mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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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
This commit is contained in:
Daniel Agar
@@ -1,10 +1,44 @@
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px4_add_module(
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############################################################################
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#
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# Copyright (c) 2020 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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||||||
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# 2. Redistributions in binary form must reproduce the above copyright
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||||||
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# notice, this list of conditions and the following disclaimer in
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||||||
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# the documentation and/or other materials provided with the
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||||||
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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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#
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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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px4_add_module(
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MODULE drivers__pcf8583
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MODULE drivers__pcf8583
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MAIN pcf8583
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MAIN pcf8583
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COMPILE_FLAGS
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SRCS
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SRCS
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pcf8583.cpp
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PCF8583.cpp
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PCF8583.hpp
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pcf8583_main.cpp
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DEPENDS
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DEPENDS
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drivers__device
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drivers__device
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px4_work_queue
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)
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)
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@@ -0,0 +1,151 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 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
|
||||||
|
* the documentation and/or other materials provided with the
|
||||||
|
* 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 "PCF8583.hpp"
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PCF8583::PCF8583(int bus, int address) :
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I2C("PCF8583", nullptr, bus, address, 400000),
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ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
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ModuleParams(nullptr)
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{
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}
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PCF8583::~PCF8583()
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{
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ScheduleClear();
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}
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int PCF8583::init()
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{
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set_device_address(_param_pcf8583_addr.get());
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if (I2C::init() != PX4_OK) {
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return PX4_ERROR;
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}
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PX4_INFO("addr: %d, pool: %d, reset: %d, magenet: %d", get_device_address(), _param_pcf8583_pool.get(),
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_param_pcf8583_reset.get(),
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_param_pcf8583_magnet.get());
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// set counter mode
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setRegister(0x00, 0b00100000);
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// start measurement
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resetCounter();
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ScheduleOnInterval(_param_pcf8583_pool.get());
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return PX4_OK;
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}
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int PCF8583::probe()
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{
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return PX4_OK;
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}
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int PCF8583::getCounter()
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{
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uint8_t a = readRegister(0x01);
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uint8_t b = readRegister(0x02);
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uint8_t c = readRegister(0x03);
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return int((a & 0x0f) * 1 + ((a & 0xf0) >> 4) * 10 + (b & 0x0f) * 100 + ((b & 0xf0) >> 4) * 1000 +
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(c & 0x0f) * 10000 + ((c & 0xf0) >> 4) * 1000000);
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}
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void PCF8583::resetCounter()
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{
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setRegister(0x01, 0x00);
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setRegister(0x02, 0x00);
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setRegister(0x03, 0x00);
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}
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void PCF8583::setRegister(uint8_t reg, uint8_t value)
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{
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uint8_t buff[2];
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buff[0] = reg;
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buff[1] = value;
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int ret = transfer(buff, 2, nullptr, 0);
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if (PX4_OK != ret) {
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PX4_DEBUG("setRegister : i2c::transfer returned %d", ret);
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}
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}
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uint8_t PCF8583::readRegister(uint8_t reg)
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{
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uint8_t rcv{};
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int ret = transfer(®, 1, &rcv, 1);
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if (PX4_OK != ret) {
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PX4_DEBUG("readRegister : i2c::transfer returned %d", ret);
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}
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return rcv;
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}
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void PCF8583::Run()
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{
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// read sensor and compute frequency
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int oldcount = _count;
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uint64_t oldtime = _last_measurement_time;
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_count = getCounter();
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_last_measurement_time = hrt_absolute_time();
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int diffCount = _count - oldcount;
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uint64_t diffTime = _last_measurement_time - oldtime;
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if (_param_pcf8583_reset.get() < _count + diffCount) {
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resetCounter();
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_last_measurement_time = hrt_absolute_time();
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_count = 0;
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}
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float indicated_frequency = (float)diffCount / _param_pcf8583_magnet.get() / ((float)diffTime / 1000000);
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float estimated_accurancy = 1 / (float)_param_pcf8583_magnet.get() / ((float)diffTime / 1000000);
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// publish
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rpm_s msg{};
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msg.indicated_frequency_hz = indicated_frequency;
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msg.indicated_frequency_rpm = indicated_frequency * 60.f;
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msg.estimated_accurancy_hz = estimated_accurancy;
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msg.estimated_accurancy_rpm = estimated_accurancy * 60.f;
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msg.timestamp = hrt_absolute_time();
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_rpm_pub.publish(msg);
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}
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void PCF8583::print_info()
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{
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PX4_INFO("poll interval: %d us", _param_pcf8583_pool.get());
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}
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@@ -0,0 +1,88 @@
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/****************************************************************************
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*
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* Copyright (c) 2020 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.
|
||||||
|
* 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.
