barometer: Add ICP10100 and ICP1011

src/drivers/barometer/CMakeLists.txt

@@ -41,3 +41,4 @@ add_subdirectory(lps33hw)
 add_subdirectory(maiertek)
 add_subdirectory(ms5611)
 #add_subdirectory(tcbp001ta) # only for users who really need this
+add_subdirectory(invensense)

src/drivers/barometer/invensense/CMakeLists.txt

@@ -0,0 +1,35 @@
+############################################################################
+#
+#   Copyright (c) 2021 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(icp10100)
+add_subdirectory(icp10111)

src/drivers/barometer/invensense/icp10100/CMakeLists.txt

@@ -0,0 +1,46 @@
+############################################################################
+#
+#   Copyright (c) 2021 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__invensense__icp10100
+	MAIN icp10100
+	COMPILE_FLAGS
+	SRCS
+		Inven_Sense_ICP10100_registers.hpp
+		ICP10100.cpp
+		ICP10100.hpp
+		icp10100_main.cpp
+	DEPENDS
+		drivers_barometer
+		px4_work_queue
+	)

src/drivers/barometer/invensense/icp10100/ICP10100.cpp

@@ -0,0 +1,375 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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 "ICP10100.hpp"
+
+using namespace time_literals;
+
+ICP10100::ICP10100(const I2CSPIDriverConfig &config) :
+	I2C(config),
+	I2CSPIDriver(config),
+	_px4_baro(get_device_id())
+{
+}
+
+ICP10100::~ICP10100()
+{
+	perf_free(_reset_perf);
+	perf_free(_sample_perf);
+	perf_free(_bad_transfer_perf);
+}
+
+int
+ICP10100::init()
+{
+	int ret = I2C::init();
+
+	if (ret != PX4_OK) {
+		DEVICE_DEBUG("I2C::init failed (%i)", ret);
+		return ret;
+	}
+
+	return Reset() ? 0 : -1;
+}
+
+bool
+ICP10100::Reset()
+{
+	_state = STATE::RESET;
+	ScheduleClear();
+	ScheduleNow();
+	return true;
+}
+
+void
+ICP10100::print_status()
+{
+	I2CSPIDriverBase::print_status();
+	perf_print_counter(_reset_perf);
+	perf_print_counter(_sample_perf);
+	perf_print_counter(_bad_transfer_perf);
+}
+
+int
+ICP10100::probe()
+{
+	uint16_t ID = 0;
+	read_response(Cmd::READ_ID, (uint8_t *)&ID, 2);
+	uint8_t PROD_ID = (ID >> 8) & 0x3f;
+
+	if (PROD_ID != Product_ID) {
+		DEVICE_DEBUG("unexpected PROD_ID 0x%02x", PROD_ID);
+		return PX4_ERROR;
+	}
+
+	return PX4_OK;
+}
+
+void
+ICP10100::RunImpl()
+{
+	const hrt_abstime now = hrt_absolute_time();
+
+	switch (_state) {
+	case STATE::RESET:
+		// Software Reset
+		send_command(Cmd::SOFT_RESET);
+		_reset_timestamp = now;
+		_failure_count = 0;
+		_state = STATE::WAIT_FOR_RESET;
+		perf_count(_reset_perf);
+		ScheduleDelayed(100_ms); // Power On Reset: max 100ms
+		break;
+
+	case STATE::WAIT_FOR_RESET: {
+			// check product id
+			uint16_t ID = 0;
+			read_response(Cmd::READ_ID, (uint8_t *)&ID, 2);
+			uint8_t PROD_ID = (ID >> 8) & 0x3f; // Product ID Bits 5:0
+
+			if (PROD_ID == Product_ID) {
+				// if reset succeeded then read otp
+				_state = STATE::READ_OTP;
+				ScheduleDelayed(10_ms); // Time to coefficients are available.
+
+			} else {
+				// RESET not complete
