PCF8583.hpp
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/****************************************************************************
*
* Copyright (c) 2020 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.
*
****************************************************************************/
/**
* @file PCF8583.hpp
*
* @author ThunderFly s.r.o., Vít Hanousek <hanousekvit@thunderfly.cz>
* @url https://github.com/ThunderFly-aerospace/TFRPM01
*
* Driver for Main Rotor frequency sensor using PCF8583 I2C counter.
*/
#pragma once
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/i2c_spi_buses.h>
#include <drivers/device/i2c.h>
#include <uORB/Publication.hpp>
#include <uORB/topics/rpm.h>
#include <drivers/drv_hrt.h>
/* Configuration Constants */
#define PCF8583_BASEADDR_DEFAULT 0x50
class PCF8583 : public device::I2C, public ModuleParams, public I2CSPIDriver<PCF8583>
{
public:
PCF8583(I2CSPIBusOption bus_option, const int bus, int bus_frequency);
~PCF8583() override = default;
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
void RunImpl();
int init() override;
void print_status() override;
private:
int probe() override;
int getCounter();
void resetCounter();
uint8_t readRegister(uint8_t reg);
void setRegister(uint8_t reg, uint8_t value);
int _count{0};
hrt_abstime _last_measurement_time{0};
uORB::Publication<rpm_s> _rpm_pub{ORB_ID(rpm)};
DEFINE_PARAMETERS(
(ParamInt<px4::params::PCF8583_ADDR>) _param_pcf8583_addr,
(ParamInt<px4::params::PCF8583_POOL>) _param_pcf8583_pool,
(ParamInt<px4::params::PCF8583_RESET>) _param_pcf8583_reset,
(ParamInt<px4::params::PCF8583_MAGNET>) _param_pcf8583_magnet
)
};