Add Goertek SPL06 barometer driver (#19229)

Signed-off-by: ncer <huangzzk@bupt.edu.cn>

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -155,6 +155,13 @@ then
 	irlock start -X
 fi
 
+# SPL06 sensor external I2C
+if param compare -s SENS_EN_SPL06 1
+then
+	spl06 -X start
+	spl06 -X -a 0x77 start
+fi
+
 # PCF8583 counter (RPM sensor)
 if param compare -s SENS_EN_PCF8583 1
 then

src/drivers/barometer/CMakeLists.txt

@@ -42,3 +42,4 @@ add_subdirectory(maiertek)
 add_subdirectory(ms5611)
 #add_subdirectory(tcbp001ta) # only for users who really need this
 add_subdirectory(invensense)
+add_subdirectory(goertek)

src/drivers/barometer/Kconfig

@@ -9,6 +9,7 @@ menu "barometer"
         select DRIVERS_BAROMETER_LPS33HW
         select DRIVERS_BAROMETER_MS5611
         select DRIVERS_BAROMETER_MAIERTEK_MPC2520
+	select DRIVERS_BAROMETER_GOERTEK_SPL06 
         ---help---
             Enable default set of barometer drivers
     rsource "*/Kconfig"

src/drivers/barometer/goertek/CMakeLists.txt

@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2022 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(spl06)

src/drivers/barometer/goertek/Kconfig

@@ -0,0 +1,3 @@
+menu "Goertek"
+rsource "*/Kconfig"
+endmenu #Goertek

src/drivers/barometer/goertek/spl06/CMakeLists.txt

@@ -0,0 +1,46 @@
+############################################################################
+#
+#   Copyright (c) 2022 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__barometer__spl06
+	MAIN spl06
+	SRCS
+		SPL06.cpp
+		SPL06.hpp
+		SPL06_I2C.cpp
+		SPL06_SPI.cpp
+		spl06_main.cpp
+	DEPENDS
+		drivers_barometer
+		px4_work_queue
+	)

src/drivers/barometer/goertek/spl06/Kconfig

@@ -0,0 +1,5 @@
+menuconfig DRIVERS_BAROMETER_GOERTEK_SPL06
+	bool "spl06"
+	default n
+	---help---
+		Enable support for spl06