+				if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
+					PX4_DEBUG("Reset failed, retrying");
+					_state = STATE::RESET;
+					ScheduleDelayed(100_ms);
+
+				} else {
+					PX4_DEBUG("Reset not complete, check again in 10 ms");
+					ScheduleDelayed(10_ms);
+				}
+			}
+		}
+		break;
+
+	case STATE::READ_OTP: {
+			// read otp
+			uint8_t addr_otp_cmd[3] = {0x00, 0x66, 0x9c};
+			uint8_t otp_buf[3];
+			uint8_t crc;
+			bool success = true;
+
+			send_command(Cmd::SET_ADDR, addr_otp_cmd, 3);
+
+			for (uint8_t i = 0; i < 4; i++) {
+				read_response(Cmd::READ_OTP, otp_buf, 3);
+
+				crc = 0xFF;
+
+				for (int j = 0; j < 2; j++) {
+					crc = (uint8_t)cal_crc(crc, otp_buf[j]);
+				}
+
+				if (crc != otp_buf[2]) {
+					success = false;
+					break;
+				}
+
+				_scal[i] = (otp_buf[0] << 8) | otp_buf[1];
+			}
+
+			if (success) {
+				_state = STATE::MEASURE;
+
+			} else {
+				_state = STATE::RESET;
+			}
+
+			ScheduleDelayed(10_ms);
+		}
+		break;
+
+	case STATE::MEASURE:
+		if (Measure()) {
+			// if configure succeeded then start measurement cycle
+			_state = STATE::READ;
+			perf_begin(_sample_perf);
+			ScheduleDelayed(_measure_interval);
+
+		} else {
+			// MEASURE not complete
+			if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
+				PX4_DEBUG("Measure failed, resetting");
+				_state = STATE::RESET;
+
+			} else {
+				PX4_DEBUG("Measure failed, retrying");
+			}
+
+			ScheduleDelayed(_measure_interval);
+		}
+
+		break;
+
+	case STATE::READ: {
+			uint8_t comp_data[9] {};
+			bool success = false;
+
+			if (read_measure_results(comp_data, 9) == PX4_OK) {
+				perf_end(_sample_perf);
+
+				uint16_t _raw_t = (comp_data[0] << 8) | comp_data[1];
+				uint32_t L_res_buf3 = comp_data[3];	// expand result bytes to 32bit to fix issues on 8-bit MCUs
+				uint32_t L_res_buf4 = comp_data[4];
+				uint32_t L_res_buf6 = comp_data[6];
+				uint32_t _raw_p = (L_res_buf3 << 16) | (L_res_buf4 << 8) | L_res_buf6;
+
+				// constants for presure calculation
+				static constexpr float _pcal[3] = { 45000.0, 80000.0, 105000.0 };
+				static constexpr float _lut_lower = 3.5 * 0x100000;	// 1<<20
+				static constexpr float _lut_upper = 11.5 * 0x100000;	// 1<<20
+				static constexpr float _quadr_factor = 1 / 16777216.0;
+				static constexpr float _offst_factor = 2048.0;
+
+				// calculate temperature
+				float _temperature_C = -45.f + 175.f / 65536.f * _raw_t;
+
+				// calculate pressure
+				float t = (float)(_raw_t - 32768);
+				float s1 = _lut_lower + (float)(_scal[0] * t * t) * _quadr_factor;
+				float s2 = _offst_factor * _scal[3] + (float)(_scal[1] * t * t) * _quadr_factor;
+				float s3 = _lut_upper + (float)(_scal[2] * t * t) * _quadr_factor;
+				float c = (s1 * s2 * (_pcal[0] - _pcal[1]) +
+					   s2 * s3 * (_pcal[1] - _pcal[2]) +
+					   s3 * s1 * (_pcal[2] - _pcal[0])) /
+					  (s3 * (_pcal[0] - _pcal[1]) +
+					   s1 * (_pcal[1] - _pcal[2]) +
+					   s2 * (_pcal[2] - _pcal[0]));
