AP_TemperatureSensor: Add TSYS03 support

This commit is contained in:
Leonard Hall 2023-07-22 10:52:02 +09:30 committed by Peter Barker
parent 1372e48515
commit 7390e6ecef
6 changed files with 184 additions and 1 deletions

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

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

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

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

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@ -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

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@ -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