sensors/mcp9600: Converted MCP9600 legacy driver to UORB driver as per suggestions on PR #15525.

Documentation/components/drivers/special/sensors/mcp9600.rst

@@ -1,10 +1,12 @@
+=======
 MCP9600
 =======
 
 Contributed by Matteo Golin.
 
-The MCP9600 is a thermocouple EMF to temperature converter made by Microchip. It is also sold as a `breakout board module
+The MCP9600 is a thermocouple EMF to temperature converter made by Microchip. It
-by Adafruit <https://learn.adafruit.com/adafruit-mcp9600-i2c-thermocouple-amplifier>`_.
+is also sold as a `breakout board module by Adafruit
+<https://learn.adafruit.com/adafruit-mcp9600-i2c-thermocouple-amplifier>`_.
 
 Application Programming Interface
 ==================================
@@ -15,26 +17,63 @@ The header file for the MCP9600 driver interface can be included using:
 
    #include <nuttx/sensors/mcp9600.h>
 
-The MCP9600 registration function allows the driver to be registered as a POSIX
+The MCP9600 registration function allows the driver to be registered as a
-character driver.
+:doc:`UORB </components/drivers/special/sensors/sensors_uorb>` sensor.
 
-The standard POSIX `read()` operation will return the device information in
+The MCP9600 measures three types of temperature:
-plain-text, which is useful when debugging/testing the driver using `cat` from
+ * Hot junction temperature
-the shell.
+ * Cold junction temperature
+ * Temperature delta
 
-The `write()` operation is not implemented for this sensor.
+Registering this sensor will create three UORB temperature topics, each with
+their own unique device number. You must specify the unique device numbers for
+each topic in the registration function:
 
-Specific operations the sensor offers can be performed via the POSIX `ioctl`
+.. code-block:: c
-operation. The supported commands are:
 
+   /* Registers sensor_temp1, sensor_temp2 and sensor_temp 3, where 1 is the
+    * hot junction topic, 2 is the cold junction topic and 3 is the delta
+    */
+
+   int err;
+   err = mcp9600_register(i2c_master, 0x60, 1, 2, 3);
+   if (err < 0) {
+     syslog(LOG_ERR, "Could not register MCP9600: %d\n", err);
+   }
+
+
+This sensor offers some additional control commands for features that are not
+accessible with the standard UORB interface.
+
+ * :c:macro:`SNIOC_SET_THERMO`
  * :c:macro:`SNIOC_WHO_AM_I`
  * :c:macro:`SNIOC_READ_RAW_DATA`
  * :c:macro:`SNIOC_CHECK_STATUS_REG`
  * :c:macro:`SNIOC_CONFIGURE`
  * :c:macro:`SNIOC_WRITECONF`
- * :c:macro:`SNIOC_READTEMP`
+
- * :c:macro:`SNIOC_SHUTDOWN`
+``SNIOC_SET_THERMO``
- * :c:macro:`SNIOC_START`
+--------------------
+
+This command configures the thermocouple type of the MCP9600. The device
+supports the following thermocouple types:
+
+ * K
+ * J
+ * T
+ * N
+ * E
+ * S
+ * B
+ * R
+
+.. code-block:: c
+
+   int err;
+   err = orb_ioctl(sensor, SNIOC_SET_THERMO, SENSOR_THERMO_TYPE_J);
+   if (err < 0) {
+     syslog(LOG_ERR, "Failed to set thermocouple type: %d\n", err);
+   }
 
 ``SNIOC_WHO_AM_I``
 ------------------
@@ -46,7 +85,7 @@ type ``struct mcp9600_devinfo_s *``.
 .. code-block:: c
 
   struct mcp9600_devinfo_s devinfo;
-  err = ioctl(sensor, SNIOC_WHO_AM_I, &devinfo);
+  err = orb_ioctl(sensor, SNIOC_WHO_AM_I, &devinfo);
 
   uint8_t revision_minor = MCP9600_REV_MINOR(devinfo.revision);
   uint8_t revision_major = MCP9600_REV_MAJOR(devinfo.revision);
@@ -64,7 +103,7 @@ configured resolution; consult the data sheet.
 .. code-block:: c
 
   int32_t raw;
-  err = ioctl(sensor, SNIOC_READ_RAW_DATA, &raw);
+  err = orb_ioctl(sensor, SNIOC_READ_RAW_DATA, &raw);
 
 ``SNIOC_CHECK_STATUS_REG``
 --------------------------
@@ -75,7 +114,7 @@ this command must be a pointer to type ``struct mcp9600_status_s``.
 .. code-block:: c
 
   struct mcp9600_status_s status;
-  err = ioctl(sensor, SNIOC_CHECK_STATUS_REG, &status);
+  err = orb_ioctl(sensor, SNIOC_CHECK_STATUS_REG, &status);
 