src/drivers/barometer/goertek/spl06/SPL06.cpp

@@ -0,0 +1,243 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 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 "SPL06.hpp"
+
+SPL06::SPL06(const I2CSPIDriverConfig &config, spl06::ISPL06 *interface) :
+	I2CSPIDriver(config),
+	_px4_baro(interface->get_device_id()),
+	_interface(interface),
+	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample")),
+	_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
+	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors"))
+{
+}
+
+SPL06::~SPL06()
+{
+	// free perf counters
+	perf_free(_sample_perf);
+	perf_free(_measure_perf);
+	perf_free(_comms_errors);
+
+	delete _interface;
+}
+
+/*
+float
+SPL06::scale_factor(int oversampling_rate)
+{
+	float k;
+
+	switch (oversampling_rate) {
+	case 1:
+		k = 524288.0f;
+		break;
+
+	case 2:
+		k = 1572864.0f;
+		break;
+
+	case 4:
+		k = 3670016.0f;
+		break;
+
+	case 8:
+		k = 7864320.0f;
+		break;
+
+	case 16:
+		k = 253952.0f;
+		break;
+
+	case 32:
+		k = 516096.0f;
+		break;
+
+	case 64:
+		k = 1040384.0f;
+		break;
+
+	case 128:
+		k = 2088960.0f;
+		break;
+
+	default:
+		k = 0;
+		break;
+	}
+
+	return k;
+}
+*/
+
+int
+SPL06::calibrate()
+{
+	uint8_t buf[18];
+
+	_interface->read(SPL06_ADDR_CAL, buf, sizeof(buf));
+
+	_cal.c0 = (uint16_t)buf[0] << 4 | (uint16_t)buf[1] >> 4;
+	_cal.c0 = (_cal.c0 & 1 << 11) ? (0xf000 | _cal.c0) : _cal.c0;
+
+	_cal.c1 = (uint16_t)(buf[1] & 0x0f) << 8 | (uint16_t)buf[2];
+	_cal.c1 = (_cal.c1 & 1 << 11) ? (0xf000 | _cal.c1) : _cal.c1;
+
+	_cal.c00 = (uint32_t)buf[3] << 12 | (uint32_t)buf[4] << 4 | (uint16_t)buf[5] >> 4;
+	_cal.c00 = (_cal.c00 & 1 << 19) ? (0xfff00000 | _cal.c00) : _cal.c00;
+
+	_cal.c10 = (uint32_t)(buf[5] & 0x0f) << 16 | (uint32_t)buf[6] << 8 | (uint32_t)buf[7];
+	_cal.c10 = (_cal.c10 & 1 << 19) ? (0xfff00000 | _cal.c10) : _cal.c10;
+
+	_cal.c01 = (uint16_t)buf[8] << 8 | buf[9];
+	_cal.c11 = (uint16_t)buf[10] << 8 | buf[11];
+	_cal.c20 = (uint16_t)buf[12] << 8 | buf[13];
+	_cal.c21 = (uint16_t)buf[14] << 8 | buf[15];
+	_cal.c30 = (uint16_t)buf[16] << 8 | buf[17];
+
+	// PX4_INFO("c0:%d \nc1:%d \nc00:%d \nc10:%d \nc01:%d \nc11:%d \nc20:%d \nc21:%d \nc30:%d\n",
+	// _cal.c0,_cal.c1,
+	// _cal.c00,_cal.c10,
+	// _cal.c01,_cal.c11,_cal.c20,_cal.c21,_cal.c30
+	// );
+	//PX4_DEBUG("c0:%f",_cal.c0);
+	return OK;
+}
+int
+SPL06::init()
+{
+	int8_t tries = 5;
+	// reset sensor
+	_interface->set_reg(SPL06_VALUE_RESET, SPL06_ADDR_RESET);
+	usleep(10000);
+
+	// check id
+	if (_interface->get_reg(SPL06_ADDR_ID) != SPL06_VALUE_ID) {
+		PX4_DEBUG("id of your baro is not: 0x%02x", SPL06_VALUE_ID);
+		return -EIO;
+	}
+
+	while (tries--) {
+		uint8_t meas_cfg = _interface->get_reg(SPL06_ADDR_MEAS_CFG);
+
+		if (meas_cfg & (1 << 7) && meas_cfg & (1 << 6)) {
+			break;
+		}
+
+		usleep(10000);
+	}
+
+	if (tries < 0) {
+		PX4_DEBUG("spl06 cal failed");
+		return -EIO;
+	}
+
+	// get calibration and pre process them
+	calibrate();
+
+	// set config, recommended settings
+	_interface->set_reg(_curr_prs_cfg, SPL06_ADDR_PRS_CFG);
+	kp = 253952.0f; // refer to scale_factor()
+	_interface->set_reg(_curr_tmp_cfg, SPL06_ADDR_TMP_CFG);
+	kt = 524288.0f;
+
+
+	_interface->set_reg(1 << 2, SPL06_ADDR_CFG_REG);
+	_interface->set_reg(7, SPL06_ADDR_MEAS_CFG);
+
+	Start();
+
+	return OK;
+}
+
+void
+SPL06::Start()
+{
+	// schedule a cycle to start things
+	ScheduleNow();
+}
+
+void
+SPL06::RunImpl()
+{
+	collect();
+
+	ScheduleDelayed(_measure_interval);
+}
+int
+SPL06::collect()
+{
+	perf_begin(_sample_perf);
+
+	// this should be fairly close to the end of the conversion, so the best approximation of the time
+	const hrt_abstime timestamp_sample = hrt_absolute_time();
+
+	if (_interface->read(SPL06_ADDR_DATA, (uint8_t *)&_data, sizeof(_data)) != OK) {
+		perf_count(_comms_errors);
+		perf_cancel(_sample_perf);
+		return -EIO;
+	}
+
+	int32_t temp_raw = (uint32_t)_data.t_msb << 16 | (uint32_t)_data.t_lsb << 8 | (uint32_t)_data.t_xlsb;
+	temp_raw = (temp_raw & 1 << 23) ? (0xff000000 | temp_raw) : temp_raw;
+
+	int32_t press_raw = (uint32_t)_data.p_msb << 16 | (uint32_t) _data.p_lsb << 8 | (uint32_t) _data.p_xlsb;
+	press_raw = (press_raw & 1 << 23) ? (0xff000000 | press_raw) : press_raw;
+
+	// calculate
+	float ftsc = (float)temp_raw / kt;
+	float fpsc = (float)press_raw / kp;
+	float qua2 = (float)_cal.c10 + fpsc * ((float)_cal.c20 + fpsc * (float)_cal.c30);
+	float qua3 = ftsc * fpsc * ((float)_cal.c11 + fpsc * (float)_cal.c21);
+
+	float fp = (float)_cal.c00 + fpsc * qua2 + ftsc * (float)_cal.c01 + qua3;
+	float temperature = (float)_cal.c0 * 0.5f + (float)_cal.c1 * ftsc;
+
+	_px4_baro.set_error_count(perf_event_count(_comms_errors));
+	_px4_baro.set_temperature(temperature);
+	_px4_baro.update(timestamp_sample, fp / 100.0f);   // to millbar
+	//PX4_DEBUG("%d",(int)fp);
+	perf_end(_sample_perf);
+
+	return OK;
+}
+
+void
+SPL06::print_status()
+{
+	I2CSPIDriverBase::print_status();
+	perf_print_counter(_sample_perf);
+	perf_print_counter(_measure_perf);
+	perf_print_counter(_comms_errors);
+}

