AP_TemperatureSensor: Add TSYS03 support

libraries/AP_TemperatureSensor/AP_TemperatureSensor.cpp

@@ -25,6 +25,7 @@
 #if !AP_TEMPERATURE_SENSOR_DUMMY_METHODS_ENABLED
 
 #include "AP_TemperatureSensor_TSYS01.h"
+#include "AP_TemperatureSensor_TSYS03.h"
 #include "AP_TemperatureSensor_MCP9600.h"
 #include "AP_TemperatureSensor_MAX31865.h"
 
@@ -141,6 +142,11 @@ void AP_TemperatureSensor::init()
             case AP_TemperatureSensor_Params::Type::MAX31865:
                 drivers[instance] = new AP_TemperatureSensor_MAX31865(*this, _state[instance], _params[instance]);
                 break;
+#endif
+#if AP_TEMPERATURE_SENSOR_TSYS03_ENABLED
+            case AP_TemperatureSensor_Params::Type::TSYS03:
+                drivers[instance] = new AP_TemperatureSensor_TSYS03(*this, _state[instance], _params[instance]);
+                break;
 #endif
             case AP_TemperatureSensor_Params::Type::NONE:
             default:

libraries/AP_TemperatureSensor/AP_TemperatureSensor.h

@@ -25,6 +25,7 @@ class AP_TemperatureSensor_Backend;
 class AP_TemperatureSensor_TSYS01;
 class AP_TemperatureSensor_MCP9600;
 class AP_TemperatureSensor_MAX31865;
+class AP_TemperatureSensor_TSYS03;
 
 class AP_TemperatureSensor
 {
@@ -32,6 +33,7 @@ class AP_TemperatureSensor
     friend class AP_TemperatureSensor_TSYS01;
     friend class AP_TemperatureSensor_MCP9600;
     friend class AP_TemperatureSensor_MAX31865;
+    friend class AP_TemperatureSensor_TSYS03;
 
 public:
 

libraries/AP_TemperatureSensor/AP_TemperatureSensor_Params.cpp

@@ -34,7 +34,7 @@ const AP_Param::GroupInfo AP_TemperatureSensor_Params::var_info[] = {
     // @Param: TYPE
     // @DisplayName: Temperature Sensor Type
     // @Description: Enables temperature sensors
-    // @Values: 0:Disabled, 1:TSYS01, 2:MCP9600, 3:MAX31865
+    // @Values: 0:Disabled, 1:TSYS01, 2:MCP9600, 3:MAX31865, 4:TSYS03
     // @User: Standard
     // @RebootRequired: True
     AP_GROUPINFO_FLAGS("TYPE", 1, AP_TemperatureSensor_Params, type, (float)Type::NONE, AP_PARAM_FLAG_ENABLE),

libraries/AP_TemperatureSensor/AP_TemperatureSensor_Params.h

@@ -31,6 +31,7 @@ public:
         TSYS01                      = 1,
         MCP9600                     = 2,
         MAX31865                    = 3,
+        TSYS03                      = 4,
     };
 
