Feat: Add driver for TMP102 temperature sensor for Skynode-N (#26241)

* feat: added driver for tmp102 temperature sensor

* style: removed new line

* style: adjusted date in header

* style: removed duplicated logging

* fix: moved start-up command from rc.board_sensors to rc.sensors

* style: used consexpr for expected config reg value

* feat: added retry logic to probe function

* style: added _ as prefix to global variable

* style: used make format

* fix: corrected temperature calculation

* fix: mask AL-bit in probe function

* style: removed header files from CMakeLists

* style: used correct english in comments

* refactor: return error right after failure

* style: moved init call to correct place

* fix: corrected temperature calculation (again)

* refactor: removed _curr_pr variable => always have to set PR to desired register on read

* fix: add multi logged topic

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -237,6 +237,12 @@ then
 	tla2528 start -X
 fi
 
+# Start TMP102 temperature sensor
+if param compare SENS_EN_TMP102 1
+then
+	tmp102 start -X
+fi
+
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then

src/drivers/drv_sensor.h

@@ -267,6 +267,7 @@
 
 
 #define DRV_TEMP_DEVTYPE_MCP9808	0xEE
+#define DRV_TEMP_DEVTYPE_TMP102		0xF0
 
 #define DRV_DEVTYPE_UNUSED		0xff
 

src/drivers/temperature_sensor/tmp102/CMakeLists.txt

@@ -0,0 +1,45 @@
+############################################################################
+#
+#   Copyright (c) 2026 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__temperature_sensor__tmp102
+	MAIN tmp102
+	COMPILE_FLAGS
+	SRCS
+		tmp102_main.cpp
+		tmp102.cpp
+	MODULE_CONFIG
+		module.yaml
+	DEPENDS
+		px4_work_queue
+	)

src/drivers/temperature_sensor/tmp102/Kconfig

@@ -0,0 +1,5 @@
+menuconfig DRIVERS_TEMPERATURE_SENSOR_TMP102
+	bool "TMP102 temperature sensor"
+	default n
+	---help---
+		Enable support for the TMP102 temperature sensor

src/drivers/temperature_sensor/tmp102/module.yaml

@@ -0,0 +1,15 @@
+__max_num_config_instances: &max_num_config_instances 1
+
+module_name: TMP102
+
+parameters:
+  - group: Sensors
+    definitions:
+      SENS_EN_TMP102:
+        description:
+            short: Enable TMP102
+            long: |
+                Enable the driver for the TMP102 temperature sensor
+        type: boolean
+        reboot_required: true
+        default: 0

src/drivers/temperature_sensor/tmp102/tmp102.cpp

@@ -0,0 +1,129 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 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 "tmp102.h"
+
+TMP102::TMP102(const I2CSPIDriverConfig &config) :
+	I2C(config),
+	I2CSPIDriver(config),
+	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": single-sample")),
+	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors"))
+{
+}
+
+TMP102::~TMP102()
+{
+	ScheduleClear();
+	perf_free(_cycle_perf);
+	perf_free(_comms_errors);
+}
+
+void TMP102::RunImpl()
+{
+	if (should_exit()) {
+		exit_and_cleanup();
+		return;
+	}
+
+	perf_begin(_cycle_perf);
+
+	float temperature = read_temperature();
+
+	if (std::isnan(temperature)) {
+		perf_count(_comms_errors);
+
+	} else {
+		sensor_temp_s _sensor_temp{};
+		_sensor_temp.timestamp = hrt_absolute_time();
+		_sensor_temp.temperature = temperature;
+		_sensor_temp.device_id = get_device_id();
+		_sensor_temp_pub.publish(_sensor_temp);
+	}
+
+	perf_end(_cycle_perf);
+}
+
+int TMP102::probe()
+{
+	uint16_t conf_reg;
+
+	for (int i = 0; i < 3; i++) {
+		if (read_reg(TMP102_CONFIG_REG, conf_reg) == PX4_OK && (conf_reg | 0x0020) == DEFAULT_CONFIG_REG) { // Mask the AL bit
+			return PX4_OK;
+		}
+
+		px4_sleep(1);
+	}
+
+	return PX4_ERROR;
+}
+
+int TMP102::init()
+{
+	int ret = I2C::init();
+
+	if (ret != PX4_OK) {
+		PX4_ERR("TMP102, I2C init failed");
+		return ret;
+	}
+
+	_sensor_temp_pub.advertise();
+	ScheduleOnInterval(250_ms); // DEFAULT SAMPLE RATE IS 4HZ => 250ms INTERVAL
+	return PX4_OK;
+}
+
+float TMP102::read_temperature()
+{
+	uint16_t tmp_data;
+
+	if (read_reg(TMP102_TEMP_REG, tmp_data) != PX4_OK) {
+		return NAN;
+	}
+
+	float temperature = ((int16_t)(tmp_data) >> 4) * 0.0625f;
+	return temperature;
+}
+
+int TMP102::read_reg(uint8_t reg, uint16_t &data)
+{
+	uint8_t tmp_data[2];
+	tmp_data[0] = reg;
+
+	if (transfer(tmp_data, 1, nullptr, 0) != PX4_OK) { // Set the PR to the desired register
+		return PX4_ERROR;
+	}
+
+	int ret = transfer(nullptr, 0, tmp_data, 2); // Read the data from the desired register
+	data = (tmp_data[0] << 8) | tmp_data[1];
+	return ret;
+}