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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
|
||||||
|
* 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
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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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/**
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* @file PCF8583.hpp
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*
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* @author ThunderFly s.r.o., Vít Hanousek <hanousekvit@thunderfly.cz>
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* @url https://github.com/ThunderFly-aerospace/TFRPM01
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*
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* Driver for Main Rotor frequency sensor using PCF8583 I2C counter.
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*/
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#pragma once
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <drivers/device/i2c.h>
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#include <uORB/Publication.hpp>
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#include <uORB/topics/rpm.h>
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#include <drivers/drv_hrt.h>
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/* Configuration Constants */
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#define PCF8583_BASEADDR_DEFAULT 0x50
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class PCF8583 : public device::I2C, public px4::ScheduledWorkItem, public ModuleParams
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{
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public:
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PCF8583(int bus = PX4_I2C_BUS_EXPANSION, int address = PCF8583_BASEADDR_DEFAULT);
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~PCF8583() override;
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int init() override;
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void print_info();
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private:
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int probe() override;
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void Run() override ; // Perform a poll cycle; overide for ScheduledWorkItem
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int getCounter();
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void resetCounter();
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uint8_t readRegister(uint8_t reg);
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void setRegister(uint8_t reg, uint8_t value);
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int _count{0};
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hrt_abstime _last_measurement_time{0};
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uORB::Publication<rpm_s> _rpm_pub{ORB_ID(rpm)};
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DEFINE_PARAMETERS(
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(ParamInt<px4::params::PCF8583_ADDR>) _param_pcf8583_addr,
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(ParamInt<px4::params::PCF8583_POOL>) _param_pcf8583_pool,
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(ParamInt<px4::params::PCF8583_RESET>) _param_pcf8583_reset,
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(ParamInt<px4::params::PCF8583_MAGNET>) _param_pcf8583_magnet
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)
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};
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@@ -1,3 +1,36 @@
|
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|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* 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.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* PCF8583 rotorfreq (i2c) pool interval
|
* PCF8583 rotorfreq (i2c) pool interval
|
||||||
*
|
*
|
||||||
|
|||||||
@@ -1,435 +0,0 @@
|
|||||||
/****************************************************************************
|
|
||||||
*
|
|
||||||
* 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.
|
|
||||||
*
|
|
||||||
****************************************************************************/
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @file pcf8583.cpp
|
|
||||||
*
|
|
||||||
* @author ThunderFly s.r.o., Vít Hanousek <hanousekvit@thunderfly.cz>
|
|
||||||
* @url https://github.com/ThunderFly-aerospace/TFRPM01
|
|
||||||
*
|
|
||||||
* Driver for Main Rotor frequency sensor using PCF8583 I2C counter.