src/drivers/barometer/goertek/spl06/SPL06.hpp

@@ -0,0 +1,119 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 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 "spl06.h"
+
+#include <drivers/drv_hrt.h>
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/i2c_spi_buses.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <lib/drivers/barometer/PX4Barometer.hpp>
+#include <lib/perf/perf_counter.h>
+
+class SPL06 : public I2CSPIDriver<SPL06>
+{
+public:
+	SPL06(const I2CSPIDriverConfig &config, spl06::ISPL06 *interface);
+	virtual ~SPL06();
+
+	static I2CSPIDriverBase *instantiate(const I2CSPIDriverConfig &config, int runtime_instance);
+	static void print_usage();
+
+	int			init();
+	void			print_status();
+
+	void			RunImpl();
+private:
+	void			Start();
+	// float scale_factor(int oversampling_rate);
+
+	int			collect(); //get results and publish
+	int			calibrate();
+
+	PX4Barometer		_px4_baro;
+
+	spl06::ISPL06		*_interface;
+	spl06::data_s		_data;
+	spl06::calibration_s	_cal{};
+
+	// set config, recommended settings
+	//
+	// oversampling rate  : single | 2       | 4       | 8       | 16     | 32     | 64      | 128
+	// scale factor(KP/KT): 524288 | 1572864 | 3670016 | 7864320 | 253952 | 516096 | 1040384 | 2088960
+
+	// configuration of pressure measurement rate (PM_RATE) and resolution (PM_PRC)
+	//
+	// bit[7]: reserved
+	//
+	// PM_RATE[6:4]    : 0 | 1 | 2 | 3 | 4  | 5  | 6  | 7
+	// measurement rate: 1 | 2 | 4 | 8 | 16 | 32 | 64 | 128
+	// note: applicable for measurements in background mode only
+	//
+	// PM_PRC[3:0]         : 0      | 1   | 2   | 3    | 4    | 5    | 6     | 7
+	// oversampling (times): single | 2   | 4   | 8    | 16   | 32   | 64    | 128
+	// measurement time(ms): 3.6    | 5.2 | 8.4 | 14.8 | 27.6 | 53.2 | 104.4 | 206.8
+	// precision(PaRMS)    : 5.0    |     | 2.5 |      | 1.2  | 0.9  | 0.5   |
+	// note: use in combination with a bit shift when the oversampling rate is > 8 times. see CFG_REG(0x19) register
+	static constexpr uint8_t	_curr_prs_cfg{4 << 4 | 4};
+
+	// configuration of temperature measurment rate (TMP_RATE) and resolution (TMP_PRC)
+	//
+	// temperature measurement: internal sensor (in ASIC) | external sensor (in pressure sensor MEMS element)
+	// TMP_EXT[7]             : 0                         | 1
+	// note: it is highly recommended to use the same temperature sensor as the source of the calibration coefficients wihch can be read from reg 0x28
+	//
+	// TMP_RATE[6:4]   : 0 | 1 | 2 | 3 | 4  | 5  | 6  | 7
+	// measurement rate: 1 | 2 | 4 | 8 | 16 | 32 | 64 | 128
+	// note: applicable for measurements in background mode only
+	//
+	// bit[3]: reserved
+	//
+	// TMP_PRC[2:0]        : 0      | 1 | 2 | 3 | 4  | 5  | 6  | 7
+	// oversampling (times): single | 2 | 4 | 8 | 16 | 32 | 64 | 128
+	// note: single(default) measurement time 3.6ms, other settings are optional, and may not be relevant
+	// note: use in combination with a bit shift when the oversampling rate is > 8 times. see CFG_REG(0x19) register
+	static constexpr uint8_t	_curr_tmp_cfg{1 << 7 | 4 << 4 | 0};
+
+	bool			_collect_phase{false};
+	float kp;
+	float kt;
+
+	perf_counter_t		_sample_perf;
+	perf_counter_t		_measure_perf;
+	perf_counter_t		_comms_errors;
+
+	static constexpr uint32_t _sample_rate{16};
+	static constexpr uint32_t _measure_interval{1000000 / _sample_rate / 2};
+};