src/drivers/temperature_sensor/tmp102/tmp102.h

@@ -0,0 +1,73 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 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.
+ *
+ ****************************************************************************/
+#pragma once
+
+#include <stdint.h>
+#include <drivers/device/i2c.h>
+#include <px4_platform_common/i2c_spi_buses.h>
+#include <uORB/topics/sensor_temp.h>
+#include <uORB/PublicationMulti.hpp>
+#include <lib/perf/perf_counter.h>
+#include <drivers/drv_hrt.h>
+
+using namespace time_literals;
+
+#define TMP102_TEMP_REG 0x00
+#define TMP102_CONFIG_REG 0x01
+#define TMP102_TLOW_REG 0x02
+#define TMP102_THIGH_REG 0x03
+
+constexpr uint16_t DEFAULT_CONFIG_REG = 0x60A0; // 12-bit resolution, comparator mode, active low, 4Hz
+
+class TMP102 : public device::I2C, public I2CSPIDriver<TMP102>
+{
+public:
+	TMP102(const I2CSPIDriverConfig &config);
+	~TMP102() override;
+
+	int init() override;
+	int probe() override;
+	void RunImpl();
+	static void print_usage();
+
+protected:
+	void print_status();
+
+private:
+	uORB::PublicationMulti<sensor_temp_s> _sensor_temp_pub{ORB_ID(sensor_temp)};
+	perf_counter_t		_cycle_perf;
+	perf_counter_t		_comms_errors;
+
+	float read_temperature();
+	int read_reg(uint8_t address, uint16_t &data);
+};

src/drivers/temperature_sensor/tmp102/tmp102_main.cpp

@@ -0,0 +1,90 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 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 tmp102_main.cpp
+ * @author Philipp Engljaehringer
+ *
+ * Driver for the TMP102 Temperature Sensor connected via I2C.
+ */
+
+#include "tmp102.h"
+#include <px4_platform_common/module.h>
+
+void TMP102::print_usage()
+{
+	PRINT_MODULE_USAGE_NAME("tmp102", "driver");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
+	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x48);
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+}
+
+void TMP102::print_status()
+{
+	I2CSPIDriverBase::print_status();
+	perf_print_counter(_cycle_perf);
+	perf_print_counter(_comms_errors);
+}
+
+extern "C" int tmp102_main(int argc, char *argv[])
+{
+	using ThisDriver = TMP102;
+	BusCLIArguments cli{true, false};
+	cli.default_i2c_frequency = 400000;
+	cli.i2c_address = 0x48;
+
+	const char *verb = cli.parseDefaultArguments(argc, argv);
+
+	if (!verb) {
+		ThisDriver::print_usage();
+		return -1;
+	}
+
+	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_TEMP_DEVTYPE_TMP102);
+
+	if (!strcmp(verb, "start")) {
+		return ThisDriver::module_start(cli, iterator);
+	}
+
+	if (!strcmp(verb, "stop")) {
+		return ThisDriver::module_stop(iterator);
+	}
+
+	if (!strcmp(verb, "status")) {
+		return ThisDriver::module_status(iterator);
+	}
+
+	ThisDriver::print_usage();
+	return -1;
+}

src/modules/logger/logged_topics.cpp

@@ -125,7 +125,6 @@ void LoggedTopics::add_default_topics()
 	add_optional_topic("sensor_gyro_fft", 50);
 	add_topic("sensor_selection");
 	add_topic("sensors_status_imu", 200);
-	add_optional_topic("sensor_temp", 100);
 	add_optional_topic("spoilers_setpoint", 1000);
 	add_topic("system_power", 500);
 	add_optional_topic("takeoff_status", 1000);
@@ -167,6 +166,7 @@ void LoggedTopics::add_default_topics()
 	add_optional_topic_multi("control_allocator_status", 200, 2);
 	add_optional_topic_multi("rate_ctrl_status", 200, 2);
 	add_optional_topic_multi("sensor_hygrometer", 500, 4);
+	add_optional_topic_multi("sensor_temp", 100, 4);
 	add_optional_topic_multi("rpm", 200);
 	add_topic_multi("timesync_status", 1000, 3);
 	add_optional_topic_multi("telemetry_status", 1000, 4);