drivers/barometer/mpc2520: MaierTek MPC2520 barometer support

- used in the Advanced Technolgy Labs (ATL) Mantis EDU

src/drivers/barometer/CMakeLists.txt

@@ -38,5 +38,7 @@ add_subdirectory(lps22hb)
 #add_subdirectory(lps25h) # not ready for general inclusion
 add_subdirectory(lps33hw)
 #add_subdirectory(mpl3115a2) # not ready for general inclusion
+add_subdirectory(maiertek)
 add_subdirectory(ms5611)
 #add_subdirectory(tcbp001ta) # only for users who really need this
+

src/drivers/barometer/maiertek/CMakeLists.txt

@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2021 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.
+#
+############################################################################
+
+add_subdirectory(mpc2520)

src/drivers/barometer/maiertek/mpc2520/CMakeLists.txt

@@ -0,0 +1,46 @@
+############################################################################
+#
+#   Copyright (c) 2020-2021 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.
+#
+############################################################################
+
+px4_add_module(
+	MODULE drivers__maiertek__mpc2520
+	MAIN mpc2520
+	COMPILE_FLAGS
+	SRCS
+		MaierTek_MPC2520_registers.hpp
+		mpc2520_main.cpp
+		MPC2520.cpp
+		MPC2520.hpp
+	DEPENDS
+		drivers_barometer
+		px4_work_queue
+)