src/drivers/barometer/goertek/spl06/SPL06_I2C.cpp

@@ -0,0 +1,102 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 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 spl06_i2c.cpp
+ *
+ * SPI interface for Goertek SPL06
+ */
+
+#include "spl06.h"
+
+#include <px4_platform_common/px4_config.h>
+#include <drivers/device/i2c.h>
+
+#if defined(CONFIG_I2C)
+
+class SPL06_I2C: public device::I2C, public spl06::ISPL06
+{
+public:
+	SPL06_I2C(uint8_t bus, uint32_t device, int bus_frequency);
+	virtual ~SPL06_I2C() override = default;
+
+	int init() override { return I2C::init(); }
+
+	uint8_t	get_reg(uint8_t addr) override;
+	int	set_reg(uint8_t value, uint8_t addr) override;
+
+	int read(uint8_t addr, uint8_t *buf, uint8_t len) override;
+	//spl06::data_s		*get_data(uint8_t addr) override;
+	//spl06::calibration_s	*get_calibration(uint8_t addr) override;
+
+	uint32_t get_device_id() const override { return device::I2C::get_device_id(); }
+
+	uint8_t get_device_address() const override { return device::I2C::get_device_address(); }
+private:
+	spl06::calibration_s	_cal{};
+	spl06::data_s		_data{};
+};
+
+spl06::ISPL06 *spl06_i2c_interface(uint8_t busnum, uint32_t device, int bus_frequency)
+{
+	return new SPL06_I2C(busnum, device, bus_frequency);
+}
+
+SPL06_I2C::SPL06_I2C(uint8_t bus, uint32_t device, int bus_frequency) :
+	I2C(DRV_BARO_DEVTYPE_SPL06, MODULE_NAME, bus, device, bus_frequency)
+{
+}
+
+uint8_t
+SPL06_I2C::get_reg(uint8_t addr)
+{
+	uint8_t cmd[2] = { (uint8_t)(addr), 0};
+	transfer(&cmd[0], 1, &cmd[1], 1);
+
+	return cmd[1];
+}
+
+int
+SPL06_I2C::set_reg(uint8_t value, uint8_t addr)
+{
+	uint8_t cmd[2] = { (uint8_t)(addr), value};
+	return transfer(cmd, sizeof(cmd), nullptr, 0);
+}
+
+int
+SPL06_I2C::read(uint8_t addr, uint8_t *buf, uint8_t len)
+{
+	return transfer(&addr, 1, buf, len);
+}
+
+#endif // CONFIG_I2C