 ``SNIOC_CONFIGURE``
 -------------------
@@ -93,7 +132,7 @@ mcp9600_devconf_s``.
     .resolution = MCP9600_ADC_RES_18,
     /* More fields ... */
   };
-  err = ioctl(sensor, SNIOC_CONFIGURE, &conf);
+  err = orb_ioctl(sensor, SNIOC_CONFIGURE, &conf);
 
 ``SNIOC_WRITECONF``
 -------------------
@@ -111,36 +150,4 @@ mcp9600_alertconf_s``.
     .limit = 40 / 0.25,
     /* More fields ... */
   };
-  err = ioctl(sensor, SNIOC_WRITECONF, &conf);
+  err = orb_ioctl(sensor, SNIOC_WRITECONF, &conf);
-
-``SNIOC_READTEMP``
-------------------
-
-This command lets you read the three different types of temperature that the
-MCP9600 can measure. The argument to this command must be a pointer to type
-``struct mcp9600_temp_s``.
-
-.. code-block:: c
-
-  struct mcp9600_temp_s temps;
-  err = ioctl(sensor, SNIOC_READTEMP, &temps);
-
-  printf("Temperature: %d C\n", temps.hot_junc);
-
-``SNIOC_SHUTDOWN``
-------------------
-
-This command shuts down the sensor. It takes no arguments.
-
-.. code-block:: c
-
-  err = ioctl(sensor, SNIOC_SHUTDOWN, NULL);
-
-``SNIOC_START``
----------------
-
-This command starts the sensor in normal mode. It takes no arguments.
-
-.. code-block:: c
-
-  err = ioctl(sensor, SNIOC_START, NULL);

boards/arm/rp2040/common/src/rp2040_common_bringup.c

@@ -549,9 +549,9 @@ int rp2040_common_bringup(void)
 #endif
 
 #ifdef CONFIG_SENSORS_MCP9600
-  /* Try to register MCP9600 device as /dev/thermo0 at I2C0. */
+  /* Try to register MCP9600 device as /dev/therm0 at I2C0. */
 
-  ret = mcp9600_register("/dev/thermo0", rp2040_i2cbus_initialize(0), 0x60);
+  ret = mcp9600_register(rp2040_i2cbus_initialize(0), 0x60, 1, 2, 3);
   if (ret < 0)
     {
       syslog(LOG_ERR, "ERROR: couldn't initialize MCP9600: %d\n", ret);

drivers/sensors/Kconfig

@@ -965,6 +965,21 @@ config MCP9600_I2C_FREQUENCY
 	range 10000 100000
 	depends on SENSORS_MCP9600
 
+config SENSORS_MCP9600_POLL
+	bool "MCP9600 polling"
+	default y
+	depends on SENSORS_MCP9600
+    ---help---
+        Enable the worker thread for polling the MCP9600 and collecting
+        measurements
+
+config MCP9600_THREAD_STACKSIZE
+    int "MCP9600 stack size"
+    default 1024
+	depends on SENSORS_MCP9600
+    ---help---
+        Stack size of the worker thread polling the MCP9600 for measurements
+
 endif # SENSORS_MCP9600
 
 config SENSORS_MCP9844

drivers/sensors/Make.defs

@@ -225,7 +225,7 @@ ifeq ($(CONFIG_SENSORS_MB7040),y)
 endif
 
 ifeq ($(CONFIG_SENSORS_MCP9600),y)
-  CSRCS += mcp9600.c
+  CSRCS += mcp9600_uorb.c
 endif
 
 ifeq ($(CONFIG_SENSORS_MCP9844),y)

include/nuttx/sensors/ioctl.h

@@ -454,7 +454,7 @@
 #endif
 
 /* Command:      SNIOC_FLUSH
- * Description:  Flush sensor harware fifo buffer.
+ * Description:  Flush sensor hardware fifo buffer.
  */
 
 #define SNIOC_FLUSH                   _SNIOC(0x009D)
@@ -466,4 +466,31 @@
 
 #define SNIOC_GET_EVENTS              _SNIOC(0x009E)
 