+				float a = (_pcal[0] * s1 - _pcal[1] * s2 - (_pcal[1] - _pcal[0]) * c) / (s1 - s2);
+				float b = (_pcal[0] - a) * (s1 + c);
+				float _pressure_Pa = a + b / (c + _raw_p);
+
+				const hrt_abstime nowx = hrt_absolute_time();
+				float temperature = _temperature_C;
+				float pressure = _pressure_Pa; // to Pascal
+				pressure = pressure / 100.0f; // to mbar
+
+				_px4_baro.set_error_count(perf_event_count(_bad_transfer_perf));
+				_px4_baro.set_temperature(temperature);
+				_px4_baro.update(nowx, pressure);
+
+				success = true;
+
+				if (_failure_count > 0) {
+					_failure_count--;
+				}
+
+				_state = STATE::MEASURE;
+
+			} else {
+				perf_count(_bad_transfer_perf);
+			}
+
+			if (!success) {
+				_failure_count++;
+
+				// full reset if things are failing consistently
+				if (_failure_count > 10) {
+					Reset();
+					return;
+				}
+			}
+
+			ScheduleDelayed(1000_ms / 8 - _measure_interval); // 8Hz
+		}
+
+		break;
+	}
+}
+
+bool
+ICP10100::Measure()
+{
+	/*
+	  From ds-000186-icp-101xx-v1.0.pdf, page 6, table 1
+
+	  Sensor                  Measurement       Max Time
+	  Mode                    Time (Forced)
+	  Low Power (LP)             1.6 ms          1.8 ms
+	  Normal (N)                 5.6 ms          6.3 ms
+	  Low Noise (LN)             20.8 ms         23.8 ms
+	  Ultra Low Noise(ULN)       83.2 ms         94.5 ms
+	*/
+	Cmd cmd;
+
+	switch (_mode) {
+	case MODE::FAST:
+		cmd = Cmd::MEAS_LP;
+		_measure_interval = 2_ms;
+		break;
+
+	case MODE::ACCURATE:
+		cmd = Cmd::MEAS_LN;
+		_measure_interval = 24_ms;
+		break;
+
+	case MODE::VERY_ACCURATE:
+		cmd = Cmd::MEAS_ULN;
+		_measure_interval = 95_ms;
+		break;
+
+	case MODE::NORMAL:
+	default:
+		cmd = Cmd::MEAS_N;
+		_measure_interval = 7_ms;
+		break;
+	}
+
+	if (send_command(cmd) != PX4_OK) {
+		return false;
+	}
+
+	return true;
+}
+
+int8_t
+ICP10100::cal_crc(uint8_t seed, uint8_t data)
+{
+	int8_t poly = 0x31;
+	int8_t var2;
+	uint8_t i;
+
+	for (i = 0; i < 8; i++) {
+		if ((seed & 0x80) ^ (data & 0x80)) {
+			var2 = 1;
+
+		} else {
+			var2 = 0;
+		}
+
+		seed = (seed & 0x7F) << 1;
+		data = (data & 0x7F) << 1;
+		seed = seed ^ (uint8_t)(poly * var2);
+	}
+
+	return (int8_t)seed;
+}
+
+int
+ICP10100::read_measure_results(uint8_t *buf, uint8_t len)
+{
+	return transfer(nullptr, 0, buf, len);
+}
+
+int
+ICP10100::read_response(Cmd cmd, uint8_t *buf, uint8_t len)
+{
+	uint8_t buff[2];
+	buff[0] = ((uint16_t)cmd >> 8) & 0xff;
+	buff[1] = (uint16_t)cmd & 0xff;
+	return transfer(&buff[0], 2, buf, len);
+}
+
+int
+ICP10100::send_command(Cmd cmd)
+{
+	uint8_t buf[2];
+	buf[0] = ((uint16_t)cmd >> 8) & 0xff;
+	buf[1] = (uint16_t)cmd & 0xff;
+	return transfer(buf, sizeof(buf), nullptr, 0);
+}
+
+int
+ICP10100::send_command(Cmd cmd, uint8_t *data, uint8_t len)
+{
+	uint8_t buf[5];
+	buf[0] = ((uint16_t)cmd >> 8) & 0xff;
+	buf[1] = (uint16_t)cmd & 0xff;
+	memcpy(&buf[2], data, len);
+	return transfer(&buf[0], len + 2, nullptr, 0);
+}

