AP_TemperatureSensor: new MLX90614 sensor backend driver added

This commit is contained in:
Rahul 2024-04-26 19:16:32 +05:30 committed by Peter Barker
parent 8c3621d021
commit 86b6102267
7 changed files with 104 additions and 1 deletions

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@ -30,6 +30,7 @@
#include "AP_TemperatureSensor_MAX31865.h" #include "AP_TemperatureSensor_MAX31865.h"
#include "AP_TemperatureSensor_Analog.h" #include "AP_TemperatureSensor_Analog.h"
#include "AP_TemperatureSensor_DroneCAN.h" #include "AP_TemperatureSensor_DroneCAN.h"
#include "AP_TemperatureSensor_MLX90614.h"
#include <AP_Logger/AP_Logger.h> #include <AP_Logger/AP_Logger.h>
#include <AP_Vehicle/AP_Vehicle_Type.h> #include <AP_Vehicle/AP_Vehicle_Type.h>
@ -203,6 +204,11 @@ void AP_TemperatureSensor::init()
case AP_TemperatureSensor_Params::Type::DRONECAN: case AP_TemperatureSensor_Params::Type::DRONECAN:
drivers[instance] = NEW_NOTHROW AP_TemperatureSensor_DroneCAN(*this, _state[instance], _params[instance]); drivers[instance] = NEW_NOTHROW AP_TemperatureSensor_DroneCAN(*this, _state[instance], _params[instance]);
break; break;
#endif
#if AP_TEMPERATURE_SENSOR_MLX90614_ENABLED
case AP_TemperatureSensor_Params::Type::MLX90614:
drivers[instance] = NEW_NOTHROW AP_TemperatureSensor_MLX90614(*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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@ -27,6 +27,7 @@ class AP_TemperatureSensor_MCP9600;
class AP_TemperatureSensor_MAX31865; class AP_TemperatureSensor_MAX31865;
class AP_TemperatureSensor_TSYS03; class AP_TemperatureSensor_TSYS03;
class AP_TemperatureSensor_Analog; class AP_TemperatureSensor_Analog;
class AP_TemperatureSensor_MLX90614;
class AP_TemperatureSensor class AP_TemperatureSensor
{ {
@ -37,6 +38,7 @@ class AP_TemperatureSensor
friend class AP_TemperatureSensor_TSYS03; friend class AP_TemperatureSensor_TSYS03;
friend class AP_TemperatureSensor_Analog; friend class AP_TemperatureSensor_Analog;
friend class AP_TemperatureSensor_DroneCAN; friend class AP_TemperatureSensor_DroneCAN;
friend class AP_TemperatureSensor_MLX90614;
public: public:

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@ -0,0 +1,66 @@
#include "AP_TemperatureSensor_config.h"
#if AP_TEMPERATURE_SENSOR_MLX90614_ENABLED
#include "AP_TemperatureSensor_MLX90614.h"
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/I2CDevice.h>
#include <AP_Math/AP_Math.h>
extern const AP_HAL::HAL &hal;
#define MLX90614_I2CDEFAULTADDR 0x5A // Device default slave address
#define MLX90614_BROADCASTADDR 0 // Device broadcast slave address
// RAM addresses
#define MLX90614_RAWIR1 0x04 // RAM reg - Raw temperature, source #1
#define MLX90614_RAWIR2 0x05 // RAM reg - Raw temperature, source #2
#define MLX90614_TA 0x06 // RAM reg - Linearized temperature, ambient
#define MLX90614_TOBJ1 0x07 // RAM reg - Linearized temperature, source #1
#define MLX90614_TOBJ2 0x08 // RAM reg - Linearized temperature, source #2
void AP_TemperatureSensor_MLX90614::init()
{
_params.bus_address.set_default(MLX90614_I2CDEFAULTADDR);
_dev = std::move(hal.i2c_mgr->get_device(_params.bus, _params.bus_address));
if (!_dev) {
return;
}
WITH_SEMAPHORE(_dev->get_semaphore());
_dev->register_periodic_callback(50 * AP_USEC_PER_MSEC,
FUNCTOR_BIND_MEMBER(&AP_TemperatureSensor_MLX90614::_timer, void));
}
void AP_TemperatureSensor_MLX90614::_timer()
{
const uint16_t _crude_value = read_data(MLX90614_TA);
if (_crude_value == 0) {
return;
}
WITH_SEMAPHORE(_dev->get_semaphore());
// temp * 0.02 - 273.15 = degrees, temp * 0.02 is temperature in kelvin
const float tmp = KELVIN_TO_C(_crude_value) * 0.02;
set_temperature(tmp);
}
uint16_t AP_TemperatureSensor_MLX90614::read_data(uint8_t cmd)
{
uint8_t val[3];
if (!_dev->transfer(&cmd, 1, val, 3)) {
return 0;
}
return UINT16_VALUE(val[1],val[0]);
}
#endif // AP_TEMPERATURE_SENSOR_MLX90614_ENABLED

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@ -0,0 +1,24 @@
#pragma once
#include "AP_TemperatureSensor_Backend.h"
#if AP_TEMPERATURE_SENSOR_MLX90614_ENABLED
class AP_TemperatureSensor_MLX90614 : public AP_TemperatureSensor_Backend {
using AP_TemperatureSensor_Backend::AP_TemperatureSensor_Backend;
public:
void init(void) override;
void update() override {};
private:
// update the temperature, called at 20Hz
void _timer(void);
uint16_t read_data(uint8_t cmd);
uint16_t read_eeprom(uint8_t address) {return read_data(address | 0x20);};
};
#endif // AP_TEMPERATURE_SENSOR_MLX90614_ENABLED

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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, 4:TSYS03, 5:Analog, 6:DroneCAN // @Values: 0:Disabled, 1:TSYS01, 2:MCP9600, 3:MAX31865, 4:TSYS03, 5:Analog, 6:DroneCAN, 7:MLX90614
// @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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@ -34,6 +34,7 @@ public:
TSYS03 = 4, TSYS03 = 4,
ANALOG = 5, ANALOG = 5,
DRONECAN = 6, DRONECAN = 6,
MLX90614 = 7,
}; };
// option to map to another system component // option to map to another system component

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@ -35,6 +35,10 @@
#error AP_TEMPERATURE_SENSOR_DRONECAN_ENABLED requires HAL_ENABLE_DRONECAN_DRIVERS #error AP_TEMPERATURE_SENSOR_DRONECAN_ENABLED requires HAL_ENABLE_DRONECAN_DRIVERS
#endif #endif
#ifndef AP_TEMPERATURE_SENSOR_MLX90614_ENABLED
#define AP_TEMPERATURE_SENSOR_MLX90614_ENABLED AP_TEMPERATURE_SENSOR_ENABLED
#endif
// maximum number of Temperature Sensors // maximum number of Temperature Sensors
#ifndef AP_TEMPERATURE_SENSOR_MAX_INSTANCES #ifndef AP_TEMPERATURE_SENSOR_MAX_INSTANCES
#define AP_TEMPERATURE_SENSOR_MAX_INSTANCES 3 #define AP_TEMPERATURE_SENSOR_MAX_INSTANCES 3