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https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-22 01:12:31 +00:00
466b5db36f
- create common uORB::PublicationBase - uORB::PublicationQueued types are now type aliases - ORB_PRIO use enum type everywhere to avoid accidental misuse - PX4Accelerometer/PX4Gyroscope/etc driver libs explicitly advertise on construction, unadvertise on destruction. This is a workaround for any potential issues that might appear when accel/gyro cdev and uORB indexing doesn't align.
90 lines
2.9 KiB
C++
90 lines
2.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "PX4Barometer.hpp"
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#include <lib/drivers/device/Device.hpp>
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PX4Barometer::PX4Barometer(uint32_t device_id, ORB_PRIO priority) :
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CDev(nullptr),
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_sensor_baro_pub{ORB_ID(sensor_baro), priority}
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{
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_class_device_instance = register_class_devname(BARO_BASE_DEVICE_PATH);
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_sensor_baro_pub.advertise();
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_sensor_baro_pub.get().device_id = device_id;
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}
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PX4Barometer::~PX4Barometer()
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{
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if (_class_device_instance != -1) {
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unregister_class_devname(BARO_BASE_DEVICE_PATH, _class_device_instance);
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}
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_sensor_baro_pub.unadvertise();
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}
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void
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PX4Barometer::set_device_type(uint8_t devtype)
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{
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// current DeviceStructure
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union device::Device::DeviceId device_id;
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device_id.devid = _sensor_baro_pub.get().device_id;
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// update to new device type
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device_id.devid_s.devtype = devtype;
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// copy back to report
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_sensor_baro_pub.get().device_id = device_id.devid;
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}
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void
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PX4Barometer::update(hrt_abstime timestamp, float pressure)
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{
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sensor_baro_s &report = _sensor_baro_pub.get();
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report.timestamp = timestamp;
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report.pressure = pressure;
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_sensor_baro_pub.update();
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}
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void
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PX4Barometer::print_status()
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{
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PX4_INFO(BARO_BASE_DEVICE_PATH " device instance: %d", _class_device_instance);
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print_message(_sensor_baro_pub.get());
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}
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