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/****************************************************************************
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*
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* Copyright (c) 2020 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 pcf8583.cpp
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*
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* @author ThunderFly s.r.o., Vít Hanousek <hanousekvit@thunderfly.cz>
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* @url https://github.com/ThunderFly-aerospace/TFRPM01
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*
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* Driver for Main Rotor frequency sensor using PCF8583 I2C counter.
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*/
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/defines.h>
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#include <px4_platform_common/getopt.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <lib/parameters/param.h>
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#include <board_config.h>
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#include <px4_log.h>
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#include <drivers/device/i2c.h>
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#include <sys/types.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include <stdbool.h>
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#include <string.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/rpm.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_sensor.h>
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/* Configuration Constants */
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#define PCF8583_BUS_DEFAULT PX4_I2C_BUS_EXPANSION
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#define PCF8583_DEVICE_PATH "/dev/pcf8583"
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#define PCF8583_BASEADDR_DEFAULT 0x50
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class PCF8583 : public device::I2C, public px4::ScheduledWorkItem
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{
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public:
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PCF8583(int bus = PCF8583_BUS_DEFAULT,
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int address = PCF8583_BASEADDR_DEFAULT);
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virtual ~PCF8583();
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virtual int init();
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void print_info();
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protected:
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virtual int probe();
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private:
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int _pool_interval;
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float _indicated_frequency;
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float _estimated_accurancy;
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int _count;
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int _reset_count;
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int _magnet_count;
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uint64_t _lastmeasurement_time;
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orb_advert_t _rpm_topic;
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virtual void Run(); //Perform a poll cycle; overide for ScheduledWorkItem
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void readSensorAndComputeFreqency();
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void publish();
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int getCounter();
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void resetCounter();
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uint8_t readRegister(uint8_t reg);
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void setRegister(uint8_t reg, uint8_t value);
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};
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PCF8583::PCF8583(int bus, int address) :
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I2C("PCF8583", PCF8583_DEVICE_PATH, bus, address, 400000),
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ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(get_device_id())),
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_pool_interval(0),
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_indicated_frequency(0.0),
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_estimated_accurancy(0.0),
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_count(0),
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_reset_count(0),
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_magnet_count(0),
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_rpm_topic(nullptr)
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{
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}
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PCF8583::~PCF8583()
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{
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ScheduleClear();
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if (_rpm_topic != nullptr) {
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orb_unadvertise(_rpm_topic);
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}
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}
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int
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PCF8583::init()
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{
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int ret = PX4_ERROR;
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//load parameters
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int address = PCF8583_BASEADDR_DEFAULT;
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if (param_find("PCF8583_ADDR") != PARAM_INVALID) {
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param_get(param_find("PCF8583_ADDR"), &address);
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}
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set_device_address(address);
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if (param_find("PCF8583_POOL") != PARAM_INVALID) {
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param_get(param_find("PCF8583_POOL"), &_pool_interval);
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}
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if (param_find("PCF8583_RESET") != PARAM_INVALID) {
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param_get(param_find("PCF8583_RESET"), &_reset_count);
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}
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if (param_find("PCF8583_MAGNET") != PARAM_INVALID) {
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param_get(param_find("PCF8583_MAGNET"), &_magnet_count);
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}
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PX4_INFO("addr: %d, pool: %d, reset: %d, magenet: %d", address, _pool_interval, _reset_count, _magnet_count);
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if (I2C::init() != OK) {
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return ret;
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}
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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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_lastmeasurement_time = hrt_absolute_time();
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ScheduleOnInterval(_pool_interval);
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/* get a publish handle on the range finder topic */
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struct rpm_s rf_report = {};
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_rpm_topic = orb_advertise(ORB_ID(rpm), &rf_report);
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if (_rpm_topic == nullptr) {
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PX4_ERR("failed to create rotor_freqency object");
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}
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return PX4_OK;
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}
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int
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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
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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
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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 (OK != ret) {
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PX4_DEBUG("PCF8583::setRegister : i2c::transfer returned %d", ret);
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}
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}
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uint8_t
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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 (OK != ret) {
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PX4_DEBUG("PCF8583::readRegister : i2c::transfer returned %d", ret);
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}
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return rcv;
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}
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int
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PCF8583::probe()
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{
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return PX4_OK;
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}
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void
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PCF8583::readSensorAndComputeFreqency()
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{
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int oldcount = _count;
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uint64_t oldtime = _lastmeasurement_time;
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_count = getCounter();
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_lastmeasurement_time = hrt_absolute_time();
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int diffCount = _count - oldcount;
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uint64_t diffTime = _lastmeasurement_time - oldtime;
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if (_reset_count < _count + diffCount) {
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resetCounter();
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_lastmeasurement_time = hrt_absolute_time();
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_count = 0;
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}
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_indicated_frequency = (float)diffCount / _magnet_count / ((float)diffTime / 1000000);
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_estimated_accurancy = 1 / (float)_magnet_count / ((float)diffTime / 1000000);
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}
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void PCF8583::publish()
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{
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struct rpm_s msg;
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msg.timestamp = hrt_absolute_time();
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msg.indicated_frequency_hz = _indicated_frequency;
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msg.indicated_frequency_rpm = _indicated_frequency * 60;
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msg.estimated_accurancy_hz = _estimated_accurancy;
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msg.estimated_accurancy_rpm = _estimated_accurancy * 60;
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// publish it, if we are the primary
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if (_rpm_topic != nullptr) {
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orb_publish(ORB_ID(rpm), _rpm_topic, &msg);
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}
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// notify anyone waiting for data
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poll_notify(POLLIN);
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}
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void
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PCF8583::Run()
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{
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/*Collect results */
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readSensorAndComputeFreqency();
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publish();
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}
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void
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PCF8583::print_info()
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{
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printf("poll interval: %d us\n", _pool_interval);
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}
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/*
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* Driver 'main' command.
