mirror of https://github.com/ArduPilot/ardupilot
149 lines
4.2 KiB
C++
149 lines
4.2 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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#include <AP_BoardConfig/AP_BoardConfig.h>
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#include "RPM_PX4_PWM.h"
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <drivers/drv_pwm_input.h>
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#include <drivers/drv_hrt.h>
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#include <drivers/drv_sensor.h>
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#include <uORB/topics/pwm_input.h>
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#include <stdio.h>
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#include <errno.h>
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#include <cmath>
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#define PWM_LOGGING 0
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extern const AP_HAL::HAL& hal;
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extern "C" {
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int pwm_input_main(int, char **);
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};
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/*
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open the sensor in constructor
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*/
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AP_RPM_PX4_PWM::AP_RPM_PX4_PWM(AP_RPM &_ap_rpm, uint8_t instance, AP_RPM::RPM_State &_state) :
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AP_RPM_Backend(_ap_rpm, instance, _state)
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{
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#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
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if (AP_BoardConfig::px4_start_driver(pwm_input_main, "pwm_input", "start")) {
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hal.console->printf("started pwm_input driver\n");
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}
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#endif
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_fd = open(PWMIN0_DEVICE_PATH, O_RDONLY);
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if (_fd == -1) {
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hal.console->printf("Unable to open %s\n", PWMIN0_DEVICE_PATH);
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return;
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}
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// keep a queue of 5 samples to reduce noise by averaging
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if (ioctl(_fd, SENSORIOCSQUEUEDEPTH, 5) != 0) {
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hal.console->printf("Failed to setup RPM queue\n");
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close(_fd);
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_fd = -1;
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return;
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}
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_resolution_usec = PWMIN_MINRPM_TO_RESOLUTION(((uint32_t)(ap_rpm._minimum[state.instance]+0.5f)));
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ioctl(_fd, PWMINIOSRESOLUTION, _resolution_usec);
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#if PWM_LOGGING
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_logfd = open("/fs/microsd/pwm.log", O_WRONLY|O_CREAT|O_TRUNC, 0644);
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#endif
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}
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/*
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close the file descriptor
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*/
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AP_RPM_PX4_PWM::~AP_RPM_PX4_PWM()
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{
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if (_fd != -1) {
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close(_fd);
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_fd = -1;
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}
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}
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void AP_RPM_PX4_PWM::update(void)
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{
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if (_fd == -1) {
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return;
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}
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uint32_t newres = PWMIN_MINRPM_TO_RESOLUTION(((uint32_t)(ap_rpm._minimum[state.instance]+0.5f)));
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if (newres != _resolution_usec) {
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ioctl(_fd, PWMINIOSRESOLUTION, newres);
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_resolution_usec = newres;
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}
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struct pwm_input_s pwm;
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uint16_t count = 0;
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const float scaling = ap_rpm._scaling[state.instance];
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float maximum = ap_rpm._maximum[state.instance];
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float minimum = ap_rpm._minimum[state.instance];
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float quality = 0;
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while (::read(_fd, &pwm, sizeof(pwm)) == sizeof(pwm)) {
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// the px4 pwm_input driver reports the period in microseconds
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if (pwm.period == 0) {
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continue;
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}
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float rpm = scaling * (1.0e6f * 60) / pwm.period;
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float filter_value = signal_quality_filter.get();
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state.rate_rpm = signal_quality_filter.apply(rpm);
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if ((maximum <= 0 || rpm <= maximum) && (rpm >= minimum)) {
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if (is_zero(filter_value)){
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quality = 0;
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} else {
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quality = 1 - constrain_float((fabsf(rpm-filter_value))/filter_value, 0.0, 1.0);
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quality = powf(quality, 2.0);
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}
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count++;
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} else {
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quality = 0;
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}
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#if PWM_LOGGING
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if (_logfd != -1) {
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dprintf(_logfd, "%u %u %u\n",
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(unsigned)pwm.timestamp/1000,
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(unsigned)pwm.period,
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(unsigned)pwm.pulse_width);
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}
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#endif
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state.signal_quality = (0.1 * quality) + (0.9 * state.signal_quality); // simple LPF
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}
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if (count != 0) {
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state.last_reading_ms = AP_HAL::millis();
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}
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// assume we get readings at at least 1Hz, otherwise reset quality to zero
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if (AP_HAL::millis() - state.last_reading_ms > 1000) {
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state.signal_quality = 0;
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}
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}
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#endif // CONFIG_HAL_BOARD
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