PX4Barometer.cpp

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#include "PX4Barometer.hpp"

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

PX4Barometer::PX4Barometer(uint32_t device_id, uint8_t priority) :
    CDev(nullptr),
    _sensor_baro_pub{ORB_ID(sensor_baro), priority}
{
    _class_device_instance = register_class_devname(BARO_BASE_DEVICE_PATH);

    _sensor_baro_pub.get().device_id = device_id;
}

PX4Barometer::~PX4Barometer()
{
    if (_class_device_instance != -1) {
        unregister_class_devname(BARO_BASE_DEVICE_PATH, _class_device_instance);
    }
}

void
PX4Barometer::set_device_type(uint8_t devtype)
{
    // current DeviceStructure
    union device::Device::DeviceId device_id;
    device_id.devid = _sensor_baro_pub.get().device_id;

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

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

void
PX4Barometer::update(hrt_abstime timestamp, float pressure)
{
    sensor_baro_s &report = _sensor_baro_pub.get();

    report.timestamp = timestamp;
    report.pressure = pressure;

    poll_notify(POLLIN);

    _sensor_baro_pub.update();
}

void
PX4Barometer::print_status()
{
    PX4_INFO(BARO_BASE_DEVICE_PATH " device instance: %d", _class_device_instance);

    print_message(_sensor_baro_pub.get());
}