MCP9808: Create driver for MCP9808 temperature sensor

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -154,6 +154,12 @@ then
 	fi
 fi
 
+# Microchip MCP9808 temperature sensor external I2C
+if param compare -s SENS_EN_MCP9808 1
+then
+	mcp9808 start -X
+fi
+
 # TE MS4515 differential pressure sensor external I2C
 if param compare -s SENS_EN_MS4515 1
 then

boards/px4/fmu-v6x/default.px4board

@@ -43,6 +43,7 @@ CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_COMMON_RC=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
+CONFIG_DRIVERS_TEMPERATURE_SENSOR_MCP9808=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2

msg/CMakeLists.txt

@@ -207,6 +207,7 @@ set(msg_files
 	SensorSelection.msg
 	SensorsStatus.msg
 	SensorsStatusImu.msg
+	SensorTemp.msg
 	SensorUwb.msg
 	SensorAirflow.msg
 	SystemPower.msg

msg/SensorTemp.msg

@@ -0,0 +1,6 @@
+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)

src/drivers/drv_sensor.h

@@ -262,6 +262,8 @@
 
 #define DRV_ADC_DEVTYPE_ADS7953 0xED
 
+#define DRV_TEMP_DEVTYPE_MCP9808	0xEE
+
 #define DRV_DEVTYPE_UNUSED		0xff
 
 #endif /* _DRV_SENSOR_H */

src/drivers/temperature_sensor/Kconfig

@@ -0,0 +1,3 @@
+menu "TEMPERATURE_SENSOR"
+rsource "*/Kconfig"
+endmenu #TEMPERATURE_SENSOR

src/drivers/temperature_sensor/mcp9808/CMakeLists.txt

@@ -0,0 +1,44 @@
+############################################################################
+#
+#   Copyright (c) 2024 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__temperature_sensor__mcp9808
+	MAIN mcp9808
+	COMPILE_FLAGS
+	SRCS
+		mcp9808_main.cpp
+		mcp9808.cpp
+		mcp9808.h
+	DEPENDS
+		px4_work_queue
+	)

src/drivers/temperature_sensor/mcp9808/Kconfig

@@ -0,0 +1,5 @@
+menuconfig DRIVERS_TEMPERATURE_SENSOR_MCP9808
+	bool "MCP9808 temperature sensor"
+	default n
+	---help---
+		Enable support MCP9808 temperature sensor

src/drivers/temperature_sensor/mcp9808/mcp9808.cpp

@@ -0,0 +1,124 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 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 "mcp9808.h"
+
+int MCP9808::probe()
+{
+	uint16_t manuf_id, device_id;
+	int ret = read_reg(Register::MANUF_ID, manuf_id);
+
+	if (ret != PX4_OK) {
+		return ret;
+	}
+
+	ret = read_reg(Register::DEVICE_ID, device_id);
+
+	if (ret != PX4_OK) {
+		return ret;
+	}
+
+	// Verify manufacturer and device ID
+	if (manuf_id != 0x0054 || device_id != 0x0400) {
+		PX4_ERR("MCP9808 not found (manuf_id: 0x%04X, device_id: 0x%04X)", manuf_id, device_id);
+		return PX4_ERROR;
+	}
+
+	PX4_INFO("MCP9808 found (manuf_id: 0x%04X, device_id: 0x%04X)", manuf_id, device_id);
+	return PX4_OK;
+}
+
+int MCP9808::init()
+{
+	int ret = I2C::init();
+
+	if (ret != PX4_OK) {
+		PX4_ERR("I2C init failed");
+		return ret;
+	}
+
+	PX4_INFO("I2C initialized successfully");
+
+	ret = write_reg(Register::CONFIG, 0x0000); // Ensure default configuration
+
+	if (ret != PX4_OK) {
+		PX4_ERR("Configuration failed");
+		return ret;
+	}
+
+	_to_sensor_temp.advertise();
+
+	ScheduleOnInterval(100_ms); // Sample at 10 Hz
+	return PX4_OK;
+}
+
+float MCP9808::read_temperature()
+{
+	uint16_t temp_raw;
+
+	if (read_reg(Register::AMBIENT_TEMP, temp_raw) != PX4_OK) {
+		return NAN;
+	}
+
+	float temp = (temp_raw & 0x0FFF) / 16.0f;
+
+	if (temp_raw & 0x1000) {
+		temp -= 256.0f;
+	}
+
+	return temp;
+}
+
+int MCP9808::read_reg(Register address, uint16_t &data)
+{
+	uint8_t addr = static_cast<uint8_t>(address);
+	uint8_t buffer[2]; // Buffer to hold the raw data
+
+	// Read 2 bytes from the register
+	int ret = transfer(&addr, 1, buffer, 2);
+
+	if (ret != PX4_OK) {
+		return ret;
+	}
+
+	// Combine bytes (big-endian)
+	data = (buffer[0] << 8) | buffer[1];
+
+	return PX4_OK;
+}
+
+int MCP9808::write_reg(Register address, uint16_t value)
+{
+	uint8_t buf[3] = {static_cast<uint8_t>(address), static_cast<uint8_t>(value >> 8), static_cast<uint8_t>(value & 0xFF)};
+	return transfer(buf, sizeof(buf), nullptr, 0);
+}

