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147 lines
4.3 KiB
C++
147 lines
4.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020, 2021 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
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* the documentation and/or other materials provided with the
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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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* 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(I2CSPIBusOption bus_option, const int bus, int bus_frequency) :
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I2C(DRV_SENS_DEVTYPE_PCF8583, MODULE_NAME, bus, PCF8583_BASEADDR_DEFAULT, bus_frequency),
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ModuleParams(nullptr),
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I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus)
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{
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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_DEBUG("addr: %" PRId8 ", pool: %" PRId32 ", reset: %" PRId32 ", magenet: %" PRId32, get_device_address(),
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_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::RunImpl()
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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_rpm = (float)diffCount / _param_pcf8583_magnet.get() / ((float)diffTime / 1000000) * 60.f;
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float estimated_accurancy = 1 / (float)_param_pcf8583_magnet.get() / ((float)diffTime / 1000000) * 60.f;
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// publish
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rpm_s msg{};
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msg.indicated_frequency_rpm = indicated_rpm;
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msg.estimated_accurancy_rpm = estimated_accurancy;
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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_status()
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{
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I2CSPIDriverBase::print_status();
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PX4_INFO("poll interval: %" PRId32 " us", _param_pcf8583_pool.get());
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}
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