src/drivers/barometer/invensense/icp10100/ICP10100.hpp

@@ -0,0 +1,98 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 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 "Inven_Sense_ICP10100_registers.hpp"
+
+#include <drivers/drv_hrt.h>
+#include <lib/drivers/device/i2c.h>
+#include <lib/drivers/barometer/PX4Barometer.hpp>
+#include <lib/perf/perf_counter.h>
+#include <px4_platform_common/i2c_spi_buses.h>
+
+using namespace Inven_Sense_ICP10100;
+
+class ICP10100 : public device::I2C, public I2CSPIDriver<ICP10100>
+{
+public:
+	ICP10100(const I2CSPIDriverConfig &config);
+	~ICP10100() override;
+
+	static void print_usage();
+
+	void RunImpl();
+
+	int init() override;
+	void print_status() override;
+
+private:
+	int probe() override;
+
+	bool Reset();
+
+	bool Measure();
+
+	int8_t cal_crc(uint8_t seed, uint8_t data);
+	int read_measure_results(uint8_t *buf, uint8_t len);
+	int read_response(Cmd cmd, uint8_t *buf, uint8_t len);
+	int send_command(Cmd cmd);
+	int send_command(Cmd cmd, uint8_t *data, uint8_t len);
+
+	PX4Barometer _px4_baro;
+
+	perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": reset")};
+	perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": read")};
+	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
+
+	hrt_abstime _reset_timestamp{0};
+	int _failure_count{0};
+
+	unsigned _measure_interval{0};
+	int16_t _scal[4];
+
+	enum class STATE : uint8_t {
+		RESET,
+		WAIT_FOR_RESET,
+		READ_OTP,
+		MEASURE,
+		READ
+	} _state{STATE::RESET};
+
+	enum class MODE : uint8_t {
+		FAST,
+		NORMAL,
+		ACCURATE,
+		VERY_ACCURATE
+	} _mode{MODE::VERY_ACCURATE};
+};

src/drivers/barometer/invensense/icp10100/Inven_Sense_ICP10100_registers.hpp

@@ -0,0 +1,62 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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 icp10100_registers.hpp
+ *
+ * icp10100 registers.
+ *
+ */
+
+#pragma once
+
+#include <cstdint>
+
+namespace Inven_Sense_ICP10100
+{
+static constexpr uint32_t I2C_SPEED = 100 * 1000; // 100 kHz I2C serial interface
+static constexpr uint8_t I2C_ADDRESS_DEFAULT = 0x63;
+
+static constexpr uint8_t Product_ID = 0x08;
+
+enum class Cmd : uint16_t {
+	READ_ID		= 0xefc8,
+	SET_ADDR 	= 0xc595,
+	READ_OTP 	= 0xc7f7,
+	MEAS_LP 	= 0x609c,
+	MEAS_N 		= 0x6825,
+	MEAS_LN 	= 0x70df,
+	MEAS_ULN  	= 0x7866,
+	SOFT_RESET 	= 0x805d
+};
+} // namespace Inven_Sense_ICP10100

src/drivers/barometer/invensense/icp10100/icp10100_main.cpp

@@ -0,0 +1,79 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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 "ICP10100.hpp"
+
+void
+ICP10100::print_usage()
+{
+	PRINT_MODULE_USAGE_NAME("icp10100", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("baro");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x63);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+}
+
+extern "C" int icp10100_main(int argc, char *argv[])
+{
+	using ThisDriver = ICP10100;
+	BusCLIArguments cli{true, false};
+	cli.i2c_address = I2C_ADDRESS_DEFAULT;
+	cli.default_i2c_frequency = I2C_SPEED;
+
+	const char *verb = cli.parseDefaultArguments(argc, argv);
+
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
+	}
+
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_BARO_DEVTYPE_ICP10100);
+
+	if (!strcmp(verb, "start")) {
+		return ThisDriver::module_start(cli, iterator);
+
+	} else if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+
+	} else if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
+}