src/drivers/barometer/maiertek/mpc2520/MPC2520.cpp

@@ -0,0 +1,350 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2021 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.
+ *
+ ****************************************************************************/
+
+#include "MPC2520.hpp"
+
+using namespace time_literals;
+
+static constexpr int32_t combine(uint8_t h, uint8_t m, uint8_t l)
+{
+	// 24 bit sign extend
+	int32_t ret = (uint32_t)(h << 24) | (uint32_t)(m << 16) | (uint32_t)(l << 8);
+	return ret >> 8;
+}
+
+MPC2520::MPC2520(const I2CSPIDriverConfig &config) :
+	I2C(config),
+	I2CSPIDriver(config),
+	_px4_baro(get_device_id())
+{
+	//_debug_enabled = true;
+}
+
+MPC2520::~MPC2520()
+{
+	perf_free(_reset_perf);
+	perf_free(_bad_register_perf);
+	perf_free(_bad_transfer_perf);
+}
+
+int MPC2520::init()
+{
+	int ret = I2C::init();
+
+	if (ret != PX4_OK) {
+		DEVICE_DEBUG("I2C::init failed (%i)", ret);
+		return ret;
+	}
+
+	return Reset() ? 0 : -1;
+}
+
+bool MPC2520::Reset()
+{
+	_state = STATE::RESET;
+	ScheduleClear();
+	ScheduleNow();
+	return true;
+}
+
+void MPC2520::print_status()
+{
+	I2CSPIDriverBase::print_status();
+
+	perf_print_counter(_reset_perf);
+	perf_print_counter(_bad_register_perf);
+	perf_print_counter(_bad_transfer_perf);
+}
+
+int MPC2520::probe()
+{
+	const uint8_t ID = RegisterRead(Register::ID);
+
+	uint8_t PROD_ID = ID & 0xF0 >> 4; // Product ID Bits 7:4
+
+	if (PROD_ID != Product_ID) {
+		DEVICE_DEBUG("unexpected PROD_ID 0x%02x", PROD_ID);
+		return PX4_ERROR;
+	}
+
+	return PX4_OK;
+}
+
+void MPC2520::RunImpl()
+{
+	const hrt_abstime now = hrt_absolute_time();
+
+	switch (_state) {
+	case STATE::RESET:
+		// RESET: SOFT_RST
+		RegisterWrite(Register::RESET, RESET_BIT::SOFT_RST);
+		_reset_timestamp = now;
+		_failure_count = 0;
+		_state = STATE::WAIT_FOR_RESET;
+		perf_count(_reset_perf);
+		ScheduleDelayed(50_ms); // Power On Reset: max 50ms
+		break;
+
+	case STATE::WAIT_FOR_RESET: {
+			// check MEAS_CFG SENSOR_RDY
+			const uint8_t ID = RegisterRead(Register::ID);
+
+			uint8_t PROD_ID = ID & 0xF0 >> 4; // Product ID Bits 7:4
+
+			if (PROD_ID == Product_ID) {
+				// if reset succeeded then read prom
+				_state = STATE::READ_PROM;
+				ScheduleDelayed(40_ms); // Time to coefficients are available.
+
+			} else {
+				// RESET not complete
+				if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
+					PX4_DEBUG("Reset failed, retrying");
+					_state = STATE::RESET;
+					ScheduleDelayed(100_ms);
+
+				} else {
+					PX4_DEBUG("Reset not complete, check again in 10 ms");
+					ScheduleDelayed(10_ms);
+				}
+			}
+		}
+
+		break;
+
+	case STATE::READ_PROM: {
+			uint8_t	prom_buf[3] {};
+			uint8_t cmd = 0x10;
+			transfer(&cmd, 1, &prom_buf[0], 2);
+			_prom.c0 = (int16_t)prom_buf[0] << 4 | prom_buf[1] >> 4;
+			_prom.c0 = (_prom.c0 & 0x0800) ? (0xF000 | _prom.c0) : _prom.c0;
+
+			cmd = 0x11;
+			transfer(&cmd, 1, &prom_buf[0], 2);
+			_prom.c1 = (int16_t)(prom_buf[0] & 0x0F) << 8 | prom_buf[1];
+			_prom.c1 = (_prom.c1 & 0x0800) ? (0xF000 | _prom.c1) : _prom.c1;
+
+			cmd = 0x13;
+			transfer(&cmd, 1, &prom_buf[0], 3);
+			_prom.c00 = (int32_t)prom_buf[0] << 12 | (int32_t)prom_buf[1] << 4 | (int32_t)prom_buf[2] >> 4;
+			_prom.c00 = (_prom.c00 & 0x080000) ? (0xFFF00000 | _prom.c00) : _prom.c00;
+
+			cmd = 0x15;
+			transfer(&cmd, 1, &prom_buf[0], 3);
+			_prom.c10 = (int32_t)prom_buf[0] << 16 | (int32_t)prom_buf[1] << 8 | prom_buf[2];
+			_prom.c10 = (_prom.c10 & 0x080000) ? (0xFFF00000 | _prom.c10) : _prom.c10;
+
+			cmd = 0x18;
+			transfer(&cmd, 1, &prom_buf[0], 2);
+			_prom.c01 = (int16_t)prom_buf[0] << 8 | prom_buf[1];
+
+			cmd = 0x1A;
+			transfer(&cmd, 1, &prom_buf[0], 2);
+			_prom.c11 = (int16_t)prom_buf[0] << 8 | prom_buf[1];
+
+			cmd = 0x1C;
+			transfer(&cmd, 1, &prom_buf[0], 2);
+			_prom.c20 = (int16_t)prom_buf[0] << 8 | prom_buf[1];
+
+			cmd = 0x1E;
+			transfer(&cmd, 1, &prom_buf[0], 2);
+			_prom.c21 = (int16_t)prom_buf[0] << 8 | prom_buf[1];
+
+			cmd = 0x20;
+			transfer(&cmd, 1, &prom_buf[0], 2);
+			_prom.c30 = (int16_t)prom_buf[0] << 8 | prom_buf[1];
+
+			_state = STATE::CONFIGURE;
+			ScheduleDelayed(10_ms);
+		}
+		break;
+
+	case STATE::CONFIGURE:
+		if (Configure()) {