     // option to map to another system component

libraries/AP_TemperatureSensor/AP_TemperatureSensor_TSYS03.cpp

@@ -0,0 +1,120 @@
+/*
+   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/>.
+ */
+
+#include "AP_TemperatureSensor_TSYS03.h"
+
+#if AP_TEMPERATURE_SENSOR_TSYS03_ENABLED
+#include <utility>
+#include <stdio.h>
+#include <AP_HAL/I2CDevice.h>
+#include <AP_Math/AP_Math.h>
+
+#include <GCS_MAVLink/GCS.h>
+
+#ifndef AP_TEMPERATURE_SENSOR_TSYS03_ENFORCE_KNOWN_VALID_I2C_ADDRESS
+#define AP_TEMPERATURE_SENSOR_TSYS03_ENFORCE_KNOWN_VALID_I2C_ADDRESS 1
+#endif
+
+extern const AP_HAL::HAL &hal;
+
+static const uint8_t TSYS03_CMD_RESET       = 0x1E;
+static const uint8_t TSYS03_CMD_CONVERT     = 0x46;
+static const uint8_t TSYS03_CMD_READ_ADC    = 0x00;
+
+void AP_TemperatureSensor_TSYS03::init()
+{
+    constexpr char name[] = "TSYS03";
+
+#if AP_TEMPERATURE_SENSOR_TSYS03_ENFORCE_KNOWN_VALID_I2C_ADDRESS
+    // I2C Address: Default to using TSYS03_ADDR_CSB0 & Check I2C Address is Correct
+    if ((_params.bus_address != TSYS03_ADDR_CSB0) ) {
+        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "%s wrong I2C addr of 0x%2X, setting to 0x%2X", name, (unsigned)_params.bus_address.get(), (unsigned)TSYS03_ADDR_CSB0);
+        _params.bus_address.set(TSYS03_ADDR_CSB0);
+    }
+#endif
+
+    _dev = std::move(hal.i2c_mgr->get_device(_params.bus, _params.bus_address));
+    if (!_dev) {
+        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "%s device is null!", name);
+        return;
+    }
+
+    WITH_SEMAPHORE(_dev->get_semaphore());
+
+    _dev->set_retries(10);
+
+    // reset
+    if (!_dev->transfer(&TSYS03_CMD_RESET, 1, nullptr, 0)) {
+        GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "%s reset failed", name);
+        return;
+    }
+
+    hal.scheduler->delay(4);
+
+    start_next_sample();
+
+    // lower retries for run
+    _dev->set_retries(3);
+
+    /* Request 20Hz update */
+    // Max conversion time is 9.04 ms
+    _dev->register_periodic_callback(50 * AP_USEC_PER_MSEC,
+                                     FUNCTOR_BIND_MEMBER(&AP_TemperatureSensor_TSYS03::_timer, void));
+}
+
+uint16_t AP_TemperatureSensor_TSYS03::read_adc() const
+{
+    uint8_t val[3];
+    if (!_dev->transfer(&TSYS03_CMD_READ_ADC, 1, val, 3)) {
+        return 0;
+    }
+
+    // ensure crc is correct:
+    uint8_t expected_crc = 0;
+    for (uint8_t i=0; i<2; i++) {
+        expected_crc = crc8_dvb(expected_crc, val[i], 0x31);
+    }
+    if (expected_crc != val[2]) {
+        return 0;
+    }
+
+    return UINT16_VALUE(val[0],val[1]);
+}
+
+void AP_TemperatureSensor_TSYS03::_timer(void)
+{
+    const uint16_t adc = read_adc();
+
+    if (adc != 0) {
+        const float temp = calculate(adc);
+        set_temperature(temp);
+    }
+
+    start_next_sample();
+}
+
+void AP_TemperatureSensor_TSYS03::start_next_sample()
+{
+    _dev->transfer(&TSYS03_CMD_CONVERT, 1, nullptr, 0);
+}
+
+float AP_TemperatureSensor_TSYS03::calculate(const uint16_t adc) const
+{
+    const float temperature = -40.0 + adc * 165 / (powf(2, 16) - 1.0);
+
+    return temperature;
+}
+
+#endif // AP_TEMPERATURE_SENSOR_TSYS03_ENABLED

libraries/AP_TemperatureSensor/AP_TemperatureSensor_TSYS03.h

@@ -0,0 +1,54 @@
+/*
+   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/>.
+ */
+
+/*
+ * I2C driver for Measurement Specialties MEAS TSYS03 digital temperature sensor
+ */
+
+#pragma once
+#include "AP_TemperatureSensor_Backend.h"
+
+#ifndef AP_TEMPERATURE_SENSOR_TSYS03_ENABLED
+#define AP_TEMPERATURE_SENSOR_TSYS03_ENABLED AP_TEMPERATURE_SENSOR_ENABLED
+#endif
+
+#if AP_TEMPERATURE_SENSOR_TSYS03_ENABLED
+
+#define TSYS03_ADDR_CSB0 0x40
+
+class AP_TemperatureSensor_TSYS03 : public AP_TemperatureSensor_Backend {
+    using AP_TemperatureSensor_Backend::AP_TemperatureSensor_Backend;
+
+public:
+    void init(void) override;
+
+    void update() override {};
+
+
+private:
+    // reset device
+    bool reset(void) const;
+
+    // begin an ADC conversion (min:7.40ms typ:8.22ms max:9.04ms)
+    void start_next_sample();
+    uint16_t read_adc(void) const;
+
+    // update the temperature, called at 20Hz
+    void _timer(void);
+
+    // calculate temperature using adc reading and internal calibration
+    float calculate(const uint16_t adc) const;
+};
+#endif // AP_TEMPERATURE_SENSOR_TSYS03_ENABLED