src/drivers/barometer/invensense/icp10111/CMakeLists.txt

@@ -0,0 +1,46 @@
+############################################################################
+#
+#   Copyright (c) 2021 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__invensense__icp10111
+	MAIN icp10111
+	COMPILE_FLAGS
+	SRCS
+		Inven_Sense_ICP10111_registers.hpp
+		ICP10111.cpp
+		ICP10111.hpp
+		icp10111_main.cpp
+	DEPENDS
+		drivers_barometer
+		px4_work_queue
+	)

src/drivers/barometer/invensense/icp10111/ICP10111.cpp

@@ -0,0 +1,375 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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 "ICP10111.hpp"
+
+using namespace time_literals;
+
+ICP10111::ICP10111(const I2CSPIDriverConfig &config) :
+	I2C(config),
+	I2CSPIDriver(config),
+	_px4_baro(get_device_id())
+{
+}
+
+ICP10111::~ICP10111()
+{
+	perf_free(_reset_perf);
+	perf_free(_sample_perf);
+	perf_free(_bad_transfer_perf);
+}
+
+int
+ICP10111::init()
+{
+	int ret = I2C::init();
+
+	if (ret != PX4_OK) {
+		DEVICE_DEBUG("I2C::init failed (%i)", ret);
+		return ret;
+	}
+
+	return Reset() ? 0 : -1;
+}
+
+bool
+ICP10111::Reset()
+{
+	_state = STATE::RESET;
+	ScheduleClear();
+	ScheduleNow();
+	return true;
+}
+
+void
+ICP10111::print_status()
+{
+	I2CSPIDriverBase::print_status();
+	perf_print_counter(_reset_perf);
+	perf_print_counter(_sample_perf);
+	perf_print_counter(_bad_transfer_perf);
+}
+
+int
+ICP10111::probe()
+{
+	uint16_t ID = 0;
+	read_response(Cmd::READ_ID, (uint8_t *)&ID, 2);
+	uint8_t PROD_ID = (ID >> 8) & 0x3f;
+
+	if (PROD_ID != Product_ID) {
+		DEVICE_DEBUG("unexpected PROD_ID 0x%02x", PROD_ID);
+		return PX4_ERROR;
+	}
+
+	return PX4_OK;
+}
+
+void
+ICP10111::RunImpl()
+{
+	const hrt_abstime now = hrt_absolute_time();
+
+	switch (_state) {
+	case STATE::RESET:
+		// Software Reset
+		send_command(Cmd::SOFT_RESET);
+		_reset_timestamp = now;
+		_failure_count = 0;
+		_state = STATE::WAIT_FOR_RESET;
+		perf_count(_reset_perf);
+		ScheduleDelayed(100_ms); // Power On Reset: max 100ms
+		break;
+
+	case STATE::WAIT_FOR_RESET: {
+			// check product id
+			uint16_t ID = 0;
+			read_response(Cmd::READ_ID, (uint8_t *)&ID, 2);
+			uint8_t PROD_ID = (ID >> 8) & 0x3f; // Product ID Bits 5:0
+
+			if (PROD_ID == Product_ID) {
+				// if reset succeeded then read otp
+				_state = STATE::READ_OTP;
+				ScheduleDelayed(10_ms); // Time to coefficients are available.
+
+			} else {
+				// RESET not complete
+				if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
+					PX4_DEBUG("Reset failed, retrying");
+					_state = STATE::RESET;
+					ScheduleDelayed(100_ms);
+
+				} else {
+					PX4_DEBUG("Reset not complete, check again in 10 ms");
+					ScheduleDelayed(10_ms);
+				}
+			}
+		}
+		break;
+
+	case STATE::READ_OTP: {
+			// read otp