src/drivers/barometer/goertek/spl06/SPL06_SPI.cpp

@@ -0,0 +1,104 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 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 spl06_spi.cpp
+ *
+ * SPI interface for Goertek SPL06
+ */
+
+#include "spl06.h"
+
+#include <px4_platform_common/px4_config.h>
+#include <drivers/device/spi.h>
+
+#if defined(CONFIG_SPI)
+
+/* SPI protocol address bits */
+#define DIR_READ			(1<<7)  //for set
+#define DIR_WRITE			~(1<<7) //for clear
+
+class SPL06_SPI: public device::SPI, public spl06::ISPL06
+{
+public:
+	SPL06_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
+	virtual ~SPL06_SPI() override = default;
+
+	int init() override { return SPI::init(); }
+
+	uint8_t	get_reg(uint8_t addr) override;
+	int	set_reg(uint8_t value, uint8_t addr) override;
+
+	int read(uint8_t addr, uint8_t *buf, uint8_t len) override;
+
+	uint32_t get_device_id() const override { return device::SPI::get_device_id(); }
+
+	uint8_t get_device_address() const override { return device::SPI::get_device_address(); }
+};
+
+spl06::ISPL06 *
+spl06_spi_interface(uint8_t busnum, uint32_t device, int bus_frequency, spi_mode_e spi_mode)
+{
+	return new SPL06_SPI(busnum, device, bus_frequency, spi_mode);
+}
+
+SPL06_SPI::SPL06_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode) :
+	SPI(DRV_BARO_DEVTYPE_SPL06, MODULE_NAME, bus, device, spi_mode, bus_frequency)
+{
+}
+
+uint8_t
+SPL06_SPI::get_reg(uint8_t addr)
+{
+	uint8_t cmd[2] = { (uint8_t)(addr | DIR_READ), 0}; // set MSB bit
+	transfer(&cmd[0], &cmd[0], 2);
+
+	return cmd[1];
+}
+
+int
+SPL06_SPI::set_reg(uint8_t value, uint8_t addr)
+{
+	uint8_t cmd[2] = { (uint8_t)(addr & DIR_WRITE), value}; // clear MSB bit
+	return transfer(&cmd[0], nullptr, 2);
+}
+
+int
+SPL06_SPI::read(uint8_t addr, uint8_t *buf, uint8_t len)
+{
+	uint8_t tx_buf[len + 1] = {(uint8_t)(addr | DIR_READ)}; // GCC support VLA, let's use it
+
+	return transfer(tx_buf, buf, len);
+}
+
+#endif // CONFIG_SPI

src/drivers/barometer/goertek/spl06/parameters.c

@@ -0,0 +1,8 @@
+/** 
+  * Goertek SPL06 Barometer (external I2C) 
+  * 
+  * @reboot_required true 
+  * @group Sensors 
+  * @boolean 
+  */ 
+PARAM_DEFINE_INT32(SENS_EN_SPL06, 0); 

src/drivers/barometer/goertek/spl06/spl06.h

@@ -0,0 +1,108 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 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 spl06.h
+ *
+ * Shared defines for the spl06 driver.
+ */
+#pragma once
+
+#include <px4_platform_common/i2c_spi_buses.h>
+
+#define SPL06_ADDR_ID	0x0d
+#define SPL06_ADDR_RESET 0x0c   // set to reset
+#define SPL06_ADDR_CAL 0x10
+#define SPL06_ADDR_PRS_CFG  0x06
+#define SPL06_ADDR_TMP_CFG  0x07
+#define SPL06_ADDR_MEAS_CFG	0x08
+#define SPL06_ADDR_CFG_REG	0x09
+#define SPL06_ADDR_DATA 0x00
+
+
+#define SPL06_VALUE_RESET 9
+#define SPL06_VALUE_ID    0x10
+
+namespace spl06
+{
+
+#pragma pack(push,1)
+struct calibration_s {
+	int16_t c0, c1;
+	int32_t c00, c10;
+	int16_t c01, c11, c20, c21, c30;
+}; //calibration data
+
+struct data_s {
+	uint8_t p_msb;
+	uint8_t p_lsb;
+	uint8_t p_xlsb;
+
+	uint8_t t_msb;
+	uint8_t t_lsb;
+	uint8_t t_xlsb;
+}; // data
+#pragma pack(pop)
+
+class ISPL06
+{
+public:
+	virtual ~ISPL06() = default;
+
+	virtual int init() = 0;
+
+	// read reg value
+	virtual uint8_t get_reg(uint8_t addr) = 0;
+
+	// write reg value
+	virtual int set_reg(uint8_t value, uint8_t addr) = 0;
+
+	// bulk read of data into buffer, return same pointer
+	virtual int read(uint8_t addr, uint8_t *buf, uint8_t len) = 0;
+	// bulk read of calibration data into buffer, return same pointer
+
+	virtual uint32_t get_device_id() const = 0;
+
+	virtual uint8_t get_device_address() const = 0;
+};
+
+} /* namespace */
+
+
+/* interface factories */
+#if defined(CONFIG_SPI)
+extern spl06::ISPL06 *spl06_spi_interface(uint8_t busnum, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
+#endif // CONFIG_SPI
+#if defined(CONFIG_I2C)
+extern spl06::ISPL06 *spl06_i2c_interface(uint8_t busnum, uint32_t device, int bus_frequency);
+#endif // CONFIG_I2C