|
|
||||||
*/
|
|
||||||
|
|
||||||
#include <px4_platform_common/px4_config.h>
|
|
||||||
#include <px4_platform_common/defines.h>
|
|
||||||
#include <px4_platform_common/getopt.h>
|
|
||||||
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
|
|
||||||
|
|
||||||
|
|
||||||
#include <lib/parameters/param.h>
|
|
||||||
|
|
||||||
#include <board_config.h>
|
|
||||||
|
|
||||||
#include <px4_log.h>
|
|
||||||
#include <drivers/device/i2c.h>
|
|
||||||
|
|
||||||
#include <sys/types.h>
|
|
||||||
#include <stdint.h>
|
|
||||||
#include <stdlib.h>
|
|
||||||
#include <stdbool.h>
|
|
||||||
#include <string.h>
|
|
||||||
|
|
||||||
#include <uORB/uORB.h>
|
|
||||||
#include <uORB/topics/rpm.h>
|
|
||||||
|
|
||||||
#include <drivers/drv_hrt.h>
|
|
||||||
#include <drivers/drv_sensor.h>
|
|
||||||
|
|
||||||
|
|
||||||
/* Configuration Constants */
|
|
||||||
#define PCF8583_BUS_DEFAULT PX4_I2C_BUS_EXPANSION
|
|
||||||
#define PCF8583_DEVICE_PATH "/dev/pcf8583"
|
|
||||||
#define PCF8583_BASEADDR_DEFAULT 0x50
|
|
||||||
|
|
||||||
class PCF8583 : public device::I2C, public px4::ScheduledWorkItem
|
|
||||||
{
|
|
||||||
public:
|
|
||||||
PCF8583(int bus = PCF8583_BUS_DEFAULT,
|
|
||||||
int address = PCF8583_BASEADDR_DEFAULT);
|
|
||||||
|
|
||||||
virtual ~PCF8583();
|
|
||||||
virtual int init();
|
|
||||||
void print_info();
|
|
||||||
|
|
||||||
protected:
|
|
||||||
virtual int probe();
|
|
||||||
|
|
||||||
private:
|
|
||||||
int _pool_interval;
|
|
||||||
float _indicated_frequency;
|
|
||||||
float _estimated_accurancy;
|
|
||||||
int _count;
|
|
||||||
int _reset_count;
|
|
||||||
int _magnet_count;
|
|
||||||
uint64_t _lastmeasurement_time;
|
|
||||||
orb_advert_t _rpm_topic;
|
|
||||||
|
|
||||||
virtual void Run(); //Perform a poll cycle; overide for ScheduledWorkItem
|
|
||||||
|
|
||||||
void readSensorAndComputeFreqency();
|
|
||||||
void publish();
|
|
||||||
int getCounter();
|
|
||||||
void resetCounter();
|
|
||||||
|
|
||||||
uint8_t readRegister(uint8_t reg);
|
|
||||||
void setRegister(uint8_t reg, uint8_t value);
|
|
||||||
|
|
||||||
};
|
|
||||||
|
|
||||||
|
|
||||||
PCF8583::PCF8583(int bus, int address) :
|
|
||||||
I2C("PCF8583", PCF8583_DEVICE_PATH, bus, address, 400000),
|
|
||||||
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
|
|
||||||
_pool_interval(0),
|
|
||||||
_indicated_frequency(0.0),
|
|
||||||
_estimated_accurancy(0.0),
|
|
||||||
_count(0),
|
|
||||||
_reset_count(0),
|
|
||||||
_magnet_count(0),
|
|
||||||
_rpm_topic(nullptr)
|
|
||||||
{
|
|
||||||
}
|
|
||||||
|
|
||||||
PCF8583::~PCF8583()
|
|
||||||
{
|
|
||||||
ScheduleClear();
|
|
||||||
|
|
||||||
if (_rpm_topic != nullptr) {
|
|
||||||
orb_unadvertise(_rpm_topic);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
int
|
|
||||||
PCF8583::init()
|
|
||||||
{
|
|
||||||
int ret = PX4_ERROR;
|
|
||||||
|
|
||||||
//load parameters
|
|
||||||
int address = PCF8583_BASEADDR_DEFAULT;
|
|
||||||
|
|
||||||
if (param_find("PCF8583_ADDR") != PARAM_INVALID) {
|
|
||||||
param_get(param_find("PCF8583_ADDR"), &address);
|
|
||||||
}
|
|
||||||
|
|
||||||
set_device_address(address);
|
|
||||||
|
|
||||||
if (param_find("PCF8583_POOL") != PARAM_INVALID) {
|
|
||||||
param_get(param_find("PCF8583_POOL"), &_pool_interval);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (param_find("PCF8583_RESET") != PARAM_INVALID) {
|
|
||||||
param_get(param_find("PCF8583_RESET"), &_reset_count);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (param_find("PCF8583_MAGNET") != PARAM_INVALID) {
|
|
||||||