+			// if configure succeeded then start measurement cycle
+			_state = STATE::READ;
+			ScheduleOnInterval(1000000 / 32); // 32 Hz
+
+		} else {
+			// CONFIGURE not complete
+			if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
+				PX4_DEBUG("Configure failed, resetting");
+				_state = STATE::RESET;
+
+			} else {
+				PX4_DEBUG("Configure failed, retrying");
+			}
+
+			ScheduleDelayed(100_ms);
+		}
+
+		break;
+
+	case STATE::READ: {
+			bool success = false;
+
+			// read temperature first
+			struct TransferBuffer {
+				uint8_t PSR_B2;
+				uint8_t PSR_B1;
+				uint8_t PSR_B0;
+				uint8_t TMP_B2;
+				uint8_t TMP_B1;
+				uint8_t TMP_B0;
+			} buffer{};
+
+			uint8_t cmd = static_cast<uint8_t>(Register::PSR_B2);
+
+			if (transfer(&cmd, 1, (uint8_t *)&buffer, sizeof(buffer)) == PX4_OK) {
+				int32_t Traw = (int32_t)(buffer.TMP_B2 << 16) | (int32_t)(buffer.TMP_B1 << 8) | (int32_t)buffer.TMP_B0;
+				Traw = (Traw & 0x800000) ? (0xFF000000 | Traw) : Traw;
+
+				static constexpr float kT = 7864320; // temperature 8 times oversampling
+				float Traw_sc = static_cast<float>(Traw) / kT;
+				float Tcomp = _prom.c0 * 0.5f + _prom.c1 * Traw_sc;
+				_px4_baro.set_temperature(Tcomp);
+
+				int32_t Praw = (int32_t)(buffer.PSR_B2 << 16) | (int32_t)(buffer.PSR_B1 << 8) | (int32_t)buffer.PSR_B1;
+				Praw = (Praw & 0x800000) ? (0xFF000000 | Praw) : Praw;
+
+				static constexpr float kP = 7864320; // pressure 8 times oversampling
+				float Praw_sc = static_cast<float>(Praw) / kP;
+
+				// Calculate compensated measurement results.
+				float Pcomp = _prom.c00 + Praw_sc * (_prom.c10 + Praw_sc * (_prom.c20 + Praw_sc * _prom.c30)) + Traw_sc * _prom.c01 +
+					      Traw_sc * Praw_sc * (_prom.c11 + Praw_sc * _prom.c21);
+
+				float pressure_mbar = Pcomp / 100.0f; // convert to millibar
+
+				_px4_baro.update(now, pressure_mbar);
+
+				success = true;
+
+				if (_failure_count > 0) {
+					_failure_count--;
+				}
+
+			} else {
+				perf_count(_bad_transfer_perf);
+			}
+
+			if (!success) {
+				_failure_count++;
+
+				// full reset if things are failing consistently
+				if (_failure_count > 10) {
+					Reset();
+					return;
+				}
+			}
+
+			if (!success || hrt_elapsed_time(&_last_config_check_timestamp) > 100_ms) {
+				// check configuration registers periodically or immediately following any failure
+				if (RegisterCheck(_register_cfg[_checked_register])) {
+					_last_config_check_timestamp = now;
+					_checked_register = (_checked_register + 1) % size_register_cfg;
+
+				} else {
+					// register check failed, force reset
+					perf_count(_bad_register_perf);
+					Reset();
+					return;
+				}
+			}
+		}
+
+		break;
+	}
+}
+
+bool MPC2520::Configure()
+{
+	// first set and clear all configured register bits
+	for (const auto &reg_cfg : _register_cfg) {
+		RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);
+	}
+
+	// now check that all are configured
+	bool success = true;
+
+	for (const auto &reg_cfg : _register_cfg) {
+		if (!RegisterCheck(reg_cfg)) {
+			success = false;
+		}
+	}
+
+	return success;
+}
+
+bool MPC2520::RegisterCheck(const register_config_t &reg_cfg)
+{
+	bool success = true;
+
+	const uint8_t reg_value = RegisterRead(reg_cfg.reg);
+
+	if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) {
+		PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits);
+		success = false;
+	}
+
+	if (reg_cfg.clear_bits && ((reg_value & reg_cfg.clear_bits) != 0)) {
+		PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not cleared)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.clear_bits);
+		success = false;
+	}
+
+	return success;
+}
+
+uint8_t MPC2520::RegisterRead(Register reg)
+{
+	const uint8_t cmd = static_cast<uint8_t>(reg);
+	uint8_t buffer{};
+	transfer(&cmd, 1, &buffer, 1);
+	return buffer;
+}
+
+void MPC2520::RegisterWrite(Register reg, uint8_t value)
+{
+	uint8_t buffer[2] { (uint8_t)reg, value };
+	transfer(buffer, sizeof(buffer), nullptr, 0);
+}
+
+void MPC2520::RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits)
+{
+	const uint8_t orig_val = RegisterRead(reg);
+	uint8_t val = (orig_val & ~clearbits) | setbits;
+
+	if (orig_val != val) {
+		RegisterWrite(reg, val);
+	}
+}

