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[auav] Robustify I2C transfers and enforce minimum sample time

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This commit is contained in:
Niklas Hauser
2025-11-24 10:24:56 +01:00
committed by Niklas Hauser
parent bd3b3d647f
commit 932abfd558
3 changed files with 17 additions and 6 deletions
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src/drivers/differential_pressure/auav/AUAV.cpp
+13 -6
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@@ -65,6 +65,7 @@ AUAV::AUAV(const I2CSPIDriverConfig &config) :
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors"))
{
I2C::_retries = 5;
}
AUAV::~AUAV()
@@ -130,15 +131,21 @@ int AUAV::init()
int AUAV::probe()
{
uint8_t res_data = 0;
int status = transfer(nullptr, 0, &res_data, sizeof(res_data));
uint8_t res_data;
/* Check that the sensor is active. Reported in bit 6 of the status byte */
if ((res_data & 0x40) == 0) {
status = PX4_ERROR;
for (unsigned i = 0; i < 10; i++) {
res_data = 0;
int status = transfer(nullptr, 0, &res_data, 1);
/* Check that the sensor is active. Reported in bit 6 of the status byte */
if (status == PX4_OK && (res_data & 0x40)) {
return PX4_OK;
}
px4_usleep(10'000);
}
return status;
return PX4_ERROR;
}
void AUAV::handle_state_read_calibdata()
src/drivers/differential_pressure/auav/AUAV_Absolute.hpp
+2
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@@ -51,6 +51,8 @@ static constexpr uint8_t EEPROM_ABS_ES = 0x38;
/* Measurement rate is 50Hz */
static constexpr unsigned ABS_MEAS_RATE = 50;
static constexpr int64_t ABS_CONVERSION_INTERVAL = (1000000 / ABS_MEAS_RATE); /* microseconds */
/* reading too fast can yield all zero data -> incorrect sensor reading */
static_assert(ABS_CONVERSION_INTERVAL >= 7000, "Conversion interval is too fast");
/* Conversions */
static constexpr float MBAR_TO_PA = 100.0f;
src/drivers/differential_pressure/auav/AUAV_Differential.hpp
+2
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@@ -51,6 +51,8 @@ static constexpr uint8_t EEPROM_DIFF_ES = 0x34;
/* Measurement rate is 100Hz */
static constexpr unsigned DIFF_MEAS_RATE = 100;
static constexpr int64_t DIFF_CONVERSION_INTERVAL = (1000000 / DIFF_MEAS_RATE); /* microseconds */
/* reading too fast can yield all zero data -> incorrect sensor reading */
static_assert(DIFF_CONVERSION_INTERVAL >= 7000, "Conversion interval is too fast");
/* Conversions */
static constexpr float INH_TO_PA = 249.08f;