param_get(param_find("PCF8583_MAGNET"), &_magnet_count);
|
|
||||||
}
|
|
||||||
|
|
||||||
PX4_INFO("addr: %d, pool: %d, reset: %d, magenet: %d", address, _pool_interval, _reset_count, _magnet_count);
|
|
||||||
|
|
||||||
if (I2C::init() != OK) {
|
|
||||||
return ret;
|
|
||||||
}
|
|
||||||
|
|
||||||
//set counter mode
|
|
||||||
setRegister(0x00, 0b00100000);
|
|
||||||
|
|
||||||
//start measurement
|
|
||||||
resetCounter();
|
|
||||||
_lastmeasurement_time = hrt_absolute_time();
|
|
||||||
ScheduleOnInterval(_pool_interval);
|
|
||||||
|
|
||||||
/* get a publish handle on the range finder topic */
|
|
||||||
struct rpm_s rf_report = {};
|
|
||||||
_rpm_topic = orb_advertise(ORB_ID(rpm), &rf_report);
|
|
||||||
|
|
||||||
if (_rpm_topic == nullptr) {
|
|
||||||
PX4_ERR("failed to create rotor_freqency object");
|
|
||||||
}
|
|
||||||
|
|
||||||
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 (OK != ret) {
|
|
||||||
PX4_DEBUG("PCF8583::setRegister : i2c::transfer returned %d", ret);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
uint8_t
|
|
||||||
PCF8583::readRegister(uint8_t reg)
|
|
||||||
{
|
|
||||||
uint8_t rcv;
|
|
||||||
int ret = transfer(®, 1, &rcv, 1);
|
|
||||||
|
|
||||||
if (OK != ret) {
|
|
||||||
PX4_DEBUG("PCF8583::readRegister : i2c::transfer returned %d", ret);
|
|
||||||
}
|
|
||||||
|
|
||||||
return rcv;
|
|
||||||
}
|
|
||||||
|
|
||||||
int
|
|
||||||
PCF8583::probe()
|
|
||||||
{
|
|
||||||
return PX4_OK;
|
|
||||||
}
|
|
||||||
|
|
||||||
void
|
|
||||||
PCF8583::readSensorAndComputeFreqency()
|
|
||||||
{
|
|
||||||
|
|
||||||
int oldcount = _count;
|
|
||||||
uint64_t oldtime = _lastmeasurement_time;
|
|
||||||
|
|
||||||
_count = getCounter();
|
|
||||||
_lastmeasurement_time = hrt_absolute_time();
|
|
||||||
|
|
||||||
int diffCount = _count - oldcount;
|
|
||||||
uint64_t diffTime = _lastmeasurement_time - oldtime;
|
|
||||||
|
|
||||||
if (_reset_count < _count + diffCount) {
|
|
||||||
resetCounter();
|
|
||||||
_lastmeasurement_time = hrt_absolute_time();
|
|
||||||
_count = 0;
|
|
||||||
}
|
|
||||||
|
|
||||||
_indicated_frequency = (float)diffCount / _magnet_count / ((float)diffTime / 1000000);
|
|
||||||
_estimated_accurancy = 1 / (float)_magnet_count / ((float)diffTime / 1000000);
|
|
||||||
}
|
|
||||||
|
|
||||||
void PCF8583::publish()
|
|
||||||
{
|
|
||||||
struct rpm_s msg;
|
|
||||||
msg.timestamp = hrt_absolute_time();
|
|
||||||
msg.indicated_frequency_hz = _indicated_frequency;
|
|
||||||
msg.indicated_frequency_rpm = _indicated_frequency * 60;
|
|
||||||
msg.estimated_accurancy_hz = _estimated_accurancy;
|
|
||||||
msg.estimated_accurancy_rpm = _estimated_accurancy * 60;
|
|
||||||
|
|
||||||
// publish it, if we are the primary
|
|
||||||
if (_rpm_topic != nullptr) {
|
|
||||||
orb_publish(ORB_ID(rpm), _rpm_topic, &msg);
|
|
||||||
}
|
|
||||||
|
|
||||||
// notify anyone waiting for data
|
|
||||||
poll_notify(POLLIN);
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
void
|
|
||||||
PCF8583::Run()
|
|
||||||
{
|
|
||||||
/*Collect results */
|
|
||||||
readSensorAndComputeFreqency();
|
|
||||||
publish();
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
void
|
|
||||||
PCF8583::print_info()
|
|
||||||
{
|
|
||||||
printf("poll interval: %d us\n", _pool_interval);
|
|
||||||
}
|
|
||||||
|
|
||||||
/*
|
|
||||||
* Driver 'main' command.
|
|
||||||
*/
|
|
||||||
extern "C" __EXPORT int pcf8583_main(int argc, char *argv[]);
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Local functions in support of the shell command.
