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drivers: Add TLA2528 ADC driver (#25898)

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* tla2528 basic implementation (restarting driver still fails)

* fixed probe function, restarting driver now works

* -added reset call to init
-added return value checks on all important transfers and retry if failed when possible
-removed comments
-removed unnecessary parameters of module

* Introduced initialization-states that can be executed multiple times on failure

* Added one more state s.t. init() only does probing

* added communication error count _comms_errors

* use get() instead of param_find

* changed scheduling interval

* start in reset state. check second byte in probe. add 2 retries to probe function

* add space in front of comments

* jump to reset state when another state fails

* changed SAMPLE_INTERVAL to 10_ms

* added static assert on number of channels in adc_report
This commit is contained in:
Phil-Engljaehringer 2025-11-18 17:30:34 +01:00 committed by GitHub
parent f7269c9c22
commit 8a2239f3e8
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8 changed files with 576 additions and 0 deletions
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6
ROMFS/px4fmu_common/init.d/rc.sensors
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@ -231,6 +231,12 @@ then
ads7953 start -S
fi
# ADC sensor tla2528 external I2C
if param compare -s ADC_TLA2528_EN 1
then
tla2528 start -X
fi
# probe for optional external I2C devices
if param compare SENS_EXT_I2C_PRB 1
then

45
src/drivers/adc/tla2528/CMakeLists.txt Normal file
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@ -0,0 +1,45 @@
############################################################################
#
# 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
# 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__adc__tla2528
MAIN tla2528
COMPILE_FLAGS
SRCS
tla2528.cpp
tla2528_main.cpp
MODULE_CONFIG
module.yaml
DEPENDS
px4_work_queue
)

5
src/drivers/adc/tla2528/Kconfig Normal file
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@ -0,0 +1,5 @@
menuconfig DRIVERS_ADC_TLA2528
bool "TLA2528 driver"
default n
---help---
Enable support for TLA2528

30
src/drivers/adc/tla2528/module.yaml Normal file
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@ -0,0 +1,30 @@
__max_num_config_instances: &max_num_config_instances 1
module_name: TLA2528
parameters:
- group: ADC
definitions:
ADC_TLA2528_EN:
description:
short: Enable TLA2528
long: |
Enable the driver for the TLA2528
type: boolean
reboot_required: true
default: 0
ADC_TLA2528_REFV:
description:
short: Applied reference Voltage.
long: |
The voltage applied to the TLA2528 board as reference
type: float
unit: V
min: 2.0
max: 3.0
decimal: 2
increment: 0.01
reboot_required: true
default: 2.5

