mag.hpp

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#pragma once

#include "sensor_bridge.hpp"
#include <drivers/drv_mag.h>

#include <uavcan/equipment/ahrs/MagneticFieldStrength.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:
    ssize_t read(struct file *filp, char *buffer, size_t buflen);
    int ioctl(struct file *filp, int cmd, unsigned long arg) override;

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

    typedef uavcan::MethodBinder < UavcanMagnetometerBridge *,
        void (UavcanMagnetometerBridge::*)
        (const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::MagneticFieldStrength> &) >
        MagCbBinder;

    uavcan::Subscriber<uavcan::equipment::ahrs::MagneticFieldStrength, MagCbBinder> _sub_mag;
    struct mag_calibration_s _scale = {};
    mag_report _report =  {};
};