#include <PX4Gyroscope.hpp>

Inheritance diagram for PX4Gyroscope:

Collaboration diagram for PX4Gyroscope:

Public Member Functions
	PX4Gyroscope (uint32_t device_id, uint8_t priority=ORB_PRIO_DEFAULT, enum Rotation rotation=ROTATION_NONE)

	~PX4Gyroscope () override

int	ioctl (cdev::file_t *filp, int cmd, unsigned long arg) override
	Perform an ioctl operation on the device. More...

void	set_device_type (uint8_t devtype)

void	set_error_count (uint64_t error_count)

void	set_scale (float scale)

void	set_temperature (float temperature)

void	set_sample_rate (unsigned rate)

void	update (hrt_abstime timestamp, float x, float y, float z)

void	print_status ()

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	~CDev ()

virtual int	init ()

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...

Private Member Functions
void	configure_filter (float cutoff_freq)

Private Attributes
uORB::PublicationMultiData< sensor_gyro_s >	_sensor_gyro_pub

uORB::PublicationMultiData< sensor_gyro_control_s >	_sensor_gyro_control_pub

math::LowPassFilter2pVector3f	_filter {1000, 100}

Integrator	_integrator {4000, true}

enum Rotation	_rotation

matrix::Vector3f	_calibration_scale {1.0f, 1.0f, 1.0f}

matrix::Vector3f	_calibration_offset {0.0f, 0.0f, 0.0f}

int	_class_device_instance {-1}

unsigned	_sample_rate {1000}

Additional Inherited Members
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 cdev::CDev
px4_sem_t	_lock
	lock to protect access to all class members (also for derived classes) More...

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

Definition at line 48 of file PX4Gyroscope.hpp.

Constructor & Destructor Documentation

◆ PX4Gyroscope()

PX4Gyroscope::PX4Gyroscope	(	uint32_t	device_id,
		uint8_t	priority = `ORB_PRIO_DEFAULT`,
		enum Rotation	rotation = `ROTATION_NONE`
	)

Definition at line 39 of file PX4Gyroscope.cpp.

References _class_device_instance, _rotation, _sensor_gyro_control_pub, _sensor_gyro_pub, configure_filter(), sensor_gyro_control_s::device_id, sensor_gyro_s::device_id, device_id, uORB::PublicationMultiData< T >::get(), GYRO_BASE_DEVICE_PATH, ORB_ID, cdev::CDev::register_class_devname(), and sensor_gyro_s::scaling.

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◆ ~PX4Gyroscope()

PX4Gyroscope::~PX4Gyroscope ( )

override

Definition at line 57 of file PX4Gyroscope.cpp.

References _class_device_instance, GYRO_BASE_DEVICE_PATH, and cdev::CDev::unregister_class_devname().

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Member Function Documentation

◆ configure_filter()

void PX4Gyroscope::configure_filter ( float cutoff_freq )

inlineprivate

Definition at line 70 of file PX4Gyroscope.hpp.

References _filter, _sample_rate, and math::LowPassFilter2pVector3f::set_cutoff_frequency().

Referenced by PX4Gyroscope().

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◆ ioctl()

int PX4Gyroscope::ioctl	(	cdev::file_t *	filep,
		int	cmd,
		unsigned long	arg
	)

overridevirtual

Perform an ioctl operation on the device.

The default implementation handles DIOC_GETPRIV, and otherwise returns -ENOTTY. Subclasses should call the default implementation for any command they do not handle themselves.

Parameters