+/* Command:      SNIOC_SET_THERMO
+ * Description:  Set the thermocouple type.
+ * Argument:     An option from `enum sensor_thermo_type_e`
+ */
+
+#define SNIOC_SET_THERMO              _SNIOC(0x009F)
+
+/****************************************************************************
+ * Public types
+ ****************************************************************************/
+
+/* Possible thermocouple types. Implementations should not rely on the enum's
+ * underlying value.
+ */
+
+enum sensor_thermo_type_e
+{
+  SENSOR_THERMO_TYPE_K,
+  SENSOR_THERMO_TYPE_J,
+  SENSOR_THERMO_TYPE_T,
+  SENSOR_THERMO_TYPE_N,
+  SENSOR_THERMO_TYPE_S,
+  SENSOR_THERMO_TYPE_E,
+  SENSOR_THERMO_TYPE_B,
+  SENSOR_THERMO_TYPE_R,
+};
+
 #endif /* __INCLUDE_NUTTX_SENSORS_IOCTL_H */

include/nuttx/sensors/mcp9600.h

@@ -56,20 +56,6 @@ enum mcp9600_alert_e
   MCP9600_ALERT4 = 3, /* Alert 4 */
 };
 
-/* Thermocouple types */
-
-enum mcp9600_thermocouple_e
-{
-  MCP9600_THERMO_TYPE_K = 0x0,
-  MCP9600_THERMO_TYPE_J = 0x1,
-  MCP9600_THERMO_TYPE_T = 0x2,
-  MCP9600_THERMO_TYPE_N = 0x3,
-  MCP9600_THERMO_TYPE_S = 0x4,
-  MCP9600_THERMO_TYPE_E = 0x5,
-  MCP9600_THERMO_TYPE_B = 0x6,
-  MCP9600_THERMO_TYPE_R = 0x7,
-};
-
 /* ADC resolution */
 
 enum mcp9600_resolution_e
@@ -134,7 +120,7 @@ struct mcp9600_alert_conf_s
 
 struct mcp9600_devconf_s
 {
-  enum mcp9600_thermocouple_e thermo_type; /* Thermocouple type */
+  enum sensor_thermo_type_e thermo_type;   /* Thermocouple type */
   uint8_t filter_coeff;                    /* Filter coefficient */
   enum mcp9600_resolution_e resolution;    /* ADC resolution */
   enum mcp9600_samples_e num_samples;      /* Number of samples */
@@ -161,15 +147,6 @@ struct mcp9600_status_s
   bool alerts[4];      /* Alert statuses for alerts 1-4 (0-3) */
 };
 
-/* Temperature readings */
-
-struct mcp9600_temp_s
-{
-  int16_t temp_delta; /* Temperature delta in degrees Celsius */
-  int16_t hot_junc;   /* Hot junction temperature in degrees Celsius */
-  int16_t cold_junc;  /* Cold junction temperature in degrees Celsius */
-};
-
 /****************************************************************************
  * Public Function Prototypes
  ****************************************************************************/
@@ -178,20 +155,24 @@ struct mcp9600_temp_s
  * Name: mcp9600_register
  *
  * Description:
- *   Register the MCP9600 character device as 'devpath'
+ *   Register the MCP9600 UORB sensor. This registers 3 temperature UORB
+ *   topics.
  *
  * Input Parameters:
- *   devpath - The full path to the driver to register. E.g., "/dev/temp0"
  *   i2c     - An instance of the I2C interface to use to communicate with
  *             the MCP9600
  *   addr    - The I2C address of the MCP9600, between 0x60 and 0x67
  *
+ *   h_devno - The device number for the hot junction topic
+ *   c_devno - The device number for the cold junction topic
+ *   d_devno - The device number for the delta topic
+ *
  * Returned Value:
  *   Zero (OK) on success; a negated errno value on failure.
  *
  ****************************************************************************/
 
-int mcp9600_register(FAR const char *devpath, FAR struct i2c_master_s *i2c,
+int mcp9600_register(FAR struct i2c_master_s *i2c, uint8_t addr,
-                     uint8_t addr);
+                     uint8_t h_devno, uint8_t c_devno, uint8_t d_devno);
 
 #endif /* __INCLUDE_NUTTX_SENSORS_MCP9600_H */

include/nuttx/uorb.h

@@ -112,7 +112,7 @@
  * Celsius.
  */
 
-#define SENSOR_TYPE_TEMPERAUTRE                     7
+#define SENSOR_TYPE_TEMPERATURE                     7
 
 /* Proximity
  * The values correspond to the distance to the nearest
@@ -162,7 +162,7 @@
 
 #define SENSOR_TYPE_AMBIENT_TEMPERATURE             13
 
-/* Magneric Field Uncalibrated
+/* Magnetic Field Uncalibrated
  * Similar to MAGNETIC_FIELD, all values are in micro-Tesla (uT)
  * and measure the geomagnetic field in X, Y and Z axis.
  */