multi diff pres sensor publication and logging

msg/differential_pressure.msg

@@ -2,3 +2,4 @@ uint64 error_count				# Number of errors detected by driver
 float32 differential_pressure_raw_pa		# Raw differential pressure reading (may be negative)
 float32 differential_pressure_filtered_pa	# Low pass filtered differential pressure reading
 float32 temperature				# Temperature provided by sensor, -1000.0f if unknown
+uint32 device_id				# unique device ID for the sensor that does not change between power cycles

src/drivers/airspeed/airspeed.cpp

@@ -36,7 +36,6 @@
  * @author Simon Wilks <simon@px4.io>
  * @author Lorenz Meier <lorenz@px4.io>
  *
- * Driver for the Eagle Tree Airspeed V3 connected via I2C.
  */
 
 #include <px4_config.h>
@@ -86,6 +85,7 @@ Airspeed::Airspeed(int bus, int address, unsigned conversion_interval, const cha
 	_collect_phase(false),
 	_diff_pres_offset(0.0f),
 	_airspeed_pub(nullptr),
+	_airspeed_orb_class_instance(-1),
 	_subsys_pub(nullptr),
 	_class_instance(-1),
 	_conversion_interval(conversion_interval),
@@ -138,20 +138,17 @@ Airspeed::init()
 	/* register alternate interfaces if we have to */
 	_class_instance = register_class_devname(AIRSPEED_BASE_DEVICE_PATH);
 
-	/* publication init */
-	if (_class_instance == CLASS_DEVICE_PRIMARY) {
+	/* advertise sensor topic, measure manually to initialize valid report */
+	measure();
+	differential_pressure_s arp;
+	_reports->get(&arp);
 
-		/* advertise sensor topic, measure manually to initialize valid report */
-		struct differential_pressure_s arp;
-		measure();
-		_reports->get(&arp);
+	/* measurement will have generated a report, publish */
+	_airspeed_pub = orb_advertise_multi(ORB_ID(differential_pressure), &arp, &_airspeed_orb_class_instance,
+					    ORB_PRIO_HIGH - _class_instance);
 
-		/* measurement will have generated a report, publish */
-		_airspeed_pub = orb_advertise(ORB_ID(differential_pressure), &arp);
-
-		if (_airspeed_pub == nullptr) {
-			PX4_WARN("uORB started?");
-		}
+	if (_airspeed_pub == nullptr) {
+		PX4_WARN("uORB started?");
 	}
 
 	ret = OK;

src/drivers/airspeed/airspeed.h

@@ -134,6 +134,8 @@ protected:
 	float			_diff_pres_offset;
 
 	orb_advert_t		_airspeed_pub;
+	int			_airspeed_orb_class_instance;
+
 	orb_advert_t		_subsys_pub;
 
 	int			_class_instance;

src/drivers/drv_sensor.h

@@ -91,6 +91,13 @@
 #define DRV_MAG_DEVTYPE_BMM150		0x43
 #define DRV_BARO_DEVTYPE_BMP285		0x44
 
+#define DRV_DIFF_PRESS_DEVTYPE_ETS3	0x45
+#define DRV_DIFF_PRESS_DEVTYPE_MS4525	0x46
+#define DRV_DIFF_PRESS_DEVTYPE_MS5525	0x47
+#define DRV_DIFF_PRESS_DEVTYPE_SDP31	0x48
+#define DRV_DIFF_PRESS_DEVTYPE_SDP32	0x49
+#define DRV_DIFF_PRESS_DEVTYPE_SDP33	0x50
+
 /*
  * ioctl() definitions
  *

src/drivers/ets_airspeed/ets_airspeed.cpp

@@ -116,7 +116,7 @@ extern "C" __EXPORT int ets_airspeed_main(int argc, char *argv[]);
 ETSAirspeed::ETSAirspeed(int bus, int address, const char *path) : Airspeed(bus, address,
 			CONVERSION_INTERVAL, path)
 {
-
+	_device_id.devid_s.devtype = DRV_DIFF_PRESS_DEVTYPE_MS4525;
 }
 
