AP_Airspeed: added ASP5033 driver

libraries/AP_Airspeed/AP_Airspeed.cpp

@@ -31,6 +31,7 @@
 #include "AP_Airspeed_SDP3X.h"
 #include "AP_Airspeed_DLVR.h"
 #include "AP_Airspeed_analog.h"
+#include "AP_Airspeed_ASP5033.h"
 #include "AP_Airspeed_Backend.h"
 #if HAL_ENABLE_LIBUAVCAN_DRIVERS
 #include "AP_Airspeed_UAVCAN.h"
@@ -83,7 +84,7 @@ const AP_Param::GroupInfo AP_Airspeed::var_info[] = {
     // @Param: _TYPE
     // @DisplayName: Airspeed type
     // @Description: Type of airspeed sensor
-    // @Values: 0:None,1:I2C-MS4525D0,2:Analog,3:I2C-MS5525,4:I2C-MS5525 (0x76),5:I2C-MS5525 (0x77),6:I2C-SDP3X,7:I2C-DLVR-5in,8:UAVCAN,9:I2C-DLVR-10in,10:I2C-DLVR-20in,11:I2C-DLVR-30in,12:I2C-DLVR-60in,13:NMEA water speed,14:MSP
+    // @Values: 0:None,1:I2C-MS4525D0,2:Analog,3:I2C-MS5525,4:I2C-MS5525 (0x76),5:I2C-MS5525 (0x77),6:I2C-SDP3X,7:I2C-DLVR-5in,8:UAVCAN,9:I2C-DLVR-10in,10:I2C-DLVR-20in,11:I2C-DLVR-30in,12:I2C-DLVR-60in,13:NMEA water speed,14:MSP,15:ASP5033
     // @User: Standard
     AP_GROUPINFO_FLAGS("_TYPE", 0, AP_Airspeed, param[0].type, ARSPD_DEFAULT_TYPE, AP_PARAM_FLAG_ENABLE),
 
@@ -190,7 +191,7 @@ const AP_Param::GroupInfo AP_Airspeed::var_info[] = {
     // @Param: 2_TYPE
     // @DisplayName: Second Airspeed type
     // @Description: Type of 2nd airspeed sensor
-    // @Values: 0:None,1:I2C-MS4525D0,2:Analog,3:I2C-MS5525,4:I2C-MS5525 (0x76),5:I2C-MS5525 (0x77),6:I2C-SDP3X,7:I2C-DLVR-5in,8:UAVCAN,9:I2C-DLVR-10in,10:I2C-DLVR-20in,11:I2C-DLVR-30in,12:I2C-DLVR-60in,13:NMEA water speed,14:MSP
+    // @Values: 0:None,1:I2C-MS4525D0,2:Analog,3:I2C-MS5525,4:I2C-MS5525 (0x76),5:I2C-MS5525 (0x77),6:I2C-SDP3X,7:I2C-DLVR-5in,8:UAVCAN,9:I2C-DLVR-10in,10:I2C-DLVR-20in,11:I2C-DLVR-30in,12:I2C-DLVR-60in,13:NMEA water speed,14:MSP,15:ASP5033
     // @User: Standard
     AP_GROUPINFO_FLAGS("2_TYPE", 11, AP_Airspeed, param[1].type, 0, AP_PARAM_FLAG_ENABLE),
 
@@ -354,6 +355,11 @@ void AP_Airspeed::init()
         case TYPE_I2C_DLVR_60IN:
 #if !HAL_MINIMIZE_FEATURES
             sensor[i] = new AP_Airspeed_DLVR(*this, i, 60);
+#endif // !HAL_MINIMIZE_FEATURES
+            break;
+        case TYPE_I2C_ASP5033:
+#if !HAL_MINIMIZE_FEATURES
+            sensor[i] = new AP_Airspeed_ASP5033(*this, i);
 #endif // !HAL_MINIMIZE_FEATURES
             break;
         case TYPE_UAVCAN:

libraries/AP_Airspeed/AP_Airspeed.h

@@ -167,6 +167,7 @@ public:
         TYPE_I2C_DLVR_60IN=12,
         TYPE_NMEA_WATER=13,
         TYPE_MSP=14,
+        TYPE_I2C_ASP5033=15,
     };
 
