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Phil-EngljaehringerPhil-Engljaehringer
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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
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‎ROMFS/px4fmu_common/init.d/rc.sensors‎

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

‎src/drivers/drv_sensor.h‎

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#define DRV_TEMP_DEVTYPE_MCP9808 0xEE
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#define DRV_TEMP_DEVTYPE_TMP102 0xF0
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#define DRV_DEVTYPE_UNUSED 0xff
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‎src/drivers/temperature_sensor/tmp102/CMakeLists.txt‎

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############################################################################
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#
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# Copyright (c) 2026 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_module(
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MODULE drivers__temperature_sensor__tmp102
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MAIN tmp102
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COMPILE_FLAGS
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SRCS
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tmp102_main.cpp
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tmp102.cpp
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MODULE_CONFIG
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module.yaml
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DEPENDS
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px4_work_queue
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)

‎src/drivers/temperature_sensor/tmp102/Kconfig‎

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menuconfig DRIVERS_TEMPERATURE_SENSOR_TMP102
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bool "TMP102 temperature sensor"
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default n
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---help---
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Enable support for the TMP102 temperature sensor

‎src/drivers/temperature_sensor/tmp102/module.yaml‎

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

‎src/drivers/temperature_sensor/tmp102/tmp102.cpp‎

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/****************************************************************************
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*
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* Copyright (c) 2026 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "tmp102.h"
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TMP102::TMP102(const I2CSPIDriverConfig &config) :
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I2C(config),
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I2CSPIDriver(config),
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_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": single-sample")),
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_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors"))
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{
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}
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TMP102::~TMP102()
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{
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ScheduleClear();
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perf_free(_cycle_perf);
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perf_free(_comms_errors);
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}
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void TMP102::RunImpl()
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{
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if (should_exit()) {
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exit_and_cleanup();
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return;
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}
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perf_begin(_cycle_perf);
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float temperature = read_temperature();
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if (std::isnan(temperature)) {
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perf_count(_comms_errors);
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} else {
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sensor_temp_s _sensor_temp{};
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_sensor_temp.timestamp = hrt_absolute_time();
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_sensor_temp.temperature = temperature;
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_sensor_temp.device_id = get_device_id();
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_sensor_temp_pub.publish(_sensor_temp);
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}
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perf_end(_cycle_perf);
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}
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int TMP102::probe()
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{
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uint16_t conf_reg;
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for (int i = 0; i < 3; i++) {
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if (read_reg(TMP102_CONFIG_REG, conf_reg) == PX4_OK && (conf_reg | 0x0020) == DEFAULT_CONFIG_REG) { // Mask the AL bit
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return PX4_OK;
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}
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px4_sleep(1);
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}
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return PX4_ERROR;
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}
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int TMP102::init()
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{
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int ret = I2C::init();
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if (ret != PX4_OK) {
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PX4_ERR("TMP102, I2C init failed");
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return ret;
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}
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_sensor_temp_pub.advertise();
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ScheduleOnInterval(250_ms); // DEFAULT SAMPLE RATE IS 4HZ => 250ms INTERVAL
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return PX4_OK;
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}
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float TMP102::read_temperature()
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{
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uint16_t tmp_data;
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if (read_reg(TMP102_TEMP_REG, tmp_data) != PX4_OK) {
110+
return NAN;
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}
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float temperature = ((int16_t)(tmp_data) >> 4) * 0.0625f;
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return temperature;
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}
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int TMP102::read_reg(uint8_t reg, uint16_t &data)
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{
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uint8_t tmp_data[2];
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tmp_data[0] = reg;
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if (transfer(tmp_data, 1, nullptr, 0) != PX4_OK) { // Set the PR to the desired register
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return PX4_ERROR;
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}
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int ret = transfer(nullptr, 0, tmp_data, 2); // Read the data from the desired register
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data = (tmp_data[0] << 8) | tmp_data[1];
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return ret;
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}

