mirror of https://github.com/ArduPilot/ardupilot
95 lines
2.4 KiB
C++
95 lines
2.4 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#include <AP_HAL.h>
|
|
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
|
|
#include "RPM_PX4_PWM.h"
|
|
|
|
#include <sys/types.h>
|
|
#include <sys/stat.h>
|
|
#include <fcntl.h>
|
|
#include <unistd.h>
|
|
|
|
#include <drivers/drv_pwm_input.h>
|
|
#include <drivers/drv_hrt.h>
|
|
#include <drivers/drv_sensor.h>
|
|
#include <uORB/topics/pwm_input.h>
|
|
#include <stdio.h>
|
|
#include <errno.h>
|
|
#include <math.h>
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
/*
|
|
open the sensor in constructor
|
|
*/
|
|
AP_RPM_PX4_PWM::AP_RPM_PX4_PWM(AP_RPM &_ap_rpm, uint8_t instance, AP_RPM::RPM_State &_state) :
|
|
AP_RPM_Backend(_ap_rpm, instance, _state)
|
|
{
|
|
_fd = open(PWMIN0_DEVICE_PATH, O_RDONLY);
|
|
if (_fd == -1) {
|
|
hal.console->printf("Unable to open %s\n", PWMIN0_DEVICE_PATH);
|
|
return;
|
|
}
|
|
|
|
// keep a queue of 5 samples to reduce noise by averaging
|
|
if (ioctl(_fd, SENSORIOCSQUEUEDEPTH, 5) != 0) {
|
|
hal.console->printf("Failed to setup RPM queue\n");
|
|
close(_fd);
|
|
_fd = -1;
|
|
return;
|
|
}
|
|
}
|
|
|
|
/*
|
|
close the file descriptor
|
|
*/
|
|
AP_RPM_PX4_PWM::~AP_RPM_PX4_PWM()
|
|
{
|
|
if (_fd != -1) {
|
|
close(_fd);
|
|
_fd = -1;
|
|
}
|
|
}
|
|
|
|
void AP_RPM_PX4_PWM::update(void)
|
|
{
|
|
if (_fd == -1) {
|
|
return;
|
|
}
|
|
|
|
struct pwm_input_s pwm;
|
|
uint16_t count = 0;
|
|
const float scaling = ap_rpm._scaling[state.instance];
|
|
float sum = 0;
|
|
|
|
while (::read(_fd, &pwm, sizeof(pwm)) == sizeof(pwm)) {
|
|
// the px4 pwm_input driver reports the period in microseconds
|
|
if (pwm.period > 0) {
|
|
sum += (1.0e6f * 60) / pwm.period;
|
|
count++;
|
|
}
|
|
}
|
|
|
|
if (count != 0) {
|
|
state.rate_rpm = scaling * sum / count;
|
|
state.last_reading_ms = hal.scheduler->millis();
|
|
}
|
|
}
|
|
|
|
#endif // CONFIG_HAL_BOARD
|