     // get current primary sensor

libraries/AP_Airspeed/AP_Airspeed_ASP5033.cpp

@@ -0,0 +1,173 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/*
+  backend driver for airspeed sensor from www.qio-tek.com
+  I2C ASP5033 sensor
+ */
+
+#include "AP_Airspeed_ASP5033.h"
+#include <AP_HAL/I2CDevice.h>
+
+extern const AP_HAL::HAL &hal;
+
+#define ASP5033_I2C_ADDR_1     0x6C
+#define ASP5033_I2C_ADDR_2     0x6D
+#define REG_CMD                0x30
+#define REG_PRESS_DATA         0x06
+#define REG_TEMP_DATA          0x09
+#define REG_PART_ID            0x01
+#define REG_PART_ID_SET        0xa4
+#define REG_SENSOR_READY       0x08
+#define REG_WHOAMI_DEFAULT_ID  0X00
+#define REG_WHOAMI_RECHECK_ID  0X66
+#define CMD_MEASURE            0x0A
+
+
+bool AP_Airspeed_ASP5033::init()
+{
+    // probe the sensor, supporting multiple possible I2C addresses
+    const uint8_t addresses[] = { ASP5033_I2C_ADDR_1, ASP5033_I2C_ADDR_2 };
+    for (uint8_t address : addresses) {
+        dev = hal.i2c_mgr->get_device(get_bus(), address);
+        if (!dev) {
+            continue;
+        }
+
+        WITH_SEMAPHORE(dev->get_semaphore());
+        dev->set_speed(AP_HAL::Device::SPEED_HIGH);
+        dev->set_retries(2);
+
+        if (!confirm_sensor_id()) {
+            continue;
+        }
+
+        dev->register_periodic_callback(1000000UL/80U,
+                                        FUNCTOR_BIND_MEMBER(&AP_Airspeed_ASP5033::timer, void));
+        return true;
+    }
+
+    // not found
+    return false;
+}
+
+/*
+  this sensor has an unusual whoami scheme. The part_id is changeable
+  via another register. We check the sensor by looking for the
+  expected behaviour
+*/
+bool AP_Airspeed_ASP5033::confirm_sensor_id(void)
+{
+    uint8_t part_id;
+    if (!dev->read_registers(REG_PART_ID_SET, &part_id, 1) ||
+        part_id != REG_WHOAMI_DEFAULT_ID) {
+        return false;
+    }
+    if (!dev->write_register(REG_PART_ID_SET, REG_WHOAMI_RECHECK_ID)) {
+        return false;
+    }
+    if (!dev->read_registers(REG_PART_ID, &part_id, 1) ||
+        part_id != REG_WHOAMI_RECHECK_ID) {
+        return false;
+    }
+    return true;
+}
+
+
+// read the data from the sensor
+void AP_Airspeed_ASP5033::timer()
+{
+    // request a new measurement cycle begin
+    dev->write_register(REG_CMD, CMD_MEASURE);
+
+    uint8_t status;
+    if (!dev->read_registers(REG_CMD, &status, 1) ||
+        (status & REG_SENSOR_READY) == 0) {
+        // no data ready
+        return;
+    }
+
+    // read pressure and temperature as one block
+    uint8_t data[5];
+    if (!dev->read_registers(REG_PRESS_DATA, data, sizeof(data))) {
+        return;
+    }
+
+    // ADC pressure is signed 24 bit
+    int32_t press = (data[0]<<24) | (data[1]<<16) | (data[2]<<8);
+
+    // convert back to 24 bit
+    press >>= 8;
+
+    // k is a shift based on the pressure range of the device. See
+    // table in the datasheet
+    constexpr uint8_t k = 7;
+    constexpr float press_scale = 1.0 / (1U<<k);
+
+    // temperature is 16 bit signed in units of 1/256 C
+    const int16_t temp = (data[3]<<8) | data[4];
+    constexpr float temp_scale = 1.0 / 256;
+
+    WITH_SEMAPHORE(sem);
+    press_sum += press * press_scale;
+    temp_sum += temp * temp_scale;
+    press_count++;
+    temp_count++;
+
+    last_sample_ms = AP_HAL::millis();
+}
+
+
+// return the current differential_pressure in Pascal
+bool AP_Airspeed_ASP5033::get_differential_pressure(float &pressure)
+{
+    WITH_SEMAPHORE(sem);
+
+    if (AP_HAL::millis() - last_sample_ms > 100) {
+        return false;
+    }
+
+    if (press_count == 0) {
+        pressure = last_pressure;
+        return true;
+    }
+
+    last_pressure = pressure = press_sum / press_count;
+
+    press_count = 0;
+    press_sum = 0;
+
+    return true;
+}
+
+// return the current temperature in degrees C, if available
+bool AP_Airspeed_ASP5033::get_temperature(float &temperature)
+{
+    WITH_SEMAPHORE(sem);
+
+    if (AP_HAL::millis() - last_sample_ms > 100) {
+        return false;
+    }
+    if (temp_count == 0) {
+        temperature = last_temperature;
+        return true;
+    }
+
+    last_temperature = temperature = temp_sum / temp_count;
+    temp_count = 0;
+    temp_sum = 0;
+
+    return true;
+}

libraries/AP_Airspeed/AP_Airspeed_ASP5033.h

@@ -0,0 +1,46 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#pragma once
+
+/*
+  backend driver for airspeed from I2C
+ */
+#include "AP_Airspeed_Backend.h"
+
+class AP_Airspeed_ASP5033 : public AP_Airspeed_Backend
+{
+public:
+    using AP_Airspeed_Backend::AP_Airspeed_Backend;
+    bool init() override;
+
+    // return the current differential_pressure in Pascal
+    bool get_differential_pressure(float &_pressure) override;
+
+    // return the current temperature in degrees C, if available
+    bool get_temperature(float &_temperature) override;
+
+private:
+    void timer();
+    bool confirm_sensor_id(void);
+    float temp_sum;
+    float press_sum;
+    float last_pressure;
+    float last_temperature;
+    uint32_t press_count;
+    uint32_t temp_count;
+    uint32_t last_sample_ms;
+
+    AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev;
+};