326
src/drivers/adc/tla2528/tla2528.cpp Normal file
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@ -0,0 +1,326 @@
/****************************************************************************
*
* 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
* 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 "tla2528.h"
#include <drivers/drv_adc.h>
#define READ 0x10
#define WRITE 0x08
#define SET_BIT 0x18
#define CLEAR_BIT 0x20
#define SYSTEM_STATUS 0x00
#define GENERAL_CFG 0x01
#define DATA_CFG 0x02
#define OSR_CFG 0x03
#define OPMODE_CFG 0x04
#define PIN_CFG 0x05
#define GPIO_CFG 0x07
#define GPO_DRIVE_CFG 0x09
#define GPO_VALUE 0x0B
#define GPI_VALUE 0x0D
#define SEQUENCE_CFG 0x10
#define CHANNEL_SEL 0x11
#define AUTO_SEQ_CH_SEL 0x12
TLA2528::TLA2528(const I2CSPIDriverConfig &config) :
I2C(config),
I2CSPIDriver(config),
ModuleParams(nullptr),
_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": single-sample")),
_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors"))
{
static_assert(arraySize(adc_report_s::channel_id) >= NUM_CHANNELS, "TLA2528 reports 8 channels");
}
TLA2528::~TLA2528()
{
ScheduleClear();
perf_free(_cycle_perf);
perf_free(_comms_errors);
}
int TLA2528::init()
{
int ret = I2C::init();
if (ret != PX4_OK) {
PX4_DEBUG("I2C::init failed (%i)", ret);
return ret;
}
_adc_report.device_id = this->get_device_id();
_adc_report.v_ref = _adc_tla2528_refv.get();
_adc_report.resolution = 4096;
ScheduleClear();
ScheduleOnInterval(SAMPLE_INTERVAL, SAMPLE_INTERVAL);
return PX4_OK;
}
int TLA2528::init_calibrate()
{
uint8_t send_data[3];
send_data[0] = SET_BIT;
send_data[1] = GENERAL_CFG;
send_data[2] = 0x02;
int ret = transfer(&send_data[0], 3, nullptr, 0);
if (ret != PX4_OK) {
PX4_DEBUG("TLA2528::Initializing Calibration failed (%i)", ret);
perf_count(_comms_errors);
}
return ret;
}
int TLA2528::poll_calibrate()
{
uint8_t send_data[2];
uint8_t recv_data;
send_data[0] = READ;
send_data[1] = GENERAL_CFG;
int ret = transfer(&send_data[0], 2, nullptr, 0);
ret |= transfer(nullptr, 0, &recv_data, 1);
if (recv_data & 2u) {
PX4_DEBUG("TLA2528::Calibration not yet finished");
perf_count(_comms_errors);
return PX4_ERROR;
}
return ret;
}
int TLA2528::init_reset()
{
uint8_t send_data[3];
send_data[0] = SET_BIT;
send_data[1] = GENERAL_CFG;
send_data[2] = 0x01;
int ret = transfer(&send_data[0], 3, nullptr, 0);
if (ret != PX4_OK) {
PX4_DEBUG("TLA2528::Initializing Reset failed (%i)", ret);
perf_count(_comms_errors);
}
return ret;
}
int TLA2528::poll_reset()
{
uint8_t send_data[2];
uint8_t recv_data;
send_data[0] = READ;
send_data[0] = GENERAL_CFG;
int ret = transfer(&send_data[0], 2, nullptr, 0);
ret |= transfer(nullptr, 0, &recv_data, 1);
if (ret != PX4_OK) {
perf_count(_comms_errors);
return ret;
}
if (recv_data & 1u) {
PX4_DEBUG("TLA2528::Reset not finished");
return PX4_ERROR;
}
return ret;
}
void TLA2528::adc_get()
{
// Start sequential read
uint8_t send_data[3] = {SET_BIT, SEQUENCE_CFG, 0x10};
uint8_t recv_data[2];
int ret = transfer(&send_data[0], 3, nullptr, 0);
if (ret != PX4_OK) {
perf_count(_comms_errors);
return;
}
// Read data
for (int i = 0; i < NUM_CHANNELS; i++) {
ret = transfer(nullptr, 0, &recv_data[0], 2);
if (ret == PX4_OK) {
uint16_t tmp = ((uint16_t)recv_data[0]) << 8;
uint16_t measurement = (tmp | recv_data[1]) >> 4;
uint8_t ch_id = recv_data[1] & 0x0F;
_adc_report.channel_id[i] = ch_id;
_adc_report.raw_data[i] = measurement;
} else {
perf_count(_comms_errors);
}
}
// Stop sequential read
send_data[0] = CLEAR_BIT;
send_data[1] = SEQUENCE_CFG;
send_data[2] = 0x10;
transfer(&send_data[0], 3, nullptr, 0);
return;
}
int TLA2528::probe()
{
for (int i = 0; i < 3; i++) {
// Set device in debug mode (should respond with 0xA5AX to all reads)
uint8_t send_data[3] = {SET_BIT, DATA_CFG, 0x80};
int ret = transfer(&send_data[0], 3, nullptr, 0);
// Read
uint8_t recv_data[2];
send_data[0] = SET_BIT;
send_data[0] = DATA_CFG;
ret |= transfer(&send_data[0], 2, nullptr, 0);
ret |= transfer(nullptr, 0, &recv_data[0], 2);
// Turn debug mode off
send_data[0] = CLEAR_BIT;
send_data[1] = DATA_CFG;
send_data[2] = 0x80;
ret |= transfer(&send_data[0], 3, nullptr, 0);
if (recv_data[0] == 165 && recv_data[1] >= 160 && ret == PX4_OK) {
return PX4_OK;
}
px4_sleep(1);
}
return PX4_ERROR;
}
int TLA2528::configure()
{
uint8_t send_data[3];
// Configure pins as analog
send_data[0] = SET_BIT;
send_data[1] = PIN_CFG;
send_data[2] = 0x00;
int ret = transfer(&send_data[0], 3, nullptr, 0);
// Append channel-id to measurements
send_data[0] = SET_BIT;
send_data[1] = DATA_CFG;
send_data[2] = 0x10;
ret |= transfer(&send_data[0], 3, nullptr, 0);
// Activate all pins
send_data[0] = SET_BIT;
send_data[1] = AUTO_SEQ_CH_SEL;
send_data[2] = 0xFF;
ret |= transfer(&send_data[0], 3, nullptr, 0);
// Set seq-mode
send_data[0] = SET_BIT;
send_data[1] = SEQUENCE_CFG;
send_data[2] = 0x01;
ret |= transfer(&send_data[0], 3, nullptr, 0);
if (ret != PX4_OK) {
perf_count(_comms_errors);
PX4_DEBUG("TLA2528::Configuring failed (%i)", ret);
}
return ret;
}
void TLA2528::exit_and_cleanup()
{
I2CSPIDriverBase::exit_and_cleanup(); // nothing to do
}
void TLA2528::RunImpl()
{
if (should_exit()) {
PX4_INFO("stopping");
return; // stop and return immediately to avoid unexpected schedule from stopping procedure
}
int ret;
switch (_state) {
case STATE::RESET:
ret = init_reset();
if (ret == PX4_OK) {
_state = STATE::CONFIGURE;
}
break;
case STATE::CONFIGURE:
ret = poll_reset();
ret |= configure();
ret |= init_calibrate();
if (ret == PX4_OK) {
_state = STATE::CALIBRATE;
} else {
_state = STATE::RESET;
}
break;
case STATE::CALIBRATE:
ret = poll_calibrate();
if (ret == PX4_OK) {
_state = STATE::WORK;
} else {
_state = STATE::RESET;
}
break;
case STATE::WORK:
perf_begin(_cycle_perf);
adc_get();
_adc_report.timestamp = hrt_absolute_time();
_adc_report_pub.publish(_adc_report);
perf_end(_cycle_perf);
break;
}
for (unsigned i = 0; i < arraySize(adc_report_s::channel_id); ++i) {
_adc_report.channel_id[i] = -1;
}
}

