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RPMCapture: add hardcoded rpm processing

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Such that we can continue development on this part.
The implementation was already used before porting things into the RPM capture module.
This commit is contained in:
Matthias Grob
2024-12-19 07:30:25 +01:00
parent 491ee01ac4
commit 1bcdb3ef8c
3 changed files with 32 additions and 2 deletions
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src/drivers/rpm_capture/RPMCapture.cpp
+23 -2
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@@ -99,13 +99,34 @@ void RPMCapture::Run()
return;
}
hrt_abstime now = hrt_absolute_time();
const hrt_abstime period = _hrt_timestamp - _hrt_timestamp_prev;
pwm_input_s pwm_input{};
pwm_input.timestamp = hrt_absolute_time();
pwm_input.period = _hrt_timestamp - _hrt_timestamp_prev;
pwm_input.timestamp = now;
pwm_input.period = period;
pwm_input.error_count = _error_count;
_hrt_timestamp_prev = _hrt_timestamp;
_value_processed.store(true);
_pwm_input_pub.publish(pwm_input);
float rpm_raw{0.f};
if ((1 < period) && (period < 1_s)) {
// 1'000'000 / [us] -> pulses per second * 60 -> pulses per minute
rpm_raw = 60.f * 1e6f / (static_cast<float>(period) * 1.f);
}
const float dt = math::constrain((now - _timestamp_last_update) * 1e-6f, 0.01f, 1.f);
_timestamp_last_update = now;
_rpm_filter.setParameters(dt, 0.5f);
_rpm_filter.update(rpm_raw);
rpm_s rpm{};
rpm.timestamp = now;
rpm.rpm_raw = rpm_raw;
rpm.rpm_estimate = _rpm_filter.getState();
_rpm_pub.publish(rpm);
}
int RPMCapture::gpio_interrupt_callback(int irq, void *context, void *arg)