|
|
||||||
*/
|
|
||||||
namespace pcf8583
|
|
||||||
{
|
|
||||||
|
|
||||||
PCF8583 *g_dev;
|
|
||||||
|
|
||||||
int start_bus(int i2c_bus);
|
|
||||||
int stop();
|
|
||||||
int info();
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Start the driver on a specific bus.
|
|
||||||
*
|
|
||||||
* This function only returns if the sensor is up and running
|
|
||||||
* or could not be detected successfully.
|
|
||||||
*/
|
|
||||||
int
|
|
||||||
start_bus(int i2c_bus)
|
|
||||||
{
|
|
||||||
|
|
||||||
if (g_dev != nullptr) {
|
|
||||||
PX4_ERR("already started");
|
|
||||||
return PX4_ERROR;
|
|
||||||
}
|
|
||||||
|
|
||||||
/* create the driver */
|
|
||||||
g_dev = new PCF8583(i2c_bus);
|
|
||||||
|
|
||||||
if (g_dev == nullptr) {
|
|
||||||
goto fail;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (OK != g_dev->init()) {
|
|
||||||
goto fail;
|
|
||||||
}
|
|
||||||
|
|
||||||
PX4_INFO("pcf8583 for bus: %d started.", i2c_bus);
|
|
||||||
return PX4_OK;
|
|
||||||
|
|
||||||
fail:
|
|
||||||
|
|
||||||
if (g_dev != nullptr) {
|
|
||||||
delete g_dev;
|
|
||||||
g_dev = nullptr;
|
|
||||||
}
|
|
||||||
|
|
||||||
return PX4_ERROR;
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Stop the driver
|
|
||||||
*/
|
|
||||||
int
|
|
||||||
stop()
|
|
||||||
{
|
|
||||||
if (g_dev != nullptr) {
|
|
||||||
delete g_dev;
|
|
||||||
g_dev = nullptr;
|
|
||||||
|
|
||||||
} else {
|
|
||||||
PX4_ERR("driver not running");
|
|
||||||
return PX4_ERROR;
|
|
||||||
}
|
|
||||||
|
|
||||||
return PX4_OK;
|
|
||||||
}
|
|
||||||
|
|
||||||
/**
|
|
||||||
* Print a little info about the driver.
|
|
||||||
*/
|
|
||||||
int
|
|
||||||
info()
|
|
||||||
{
|
|
||||||
if (g_dev == nullptr) {
|
|
||||||
PX4_ERR("driver not running");
|
|
||||||
return PX4_ERROR;
|
|
||||||
}
|
|
||||||
|
|
||||||
printf("state @ %p\n", g_dev);
|
|
||||||
g_dev->print_info();
|
|
||||||
|
|
||||||
return PX4_OK;
|
|
||||||
}
|
|
||||||
|
|
||||||
} /* namespace */
|
|
||||||
|
|
||||||
|
|
||||||
static void
|
|
||||||
pcf8583_usage()
|
|
||||||
{
|
|
||||||
PX4_INFO("usage: pcf8583 command [options]");
|
|
||||||
PX4_INFO("options:");
|
|
||||||
PX4_INFO("\t-b --bus i2cbus (%d)", PCF8583_BUS_DEFAULT);
|
|
||||||
PX4_INFO("command:");
|
|
||||||
PX4_INFO("\tstart|stop|info");
|
|
||||||
}
|
|
||||||
|
|
||||||
int
|
|
||||||
pcf8583_main(int argc, char *argv[])
|
|
||||||
{
|
|
||||||
int ch;
|
|
||||||
int myoptind = 1;
|
|
||||||
const char *myoptarg = nullptr;
|
|
||||||
|
|
||||||
int i2c_bus = PCF8583_BUS_DEFAULT;
|
|
||||||
|
|
||||||
while ((ch = px4_getopt(argc, argv, "b:", &myoptind, &myoptarg)) != EOF) {
|
|
||||||
switch (ch) {
|
|
||||||
case 'b':
|
|
||||||
i2c_bus = atoi(myoptarg);
|
|
||||||
break;
|
|
||||||
|
|
||||||
default:
|
|
||||||
PX4_WARN("Unknown option!");
|
|
||||||
goto out_error;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
if (myoptind >= argc) {
|
|
||||||
goto out_error;
|
|
||||||
}
|
|
||||||
|
|
||||||
if (!strcmp(argv[myoptind], "start")) {
|
|
||||||
return pcf8583::start_bus(i2c_bus);
|
|
||||||
}
|
|
||||||
|
|
||||||
if (!strcmp(argv[myoptind], "stop")) {
|
|
||||||