‎src/drivers/temperature_sensor/tmp102/tmp102.h‎

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/****************************************************************************
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*
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* Copyright (c) 2026 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
11+
* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
13+
* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
16+
* used to endorse or promote products derived from this software
17+
* without specific prior written permission.
18+
*
19+
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
21+
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
22+
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
23+
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
24+
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
25+
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
26+
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30+
* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <stdint.h>
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#include <drivers/device/i2c.h>
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#include <px4_platform_common/i2c_spi_buses.h>
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#include <uORB/topics/sensor_temp.h>
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#include <uORB/PublicationMulti.hpp>
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#include <lib/perf/perf_counter.h>
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#include <drivers/drv_hrt.h>
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using namespace time_literals;
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#define TMP102_TEMP_REG 0x00
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#define TMP102_CONFIG_REG 0x01
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#define TMP102_TLOW_REG 0x02
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#define TMP102_THIGH_REG 0x03
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constexpr uint16_t DEFAULT_CONFIG_REG = 0x60A0; // 12-bit resolution, comparator mode, active low, 4Hz
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class TMP102 : public device::I2C, public I2CSPIDriver<TMP102>
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{
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public:
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TMP102(const I2CSPIDriverConfig &config);
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~TMP102() override;
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int init() override;
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int probe() override;
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void RunImpl();
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static void print_usage();
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protected:
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void print_status();
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private:
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uORB::PublicationMulti<sensor_temp_s> _sensor_temp_pub{ORB_ID(sensor_temp)};
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perf_counter_t _cycle_perf;
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perf_counter_t _comms_errors;
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float read_temperature();
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int read_reg(uint8_t address, uint16_t &data);
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};

‎src/drivers/temperature_sensor/tmp102/tmp102_main.cpp‎

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/****************************************************************************
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*
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* Copyright (c) 2026 PX4 Development Team. All rights reserved.
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*
5+
* Redistribution and use in source and binary forms, with or without
6+
* modification, are permitted provided that the following conditions
7+
* are met:
8+
*
9+
* 1. Redistributions of source code must retain the above copyright
10+
* notice, this list of conditions and the following disclaimer.
11+
* 2. Redistributions in binary form must reproduce the above copyright
12+
* notice, this list of conditions and the following disclaimer in
13+
* the documentation and/or other materials provided with the
14+
* distribution.
15+
* 3. Neither the name PX4 nor the names of its contributors may be
16+
* used to endorse or promote products derived from this software
17+
* without specific prior written permission.
18+
*
19+
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
20+
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
21+
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
22+
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
23+
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
24+
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
25+
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
26+
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27+
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28+
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29+
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30+
* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file tmp102_main.cpp
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* @author Philipp Engljaehringer
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*
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* Driver for the TMP102 Temperature Sensor connected via I2C.
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*/
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#include "tmp102.h"
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#include <px4_platform_common/module.h>
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void TMP102::print_usage()
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{
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PRINT_MODULE_USAGE_NAME("tmp102", "driver");
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PRINT_MODULE_USAGE_COMMAND("start");
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PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
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PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x48);
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
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}
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void TMP102::print_status()
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{
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I2CSPIDriverBase::print_status();
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perf_print_counter(_cycle_perf);
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perf_print_counter(_comms_errors);
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}
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extern "C" int tmp102_main(int argc, char *argv[])
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{
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using ThisDriver = TMP102;
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BusCLIArguments cli{true, false};
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cli.default_i2c_frequency = 400000;
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cli.i2c_address = 0x48;
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const char *verb = cli.parseDefaultArguments(argc, argv);
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if (!verb) {
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ThisDriver::print_usage();
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return -1;
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}
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BusInstanceIterator iterator(MODULE_NAME, cli, DRV_TEMP_DEVTYPE_TMP102);
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if (!strcmp(verb, "start")) {
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return ThisDriver::module_start(cli, iterator);
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}
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if (!strcmp(verb, "stop")) {
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return ThisDriver::module_stop(iterator);
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}
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if (!strcmp(verb, "status")) {
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return ThisDriver::module_status(iterator);
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}
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ThisDriver::print_usage();
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return -1;
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}

‎src/modules/logger/logged_topics.cpp‎

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

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