PX4Magnetometer.cpp

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#include "PX4Magnetometer.hpp"

#include <lib/drivers/device/Device.hpp>

PX4Magnetometer::PX4Magnetometer(uint32_t device_id, uint8_t priority, enum Rotation rotation) :
    CDev(nullptr),
    _sensor_mag_pub{ORB_ID(sensor_mag), priority},
    _rotation{rotation}
{
    _class_device_instance = register_class_devname(MAG_BASE_DEVICE_PATH);

    _sensor_mag_pub.get().device_id = device_id;
    _sensor_mag_pub.get().scaling = 1.0f;
}

PX4Magnetometer::~PX4Magnetometer()
{
    if (_class_device_instance != -1) {
        unregister_class_devname(MAG_BASE_DEVICE_PATH, _class_device_instance);
    }
}

int
PX4Magnetometer::ioctl(cdev::file_t *filp, int cmd, unsigned long arg)
{
    switch (cmd) {
    case MAGIOCSSCALE: {
            // Copy offsets and scale factors in
            mag_calibration_s cal{};
            memcpy(&cal, (mag_calibration_s *) arg, sizeof(cal));

            _calibration_offset = matrix::Vector3f{cal.x_offset, cal.y_offset, cal.z_offset};
            _calibration_scale = matrix::Vector3f{cal.x_scale, cal.y_scale, cal.z_scale};
        }

        return PX4_OK;

    case MAGIOCGSCALE: {
            // copy out scale factors
            mag_calibration_s cal{};
            cal.x_offset = _calibration_offset(0);
            cal.y_offset = _calibration_offset(1);
            cal.z_offset = _calibration_offset(2);
            cal.x_scale = _calibration_scale(0);
            cal.y_scale = _calibration_scale(1);
            cal.z_scale = _calibration_scale(2);
            memcpy((mag_calibration_s *)arg, &cal, sizeof(cal));
        }

        return 0;

    case DEVIOCGDEVICEID:
        return _sensor_mag_pub.get().device_id;

    default:
        return -ENOTTY;
    }
}

void
PX4Magnetometer::set_device_type(uint8_t devtype)
{
    // current DeviceStructure
    union device::Device::DeviceId device_id;
    device_id.devid = _sensor_mag_pub.get().device_id;

    // update to new device type
    device_id.devid_s.devtype = devtype;

    // copy back to report
    _sensor_mag_pub.get().device_id = device_id.devid;
}

void
PX4Magnetometer::update(hrt_abstime timestamp, int16_t x, int16_t y, int16_t z)
{
    sensor_mag_s &report = _sensor_mag_pub.get();
    report.timestamp = timestamp;

    // Apply rotation (before scaling)
    float xraw_f = x;
    float yraw_f = y;
    float zraw_f = z;
    rotate_3f(_rotation, xraw_f, yraw_f, zraw_f);

    const matrix::Vector3f raw_f{xraw_f, yraw_f, zraw_f};

    // Apply range scale and the calibrating offset/scale
    const matrix::Vector3f val_calibrated{(((raw_f.emult(_sensitivity) * report.scaling) - _calibration_offset).emult(_calibration_scale))};

    // Raw values (ADC units 0 - 65535)
    report.x_raw = x;
    report.y_raw = y;
    report.z_raw = z;

    report.x = val_calibrated(0);
    report.y = val_calibrated(1);
    report.z = val_calibrated(2);

    poll_notify(POLLIN);
    _sensor_mag_pub.update();
}

void
PX4Magnetometer::print_status()
{
    PX4_INFO(MAG_BASE_DEVICE_PATH " device instance: %d", _class_device_instance);

    PX4_INFO("calibration scale: %.5f %.5f %.5f", (double)_calibration_scale(0), (double)_calibration_scale(1),
         (double)_calibration_scale(2));
    PX4_INFO("calibration offset: %.5f %.5f %.5f", (double)_calibration_offset(0), (double)_calibration_offset(1),
         (double)_calibration_offset(2));

    print_message(_sensor_mag_pub.get());
}