src/drivers/barometer/goertek/spl06/spl06_main.cpp

@@ -0,0 +1,141 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 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 <px4_platform_common/px4_config.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/module.h>
+
+#include "SPL06.hpp"
+
+#include <drivers/drv_sensor.h>
+
+extern "C" { __EXPORT int spl06_main(int argc, char *argv[]); }
+
+void
+SPL06::print_usage()
+{
+	PRINT_MODULE_USAGE_NAME("spl06", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("baro");
+	PRINT_MODULE_USAGE_COMMAND("start");
+#if defined(CONFIG_I2C)
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x76);
+#else
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
+#endif
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+}
+
+I2CSPIDriverBase *SPL06::instantiate(const I2CSPIDriverConfig &config, int runtime_instance)
+{
+	spl06::ISPL06 *interface = nullptr;
+
+#if defined(CONFIG_I2C)
+
+	if (config.bus_type == BOARD_I2C_BUS) {
+		interface = spl06_i2c_interface(config.bus, config.i2c_address, config.bus_frequency);
+
+	}
+
+#endif // CONFIG_I2C
+#if defined(CONFIG_SPI)
+
+	if (config.bus_type == BOARD_SPI_BUS) {
+		interface = spl06_spi_interface(config.bus, config.spi_devid, config.bus_frequency, config.spi_mode);
+	}
+
+#endif // CONFIG_SPI
+
+	if (interface == nullptr) {
+		PX4_ERR("failed creating interface for bus %i", config.bus);
+		return nullptr;
+	}
+
+	if (interface->init() != OK) {
+		delete interface;
+		PX4_DEBUG("no device on bus %i", config.bus);
+		return nullptr;
+	}
+
+	SPL06 *dev = new SPL06(config, interface);
+
+	if (dev == nullptr) {
+		delete interface;
+		return nullptr;
+	}
+
+	if (OK != dev->init()) {
+		delete dev;
+		return nullptr;
+	}
+
+	return dev;
+}
+
+int
+spl06_main(int argc, char *argv[])
+{
+	using ThisDriver = SPL06;
+	BusCLIArguments cli{true, true};
+#if defined(CONFIG_I2C)
+	cli.i2c_address = 0x76;
+	cli.default_i2c_frequency = 100 * 1000;
+#endif // CONFIG_I2C
+#if defined(CONFIG_SPI)
+	cli.default_spi_frequency = 10 * 1000 * 1000;
+#endif // CONFIG_SPI
+
+	const char *verb = cli.parseDefaultArguments(argc, argv);
+
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
+	}
+
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_BARO_DEVTYPE_SPL06);
+
+	if (!strcmp(verb, "start")) {
+		return ThisDriver::module_start(cli, iterator);
+	}
+
+	if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+	}
+
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
+}

src/drivers/drv_sensor.h

@@ -108,7 +108,8 @@
 #define DRV_BARO_DEVTYPE_LPS33HW        0x4C
 #define DRV_BARO_DEVTYPE_TCBP001TA      0x4D
 
-#define DRV_BARO_DEVTYPE_MS5837	0x4E
+#define DRV_BARO_DEVTYPE_MS5837		0x4E
+#define DRV_BARO_DEVTYPE_SPL06      	0x4F
 
 #define DRV_BARO_DEVTYPE_MPL3115A2	0x51
 #define DRV_ACC_DEVTYPE_FXOS8701C	0x52