[Sponsored by Holybro] Add Goermicro/Goertek SPA06 baro driver

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -211,6 +211,13 @@ then
 	spl06 -X -a 0x77 start
 fi
 
+# SPA06 sensor external I2C
+if param compare -s SENS_EN_SPA06 1
+then
+	spa06 -X start
+	spa06 -X -a 0x77 start
+fi
+
 # PCF8583 counter (RPM sensor)
 if param compare -s SENS_EN_PCF8583 1
 then

boards/holybro/kakuteh7/init/rc.board_sensors

@@ -11,4 +11,7 @@ then
 	icm42688p -R 6 -s start
 fi
 
-bmp280 -X start
+if ! bmp280 -X start
+then
+	spa06 -X start
+fi

boards/holybro/kakuteh7mini/init/rc.board_sensors

@@ -12,4 +12,7 @@ then
   fi
 fi
 
-bmp280 -X start
+if ! bmp280 -X start
+then
+	spa06 -X start
+fi

boards/holybro/kakuteh7v2/init/rc.board_sensors

@@ -9,4 +9,7 @@ then
 	icm42688p -R 0 -s start
 fi
 
-bmp280 -X start
+if ! bmp280 -X start
+then
+	spa06 -X start
+fi

src/drivers/barometer/Kconfig

@@ -11,6 +11,7 @@ menu "barometer"
         select DRIVERS_BAROMETER_MS5611
         select DRIVERS_BAROMETER_MAIERTEK_MPC2520
         select DRIVERS_BAROMETER_GOERTEK_SPL06
+        select DRIVERS_BAROMETER_GOERTEK_SPA06
         select DRIVERS_BAROMETER_INVENSENSE_ICP101XX
         select DRIVERS_BAROMETER_INVENSENSE_ICP201XX
         ---help---

src/drivers/barometer/goertek/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2022-2024 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
@@ -32,3 +32,4 @@
 ############################################################################
 
 add_subdirectory(spl06)
+add_subdirectory(spa06)

src/drivers/barometer/goertek/spa06/CMakeLists.txt

@@ -0,0 +1,45 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+px4_add_module(
+	MODULE drivers__barometer__spa06
+	MAIN spa06
+	SRCS
+		SPA06.cpp
+		SPA06.hpp
+		SPA06_I2C.cpp
+		SPA06_SPI.cpp
+		spa06_main.cpp
+	DEPENDS
+		px4_work_queue
+	)

src/drivers/barometer/goertek/spa06/Kconfig

@@ -0,0 +1,5 @@
+menuconfig DRIVERS_BAROMETER_GOERTEK_SPA06
+	bool "spa06"
+	default n
+	---help---
+		Enable support for spa06

