src/drivers: new FT7 series wind/airflow sensor support (#22471)

- new uorb topic sensor_airflow - log sensor_airflow optionally
2026-10-23 12:03:35 +08:00 · 2024-01-22 14:42:38 -05:00
parent 8be64278be
commit 736a730bb1
10 changed files with 697 additions and 0 deletions
@@ -0,0 +1,102 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 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 ft7_technolofies.hpp
+ * @author Henry Kotze <henry@flycloudline.com>
+ *
+ * Driver for the FT Technology Wind Sensor. FT742
+ */
+
+#pragma once
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <uORB/Publication.hpp>
+#include <uORB/topics/sensor_airflow.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/device/device.h>
+#include <lib/parameters/param.h>
+#include <lib/perf/perf_counter.h>
+
+#include <drivers/drv_hrt.h>
+
+using namespace time_literals;
+
+
+class Ft7Technologies : public px4::ScheduledWorkItem
+{
+public:
+	Ft7Technologies(const char *port);
+	~Ft7Technologies() override;
+
+	int 			init();
+	void				print_info();
+
+private:
+
+	void				start();
+	void				stop();
+	void				Run() override;
+	int				measure();
+	int				collect();
+	bool 				checksum(char *buf, uint32_t checksum);
+	uint8_t				hex2int(char ch);
+
+	uORB::Publication<sensor_airflow_s> _sensor_airflow_pub{ORB_ID(sensor_airflow)};
+
+	char 				_port[20] {};
+	char 				_readbuf[30] {};
+	uint64_t         		_interval{100000};
+	bool				_collect_phase{false};
+	int				_fd{-1};
+	char				_linebuf[20] {};
+	hrt_abstime			_last_read{0};
+	hrt_abstime			_last_measure{0};
+
+	char 				_raw_angle[5];
+	char 				_raw_speed[5];
+	char 				_raw_status[2];
+	char 				_raw_checksum[3];
+
+	uint16_t 			_checksum{0};
+	uint32_t 			_hex_checksum{0};
+	int				_msg_part_counter{0};
+	int				_byte_counter{0};
+	int				_msg_byte_counter{0};
+	uint32_t			_checksum_counter{0};
+
+	perf_counter_t			_sample_perf;
+	perf_counter_t			_comms_errors;
+
+};