+			uint8_t addr_otp_cmd[3] = {0x00, 0x66, 0x9c};
+			uint8_t otp_buf[3];
+			uint8_t crc;
+			bool success = true;
+
+			send_command(Cmd::SET_ADDR, addr_otp_cmd, 3);
+
+			for (uint8_t i = 0; i < 4; i++) {
+				read_response(Cmd::READ_OTP, otp_buf, 3);
+
+				crc = 0xFF;
+
+				for (int j = 0; j < 2; j++) {
+					crc = (uint8_t)cal_crc(crc, otp_buf[j]);
+				}
+
+				if (crc != otp_buf[2]) {
+					success = false;
+					break;
+				}
+
+				_scal[i] = (otp_buf[0] << 8) | otp_buf[1];
+			}
+
+			if (success) {
+				_state = STATE::MEASURE;
+
+			} else {
+				_state = STATE::RESET;
+			}
+
+			ScheduleDelayed(10_ms);
+		}
+		break;
+
+	case STATE::MEASURE:
+		if (Measure()) {
+			// if configure succeeded then start measurement cycle
+			_state = STATE::READ;
+			perf_begin(_sample_perf);
+			ScheduleDelayed(_measure_interval);
+
+		} else {
+			// MEASURE not complete
+			if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
+				PX4_DEBUG("Measure failed, resetting");
+				_state = STATE::RESET;
+
+			} else {
+				PX4_DEBUG("Measure failed, retrying");
+			}
+
+			ScheduleDelayed(_measure_interval);
+		}
+
+		break;
+
+	case STATE::READ: {
+			uint8_t comp_data[9] {};
+			bool success = false;
+
+			if (read_measure_results(comp_data, 9) == PX4_OK) {
+				perf_end(_sample_perf);
+
+				uint16_t _raw_t = (comp_data[0] << 8) | comp_data[1];
+				uint32_t L_res_buf3 = comp_data[3];	// expand result bytes to 32bit to fix issues on 8-bit MCUs
+				uint32_t L_res_buf4 = comp_data[4];
+				uint32_t L_res_buf6 = comp_data[6];
+				uint32_t _raw_p = (L_res_buf3 << 16) | (L_res_buf4 << 8) | L_res_buf6;
+
+				// constants for presure calculation
+				static constexpr float _pcal[3] = { 45000.0, 80000.0, 105000.0 };
+				static constexpr float _lut_lower = 3.5 * 0x100000;	// 1<<20
+				static constexpr float _lut_upper = 11.5 * 0x100000;	// 1<<20
+				static constexpr float _quadr_factor = 1 / 16777216.0;
+				static constexpr float _offst_factor = 2048.0;
+
+				// calculate temperature
+				float _temperature_C = -45.f + 175.f / 65536.f * _raw_t;
+
+				// calculate pressure
+				float t = (float)(_raw_t - 32768);
+				float s1 = _lut_lower + (float)(_scal[0] * t * t) * _quadr_factor;
+				float s2 = _offst_factor * _scal[3] + (float)(_scal[1] * t * t) * _quadr_factor;
+				float s3 = _lut_upper + (float)(_scal[2] * t * t) * _quadr_factor;
+				float c = (s1 * s2 * (_pcal[0] - _pcal[1]) +
+					   s2 * s3 * (_pcal[1] - _pcal[2]) +
+					   s3 * s1 * (_pcal[2] - _pcal[0])) /
+					  (s3 * (_pcal[0] - _pcal[1]) +
+					   s1 * (_pcal[1] - _pcal[2]) +
+					   s2 * (_pcal[2] - _pcal[0]));
+				float a = (_pcal[0] * s1 - _pcal[1] * s2 - (_pcal[1] - _pcal[0]) * c) / (s1 - s2);
+				float b = (_pcal[0] - a) * (s1 + c);
+				float _pressure_Pa = a + b / (c + _raw_p);