src/drivers/barometer/goertek/spa06/SPA06.cpp

@@ -0,0 +1,259 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#include "SPA06.hpp"
+
+SPA06::SPA06(const I2CSPIDriverConfig &config, spa06::ISPA06 *interface) :
+	I2CSPIDriver(config),
+	_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"))
+{
+}
+
+SPA06::~SPA06()
+{
+	// free perf counters
+	perf_free(_sample_perf);
+	perf_free(_measure_perf);
+	perf_free(_comms_errors);
+
+	delete _interface;
+}
+
+/*
+float
+SPA06::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
+SPA06::calibrate()
+{
+	uint8_t buf[21];
+
+	_interface->read(SPA06_ADDR_CAL, buf, sizeof(buf));
+
+	_cal.c0 = (uint16_t)(buf[0]) << 4 | (uint16_t)(buf[1]) >> 4;
+	// If value is negative, we need to fill the missing bits.
+	_cal.c0 = (_cal.c0 & 1 << 11) ? (0xf000 | _cal.c0) : _cal.c0;
+
+	_cal.c1 = (uint16_t)(buf[1] & 0x0F) << 8 | 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 | (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 | 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];
+
+	_cal.c31 = (uint16_t)(buf[18]) << 4 | (uint16_t)(buf[19] & 0xF0) >> 4;
+	_cal.c31 = (_cal.c31 & 1 << 11) ? (0xf000 | _cal.c31) : _cal.c31;
+
+	_cal.c40 = (uint16_t)(buf[19] & 0x0F) << 8 | buf[20];
+	_cal.c40 = (_cal.c40 & 1 << 11) ? (0xf000 | _cal.c40) : _cal.c40;
+
+	PX4_DEBUG("c0:%d\nc1:%d\nc00:%ld\nc10:%ld\nc01:%d\nc11:%d\nc20:%d\nc21:%d\nc30:%d\nc31:%d\nc40:%d\n",
+		  _cal.c0, _cal.c1,
+		  _cal.c00, _cal.c10,
+		  _cal.c01, _cal.c11, _cal.c20, _cal.c21, _cal.c30, _cal.c31, _cal.c40);
+
+	return OK;
+}
+int
+SPA06::init()
+{
+	int8_t tries = 5;
+	// reset sensor
+	_interface->set_reg(SPA06_VALUE_RESET, SPA06_ADDR_RESET);
+	usleep(10000);
+
+	// check id
+	if (_interface->get_reg(SPA06_ADDR_ID) != SPA06_VALUE_ID) {
+		PX4_DEBUG("id of your baro is not: 0x%02x", SPA06_VALUE_ID);
+		return -EIO;
+	}
+
+	while (tries--) {
+		uint8_t meas_cfg = _interface->get_reg(SPA06_ADDR_MEAS_CFG);
+
+		if (meas_cfg & (1 << 7) && meas_cfg & (1 << 6)) {
+			break;
+		}
+
+		usleep(10000);
+	}
+
+	if (tries < 0) {
+		PX4_DEBUG("spa06 sensor or coef not ready");
+		return -EIO;
+	}
+
+	// get calibration and pre process them
+	calibrate();
+
+	// set config, recommended settings
+	_interface->set_reg(_curr_prs_cfg, SPA06_ADDR_PRS_CFG);
+	kp = 253952.0f; // refer to scale_factor()
+	_interface->set_reg(_curr_tmp_cfg, SPA06_ADDR_TMP_CFG);
+	kt = 524288.0f;
+
+	// Enable FIFO
+	_interface->set_reg(1 << 2, SPA06_ADDR_CFG_REG);
+	// Continuous pressure and temperature mesasurement.
+	_interface->set_reg(7, SPA06_ADDR_MEAS_CFG);
+
+	Start();
+
+	return OK;
+}
+
+void
+SPA06::Start()
+{
+	// schedule a cycle to start things
+	ScheduleNow();
+}
+
+void
+SPA06::RunImpl()
+{
+	collect();
+
+	ScheduleDelayed(_measure_interval);
+}
+int
+SPA06::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(SPA06_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) + fpsc * (float)_cal.c40);
+	float qua3 = ftsc * fpsc * ((float)_cal.c11 + fpsc * ((float)_cal.c21) + fpsc * (float)_cal.c31);
+
+	float fp = (float)_cal.c00 + fpsc * qua2 + ftsc * (float)_cal.c01 + qua3;
+	float temperature = (float)_cal.c0 * 0.5f + (float)_cal.c1 * ftsc;
+
+
+	sensor_baro_s sensor_baro{};
+	sensor_baro.timestamp_sample = timestamp_sample;
+	sensor_baro.device_id = _interface->get_device_id();
+	sensor_baro.pressure = fp;
+	sensor_baro.temperature = temperature;
+	sensor_baro.error_count = perf_event_count(_comms_errors);
+	sensor_baro.timestamp = hrt_absolute_time();
+	_sensor_baro_pub.publish(sensor_baro);
+
+	perf_end(_sample_perf);
+
+	return OK;
+}
+
+void
+SPA06::print_status()
+{
+	I2CSPIDriverBase::print_status();
+	perf_print_counter(_sample_perf);
+	perf_print_counter(_measure_perf);
+	perf_print_counter(_comms_errors);
+}