src/drivers/barometer/maiertek/mpc2520/MPC2520.hpp

@@ -0,0 +1,120 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2021 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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "MaierTek_MPC2520_registers.hpp"
+
+#include <drivers/drv_hrt.h>
+#include <lib/drivers/device/i2c.h>
+#include <lib/drivers/barometer/PX4Barometer.hpp>
+#include <lib/perf/perf_counter.h>
+#include <px4_platform_common/i2c_spi_buses.h>
+
+using namespace MaierTek_MPC2520;
+
+class MPC2520 : public device::I2C, public I2CSPIDriver<MPC2520>
+{
+public:
+	MPC2520(const I2CSPIDriverConfig &config);
+	~MPC2520() override;
+
+	static void print_usage();
+
+	void RunImpl();
+
+	int init() override;
+	void print_status() override;
+
+private:
+	// Sensor Configuration
+	struct register_config_t {
+		Register reg;
+		uint8_t set_bits{0};
+		uint8_t clear_bits{0};
+	};
+
+	int probe() override;
+
+	bool Reset();
+
+	bool Configure();
+
+	bool RegisterCheck(const register_config_t &reg_cfg);
+
+	uint8_t RegisterRead(Register reg);
+	void RegisterWrite(Register reg, uint8_t value);
+	void RegisterSetAndClearBits(Register reg, uint8_t setbits, uint8_t clearbits);
+
+	PX4Barometer _px4_baro;
+
+	perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")};
+	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
+	perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": reset")};
+
+	hrt_abstime _reset_timestamp{0};
+	hrt_abstime _last_config_check_timestamp{0};
+	int _failure_count{0};
+
+#pragma pack(push,1)
+	struct prom_s {
+		int16_t c0;
+		int16_t c1;
+		int32_t c00;
+		int32_t c10;
+		int16_t c01;
+		int16_t c11;
+		int16_t c20;
+		int16_t c21;
+		int16_t c30;
+	} _prom{};
+#pragma pack(pop)
+
+	enum class STATE : uint8_t {
+		RESET,
+		WAIT_FOR_RESET,
+		READ_PROM,
+		CONFIGURE,
+		READ,
+	} _state{STATE::RESET};
+
+	uint8_t _checked_register{0};
+	static constexpr uint8_t size_register_cfg{4};
+	register_config_t _register_cfg[size_register_cfg] {
+		// Register               | Set bits, Clear bits
+		{ Register::PRS_CFG,      PRS_CFG_BIT::PM_RATE_32_SET | PRS_CFG_BIT::PM_PRC_8_SET, PRS_CFG_BIT::PM_RATE_32_CLEAR | PRS_CFG_BIT::PM_PRC_8_CLEAR },
+		{ Register::TMP_CFG,      TMP_CFG_BIT::TMP_EXT | TMP_CFG_BIT::TMP_RATE_32_SET | TMP_CFG_BIT::TMP_PRC_8_SET, TMP_CFG_BIT::TMP_RATE_32_CLEAR | TMP_CFG_BIT::TMP_PRC_8_CLEAR },
+		{ Register::MEAS_CFG,     MEAS_CFG_BIT::MEAS_CTRL_CONT_PRES_TEMP, 0 },
+		{ Register::CFG_REG,      0, CFG_REG_BIT::T_SHIFT | CFG_REG_BIT::P_SHIFT },
+	};
+};

