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94 lines
3.4 KiB
C++
94 lines
3.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 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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#pragma once
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#include <drivers/drv_hrt.h>
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#include <lib/mathlib/math/filter/AlphaFilter.hpp>
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#include <lib/mathlib/math/filter/MedianFilter.hpp>
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#include <px4_arch/micro_hal.h>
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#include <px4_platform_common/module.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/PublicationMulti.hpp>
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#include <uORB/topics/pwm_input.h>
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#include <uORB/topics/rpm.h>
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using namespace time_literals;
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class RPMCapture : public ModuleBase<RPMCapture>, public px4::ScheduledWorkItem
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{
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public:
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RPMCapture();
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virtual ~RPMCapture();
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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/** @see ModuleBase */
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static int custom_command(int argc, char *argv[]);
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/** @see ModuleBase */
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static int print_usage(const char *reason = nullptr);
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bool init();
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static int gpio_interrupt_callback(int irq, void *context, void *arg);
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/** RPMCapture is an interrupt-driven task and needs to be manually stopped */
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static void stop();
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private:
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static constexpr hrt_abstime RPM_PULSE_TIMEOUT = 1_s;
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static constexpr uint32_t RPM_MAX_VALUE = 15000;
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void Run() override;
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int _channel{-1};
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uint32_t _rpm_capture_gpio{0};
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uint32_t _pulses_per_revolution{1};
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uint32_t _min_pulse_period_us{1}; ///< [us] minimum pulse period
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uORB::Publication<pwm_input_s> _pwm_input_pub{ORB_ID(pwm_input)};
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uORB::PublicationMulti<rpm_s> _rpm_pub{ORB_ID(rpm)};
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hrt_abstime _hrt_timestamp{0};
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hrt_abstime _hrt_timestamp_prev{0};
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uint32_t _period{0};
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uint32_t _error_count{0};
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px4::atomic<bool> _value_processed{true};
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hrt_abstime _timestamp_last_update{0}; ///< to caluclate dt
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AlphaFilter<float> _rpm_filter;
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MedianFilter<float, 5> _rpm_median_filter;
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};
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