return pcf8583::stop();
|
|
||||||
}
|
|
||||||
|
|
||||||
if (!strcmp(argv[myoptind], "info") || !strcmp(argv[myoptind], "status")) {
|
|
||||||
return pcf8583::info();
|
|
||||||
}
|
|
||||||
|
|
||||||
out_error:
|
|
||||||
pcf8583_usage();
|
|
||||||
return PX4_ERROR;
|
|
||||||
}
|
|
||||||
@@ -0,0 +1,142 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* 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"
|
||||||
|
|
||||||
|
#include <px4_platform_common/getopt.h>
|
||||||
|
|
||||||
|
namespace pcf8583
|
||||||
|
{
|
||||||
|
PCF8583 *g_dev{nullptr};
|
||||||
|
|
||||||
|
static int start(int i2c_bus)
|
||||||
|
{
|
||||||
|
if (g_dev != nullptr) {
|
||||||
|
PX4_WARN("already started");
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
// create the driver
|
||||||
|
g_dev = new PCF8583(i2c_bus);
|
||||||
|
|
||||||
|
if (g_dev == nullptr) {
|
||||||
|
PX4_ERR("driver alloc failed");
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (g_dev->init() != PX4_OK) {
|
||||||
|
PX4_ERR("driver init failed");
|
||||||
|
delete g_dev;
|
||||||
|
g_dev = nullptr;
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
|
||||||
|
PX4_INFO("pcf8583 for bus: %d started.", i2c_bus);
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
static int stop()
|
||||||
|
{
|
||||||
|
if (g_dev == nullptr) {
|
||||||
|
PX4_WARN("driver not running");
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
|
||||||
|
delete g_dev;
|
||||||
|
g_dev = nullptr;
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
static int status()
|
||||||
|
{
|
||||||
|
if (g_dev == nullptr) {
|
||||||
|
PX4_INFO("driver not running");
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
g_dev->print_info();
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
static int usage()
|
||||||
|
{
|
||||||
|
PX4_INFO("missing command: try 'start', 'stop', 'status'");
|
||||||
|
PX4_INFO("options:");
|
||||||
|
PX4_INFO(" -b i2cbus (%d)", PX4_I2C_BUS_EXPANSION);
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
} // namespace pcf8583
|
||||||
|
|
||||||
|
extern "C" int pcf8583_main(int argc, char *argv[])
|
||||||
|
{
|
||||||
|
int i2c_bus = PX4_I2C_BUS_EXPANSION;
|
||||||
|
int myoptind = 1;
|
||||||
|
int ch = 0;
|
||||||
|
const char *myoptarg = nullptr;
|
||||||
|
|
||||||
|
// start options
|
||||||
|
while ((ch = px4_getopt(argc, argv, "b:", &myoptind, &myoptarg)) != EOF) {
|
||||||
|
switch (ch) {
|
||||||
|
case 'b':
|
||||||
|
i2c_bus = atoi(myoptarg);
|
||||||
|
break;
|
||||||
|
|
||||||
|
default:
|
||||||
|
return pcf8583::usage();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (myoptind >= argc) {
|
||||||
|
pcf8583::usage();
|
||||||
|
return -1;
|
||||||
|
}
|
||||||
|
|
||||||
|
const char *verb = argv[myoptind];
|
||||||
|
|
||||||
|
if (!strcmp(verb, "start")) {
|
||||||
|
return pcf8583::start(i2c_bus);
|
||||||
|
|
||||||
|
} else if (!strcmp(verb, "stop")) {
|
||||||
|
return pcf8583::stop();
|
||||||
|
|
||||||
|
} else if (!strcmp(verb, "status")) {
|
||||||
|
return pcf8583::status();
|
||||||
|
}
|
||||||
|
|
||||||
|
return pcf8583::usage();
|
||||||
|
}
|
||||||
Reference in New Issue
Block a user