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MPC9808: Run ScheduleOnInterval() at desired publishing rate and remove elapsed time check and timestamp_sample field from message as no longer needed.

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MCP9808: Replaced PX4_INFO with PX4_DEBUG

MCP9808: Update date in headers

MCP9808: Define functions before variables

MCP9808: Increase logging interval for sensor_temp

MCP9808: Removed extra space

MCP9808: Remove this->
This commit is contained in:
TedObrien 2025-03-29 11:07:30 +00:00 committed by Jacob Dahl
parent ddb98abf1d
commit 5483d901f9
7 changed files with 20 additions and 29 deletions
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2
msg/SensorTemp.msg
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@ -1,6 +1,4 @@
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # Time at which measurement was taken
uint32 device_id # unique device ID for the sensor that does not change between power cycles
float32 temperature # Temperature provided by sensor (Celsius)

2
src/drivers/temperature_sensor/mcp9808/CMakeLists.txt
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@ -1,6 +1,6 @@
############################################################################
#
# Copyright (c) 2024 PX4 Development Team. All rights reserved.
# Copyright (c) 2025 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

28
src/drivers/temperature_sensor/mcp9808/mcp9808.cpp
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2024 PX4 Development Team. All rights reserved.
* Copyright (c) 2025 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
@ -39,7 +39,7 @@ MCP9808::MCP9808(const I2CSPIDriverConfig &config) :
_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": single-sample")),
_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors"))
{
_sensor_temp.device_id = this->get_device_id();
_sensor_temp.device_id = get_device_id();
}
MCP9808::~MCP9808()
@ -53,23 +53,17 @@ void MCP9808::RunImpl()
{
perf_begin(_cycle_perf);
// publish at around 5HZ
if ((hrt_elapsed_time(&measurement_time)) > 200_ms) {
float temperature = read_temperature();
float temperature = read_temperature();
measurement_time = hrt_absolute_time(); // get the time the measurement was taken
if (std::isnan(temperature)) {
if (std::isnan(temperature)) {
perf_count(_comms_errors);
perf_count(_comms_errors);
} else {
_sensor_temp.timestamp = hrt_absolute_time();
_sensor_temp.temperature = temperature;
} else {
_sensor_temp.timestamp = hrt_absolute_time();
_sensor_temp.timestamp_sample = measurement_time;
_sensor_temp.temperature = temperature;
_sensor_temp_pub.publish(_sensor_temp);
}
_sensor_temp_pub.publish(_sensor_temp);
}
perf_end(_cycle_perf);
@ -109,7 +103,7 @@ int MCP9808::init()
return ret;
}
PX4_INFO("I2C initialized successfully");
PX4_DEBUG("I2C initialized successfully");
ret = write_reg(MCP9808_REG_CONFIG, 0x0000); // Ensure default configuration
@ -120,7 +114,7 @@ int MCP9808::init()
_sensor_temp_pub.advertise();
ScheduleOnInterval(100_ms); // Sample at 10 Hz
ScheduleOnInterval(200_ms); // Sample at 5 Hz
return PX4_OK;
}

9
src/drivers/temperature_sensor/mcp9808/mcp9808.h
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2024 PX4 Development Team. All rights reserved.
* Copyright (c) 2025 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
@ -66,11 +66,10 @@ protected:
private:
uORB::PublicationMulti<sensor_temp_s> _sensor_temp_pub{ORB_ID(sensor_temp)};
perf_counter_t _cycle_perf;
perf_counter_t _comms_errors;
sensor_temp_s _sensor_temp{};
int read_reg(uint8_t address, uint16_t &data);
int write_reg(uint8_t address, uint16_t value);
float read_temperature();
hrt_abstime measurement_time = 0;
sensor_temp_s _sensor_temp{};
perf_counter_t _cycle_perf;
perf_counter_t _comms_errors;
};

4
src/drivers/temperature_sensor/mcp9808/mcp9808_main.cpp
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2024 PX4 Development Team. All rights reserved.
* Copyright (c) 2025 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
@ -35,7 +35,7 @@
* @file mcp9808_main.cpp
* @author TedObrien
*
* Driver for the Microchip MCP9080 Temperature Sensor connected via I2C.
* Driver for the Microchip MCP9080 Temperature Sensor connected via I2C.
*/
#include "mcp9808.h"

2
src/drivers/temperature_sensor/mcp9808/mcp9808_params.c
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2024 PX4 Development Team. All rights reserved.
* Copyright (c) 2025 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

2
src/modules/logger/logged_topics.cpp
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@ -123,7 +123,7 @@ void LoggedTopics::add_default_topics()
add_optional_topic("sensor_gyro_fft", 50);
add_topic("sensor_selection");
add_topic("sensors_status_imu", 200);
add_optional_topic("sensor_temp", 10);
add_optional_topic("sensor_temp", 100);
add_optional_topic("spoilers_setpoint", 1000);
add_topic("system_power", 500);
add_optional_topic("takeoff_status", 1000);