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103 lines
3.2 KiB
C++
103 lines
3.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2023 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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/**
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* @file ft7_technologies.hpp
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* @author Henry Kotze <henry@flycloudline.com>
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*
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* Driver for the FT Technology Wind Sensor. FT742
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*/
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#pragma once
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/topics/sensor_airflow.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/device/device.h>
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#include <lib/parameters/param.h>
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#include <lib/perf/perf_counter.h>
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#include <drivers/drv_hrt.h>
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using namespace time_literals;
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class Ft7Technologies : public px4::ScheduledWorkItem
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{
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public:
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Ft7Technologies(const char *port);
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~Ft7Technologies() override;
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int init();
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void print_info();
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private:
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void start();
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void stop();
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void Run() override;
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int measure();
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int collect();
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bool checksum(char *buf, uint32_t checksum);
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uint8_t hex2int(char ch);
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uORB::Publication<sensor_airflow_s> _sensor_airflow_pub{ORB_ID(sensor_airflow)};
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char _port[20] {};
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char _readbuf[30] {};
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uint64_t _interval{100000};
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bool _collect_phase{false};
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int _fd{-1};
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char _linebuf[20] {};
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hrt_abstime _last_read{0};
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hrt_abstime _last_measure{0};
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char _raw_angle[5];
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char _raw_speed[5];
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char _raw_status[2];
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char _raw_checksum[3];
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uint16_t _checksum{0};
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uint32_t _hex_checksum{0};
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int _msg_part_counter{0};
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int _byte_counter{0};
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int _msg_byte_counter{0};
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uint32_t _checksum_counter{0};
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perf_counter_t _sample_perf;
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perf_counter_t _comms_errors;
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};
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