MPFS TVS: driver and new uORB topic [1/4]

msg/CMakeLists.txt

@@ -179,6 +179,7 @@ set(msg_files
 	SensorSelection.msg
 	SensorsStatus.msg
 	SensorsStatusImu.msg
+	SensorTvs.msg
 	SensorUwb.msg
 	SystemPower.msg
 	SystemVersion.msg

msg/SensorTvs.msg

@@ -0,0 +1,4 @@
+uint64 timestamp          # time since system start (microseconds)
+uint32 device_id          # unique device ID for the sensor that does not change between power cycles
+float32 temperature       # temperature in degrees Celsius
+float32[3] voltage        # voltage in mV

platforms/nuttx/src/px4/microchip/mpfs/CMakeLists.txt

@@ -39,3 +39,4 @@ add_subdirectory(version version)
 add_subdirectory(tone_alarm tone_alarm)
 add_subdirectory(../microchip_common/adc adc)
 add_subdirectory(px4io_serial)
+add_subdirectory(tvs)

platforms/nuttx/src/px4/microchip/mpfs/include/px4_arch/tvs.h

@@ -0,0 +1,43 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 Technology Innovation Institute. 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>
+
+__BEGIN_DECLS
+
+int tvs_get_voltage(int idx, float *voltage);
+int tvs_get_temperature(float *temperature);
+
+__END_DECLS

platforms/nuttx/src/px4/microchip/mpfs/tvs/CMakeLists.txt

@@ -0,0 +1,36 @@
+############################################################################
+#
+#   Copyright (c) 2024 Technology Innovation Institute. 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_library(arch_tvs
+	mpfs_tvs.c
+)

platforms/nuttx/src/px4/microchip/mpfs/tvs/mpfs_tvs.c

@@ -0,0 +1,119 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2024 Technology Innovation Institute. 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 <px4_arch/tvs.h>
+
+#include "mpfs.h"
+
+/*
+ * TVS Readout Register base address is 0x4B00_D000.
+ *
+ * Register     | Offset | Width  | Description
+ *              |        | (bits) |
+ * ------------------------------------------------------------------------------------
+ * Voltage 1.0  | 0x0    | 32     | 1.0/1.05V Core voltage measurement value. Channel 0
+ * Voltage 1.8V | 0x4    | 32     | 1.8V Core voltage measurement value. Channel 1
+ * Voltage 2.5V | 0x8    | 32     | 2.5V Core voltage measurement value, Channel 2
+ * Temperature  | 0xC    | 32     | Temperature measurement value. Channel 3
+*/
+
+#define MPFS_TVS_VOLT_1_0	0x4B00D000 /* MPFS TVS base address */
+#define MPFS_TVS_VOLT_1_8	0x4B00D004
+#define MPFS_TVS_VOLT_2_5	0x4B00D008
+#define MPFS_TVS_TEMP		0x4B00D00C
+
+int tvs_get_voltage(int idx, float *voltage)
+{
+	uint32_t reg = 0;
+	uint16_t volt = 0;
+
+	if (!voltage) {
+		return -EINVAL;
+	}
+
+	switch (idx) {
+	case 0:
+		reg = getreg32(MPFS_TVS_VOLT_1_0);
+		break;
+
+	case 1:
+		reg = getreg32(MPFS_TVS_VOLT_1_8);
+		break;
+
+	case 2:
+		reg = getreg32(MPFS_TVS_VOLT_2_5);
+		break;
+
+	default:
+		return -ENODEV;
+	}
+
+	/* MPFS TVS Voltage Register:
+	 *   [31:16]  Unused bits
+	 *   15       Signed bit
+	 *   [14:3]   Integer value of the voltage (mV)
+	 *   [2:0]    Fractional value of the voltage
+	 */
+
+	volt = reg & 0x7FFF;
+	*voltage = ((float)volt) / 8;
+
+	/* signed bit */
+	if (reg & (1 << 15)) {
+		*voltage *= -1;
+	}
+
+	return 0;
+}
+
+int tvs_get_temperature(float *temperature)
+{
+	uint16_t reg = 0;
+
+	if (!temperature) {
+		return -EINVAL;
+	}
+
+	/* MPFS TVS Temperature Register:
+	 *   [31:16]  Unused bits
+	 *   15       Reserved
+	 *   [14:4]   Integer value of the temperature (K)
+	 *   [3:0]    Fractional value of the temperature
+	 */
+
+	reg = getreg32(MPFS_TVS_TEMP) & 0x7FFF;
+	*temperature = ((float)reg) / 16;
+	*temperature -= 273.15f; /* Kelvin -> Celcius */
+
+	return 0;
+}

src/drivers/tvs/CMakeLists.txt

@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2024 Technology Innoavation Institute. 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__tvs
+	MAIN tvs
+	COMPILE_FLAGS
+	SRCS
+		tvs.cpp
+	DEPENDS
+		px4_work_queue
+		arch_tvs
+)

src/drivers/tvs/Kconfig

@@ -0,0 +1,5 @@
+menuconfig DRIVERS_TVS
+	bool "tvs"
+	default n
+	---help---
+		Enable support for Temperature and Voltage Sensor