drivers: add PCF8583 RPM sensor (#14018)

Author: roman-dvorak

boards/px4/fmu-v5/default.cmake

@@ -52,6 +52,7 @@ px4_add_board(
 		px4io
 		rc_input
 		roboclaw
+		rpm
 		safety_button
 		tap_esc
 		telemetry # all available telemetry drivers

boards/px4/fmu-v5x/default.cmake

@@ -51,6 +51,7 @@ px4_add_board(
 		px4io
 		rc_input
 		roboclaw
+		rpm
 		safety_button
 		tap_esc
 		telemetry # all available telemetry drivers

msg/CMakeLists.txt

@@ -97,6 +97,7 @@ set(msg_files
 	power_button_state.msg
 	power_monitor.msg
 	pwm_input.msg
+	rpm.msg
 	qshell_req.msg
 	qshell_retval.msg
 	radio_status.msg

msg/rpm.msg

@@ -0,0 +1,7 @@
+uint64 timestamp                      # time since system start (microseconds)
+
+float32 indicated_frequency_hz        # indicated rotor Frequency in Hz
+float32 estimated_accurancy_hz        # estimated accurancy in Hz
+float32 indicated_frequency_rpm       # indicated rotor Frequency in Revolution per minute
+float32 estimated_accurancy_rpm       # estimated accurancy in Revolution per minute
+

msg/tools/uorb_rtps_message_ids.yaml

@@ -281,6 +281,8 @@ rtps:
     id: 125
   - msg: logger_status
     id: 126
+  - msg: rpm
+    id: 127
   ########## multi topics: begin ##########
   - msg: actuator_controls_0
     id: 150

src/drivers/rpm/CMakeLists.txt

@@ -0,0 +1,2 @@
+add_subdirectory(pcf8583)
+

src/drivers/rpm/pcf8583/CMakeLists.txt

@@ -0,0 +1,10 @@
+px4_add_module(
+
+	MODULE drivers__pcf8583
+	MAIN pcf8583
+	COMPILE_FLAGS
+	SRCS
+		pcf8583.cpp
+	DEPENDS
+      drivers__device
+)

src/drivers/rpm/pcf8583/parameters.c

@@ -0,0 +1,41 @@
+/**
+ * PCF8583 rotorfreq (i2c) pool interval
+ *
+ * @reboot_required true
+ * @group Sensors
+ * @unit us
+ */
+PARAM_DEFINE_INT32(PCF8583_POOL, 1000000);
+
+/**
+ * PCF8583 rotorfreq (i2c) i2c address
+ *
+ * @reboot_required true
+ * @group Sensors
+ * @value 80 0x50
+ * @value 81 0x51
+ */
+PARAM_DEFINE_INT32(PCF8583_ADDR, 80);
+
+/**
+ * PCF8583 rotorfreq (i2c) counter reset value
+ *
+ * Internal device counter is reset to 0 when overun this value,
+ * counter is able to store upto 6 digits
+ * reset of counter takes some time - measurement with reset has worse accurancy
+ *
+ * @reboot_required true
+ * @group Sensors
+ * @value 0 - reset avter every measurement
+ */
+PARAM_DEFINE_INT32(PCF8583_RESET, 500000);
+
+/**
+ * PCF8583 rotorfreq (i2c) magnet count
+ *
+ * Nmumber of signals per rotation of rotor
+ *
+ * @reboot_required true
+ * @min 1
+ */
+PARAM_DEFINE_INT32(PCF8583_MAGNET, 2);