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trone: added support for WHOAMI register #1776

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trone: added support for WHOAMI register #1776

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103 changes: 59 additions & 44 deletions src/drivers/trone/trone.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -72,14 +72,17 @@
#include <board_config.h>

/* Configuration Constants */
#define TRONE_BUS PX4_I2C_BUS_EXPANSION
#define TRONE_BASEADDR 0x30 /* 7-bit address */
#define TRONE_DEVICE_PATH "/dev/trone"
#define TRONE_BUS PX4_I2C_BUS_EXPANSION
#define TRONE_BASEADDR 0x30 /* 7-bit address */
#define TRONE_DEVICE_PATH "/dev/trone"

/* TRONE Registers addresses */

#define TRONE_MEASURE_REG 0x00 /* Measure range register */
#define TRONE_WHO_AM_I_REG 0x01 /* Who am I test register */
#define TRONE_WHO_AM_I_REG_VAL 0xA1


/* Device limits */
#define TRONE_MIN_DISTANCE (0.20f)
#define TRONE_MAX_DISTANCE (14.00f)
Expand Down Expand Up @@ -182,40 +185,40 @@ class TRONE : public device::I2C
};

static const uint8_t crc_table[] = {
0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31,
0x24, 0x23, 0x2a, 0x2d, 0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65,
0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d, 0xe0, 0xe7, 0xee, 0xe9,
0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1,
0xb4, 0xb3, 0xba, 0xbd, 0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2,
0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea, 0xb7, 0xb0, 0xb9, 0xbe,
0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16,
0x03, 0x04, 0x0d, 0x0a, 0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42,
0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a, 0x89, 0x8e, 0x87, 0x80,
0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8,
0xdd, 0xda, 0xd3, 0xd4, 0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c,
0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44, 0x19, 0x1e, 0x17, 0x10,
0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f,
0x6a, 0x6d, 0x64, 0x63, 0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b,
0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13, 0xae, 0xa9, 0xa0, 0xa7,
0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef,
0xfa, 0xfd, 0xf4, 0xf3
0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31,
0x24, 0x23, 0x2a, 0x2d, 0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65,
0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d, 0xe0, 0xe7, 0xee, 0xe9,
0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1,
0xb4, 0xb3, 0xba, 0xbd, 0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2,
0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea, 0xb7, 0xb0, 0xb9, 0xbe,
0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16,
0x03, 0x04, 0x0d, 0x0a, 0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42,
0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a, 0x89, 0x8e, 0x87, 0x80,
0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8,
0xdd, 0xda, 0xd3, 0xd4, 0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c,
0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44, 0x19, 0x1e, 0x17, 0x10,
0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f,
0x6a, 0x6d, 0x64, 0x63, 0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b,
0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13, 0xae, 0xa9, 0xa0, 0xa7,
0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef,
0xfa, 0xfd, 0xf4, 0xf3
};

static uint8_t crc8(uint8_t *p, uint8_t len) {
uint16_t i;
uint16_t crc = 0x0;
uint16_t i;
uint16_t crc = 0x0;

while (len--) {
i = (crc ^ *p++) & 0xFF;
crc = (crc_table[i] ^ (crc << 8)) & 0xFF;
}
while (len--) {
i = (crc ^ *p++) & 0xFF;
crc = (crc_table[i] ^ (crc << 8)) & 0xFF;
}

return crc & 0xFF;
return crc & 0xFF;
}

/*
Expand Down Expand Up @@ -308,7 +311,20 @@ TRONE::init()
int
TRONE::probe()
{
return measure();
uint8_t who_am_i=0;

const uint8_t cmd = TRONE_WHO_AM_I_REG;
if (transfer(&cmd, 1, &who_am_i, 1) == OK && who_am_i == TRONE_WHO_AM_I_REG_VAL) {
// it is responding correctly to a WHO_AM_I
return measure();
}

debug("WHO_AM_I byte mismatch 0x%02x should be 0x%02x\n",
(unsigned)who_am_i,
TRONE_WHO_AM_I_REG_VAL);

// not found on any address
return -EIO;
}

void
Expand Down Expand Up @@ -534,9 +550,9 @@ TRONE::measure()
int
TRONE::collect()
{
int ret = -EIO;
int ret = -EIO;

/* read from the sensor */
/* read from the sensor */
uint8_t val[3] = {0, 0, 0};

perf_begin(_sample_perf);
Expand Down Expand Up @@ -643,13 +659,12 @@ TRONE::cycle()
* Is there a collect->measure gap?
*/
if (_measure_ticks > USEC2TICK(TRONE_CONVERSION_INTERVAL)) {

/* schedule a fresh cycle call when we are ready to measure again */
work_queue(HPWORK,
&_work,
(worker_t)&TRONE::cycle_trampoline,
this,
_measure_ticks - USEC2TICK(TRONE_CONVERSION_INTERVAL));
&_work,
(worker_t)&TRONE::cycle_trampoline,
this,
_measure_ticks - USEC2TICK(TRONE_CONVERSION_INTERVAL));

return;
}
Expand All @@ -665,10 +680,10 @@ TRONE::cycle()

/* schedule a fresh cycle call when the measurement is done */
work_queue(HPWORK,
&_work,
(worker_t)&TRONE::cycle_trampoline,
this,
USEC2TICK(TRONE_CONVERSION_INTERVAL));
&_work,
(worker_t)&TRONE::cycle_trampoline,
this,
USEC2TICK(TRONE_CONVERSION_INTERVAL));
}

void
Expand Down