trone: added support for WHOAMI register

1 files changed, 59 insertions, 44 deletions

diff --git a/src/drivers/trone/trone.cpp b/src/drivers/trone/trone.cpp
index 10aee9c8b..6dad7b3b1 100644
--- a/src/drivers/trone/trone.cpp
+++ b/src/drivers/trone/trone.cpp
@@ -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)
@@ -182,40 +185,40 @@ private:
 };
 
 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;
 }
 
 /*
@@ -308,7 +311,20 @@ out:
 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
@@ -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);
@@ -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;
 		}
@@ -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