Add Goertek SPL06 barometer driver (#19229)

Signed-off-by: ncer <huangzzk@bupt.edu.cn>

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -155,6 +155,13 @@ then
 	irlock start -X
 fi
 
+# SPL06 sensor external I2C
+if param compare -s SENS_EN_SPL06 1
+then
+	spl06 -X start
+	spl06 -X -a 0x77 start
+fi
+
 # PCF8583 counter (RPM sensor)
 if param compare -s SENS_EN_PCF8583 1
 then

src/drivers/barometer/CMakeLists.txt

@@ -42,3 +42,4 @@ add_subdirectory(maiertek)
 add_subdirectory(ms5611)
 #add_subdirectory(tcbp001ta) # only for users who really need this
 add_subdirectory(invensense)
+add_subdirectory(goertek)

src/drivers/barometer/Kconfig

@@ -9,6 +9,7 @@ menu "barometer"
         select DRIVERS_BAROMETER_LPS33HW
         select DRIVERS_BAROMETER_MS5611
         select DRIVERS_BAROMETER_MAIERTEK_MPC2520
+	select DRIVERS_BAROMETER_GOERTEK_SPL06 
         ---help---
             Enable default set of barometer drivers
     rsource "*/Kconfig"

src/drivers/barometer/goertek/CMakeLists.txt

@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2022 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.
+#
+############################################################################
+
+add_subdirectory(spl06)

src/drivers/barometer/goertek/Kconfig

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

src/drivers/barometer/goertek/spl06/CMakeLists.txt

@@ -0,0 +1,46 @@
+############################################################################
+#
+#   Copyright (c) 2022 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__barometer__spl06
+	MAIN spl06
+	SRCS
+		SPL06.cpp
+		SPL06.hpp
+		SPL06_I2C.cpp
+		SPL06_SPI.cpp
+		spl06_main.cpp
+	DEPENDS
+		drivers_barometer
+		px4_work_queue
+	)

src/drivers/barometer/goertek/spl06/Kconfig

@@ -0,0 +1,5 @@
+menuconfig DRIVERS_BAROMETER_GOERTEK_SPL06
+	bool "spl06"
+	default n
+	---help---
+		Enable support for spl06

