mag.hpp

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/**
 * @author Pavel Kirienko <pavel.kirienko@gmail.com>
 */

#pragma once

#include "sensor_bridge.hpp"

#include <drivers/drv_mag.h>

#include <uavcan/equipment/ahrs/MagneticFieldStrength.hpp>
#include <uavcan/equipment/ahrs/MagneticFieldStrength2.hpp>

class UavcanMagnetometerBridge : public UavcanCDevSensorBridgeBase
{
public:
    static const char *const NAME;

    UavcanMagnetometerBridge(uavcan::INode &node);

    const char *get_name() const override { return NAME; }

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

    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;

    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{};
};