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*/
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extern "C" __EXPORT int pcf8583_main(int argc, char *argv[]);
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/**
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* Local functions in support of the shell command.
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*/
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namespace pcf8583
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{
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PCF8583 *g_dev;
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int start_bus(int i2c_bus);
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int stop();
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int info();
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/**
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* Start the driver on a specific bus.
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*
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* This function only returns if the sensor is up and running
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* or could not be detected successfully.
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*/
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int
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start_bus(int i2c_bus)
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{
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if (g_dev != nullptr) {
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PX4_ERR("already started");
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return PX4_ERROR;
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}
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/* create the driver */
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g_dev = new PCF8583(i2c_bus);
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if (g_dev == nullptr) {
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goto fail;
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}
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if (OK != g_dev->init()) {
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goto fail;
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}
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PX4_INFO("pcf8583 for bus: %d started.", i2c_bus);
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return PX4_OK;
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fail:
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if (g_dev != nullptr) {
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delete g_dev;
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g_dev = nullptr;
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}
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return PX4_ERROR;
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}
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/**
|
|
|
|
|
* Stop the driver
|
|
|
|
|
*/
|
|
|
|
|
int
|
|
|
|
|
stop()
|
|
|
|
|
{
|
|
|
|
|
if (g_dev != nullptr) {
|
|
|
|
|
delete g_dev;
|
|
|
|
|
g_dev = nullptr;
|
|
|
|
|
|
|
|
|
|
} else {
|
|
|
|
|
PX4_ERR("driver not running");
|
|
|
|
|
return PX4_ERROR;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
return PX4_OK;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* Print a little info about the driver.
|
|
|
|
|
*/
|
|
|
|
|
int
|
|
|
|
|
info()
|
|
|
|
|
{
|
|
|
|
|
if (g_dev == nullptr) {
|
|
|
|
|
PX4_ERR("driver not running");
|
|
|
|
|
return PX4_ERROR;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
printf("state @ %p\n", g_dev);
|
|
|
|
|
g_dev->print_info();
|
|
|
|
|
|
|
|
|
|
return PX4_OK;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
} /* namespace */
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
static void
|
|
|
|
|
pcf8583_usage()
|
|
|
|
|
{
|
|
|
|
|
PX4_INFO("usage: pcf8583 command [options]");
|
|
|
|
|
PX4_INFO("options:");
|
|
|
|
|
PX4_INFO("\t-b --bus i2cbus (%d)", PCF8583_BUS_DEFAULT);
|
|
|
|
|
PX4_INFO("command:");
|
|
|
|
|
PX4_INFO("\tstart|stop|info");
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
int
|
|
|
|
|
pcf8583_main(int argc, char *argv[])
|
|
|
|
|
{
|
|
|
|
|
int ch;
|
|
|
|
|
int myoptind = 1;
|
|
|
|
|
const char *myoptarg = nullptr;
|
|
|
|
|
|
|
|
|
|
int i2c_bus = PCF8583_BUS_DEFAULT;
|
|
|
|
|
|
|
|
|
|
while ((ch = px4_getopt(argc, argv, "b:", &myoptind, &myoptarg)) != EOF) {
|
|
|
|
|
switch (ch) {
|
|
|
|
|
case 'b':
|
|
|
|
|
i2c_bus = atoi(myoptarg);
|
|
|
|
|
break;
|
|
|
|
|
|
|
|
|
|
default:
|
|
|
|
|
PX4_WARN("Unknown option!");
|
|
|
|
|
goto out_error;
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if (myoptind >= argc) {
|
|
|
|
|
goto out_error;
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if (!strcmp(argv[myoptind], "start")) {
|
|
|
|
|
return pcf8583::start_bus(i2c_bus);
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if (!strcmp(argv[myoptind], "stop")) {
|
|
|
|
|
return pcf8583::stop();
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
if (!strcmp(argv[myoptind], "info") || !strcmp(argv[myoptind], "status")) {
|
|
|
|
|
return pcf8583::info();
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
out_error:
|
|
|
|
|
pcf8583_usage();
|
|
|
|
|
return PX4_ERROR;
|
|
|
|
|
}
|
Roman Dvořák
GitHub