src/drivers/temperature_sensor/mcp9808/mcp9808.h

@@ -0,0 +1,83 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 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/device/i2c.h>
+#include <px4_platform_common/i2c_spi_buses.h>
+#include <uORB/topics/sensor_temp.h>
+#include <uORB/PublicationMulti.hpp>
+#include <lib/perf/perf_counter.h>
+#include <drivers/drv_hrt.h>
+
+using namespace time_literals;
+
+class MCP9808 : public device::I2C, public I2CSPIDriver<MCP9808>
+{
+public:
+	MCP9808(const I2CSPIDriverConfig &config);
+	~MCP9808() override;
+
+	int init() override;
+	int probe() override;
+	void RunImpl();
+	static void print_usage();
+
+protected:
+	void print_status() override;
+	void exit_and_cleanup() override;
+
+private:
+	enum class Register : uint8_t {
+		CONFIG = 0x01,
+		AMBIENT_TEMP = 0x05,
+		MANUF_ID = 0x06,
+		DEVICE_ID = 0x07,
+		RESOLUTION = 0x08
+	};
+
+	uORB::PublicationMulti<sensor_temp_s> _to_sensor_temp{ORB_ID(sensor_temp)};
+	perf_counter_t _cycle_perf;
+
+	sensor_temp_s _sensor_temp{};
+
+
+	int read_reg(Register address, uint16_t &data);
+	int write_reg(Register address, uint16_t value);
+	float read_temperature();
+
+	uint32_t measurement_time = 0;
+
+};

src/drivers/temperature_sensor/mcp9808/mcp9808_main.cpp

@@ -0,0 +1,130 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 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 mcp9808_main.cpp
+ * @author TedObrien
+ *
+ * Driver for the Microchip MCP9080 Temperature Sensor  connected via I2C.
+ */
+
+#include "mcp9808.h"
+#include <px4_platform_common/module.h>
+
+MCP9808::MCP9808(const I2CSPIDriverConfig &config) :
+	I2C(config),
+	I2CSPIDriver(config),
+	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": single-sample"))
+{
+	_sensor_temp.device_id = this->get_device_id();
+
+}
+
+MCP9808::~MCP9808()
+{
+	ScheduleClear();
+	perf_free(_cycle_perf);
+}
+
+void MCP9808::exit_and_cleanup()
+{
+	I2CSPIDriverBase::exit_and_cleanup();	// nothing to do
+}
+
+void MCP9808::RunImpl()
+{
+	perf_begin(_cycle_perf);
+
+	// publish at around 5HZ
+	if ((hrt_absolute_time() - measurement_time) > 200_ms) {
+
+		measurement_time = hrt_absolute_time(); // get the time the measurement was taken
+		float temperature = read_temperature();
+
+		_sensor_temp.timestamp = hrt_absolute_time();
+		_sensor_temp.timestamp_sample = measurement_time;
+		_sensor_temp.temperature = temperature;
+
+		_to_sensor_temp.publish(_sensor_temp);
+	}
+
+	perf_end(_cycle_perf);
+}
+
+void MCP9808::print_usage()
+{
+	PRINT_MODULE_USAGE_NAME("mcp9808", "driver");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x18);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+}
+
+
+void MCP9808::print_status()
+{
+	I2CSPIDriverBase::print_status();
+	perf_print_counter(_cycle_perf);
+}
+
+extern "C" int mcp9808_main(int argc, char *argv[])
+{
+	using ThisDriver = MCP9808;
+	BusCLIArguments cli{true, false};
+	cli.default_i2c_frequency = 400000;
+	cli.i2c_address = 0x18;
+
+	const char *verb = cli.parseDefaultArguments(argc, argv);
+
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
+	}
+
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_TEMP_DEVTYPE_MCP9808);
+
+	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;
+}

src/drivers/temperature_sensor/mcp9808/mcp9808_params.c

@@ -0,0 +1,41 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 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.
+ *
+ ****************************************************************************/
+
+/**
+ * Enable MCP9808 temperature sensor (external I2C)
+ *
+ * @reboot_required true
+ * @group Sensors
+ * @boolean
+  */
+PARAM_DEFINE_INT32(SENS_EN_MCP9808, 0);

src/modules/logger/logged_topics.cpp

@@ -123,6 +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("spoilers_setpoint", 1000);
 	add_topic("system_power", 500);
 	add_optional_topic("takeoff_status", 1000);