rpm_capture: add rpm capture driver, publising pwm_input (for now)

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

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
+	)

src/drivers/rpm_capture/Kconfig

@@ -0,0 +1,5 @@
+menuconfig DRIVERS_RPM_CAPTURE
+	bool "rpm_capture"
+	default n
+	---help---
+		Enable support for rpm_capture

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 <px4_arch/io_timer.h>
+#include <board_config.h>
+#include <parameters/param.h>
+#include <px4_platform_common/events.h>
+#include <systemlib/mavlink_log.h>
+
+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<RPMCapture *>(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);
+}

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 <drivers/drv_hrt.h>
+#include <px4_arch/micro_hal.h>
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <uORB/Publication.hpp>
+#include <uORB/Subscription.hpp>
+#include <uORB/topics/pwm_input.h>
+
+using namespace time_literals;
+
+class RPMCapture : public ModuleBase<RPMCapture>, 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_s>	_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<bool> _value_processed{true};
+};

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);

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