diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 3352cddad6..5cdd34e698 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -354,6 +354,11 @@ else then pps_capture start fi + # RPM capture driver + if param greater -s RPM_CAP_ENABLE 0 + then + rpm_capture start + fi # Camera capture driver if param greater -s CAM_CAP_FBACK 0 then diff --git a/src/drivers/rpm_capture/CMakeLists.txt b/src/drivers/rpm_capture/CMakeLists.txt new file mode 100644 index 0000000000..db52504b4f --- /dev/null +++ b/src/drivers/rpm_capture/CMakeLists.txt @@ -0,0 +1,47 @@ +############################################################################ +# +# Copyright (c) 2021 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. +# +############################################################################ + +set(PARAM_PREFIX PWM_MAIN) + +if(CONFIG_BOARD_IO) + set(PARAM_PREFIX PWM_AUX) +endif() + +px4_add_module( + MODULE drivers__rpm_capture + MAIN rpm_capture + COMPILE_FLAGS + -DPARAM_PREFIX="${PARAM_PREFIX}" + SRCS + RPMCapture.cpp + ) diff --git a/src/drivers/rpm_capture/Kconfig b/src/drivers/rpm_capture/Kconfig new file mode 100644 index 0000000000..6f9f074fea --- /dev/null +++ b/src/drivers/rpm_capture/Kconfig @@ -0,0 +1,5 @@ +menuconfig DRIVERS_RPM_CAPTURE + bool "rpm_capture" + default n + ---help--- + Enable support for rpm_capture diff --git a/src/drivers/rpm_capture/RPMCapture.cpp b/src/drivers/rpm_capture/RPMCapture.cpp new file mode 100644 index 0000000000..397f6060c9 --- /dev/null +++ b/src/drivers/rpm_capture/RPMCapture.cpp @@ -0,0 +1,179 @@ +/**************************************************************************** + * + * Copyright (c) 2021 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 "RPMCapture.hpp" +#include +#include +#include +#include +#include + +RPMCapture::RPMCapture() : + ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default) +{ + _pwm_input_pub.advertise(); +} + +RPMCapture::~RPMCapture() +{ + if (_channel >= 0) { + io_timer_unallocate_channel(_channel); + px4_arch_gpiosetevent(_rpm_capture_gpio, false, false, false, nullptr, nullptr); + } +} + +bool RPMCapture::init() +{ + bool success = false; + + for (unsigned i = 0; i < 16; ++i) { + char param_name[17]; + snprintf(param_name, sizeof(param_name), "%s_%s%d", PARAM_PREFIX, "FUNC", i + 1); + param_t function_handle = param_find(param_name); + int32_t function; + + if (function_handle != PARAM_INVALID && param_get(function_handle, &function) == 0) { + if (function == 2070) { // RPM_Input + _channel = i; + } + } + } + + if (_channel == -1) { + PX4_WARN("No RPM channel configured"); + return false; + } + + int ret = io_timer_allocate_channel(_channel, IOTimerChanMode_Other); // TODO: add IOTimerChanMode_RPM + + if (ret != PX4_OK) { + PX4_ERR("gpio alloc failed (%i) for RPM at channel (%d)", ret, _channel); + return false; + } + + _rpm_capture_gpio = PX4_MAKE_GPIO_EXTI(io_timer_channel_get_as_pwm_input(_channel)); + int ret_val = px4_arch_gpiosetevent(_rpm_capture_gpio, true, false, true, &RPMCapture::gpio_interrupt_callback, this); + + if (ret_val == PX4_OK) { + success = true; + } + + return success; +} + +void RPMCapture::Run() +{ + if (should_exit()) { + exit_and_cleanup(); + return; + } + + pwm_input_s pwm_input{}; + pwm_input.timestamp = hrt_absolute_time(); + pwm_input.period = _hrt_timestamp - _hrt_timestamp_prev; + pwm_input.error_count = _error_count; + _hrt_timestamp_prev = _hrt_timestamp; + _value_processed.store(true); + _pwm_input_pub.publish(pwm_input); +} + +int RPMCapture::gpio_interrupt_callback(int irq, void *context, void *arg) +{ + RPMCapture *instance = static_cast(arg); + + if (!instance->_value_processed.load()) { + ++instance->_error_count; + } + + instance->_hrt_timestamp = hrt_absolute_time(); + instance->_value_processed.store(false); + instance->ScheduleNow(); + + return PX4_OK; +} + +int RPMCapture::task_spawn(int argc, char *argv[]) +{ + RPMCapture *instance = new RPMCapture(); + + if (instance) { + _object.store(instance); + _task_id = task_id_is_work_queue; + + if (instance->init()) { + return PX4_OK; + } + + } else { + PX4_ERR("alloc failed"); + } + + delete instance; + _object.store(nullptr); + _task_id = -1; + + return PX4_ERROR; +} + +int RPMCapture::custom_command(int argc, char *argv[]) +{ + return print_usage("unknown command"); +} + +int RPMCapture::print_usage(const char *reason) +{ + if (reason) { + PX4_WARN("%s\n", reason); + } + + PRINT_MODULE_USAGE_NAME("rpm_capture", "driver"); + PRINT_MODULE_USAGE_COMMAND("start"); + PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); + + return 0; +} + +void RPMCapture::stop() +{ + exit_and_cleanup(); +} + +extern "C" __EXPORT int rpm_capture_main(int argc, char *argv[]) +{ + if (argc >= 2 && !strcmp(argv[1], "stop") && RPMCapture::is_running()) { + RPMCapture::stop(); + } + + return RPMCapture::main(argc, argv); +} diff --git a/src/drivers/rpm_capture/RPMCapture.hpp b/src/drivers/rpm_capture/RPMCapture.hpp new file mode 100644 index 0000000000..b386c46ac7 --- /dev/null +++ b/src/drivers/rpm_capture/RPMCapture.hpp @@ -0,0 +1,79 @@ +/**************************************************************************** + * + * Copyright (c) 2021 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. + * + ****************************************************************************/ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include + +using namespace time_literals; + +class RPMCapture : public ModuleBase, public px4::ScheduledWorkItem +{ +public: + RPMCapture(); + virtual ~RPMCapture(); + + /** @see ModuleBase */ + static int task_spawn(int argc, char *argv[]); + + /** @see ModuleBase */ + static int custom_command(int argc, char *argv[]); + + /** @see ModuleBase */ + static int print_usage(const char *reason = nullptr); + + bool init(); + + static int gpio_interrupt_callback(int irq, void *context, void *arg); + + /** RPMCapture is an interrupt-driven task and needs to be manually stopped */ + static void stop(); + +private: + void Run() override; + + int _channel{-1}; + uint32_t _rpm_capture_gpio{0}; + uORB::Publication _pwm_input_pub{ORB_ID(pwm_input)}; + + hrt_abstime _hrt_timestamp{0}; + hrt_abstime _hrt_timestamp_prev{0}; + uint32_t _error_count{0}; + px4::atomic _value_processed{true}; +}; diff --git a/src/drivers/rpm_capture/rpm_capture_params.c b/src/drivers/rpm_capture/rpm_capture_params.c new file mode 100644 index 0000000000..7397177370 --- /dev/null +++ b/src/drivers/rpm_capture/rpm_capture_params.c @@ -0,0 +1,43 @@ +/**************************************************************************** + * + * Copyright (c) 2021 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. + * + ****************************************************************************/ + +/** + * RPM Capture Enable + * + * Enables the RPM capture module on FMU channel 5. + * + * @boolean + * @group System + * @reboot_required true + */ +PARAM_DEFINE_INT32(RPM_CAP_ENABLE, 0); diff --git a/src/lib/mixer_module/output_functions.yaml b/src/lib/mixer_module/output_functions.yaml index 7543ed388b..a9965a5454 100644 --- a/src/lib/mixer_module/output_functions.yaml +++ b/src/lib/mixer_module/output_functions.yaml @@ -60,3 +60,9 @@ functions: condition: "PPS_CAP_ENABLE==0" text: "PPS needs to be enabled via PPS_CAP_ENABLE parameter." exclude_from_actuator_testing: true + RPM_Input: + start: 2070 + note: + condition: "RPM_CAP_ENABLE==0" + text: "RPM needs to be enabled via RPM_CAP_ENABLE parameter." + exclude_from_actuator_testing: true