85
src/drivers/adc/tla2528/tla2528.h Normal file
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@ -0,0 +1,85 @@
/****************************************************************************
*
* 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
* 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 <stdint.h>
#include <drivers/drv_hrt.h>
#include <px4_platform_common/i2c_spi_buses.h>
#include <lib/drivers/device/i2c.h>
#include <uORB/topics/adc_report.h>
#include <uORB/PublicationMulti.hpp>
#include <px4_platform_common/module_params.h>
using namespace time_literals;
class TLA2528 : public device::I2C, public I2CSPIDriver<TLA2528>, public ModuleParams
{
public:
TLA2528(const I2CSPIDriverConfig &config);
~TLA2528() override;
static void print_usage();
int init() override;
void RunImpl();
int probe() override;
private:
static const hrt_abstime SAMPLE_INTERVAL{10_ms};
static constexpr int NUM_CHANNELS = 8;
perf_counter_t _cycle_perf;
perf_counter_t _comms_errors;
uORB::PublicationMulti<adc_report_s> _adc_report_pub{ORB_ID(adc_report)};
adc_report_s _adc_report{};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::ADC_TLA2528_REFV>) _adc_tla2528_refv
)
int init_reset();
int poll_reset();
int configure();
int init_calibrate();
int poll_calibrate();
void adc_get();
void exit_and_cleanup() override;
enum class STATE : uint8_t {
RESET,
CONFIGURE,
CALIBRATE,
WORK
};
STATE _state{STATE::RESET};
};

77
src/drivers/adc/tla2528/tla2528_main.cpp Normal file
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@ -0,0 +1,77 @@
/****************************************************************************
*
* 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
* 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/getopt.h>
#include <px4_platform_common/module.h>
#include "tla2528.h"
void TLA2528::print_usage()
{
PRINT_MODULE_USAGE_NAME("TLA2528", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("adc");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
extern "C" int tla2528_main(int argc, char *argv[])
{
using ThisDriver = TLA2528;
BusCLIArguments cli{true, false};
cli.default_i2c_frequency = 400000;
cli.i2c_address = 0x10;
const char *name = MODULE_NAME;
const char *verb = cli.parseDefaultArguments(argc, argv);
if (!verb) {
ThisDriver::print_usage();
return -1;
}
BusInstanceIterator iterator(name, cli, DRV_ADC_DEVTYPE_TLA2528);
if (!strcmp(verb, "start")) {
return ThisDriver::module_start(cli, iterator);
}
if (!strcmp(verb, "stop")) {
return ThisDriver::module_stop(iterator);
}
if (!strcmp(verb, "status")) {
return ThisDriver::module_status(iterator);
}
ThisDriver::print_usage();
return -1;
}

2
src/drivers/drv_sensor.h
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@ -261,6 +261,8 @@
#define DRV_INS_DEVTYPE_SBG 0xEC
#define DRV_ADC_DEVTYPE_ADS7953 0xED
#define DRV_ADC_DEVTYPE_TLA2528 0xEF
#define DRV_TEMP_DEVTYPE_MCP9808 0xEE