Adding a new differential pressure sensor ASP5033 (#21568)

* added a new driver ASP5033 for measuring the differential pressure and airspeed

---------

Co-authored-by: nano <nanobotzhe@abv.bg>
Co-authored-by: Denislav Petrov <you@example.com>

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -172,6 +172,12 @@ then
 	ms5525dso start -X
 fi
 
+# TE ASP5033 differential pressure sensor external I2C
+if param compare -s SENS_EN_ASP5033 1
+then
+	asp5033 start -X
+fi
+
 # SHT3x temperature and hygrometer sensor, external I2C
 if param compare -s SENS_EN_SHT3X 1
 then

src/drivers/differential_pressure/asp5033/ASP5033.cpp

@@ -0,0 +1,258 @@
+/****************************************************************************
+ *
+ *
+ * Copyright (c) 2023 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 ASP5033.cpp
+ *
+ *@author Denislav Petrov <denislavamitoba@gmail.com>
+ */
+
+
+
+#include "ASP5033.hpp"
+
+ASP5033::ASP5033(const I2CSPIDriverConfig &config) :
+	I2C(config),
+	I2CSPIDriver(config)
+{
+}
+
+ASP5033::~ASP5033()
+{
+	perf_free(_sample_perf);
+	perf_free(_comms_errors);
+	perf_free(_fault_perf);
+}
+
+int ASP5033::probe()
+{
+	int ret = sensor_id_check();
+	return ret;
+}
+
+int ASP5033::sensor_id_check()
+{
+	uint8_t id[1];
+	uint8_t cmd_1 = REG_ID_SET_ASP5033;
+	uint8_t cmd_2 = REG_WHOAMI_RECHECK_ID_ASP5033;
+	uint8_t cmd_3 = REG_ID_ASP5033;
+	uint8_t cmd_1_2[2];
+	cmd_1_2[0] = static_cast<uint8_t>(cmd_1);
+	cmd_1_2[1] = static_cast<uint8_t>(cmd_2);
+
+
+	if ((transfer(&cmd_1, 1, &id[0], sizeof(id)) != PX4_OK) || (*id != REG_WHOAMI_DEFAULT_ID_ASP5033)) { return 0; }
+
+	if (transfer(&cmd_1_2[0], 2, nullptr, 0) != PX4_OK) { return 0; }
+
+	if ((transfer(&cmd_3, 1, &id[0], sizeof(id)) != PX4_OK) || (*id != REG_WHOAMI_RECHECK_ID_ASP5033)) { return 0; }
+
+	return 1;
+
+
+
+}
+
+int ASP5033::init()
+{
+	int ret = I2C::init();
+
+	if (ret != PX4_OK) {
+		DEVICE_DEBUG("I2C::init failed (%i)", ret);
+		return ret;
+	}
+
+	ScheduleNow();
+	return ret;
+}
+
+
+/**
+ * @brief calculation of the differential pressure in this way:
+ * it collect all measured pressure and store it into press_sum,
+ * count the value of collected times-press_count, then divide both
+ * and get the actual value of differential pressure - _pressure
+ *
+ * @return true if pressure is valid and no errors, false if not
+ */
+bool ASP5033::get_differential_pressure()
+{
+	if (hrt_elapsed_time(&last_sample_time) > 200_ms) {
+		return false;
+	}
+
+	if (press_count == 0) {
+		return false;
+	}
+
+	//calculation differential pressure
+	_pressure = press_sum / press_count;
+
+	press_sum = 0.;
+	press_count = 0;
+	return true;
+
+}
+
+
+void ASP5033::print_status()
+{
+
+	I2CSPIDriverBase::print_status();
+
+	perf_print_counter(_sample_perf);
+	perf_print_counter(_comms_errors);
+	perf_print_counter(_fault_perf);
+}
+
+void ASP5033::RunImpl()
+{
+	int ret = PX4_ERROR;
+
+	// collection phase
+	if (_collect_phase) {
+		// perform collection
+		ret = collect();
+
+		if (OK != ret) {
+			perf_count(_comms_errors);
+			/* restart the measurement state machine */
+			_collect_phase = false;
+			_sensor_ok = false;
+			ScheduleNow();
+			return;
+		}
+
+		// next phase is measurement
+		_collect_phase = false;
+
+		// is there a collect->measure gap?
+		if (_measure_interval > CONVERSION_INTERVAL) {
+
+			// schedule a fresh cycle call when we are ready to measure again
+			ScheduleDelayed(_measure_interval - CONVERSION_INTERVAL);
+
+			return;
+		}
+	}
+
+	/* measurement phase */
+	ret = measure();
+
+	if (OK != ret) {
+		DEVICE_DEBUG("measure error");
+	}
+
+	_sensor_ok = (ret == OK);
+
+	// next phase is collection
+	_collect_phase = true;
+
+	// schedule a fresh cycle call when the measurement is done
+	ScheduleDelayed(CONVERSION_INTERVAL);
+}
+
+
+int ASP5033::measure()
+{
+	// Send the command to begin a measurement.
+	uint8_t cmd_1 = CMD_MEASURE_ASP5033;
+	uint8_t cmd_2 = REG_CMD_ASP5033;;
+
+	//write to driver to start
+	uint8_t cmd[2];
+	cmd[0] = static_cast<uint8_t>(cmd_2);
+	cmd[1] = static_cast<uint8_t>(cmd_1);
+	int ret = transfer(&cmd[0], 2, nullptr, 0);
+
+	if (OK != ret) {
+		perf_count(_comms_errors);
+	}
+
+	return ret;
+}
+
+int ASP5033::collect()
+{
+	perf_begin(_sample_perf);
+	const hrt_abstime timestamp_sample = hrt_absolute_time();
+
+
+	// Read pressure and temperature as one block
+	uint8_t val[5] {0, 0, 0, 0, 0};
+	uint8_t cmd = REG_PRESS_DATA_ASP5033;
+	transfer(&cmd, 1, &val[0], sizeof(val));
+
+	//Pressure is a signed 24-bit value
+	int32_t press = (val[0] << 24) | (val[1] << 16) | (val[2] << 8);
+	// convert back to 24 bit
+	press >>= 8;
+
+	// k is a shift based on the pressure range of the device. See
+	// table in the datasheet
+	constexpr uint8_t k = 8;
+	constexpr float press_scale = 1.0f / (1U << k); //= 1.0f / (1U << k);
+	press_sum += press * press_scale;
+	press_count++;
+
+	// temperature is 16 bit signed in units of 1/256 C
+	const int16_t temp = (val[3] << 8) | val[4];
+	constexpr float temp_scale = 1.0f / 256;
+	_temperature = temp * temp_scale;
+	last_sample_time = hrt_absolute_time();
+	bool status = get_differential_pressure();
+
+	if (status == true && (int)_temperature != 0) {
+		// publish values
+		differential_pressure_s differential_pressure{};
+		differential_pressure.timestamp_sample = timestamp_sample;
+		differential_pressure.device_id = get_device_id();
+		differential_pressure.differential_pressure_pa = _pressure;
+		differential_pressure.temperature = _temperature ;
+		differential_pressure.error_count = perf_event_count(_comms_errors);
+		differential_pressure.timestamp = timestamp_sample;
+		_differential_pressure_pub.publish(differential_pressure);
+
+	}
+
+	perf_end(_sample_perf);
+
+	return PX4_OK;
+}
+
+
+
+
+