BMP581: Add Bosch BMP581 barometer (#23064)

* BMP581: Add Bosch BMP581 barometer

* Copyright：fix copyright header year

* style: not use pointers and Bool returns, Check the failed condition return

* delay: Replace usleep() with ScheduleDelayed()

* definitions: Delete unused definitions

* comment: Delet redundant comments

* constants: Change to uppercase

* BMP581: run make format

src/drivers/barometer/bmp581/bmp581_spi.cpp

@@ -0,0 +1,102 @@
+/****************************************************************************
+ *
+ *   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 bmp581_spi.cpp
+ *
+ * SPI interface for BMP 581 (NOTE: untested!)
+ */
+
+#include <drivers/device/spi.h>
+
+#include "bmp581.h"
+
+/* SPI protocol address bits */
+#define DIR_READ			(1<<7)  //for set
+#define DIR_WRITE			~(1<<7) //for clear
+
+class BMP581_SPI: public device::SPI, public IBMP581
+{
+public:
+	BMP581_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
+	virtual ~BMP581_SPI() = default;
+
+	int init();
+
+	uint8_t get_reg(uint8_t addr);
+	int get_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len);
+	int set_reg(uint8_t value, uint8_t addr);
+
+	uint32_t get_device_id() const override { return device::SPI::get_device_id(); }
+
+	uint8_t get_device_address() const override { return device::SPI::get_device_address(); }
+};
+
+IBMP581 *bmp581_spi_interface(uint8_t busnum, uint32_t device, int bus_frequency, spi_mode_e spi_mode)
+{
+	return new BMP581_SPI(busnum, device, bus_frequency, spi_mode);
+}
+
+BMP581_SPI::BMP581_SPI(uint8_t bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode) :
+	SPI(DRV_BARO_DEVTYPE_BMP581, MODULE_NAME, bus, device, spi_mode, bus_frequency)
+{
+}
+
+int BMP581_SPI::init()
+{
+	return SPI::init();
+}
+
+uint8_t BMP581_SPI::get_reg(uint8_t addr)
+{
+	uint8_t cmd[2] = { (uint8_t)(addr | DIR_READ), 0}; //set MSB bit
+	transfer(&cmd[0], &cmd[0], 2);
+	return cmd[1];
+}
+
+int BMP581_SPI::get_reg_buf(uint8_t addr, uint8_t *buf, uint8_t len)
+{
+	uint8_t cmd[len + 1] = {(uint8_t)(addr | DIR_READ)};
+	int ret;
+
+	ret = transfer(&cmd[0], &cmd[0], (len + 1));
+	memcpy(buf, &cmd[1], len);
+
+	return ret;
+}
+
+int BMP581_SPI::set_reg(uint8_t value, uint8_t addr)
+{
+	uint8_t cmd[2] = { (uint8_t)(addr & DIR_WRITE), value}; //clear MSB bit
+	return transfer(&cmd[0], nullptr, 2);
+}