Inheritance diagram for DfHmc5883Wrapper:

Collaboration diagram for DfHmc5883Wrapper:

Classes
struct	mag_calibration_s

Public Member Functions
	DfHmc5883Wrapper (enum Rotation rotation, const char *path)

	~DfHmc5883Wrapper ()

int	start ()
	Start automatic measurement. More...

int	stop ()
	Stop automatic measurement. More...

Public Member Functions inherited from HMC5883
	HMC5883 (device::Device interface, const char path, enum Rotation rotation)

virtual	~HMC5883 ()

virtual int	init ()

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

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

void	stop ()
	Stop the automatic measurement state machine. More...

void	print_info ()
	Diagnostics - print some basic information about the driver. More...

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

virtual	~CDev ()=default

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	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
int	_publish (struct mag_sensor_data &data)

void	_update_mag_calibration ()

Private Attributes
orb_advert_t	_mag_topic

int	_param_update_sub

struct DfHmc5883Wrapper::mag_calibration_s	_mag_calibration

matrix::Dcmf	_rotation_matrix

int	_mag_orb_class_instance

perf_counter_t	_mag_sample_perf

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 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 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 HMC5883
Device *	_interface

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 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 75 of file df_hmc5883_wrapper.cpp.

Constructor & Destructor Documentation

◆ DfHmc5883Wrapper()

DfHmc5883Wrapper::DfHmc5883Wrapper	(	enum Rotation	rotation,
		const char *	path
	)

Definition at line 122 of file df_hmc5883_wrapper.cpp.

References _mag_calibration, _mag_orb_class_instance, _mag_sample_perf, _rotation_matrix, get_rot_matrix(), PC_ELAPSED, perf_alloc, DfHmc5883Wrapper::mag_calibration_s::x_offset, DfHmc5883Wrapper::mag_calibration_s::x_scale, DfHmc5883Wrapper::mag_calibration_s::y_offset, DfHmc5883Wrapper::mag_calibration_s::y_scale, DfHmc5883Wrapper::mag_calibration_s::z_offset, and DfHmc5883Wrapper::mag_calibration_s::z_scale.

Referenced by df_hmc5883_wrapper::start().

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◆ ~DfHmc5883Wrapper()

DfHmc5883Wrapper::~DfHmc5883Wrapper ( )

Definition at line 142 of file df_hmc5883_wrapper.cpp.

References _mag_sample_perf, and perf_free().

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Member Function Documentation

◆ _publish()

int DfHmc5883Wrapper::_publish ( struct mag_sensor_data & data )

private

Definition at line 254 of file df_hmc5883_wrapper.cpp.

References _mag_calibration, _mag_orb_class_instance, _mag_sample_perf, _mag_topic, _param_update_sub, _rotation_matrix, _update_mag_calibration(), hrt_absolute_time(), mag_report, orb_advertise_multi(), orb_check(), orb_copy(), ORB_ID, ORB_PRIO_HIGH, orb_publish(), perf_begin(), perf_end(), DfHmc5883Wrapper::mag_calibration_s::x_offset, DfHmc5883Wrapper::mag_calibration_s::x_scale, DfHmc5883Wrapper::mag_calibration_s::y_offset, DfHmc5883Wrapper::mag_calibration_s::y_scale, DfHmc5883Wrapper::mag_calibration_s::z_offset, and DfHmc5883Wrapper::mag_calibration_s::z_scale.

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◆ _update_mag_calibration()

void DfHmc5883Wrapper::_update_mag_calibration ( )

private

Definition at line 188 of file df_hmc5883_wrapper.cpp.

References _mag_calibration, device_id, OK, param_find(), param_get(), DfHmc5883Wrapper::mag_calibration_s::x_offset, DfHmc5883Wrapper::mag_calibration_s::x_scale, DfHmc5883Wrapper::mag_calibration_s::y_offset, DfHmc5883Wrapper::mag_calibration_s::y_scale, DfHmc5883Wrapper::mag_calibration_s::z_offset, and DfHmc5883Wrapper::mag_calibration_s::z_scale.

Referenced by _publish(), and start().

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◆ start()

int DfHmc5883Wrapper::start ( )

Start automatic measurement.

Returns: 0 on success

Definition at line 147 of file df_hmc5883_wrapper.cpp.

References _param_update_sub, _update_mag_calibration(), HMC5883::init(), ORB_ID, orb_subscribe(), and HMC5883::start().

Referenced by df_hmc5883_wrapper::start().

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◆ stop()

int DfHmc5883Wrapper::stop ( )

Stop automatic measurement.

Returns: 0 on success

Definition at line 175 of file df_hmc5883_wrapper.cpp.

References HMC5883::stop().

Referenced by df_hmc5883_wrapper::stop().

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Member Data Documentation

◆ _mag_calibration

struct DfHmc5883Wrapper::mag_calibration_s DfHmc5883Wrapper::_mag_calibration

private

Referenced by _publish(), _update_mag_calibration(), and DfHmc5883Wrapper().

◆ _mag_orb_class_instance

int DfHmc5883Wrapper::_mag_orb_class_instance

private

Definition at line 116 of file df_hmc5883_wrapper.cpp.

Referenced by _publish(), and DfHmc5883Wrapper().

◆ _mag_sample_perf

perf_counter_t DfHmc5883Wrapper::_mag_sample_perf

private

Definition at line 118 of file df_hmc5883_wrapper.cpp.

Referenced by _publish(), DfHmc5883Wrapper(), and ~DfHmc5883Wrapper().

◆ _mag_topic

orb_advert_t DfHmc5883Wrapper::_mag_topic

private

Definition at line 101 of file df_hmc5883_wrapper.cpp.

Referenced by _publish().

◆ _param_update_sub

int DfHmc5883Wrapper::_param_update_sub

private

Definition at line 103 of file df_hmc5883_wrapper.cpp.

Referenced by _publish(), and start().

◆ _rotation_matrix

matrix::Dcmf DfHmc5883Wrapper::_rotation_matrix

private

Definition at line 114 of file df_hmc5883_wrapper.cpp.

Referenced by _publish(), and DfHmc5883Wrapper().

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

src/drivers/driver_framework_wrapper/df_hmc5883_wrapper/df_hmc5883_wrapper.cpp

Classes

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DfHmc5883Wrapper()

◆ ~DfHmc5883Wrapper()

Member Function Documentation

◆ _publish()

◆ _update_mag_calibration()

◆ start()

◆ stop()

Member Data Documentation

◆ _mag_calibration

◆ _mag_orb_class_instance

◆ _mag_sample_perf

◆ _mag_topic

◆ _param_update_sub

◆ _rotation_matrix