+
+				const hrt_abstime nowx = hrt_absolute_time();
+				float temperature = _temperature_C;
+				float pressure = _pressure_Pa; // to Pascal
+				pressure = pressure / 100.0f; // to mbar
+
+				_px4_baro.set_error_count(perf_event_count(_bad_transfer_perf));
+				_px4_baro.set_temperature(temperature);
+				_px4_baro.update(nowx, pressure);
+
+				success = true;
+
+				if (_failure_count > 0) {
+					_failure_count--;
+				}
+
+				_state = STATE::MEASURE;
+
+			} else {
+				perf_count(_bad_transfer_perf);
+			}
+
+			if (!success) {
+				_failure_count++;
+
+				// full reset if things are failing consistently
+				if (_failure_count > 10) {
+					Reset();
+					return;
+				}
+			}
+
+			ScheduleDelayed(1000_ms / 8 - _measure_interval); // 8Hz
+		}
+
+		break;
+	}
+}
+
+bool
+ICP10111::Measure()
+{
+	/*
+	  From ds-000186-icp-101xx-v1.0.pdf, page 6, table 1
+
+	  Sensor                  Measurement       Max Time
+	  Mode                    Time (Forced)
+	  Low Power (LP)             1.6 ms          1.8 ms
+	  Normal (N)                 5.6 ms          6.3 ms
+	  Low Noise (LN)             20.8 ms         23.8 ms
+	  Ultra Low Noise(ULN)       83.2 ms         94.5 ms
+	*/
+	Cmd cmd;
+
+	switch (_mode) {
+	case MODE::FAST:
+		cmd = Cmd::MEAS_LP;
+		_measure_interval = 2_ms;
+		break;
+
+	case MODE::ACCURATE:
+		cmd = Cmd::MEAS_LN;
+		_measure_interval = 24_ms;
+		break;
+
+	case MODE::VERY_ACCURATE:
+		cmd = Cmd::MEAS_ULN;
+		_measure_interval = 95_ms;
+		break;
+
+	case MODE::NORMAL:
+	default:
+		cmd = Cmd::MEAS_N;
+		_measure_interval = 7_ms;
+		break;
+	}
+
+	if (send_command(cmd) != PX4_OK) {
+		return false;
+	}
+
+	return true;
+}
+
+int8_t
+ICP10111::cal_crc(uint8_t seed, uint8_t data)
+{
+	int8_t poly = 0x31;
+	int8_t var2;
+	uint8_t i;
+
+	for (i = 0; i < 8; i++) {
+		if ((seed & 0x80) ^ (data & 0x80)) {
+			var2 = 1;
+
+		} else {
+			var2 = 0;
+		}
+
+		seed = (seed & 0x7F) << 1;
+		data = (data & 0x7F) << 1;
+		seed = seed ^ (uint8_t)(poly * var2);
+	}
+
+	return (int8_t)seed;
+}
+
+int
+ICP10111::read_measure_results(uint8_t *buf, uint8_t len)
+{
+	return transfer(nullptr, 0, buf, len);
+}
+
+int
+ICP10111::read_response(Cmd cmd, uint8_t *buf, uint8_t len)
+{
+	uint8_t buff[2];
+	buff[0] = ((uint16_t)cmd >> 8) & 0xff;
+	buff[1] = (uint16_t)cmd & 0xff;
+	return transfer(&buff[0], 2, buf, len);
+}
+
+int
+ICP10111::send_command(Cmd cmd)
+{
+	uint8_t buf[2];
+	buf[0] = ((uint16_t)cmd >> 8) & 0xff;
+	buf[1] = (uint16_t)cmd & 0xff;
+	return transfer(buf, sizeof(buf), nullptr, 0);
+}
+
+int
+ICP10111::send_command(Cmd cmd, uint8_t *data, uint8_t len)
+{
+	uint8_t buf[5];
+	buf[0] = ((uint16_t)cmd >> 8) & 0xff;
+	buf[1] = (uint16_t)cmd & 0xff;
+	memcpy(&buf[2], data, len);
+	return transfer(&buf[0], len + 2, nullptr, 0);
+}