src/drivers/barometer/goertek/spl06/SPL06.cpp

@@ -0,0 +1,243 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 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 "SPL06.hpp"
+
+SPL06::SPL06(const I2CSPIDriverConfig &config, spl06::ISPL06 *interface) :
+	I2CSPIDriver(config),
+	_px4_baro(interface->get_device_id()),
+	_interface(interface),
+	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample")),
+	_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
+	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors"))
+{
+}
+
+SPL06::~SPL06()
+{
+	// free perf counters
+	perf_free(_sample_perf);
+	perf_free(_measure_perf);
+	perf_free(_comms_errors);
+
+	delete _interface;
+}
+
+/*
+float
+SPL06::scale_factor(int oversampling_rate)
+{
+	float k;
+
+	switch (oversampling_rate) {
+	case 1:
+		k = 524288.0f;
+		break;
+
+	case 2:
+		k = 1572864.0f;
+		break;
+
+	case 4:
+		k = 3670016.0f;
+		break;
+
+	case 8:
+		k = 7864320.0f;
+		break;
+
+	case 16:
+		k = 253952.0f;
+		break;
+
+	case 32:
+		k = 516096.0f;
+		break;
+
+	case 64:
+		k = 1040384.0f;
+		break;
+
+	case 128:
+		k = 2088960.0f;
+		break;
+
+	default:
+		k = 0;
+		break;
+	}
+
+	return k;
+}
+*/
+
+int
+SPL06::calibrate()
+{
+	uint8_t buf[18];
+
+	_interface->read(SPL06_ADDR_CAL, buf, sizeof(buf));
+
+	_cal.c0 = (uint16_t)buf[0] << 4 | (uint16_t)buf[1] >> 4;
+	_cal.c0 = (_cal.c0 & 1 << 11) ? (0xf000 | _cal.c0) : _cal.c0;
+
+	_cal.c1 = (uint16_t)(buf[1] & 0x0f) << 8 | (uint16_t)buf[2];
+	_cal.c1 = (_cal.c1 & 1 << 11) ? (0xf000 | _cal.c1) : _cal.c1;
+
+	_cal.c00 = (uint32_t)buf[3] << 12 | (uint32_t)buf[4] << 4 | (uint16_t)buf[5] >> 4;
+	_cal.c00 = (_cal.c00 & 1 << 19) ? (0xfff00000 | _cal.c00) : _cal.c00;
+
+	_cal.c10 = (uint32_t)(buf[5] & 0x0f) << 16 | (uint32_t)buf[6] << 8 | (uint32_t)buf[7];
+	_cal.c10 = (_cal.c10 & 1 << 19) ? (0xfff00000 | _cal.c10) : _cal.c10;
+
+	_cal.c01 = (uint16_t)buf[8] << 8 | buf[9];
+	_cal.c11 = (uint16_t)buf[10] << 8 | buf[11];
+	_cal.c20 = (uint16_t)buf[12] << 8 | buf[13];
+	_cal.c21 = (uint16_t)buf[14] << 8 | buf[15];
+	_cal.c30 = (uint16_t)buf[16] << 8 | buf[17];
+
+	// PX4_INFO("c0:%d \nc1:%d \nc00:%d \nc10:%d \nc01:%d \nc11:%d \nc20:%d \nc21:%d \nc30:%d\n",
+	// _cal.c0,_cal.c1,
+	// _cal.c00,_cal.c10,
+	// _cal.c01,_cal.c11,_cal.c20,_cal.c21,_cal.c30
+	// );
+	//PX4_DEBUG("c0:%f",_cal.c0);
+	return OK;
+}
+int
+SPL06::init()
+{
+	int8_t tries = 5;
+	// reset sensor
+	_interface->set_reg(SPL06_VALUE_RESET, SPL06_ADDR_RESET);
+	usleep(10000);
+
+	// check id
+	if (_interface->get_reg(SPL06_ADDR_ID) != SPL06_VALUE_ID) {
+		PX4_DEBUG("id of your baro is not: 0x%02x", SPL06_VALUE_ID);
+		return -EIO;
+	}
+
+	while (tries--) {
+		uint8_t meas_cfg = _interface->get_reg(SPL06_ADDR_MEAS_CFG);
+
+		if (meas_cfg & (1 << 7) && meas_cfg & (1 << 6)) {
+			break;
+		}
+
+		usleep(10000);
+	}
+
+	if (tries < 0) {
+		PX4_DEBUG("spl06 cal failed");
+		return -EIO;
+	}
+
+	// get calibration and pre process them
+	calibrate();
+
+	// set config, recommended settings
+	_interface->set_reg(_curr_prs_cfg, SPL06_ADDR_PRS_CFG);
+	kp = 253952.0f; // refer to scale_factor()
+	_interface->set_reg(_curr_tmp_cfg, SPL06_ADDR_TMP_CFG);
+	kt = 524288.0f;
+
+
+	_interface->set_reg(1 << 2, SPL06_ADDR_CFG_REG);
+	_interface->set_reg(7, SPL06_ADDR_MEAS_CFG);
+
+	Start();
+
+	return OK;
+}
+
+void
+SPL06::Start()
+{
+	// schedule a cycle to start things
+	ScheduleNow();
+}
+
+void
+SPL06::RunImpl()
+{
+	collect();
+
+	ScheduleDelayed(_measure_interval);
+}
+int
+SPL06::collect()
+{
+	perf_begin(_sample_perf);
+
+	// this should be fairly close to the end of the conversion, so the best approximation of the time
+	const hrt_abstime timestamp_sample = hrt_absolute_time();
+
+	if (_interface->read(SPL06_ADDR_DATA, (uint8_t *)&_data, sizeof(_data)) != OK) {
+		perf_count(_comms_errors);
+		perf_cancel(_sample_perf);
+		return -EIO;
+	}
+
+	int32_t temp_raw = (uint32_t)_data.t_msb << 16 | (uint32_t)_data.t_lsb << 8 | (uint32_t)_data.t_xlsb;
+	temp_raw = (temp_raw & 1 << 23) ? (0xff000000 | temp_raw) : temp_raw;
+
+	int32_t press_raw = (uint32_t)_data.p_msb << 16 | (uint32_t) _data.p_lsb << 8 | (uint32_t) _data.p_xlsb;
+	press_raw = (press_raw & 1 << 23) ? (0xff000000 | press_raw) : press_raw;
+
+	// calculate
+	float ftsc = (float)temp_raw / kt;
+	float fpsc = (float)press_raw / kp;
+	float qua2 = (float)_cal.c10 + fpsc * ((float)_cal.c20 + fpsc * (float)_cal.c30);
+	float qua3 = ftsc * fpsc * ((float)_cal.c11 + fpsc * (float)_cal.c21);
+
+	float fp = (float)_cal.c00 + fpsc * qua2 + ftsc * (float)_cal.c01 + qua3;
+	float temperature = (float)_cal.c0 * 0.5f + (float)_cal.c1 * ftsc;
+
+	_px4_baro.set_error_count(perf_event_count(_comms_errors));
+	_px4_baro.set_temperature(temperature);
+	_px4_baro.update(timestamp_sample, fp / 100.0f);   // to millbar
+	//PX4_DEBUG("%d",(int)fp);
+	perf_end(_sample_perf);
+
+	return OK;
+}
+
+void
+SPL06::print_status()
+{
+	I2CSPIDriverBase::print_status();
+	perf_print_counter(_sample_perf);
+	perf_print_counter(_measure_perf);
+	perf_print_counter(_comms_errors);
+}