drivers/rpm/pcf8583: minor cleanup

- split out header and main - move to ModuleParams - add copyright header to all new files - don't store unnecessary state
2026-10-21 06:03:33 +08:00 · 2020-02-03 10:01:40 -05:00
parent 7778cbd463
commit 36b37189ba
6 changed files with 452 additions and 439 deletions
@@ -0,0 +1,151 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "PCF8583.hpp"
+
+PCF8583::PCF8583(int bus, int address) :
+	I2C("PCF8583", nullptr, bus, address, 400000),
+	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
+	ModuleParams(nullptr)
+{
+}
+
+PCF8583::~PCF8583()
+{
+	ScheduleClear();
+}
+
+int PCF8583::init()
+{
+	set_device_address(_param_pcf8583_addr.get());
+
+	if (I2C::init() != PX4_OK) {
+		return PX4_ERROR;
+	}
+
+	PX4_INFO("addr: %d, pool: %d, reset: %d, magenet: %d", get_device_address(), _param_pcf8583_pool.get(),
+		 _param_pcf8583_reset.get(),
+		 _param_pcf8583_magnet.get());
+
+	// set counter mode
+	setRegister(0x00, 0b00100000);
+
+	// start measurement
+	resetCounter();
+
+	ScheduleOnInterval(_param_pcf8583_pool.get());
+
+	return PX4_OK;
+}
+
+int PCF8583::probe()
+{
+	return PX4_OK;
+}
+
+int PCF8583::getCounter()
+{
+	uint8_t a = readRegister(0x01);
+	uint8_t b = readRegister(0x02);
+	uint8_t c = readRegister(0x03);
+
+	return int((a & 0x0f) * 1 + ((a & 0xf0) >> 4) * 10 + (b & 0x0f) * 100 + ((b & 0xf0) >> 4) * 1000 +
+		   (c & 0x0f) * 10000 + ((c & 0xf0) >> 4) * 1000000);
+}
+
+void PCF8583::resetCounter()
+{
+	setRegister(0x01, 0x00);
+	setRegister(0x02, 0x00);
+	setRegister(0x03, 0x00);
+}
+
+void PCF8583::setRegister(uint8_t reg, uint8_t value)
+{
+	uint8_t buff[2];
+	buff[0] = reg;
+	buff[1] = value;
+	int ret = transfer(buff, 2, nullptr, 0);
+
+	if (PX4_OK != ret) {
+		PX4_DEBUG("setRegister : i2c::transfer returned %d", ret);
+	}
+}
+
+uint8_t PCF8583::readRegister(uint8_t reg)
+{
+	uint8_t rcv{};
+	int ret = transfer(&reg, 1, &rcv, 1);
+
+	if (PX4_OK != ret) {
+		PX4_DEBUG("readRegister : i2c::transfer returned %d", ret);
+	}
+
+	return rcv;
+}
+
+void PCF8583::Run()
+{
+	// read sensor and compute frequency
+	int oldcount = _count;
+	uint64_t oldtime = _last_measurement_time;
+
+	_count = getCounter();
+	_last_measurement_time = hrt_absolute_time();
+
+	int diffCount = _count - oldcount;
+	uint64_t diffTime = _last_measurement_time - oldtime;
+
+	if (_param_pcf8583_reset.get() < _count + diffCount) {
+		resetCounter();
+		_last_measurement_time = hrt_absolute_time();
+		_count = 0;
+	}
+
+	float indicated_frequency = (float)diffCount / _param_pcf8583_magnet.get() / ((float)diffTime / 1000000);
+	float estimated_accurancy = 1 / (float)_param_pcf8583_magnet.get() / ((float)diffTime / 1000000);
+
+	// publish
+	rpm_s msg{};
+	msg.indicated_frequency_hz = indicated_frequency;
+	msg.indicated_frequency_rpm = indicated_frequency * 60.f;
+	msg.estimated_accurancy_hz = estimated_accurancy;
+	msg.estimated_accurancy_rpm = estimated_accurancy * 60.f;
+	msg.timestamp = hrt_absolute_time();
+	_rpm_pub.publish(msg);
+}
+
+void PCF8583::print_info()
+{
+	PX4_INFO("poll interval:  %d us", _param_pcf8583_pool.get());
+}