src/drivers/barometer/maiertek/mpc2520/MaierTek_MPC2520_registers.hpp

@@ -0,0 +1,126 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2021 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 MaierTek_MPC2520_registers.hpp
+ *
+ * MaierTek MPC2520 registers.
+ *
+ */
+
+#pragma once
+
+#include <cstdint>
+
+// TODO: move to a central header
+static constexpr uint8_t Bit0 = (1 << 0);
+static constexpr uint8_t Bit1 = (1 << 1);
+static constexpr uint8_t Bit2 = (1 << 2);
+static constexpr uint8_t Bit3 = (1 << 3);
+static constexpr uint8_t Bit4 = (1 << 4);
+static constexpr uint8_t Bit5 = (1 << 5);
+static constexpr uint8_t Bit6 = (1 << 6);
+static constexpr uint8_t Bit7 = (1 << 7);
+
+namespace MaierTek_MPC2520
+{
+static constexpr uint32_t I2C_SPEED = 400 * 1000; // 400 kHz I2C serial interface
+static constexpr uint8_t I2C_ADDRESS_DEFAULT = 0x76;
+
+static constexpr uint8_t Product_ID = 0x0;
+static constexpr uint8_t Revision_ID = 0x0;
+
+enum class Register : uint8_t {
+	PSR_B2     = 0x00, // PSR[23:16] (r)
+	PSR_B1     = 0x01, // PSR[15:8]  (r)
+	PSR_B0     = 0x02, // PSR[7:0]   (r)
+	TMP_B2     = 0x03, // TMP[23:16] (r)
+	TMP_B1     = 0x04, // TMP[15:8]  (r)
+	TMP_B0     = 0x05, // TMP[7:0]   (r)
+	PRS_CFG    = 0x06,
+	TMP_CFG    = 0x07,
+	MEAS_CFG   = 0x08,
+	CFG_REG    = 0x09,
+
+	RESET      = 0x0C,
+	ID         = 0x0D, // PROD_ID [3:0] (r) REV_ID [3:0] (r)
+
+	COEF       = 0x10,
+};
+
+// PRS_CFG
+enum PRS_CFG_BIT : uint8_t {
+	// PM_RATE[6:4]
+	PM_RATE_32_SET   = Bit6 | Bit4, // 101 - 32 measurements pr. sec.
+	PM_RATE_32_CLEAR = Bit5,
+
+	// PM_PRC[3:0]
+	PM_PRC_8_SET     = Bit1 | Bit0, // 0011 - 8 times.
+	PM_PRC_8_CLEAR   = Bit3 | Bit2,
+};
+
+// TMP_CFG
+enum TMP_CFG_BIT : uint8_t {
+	TMP_EXT           = Bit7,
+
+	// TMP_RATE[6:4]
+	TMP_RATE_32_SET   = Bit6 | Bit4, // 101 - 32 measurements pr. sec.
+	TMP_RATE_32_CLEAR = Bit5,
+
+	// PM_PRC[2:0]
+	TMP_PRC_8_SET     = Bit1 | Bit0, // 011 - 8 times.
+	TMP_PRC_8_CLEAR   = Bit2,
+};
+
+// MEAS_CFG
+enum MEAS_CFG_BIT : uint8_t {
+	COEF_RDY = Bit7,
+	SENSOR_RDY = Bit6,
+	TMP_RDY    = Bit5,
+	PRS_RDY    = Bit4,
+
+	MEAS_CTRL_CONT_PRES_TEMP = Bit2 | Bit1 | Bit0, // 111 - Continuous pressure and temperature measurement
+};
+
+// RESET
+enum RESET_BIT : uint8_t {
+	SOFT_RST = Bit3 | Bit0, // Write '1001' to generate a soft reset.
+};
+
+// CFG_REG
+enum CFG_REG_BIT : uint8_t {
+	T_SHIFT = Bit3, // Temperature result bit-shift, Note: Must be set to '1' when the oversampling rate is >8 times.
+	P_SHIFT = Bit2, // Pressure result bit-shift, Note: Must be set to '1' when the oversampling rate is >8 times.
+};
+
+} // namespace MaierTek_MPC2520

src/drivers/barometer/maiertek/mpc2520/mpc2520_main.cpp

@@ -0,0 +1,77 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020-2021 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.
+ *
+ ****************************************************************************/
+
+#include "MPC2520.hpp"
+
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
+
+void MPC2520::print_usage()
+{
+	PRINT_MODULE_USAGE_NAME("mpc2520", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("baro");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x76);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+}
+
+extern "C" int mpc2520_main(int argc, char *argv[])
+{
+	using ThisDriver = MPC2520;
+	BusCLIArguments cli{true, false};
+	cli.i2c_address = I2C_ADDRESS_DEFAULT;
+	cli.default_i2c_frequency = I2C_SPEED;
+
+	const char *verb = cli.parseDefaultArguments(argc, argv);
+
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
+	}
+
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_BARO_DEVTYPE_MPC2520);
+
+	if (!strcmp(verb, "start")) {
+		return ThisDriver::module_start(cli, iterator);
+
+	} else if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+
+	} else if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
+}

src/drivers/drv_sensor.h

@@ -118,6 +118,7 @@
 #define DRV_IMU_DEVTYPE_ADIS16470	0x58
 #define DRV_IMU_DEVTYPE_ADIS16477	0x59
 
+#define DRV_BARO_DEVTYPE_MPC2520	0x5F
 #define DRV_BARO_DEVTYPE_LPS22HB	0x60
 
 #define DRV_ACC_DEVTYPE_LSM303AGR	0x61