src/drivers/barometer/invensense/icp10111/ICP10111.hpp

@@ -0,0 +1,98 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 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 "Inven_Sense_ICP10111_registers.hpp"
+
+#include <drivers/drv_hrt.h>
+#include <lib/drivers/device/i2c.h>
+#include <lib/drivers/barometer/PX4Barometer.hpp>
+#include <lib/perf/perf_counter.h>
+#include <px4_platform_common/i2c_spi_buses.h>
+
+using namespace Inven_Sense_ICP10111;
+
+class ICP10111 : public device::I2C, public I2CSPIDriver<ICP10111>
+{
+public:
+	ICP10111(const I2CSPIDriverConfig &config);
+	~ICP10111() override;
+
+	static void print_usage();
+
+	void RunImpl();
+
+	int init() override;
+	void print_status() override;
+
+private:
+	int probe() override;
+
+	bool Reset();
+
+	bool Measure();
+
+	int8_t cal_crc(uint8_t seed, uint8_t data);
+	int read_measure_results(uint8_t *buf, uint8_t len);
+	int read_response(Cmd cmd, uint8_t *buf, uint8_t len);
+	int send_command(Cmd cmd);
+	int send_command(Cmd cmd, uint8_t *data, uint8_t len);
+
+	PX4Barometer _px4_baro;
+
+	perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": reset")};
+	perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": read")};
+	perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")};
+
+	hrt_abstime _reset_timestamp{0};
+	int _failure_count{0};
+
+	unsigned _measure_interval{0};
+	int16_t _scal[4];
+
+	enum class STATE : uint8_t {
+		RESET,
+		WAIT_FOR_RESET,
+		READ_OTP,
+		MEASURE,
+		READ
+	} _state{STATE::RESET};
+
+	enum class MODE : uint8_t {
+		FAST,
+		NORMAL,
+		ACCURATE,
+		VERY_ACCURATE
+	} _mode{MODE::VERY_ACCURATE};
+};

src/drivers/barometer/invensense/icp10111/Inven_Sense_ICP10111_registers.hpp

@@ -0,0 +1,62 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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 icp10111_registers.hpp
+ *
+ * icp10111 registers.
+ *
+ */
+
+#pragma once
+
+#include <cstdint>
+
+namespace Inven_Sense_ICP10111
+{
+static constexpr uint32_t I2C_SPEED = 100 * 1000; // 100 kHz I2C serial interface
+static constexpr uint8_t I2C_ADDRESS_DEFAULT = 0x63;
+
+static constexpr uint8_t Product_ID = 0x08;
+
+enum class Cmd : uint16_t {
+	READ_ID		= 0xefc8,
+	SET_ADDR 	= 0xc595,
+	READ_OTP 	= 0xc7f7,
+	MEAS_LP 	= 0x609c,
+	MEAS_N 		= 0x6825,
+	MEAS_LN 	= 0x70df,
+	MEAS_ULN  	= 0x7866,
+	SOFT_RESET 	= 0x805d
+};
+} // namespace Inven_Sense_ICP10111

src/drivers/barometer/invensense/icp10111/icp10111_main.cpp

@@ -0,0 +1,79 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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 "ICP10111.hpp"
+
+void
+ICP10111::print_usage()
+{
+	PRINT_MODULE_USAGE_NAME("icp10111", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("baro");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x63);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+}
+
+extern "C" int icp10111_main(int argc, char *argv[])
+{
+	using ThisDriver = ICP10111;
+	BusCLIArguments cli{true, false};
+	cli.i2c_address = I2C_ADDRESS_DEFAULT;
+	cli.default_i2c_frequency = I2C_SPEED;
+
+	const char *verb = cli.parseDefaultArguments(argc, argv);
+
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
+	}
+
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_BARO_DEVTYPE_ICP10111);
+
+	if (!strcmp(verb, "start")) {
+		return ThisDriver::module_start(cli, iterator);
+
+	} else if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+
+	} else if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
+}