

◆ mag_sub_cb()

Member Data Documentation

◆ _report

◆ _scale

◆ _sub_mag

◆ _sub_mag2

◆ NAME