 int
@@ -177,6 +177,7 @@ ETSAirspeed::collect()
 	report.differential_pressure_filtered_pa = diff_pres_pa_raw;
 	report.differential_pressure_raw_pa = diff_pres_pa_raw;
 	report.temperature = -1000.0f;
+	report.device_id = _device_id.devid;
 
 	if (_airspeed_pub != nullptr && !(_pub_blocked)) {
 		/* publish it */

src/drivers/ms4525_airspeed/ms4525_airspeed.cpp

@@ -139,6 +139,7 @@ MEASAirspeed::MEASAirspeed(int bus, int address, const char *path) : Airspeed(bu
 	_t_system_power(-1),
 	system_power{}
 {
+	_device_id.devid_s.devtype = DRV_DIFF_PRESS_DEVTYPE_MS4525;
 }
 
 int
@@ -247,6 +248,7 @@ MEASAirspeed::collect()
 	report.temperature = temperature;
 	report.differential_pressure_filtered_pa =  _filter.apply(diff_press_pa_raw) - _diff_pres_offset;
 	report.differential_pressure_raw_pa = diff_press_pa_raw - _diff_pres_offset;
+	report.device_id = _device_id.devid;
 
 	if (_airspeed_pub != nullptr && !(_pub_blocked)) {
 		/* publish it */

src/drivers/ms5525_airspeed/MS5525.cpp

@@ -118,6 +118,7 @@ MS5525::init_ms5525()
 		C6 = prom[6];
 
 		Tref = int64_t(C5) * (1UL << Q5);
+		_device_id.devid_s.devtype = DRV_DIFF_PRESS_DEVTYPE_MS5525;
 
 		return true;
 
@@ -255,6 +256,7 @@ MS5525::collect()
 		.differential_pressure_raw_pa = diff_press_pa_raw - _diff_pres_offset,
 		.differential_pressure_filtered_pa =  _filter.apply(diff_press_pa_raw) - _diff_pres_offset,
 		.temperature = temperature_c,
+		.device_id = _device_id.devid
 	};
 
 	if (_airspeed_pub != nullptr && !(_pub_blocked)) {

src/drivers/sdp3x_airspeed/SDP3X.cpp

@@ -102,6 +102,20 @@ SDP3X::init_sdp3x()
 
 	_scale = (((uint16_t)val[6]) << 8) | val[7];
 
+	switch (_scale) {
+	case SDP3X_SCALE_PRESSURE_SDP31:
+		_device_id.devid_s.devtype = DRV_DIFF_PRESS_DEVTYPE_SDP31;
+		break;
+
+	case SDP3X_SCALE_PRESSURE_SDP32:
+		_device_id.devid_s.devtype = DRV_DIFF_PRESS_DEVTYPE_SDP32;
+		break;
+
+	case SDP3X_SCALE_PRESSURE_SDP33:
+		_device_id.devid_s.devtype = DRV_DIFF_PRESS_DEVTYPE_SDP33;
+		break;
+	}
+
 	return true;
 }
 
@@ -141,6 +155,7 @@ SDP3X::collect()
 	report.temperature = temperature_c;
 	report.differential_pressure_filtered_pa = _filter.apply(diff_press_pa_raw) - _diff_pres_offset;
 	report.differential_pressure_raw_pa = diff_press_pa_raw - _diff_pres_offset;
+	report.device_id = _device_id.devid;
 
 	if (_airspeed_pub != nullptr && !(_pub_blocked)) {
 		orb_publish(ORB_ID(differential_pressure), _airspeed_pub, &report);

src/drivers/sdp3x_airspeed/SDP3X.hpp

@@ -63,6 +63,10 @@
 #define SDP3X_RESET_CMD			0x06
 #define SDP3X_CONT_MEAS_AVG_MODE	0x3615
 
+#define SDP3X_SCALE_PRESSURE_SDP31	20
+#define SDP3X_SCALE_PRESSURE_SDP32	5
+#define SDP3X_SCALE_PRESSURE_SDP33	60
+
 #define PATH_SDP3X "/dev/sdp3x"
 
 // Measurement rate is 20Hz