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MCP9808: refactor driver based on feedback

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- Remove enum class Register : uint8_t
- Explicitly initialize buffer
- Explicitly initialize temp_raw
- Rename uorb publisher
- Remove overide from print_status()
- Take timestamp after read, correct measurement_time to uint64 and use hrt_elapsed_time()
- Remove exit_and_cleanup
- Move functions out of main + cleanup whitespace

MCP9808: remove exit_and_cleanup

MCP9808: Take timestamp after read, correct measurement_time to uint64 and use hrt_elapsed_time()

MCP9808: remove overide from print_status()

MCP9808: rename uorb publisher

MCP9808: explicitly initialize temp_raw

MCP9808: explicitly initialize buffer

MCP9808: Remove enum class Register : uint8_t

MCP9808: move functions out of main + cleanup whitespace
This commit is contained in:
TedObrien 2025-03-28 21:34:48 +00:00 committed by Jacob Dahl
parent b5c3c11622
commit ddb98abf1d
3 changed files with 64 additions and 86 deletions
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64
src/drivers/temperature_sensor/mcp9808/mcp9808.cpp
View File

@ -33,16 +33,58 @@
#include "mcp9808.h"
MCP9808::MCP9808(const I2CSPIDriverConfig &config) :
I2C(config),
I2CSPIDriver(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();
}
MCP9808::~MCP9808()
{
ScheduleClear();
perf_free(_cycle_perf);
perf_free(_comms_errors);
}
void MCP9808::RunImpl()
{
perf_begin(_cycle_perf);
// publish at around 5HZ
if ((hrt_elapsed_time(&measurement_time)) > 200_ms) {
float temperature = read_temperature();
measurement_time = hrt_absolute_time(); // get the time the measurement was taken
if (std::isnan(temperature)) {
perf_count(_comms_errors);
} else {
_sensor_temp.timestamp = hrt_absolute_time();
_sensor_temp.timestamp_sample = measurement_time;
_sensor_temp.temperature = temperature;
_sensor_temp_pub.publish(_sensor_temp);
}
}
perf_end(_cycle_perf);
}
int MCP9808::probe()
{
uint16_t manuf_id, device_id;
int ret = read_reg(Register::MANUF_ID, manuf_id);
int ret = read_reg(MCP9808_REG_MANUF_ID, manuf_id);
if (ret != PX4_OK) {
return ret;
}
ret = read_reg(Register::DEVICE_ID, device_id);
ret = read_reg(MCP9808_REG_DEVICE_ID, device_id);
if (ret != PX4_OK) {
return ret;
@ -69,14 +111,14 @@ int MCP9808::init()
PX4_INFO("I2C initialized successfully");
ret = write_reg(Register::CONFIG, 0x0000); // Ensure default configuration
ret = write_reg(MCP9808_REG_CONFIG, 0x0000); // Ensure default configuration
if (ret != PX4_OK) {
PX4_ERR("Configuration failed");
return ret;
}
_to_sensor_temp.advertise();
_sensor_temp_pub.advertise();
ScheduleOnInterval(100_ms); // Sample at 10 Hz
return PX4_OK;
@ -84,9 +126,9 @@ int MCP9808::init()
float MCP9808::read_temperature()
{
uint16_t temp_raw;
uint16_t temp_raw = 0;
if (read_reg(Register::AMBIENT_TEMP, temp_raw) != PX4_OK) {
if (read_reg(MCP9808_REG_AMBIENT_TEMP, temp_raw) != PX4_OK) {
return NAN;
}
@ -99,10 +141,10 @@ float MCP9808::read_temperature()
return temp;
}
int MCP9808::read_reg(Register address, uint16_t &data)
int MCP9808::read_reg(uint8_t address, uint16_t &data)
{
uint8_t addr = static_cast<uint8_t>(address);
uint8_t buffer[2]; // Buffer to hold the raw data
uint8_t addr = address;
uint8_t buffer[2] = {}; // Buffer to hold the raw data
// Read 2 bytes from the register
int ret = transfer(&addr, 1, buffer, 2);
@ -117,8 +159,8 @@ int MCP9808::read_reg(Register address, uint16_t &data)
return PX4_OK;
}
int MCP9808::write_reg(Register address, uint16_t value)
int MCP9808::write_reg(uint8_t 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)};
uint8_t buf[3] = {address, static_cast<uint8_t>(value >> 8), static_cast<uint8_t>(value & 0xFF)};
return transfer(buf, sizeof(buf), nullptr, 0);
}

31
src/drivers/temperature_sensor/mcp9808/mcp9808.h
View File

@ -44,6 +44,12 @@
using namespace time_literals;
#define MCP9808_REG_CONFIG 0x01
#define MCP9808_REG_AMBIENT_TEMP 0x05
#define MCP9808_REG_MANUF_ID 0x06
#define MCP9808_REG_DEVICE_ID 0x07
#define MCP9808_REG_RESOLUTION 0x08
class MCP9808 : public device::I2C, public I2CSPIDriver<MCP9808>
{
public:
@ -56,30 +62,15 @@ public:
static void print_usage();
protected:
void print_status() override;
void exit_and_cleanup() override;
void print_status();
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)};
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(Register address, uint16_t &data);
int write_reg(Register address, uint16_t value);
int read_reg(uint8_t address, uint16_t &data);
int write_reg(uint8_t address, uint16_t value);
float read_temperature();
uint32_t measurement_time = 0;
hrt_abstime measurement_time = 0;
};

55
src/drivers/temperature_sensor/mcp9808/mcp9808_main.cpp
View File

@ -41,59 +41,6 @@
#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")),
_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors"))
{
_sensor_temp.device_id = this->get_device_id();
}
MCP9808::~MCP9808()
{
ScheduleClear();
perf_free(_cycle_perf);
perf_free(_comms_errors);
}
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();
if (std::isnan(temperature)) {
perf_count(_comms_errors);
} else {
_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");
@ -103,13 +50,11 @@ void MCP9808::print_usage()
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
void MCP9808::print_status()
{
I2CSPIDriverBase::print_status();
perf_print_counter(_cycle_perf);
perf_print_counter(_comms_errors);
}
extern "C" int mcp9808_main(int argc, char *argv[])