Add Tdk invensense icp201xx pressure sensor support #83914

rbuisson-invn · 2025-01-13T16:15:08Z

drivers: sensor: icp201xx: supports icp201xx sensors
dts: supports icp201xx invn pressure sensor
samples: sensor: pressure_polling: barometric pressure, temperature and altitude generic sample
samples: sensor: pressure_interrupt: barometric pressure sensor interrupts generic sample
module: HAL TDK module

Adds official TDK Invensense Inc. driver in TDK HAL module for icp201xx sensor.
Add generic samples supporting this driver.
Validated with custom setup: nrf52dk_nrf52832 + icp201xx EVB board
Build ok by running:
west twister -T samples\sensor\pressure_polling -T samples\sensor\pressure_interrupt -p nrf52dk/nrf52832

Signed-off-by: Remi Buisson remi.buisson@tdk.com

zephyrbot · 2025-01-13T16:16:07Z

The following west manifest projects have changed revision in this Pull Request:

Name	Old Revision	New Revision	Diff

✅ All manifest checks OK

Note: This message is automatically posted and updated by the Manifest GitHub Action.

rbuisson-invn · 2025-02-03T09:33:09Z

Hi @MaureenHelm ,
This PR is waiting a review for 3 weeks.
It is blocking further developments at our side.
I know it's quite a big chunk of code, but we would be very grateful if you could take a look at it.
Regards,

dts/bindings/sensor/invensense,icp201xx.yaml

drivers/sensor/tdk/icp201xx/icp201xx_trigger.c

drivers/sensor/tdk/icp201xx/icp201xx_spi.c

drivers/sensor/tdk/icp201xx/icp201xx_i2c.c

drivers/sensor/tdk/icp201xx/icp201xx_drv.h

yperess · 2025-02-05T18:33:17Z

drivers/sensor/tdk/icp201xx/icp201xx_drv.c

+#ifdef CONFIG_CPU_HAS_FPU
+#include <math.h>
+#define ATMOSPHERICAL_PRESSURE_KPA ((float)101.325)
+#define TO_KELVIN(temp_C)          (((float)273.15) + temp_C)
+/* Constant in altitude formula:
+ * M*g/R = (0,0289644 * 9,80665 / 8,31432)
+ * with M the molar mass of air.
+ * with g the gravitational force acceleration.
+ * with R the universal gaz constant.
+ */
+#define HEIGHT_TO_PRESSURE_COEFF   ((float)0.03424)
+
+/* Constant in altitude formula:
+ * R / (M*g) = 8,31432 / (0,0289644 * 9,80665)
+ * with M the molar mass of air.
+ * with g the gravitational force acceleration.
+ * with R the universal gaz constant.
+ */
+#define PRESSURE_TO_HEIGHT_COEFF   ((float)29.27127)
+/* Constant for altitude formula:
+ * logarithm of pressure at 0m
+ * ln(101.325)
+ */
+#define LOG_ATMOSPHERICAL_PRESSURE ((float)4.61833)
+#endif


Please consider using the dsp.h q31_t here

At some point, it requires pure floats to compute logarithm.
I don't think dsp.h provides such support.

Does it? The DSP header provide mechanism for multiplying fixed points which can be just as accurate. I'm OK with you using floats, but it does make the driver much more compute header when CONFIG_FPU=n.

I still don't think you actually need a float, you should be able to use a fixed point API.

drivers/sensor/tdk/icp201xx/icp201xx_drv.c

drivers/sensor/tdk/icp201xx/Kconfig

kartben

please also add relevant entries to build_all/sensors dtsi's and conf files as this is the only way to be certain we'll have coverage independently of the existence of samples and respective overlays.

Thanks!

kartben · 2025-02-14T08:35:56Z

samples/sensor/pressure_polling/sample.yaml

+  sample.sensor.pressure_sensor:
+    build_only: true
+    tags: sensors
+    filter: dt_alias_exists("pressure_sensor")


This currently doesn't run. Needs the following change, but also keep only of the two overlay and name it nrf52dk_nrf52832.overlay (otherwise neither gets picked up, hence no pressure-sensor alias is found, hence test is filtered :) )

Suggested change

filter: dt_alias_exists("pressure_sensor")

filter: dt_alias_exists("pressure-sensor")

Thanks, fixed.

This currently doesn't run. Needs the following change, but also keep only of the two overlays and name it nrf52dk_nrf52832.overlay (otherwise neither gets picked up, hence no pressure-sensor alias is found, hence test is filtered :) )

not addressed and therefore test would effectively still not run

kartben · 2025-02-14T08:36:08Z

samples/sensor/pressure_interrupt/sample.yaml

+  sample.sensor.pressure_interrupt:
+    build_only: true
+    tags: sensors
+    filter: dt_alias_exists("pressure_sensor")


Thanks, fixed.

kartben · 2025-02-14T08:39:48Z

samples/sensor/pressure_interrupt/README.rst

@@ -0,0 +1,72 @@
+.. zephyr:code-sample: pressure_interrupt


doesn't show up in samples listing due to typo

Also, varisou formatting issues with the file, please check https://builds.zephyrproject.io/zephyr/pr/83914/docs/samples/sensor/pressure_interrupt/README.html -- applies to the other README too :)

Suggested change

.. zephyr:code-sample: pressure_interrupt

.. :zephyr:code-sample: pressure_interrupt

Missing colon is probably not the suggested one :), but it was actually missing!
Thanks, fixed.

kartben · 2025-02-14T08:43:33Z

samples/sensor/pressure_interrupt/README.rst

+This sample application uses a pressure sensor interrupt line to:
+** Inform when a measure is available in the sensor FIFO.
+Temperature and pressure data are read and displayed in terminal.
+If floats are supported, estimated altitude is also displayed.
+** Inform when the pressure value crosses a specified threshold.
+Threshold corresponds to around a 50cm altitude increase.
+A message is displayed in the terminal.
+** Inform when the pressure value changed more than the specified
+value between two consecutive samples.
+Change value corresponds to a finger pressing the sensor.
+A message is displayed in the terminal.


Suggested change

This sample application uses a pressure sensor interrupt line to:

** Inform when a measure is available in the sensor FIFO.

Temperature and pressure data are read and displayed in terminal.

If floats are supported, estimated altitude is also displayed.

** Inform when the pressure value crosses a specified threshold.

Threshold corresponds to around a 50cm altitude increase.

A message is displayed in the terminal.

** Inform when the pressure value changed more than the specified

value between two consecutive samples.

Change value corresponds to a finger pressing the sensor.

A message is displayed in the terminal.

This sample application uses a pressure sensor interrupt line to:

* Inform when a measure is available in the sensor FIFO.

Temperature and pressure data are read and displayed in terminal.

If floats are supported, estimated altitude is also displayed.

* Inform when the pressure value crosses a specified threshold.

Threshold corresponds to around a 50cm altitude increase.

A message is displayed in the terminal.

* Inform when the pressure value changed more than the specified

value between two consecutive samples.

Change value corresponds to a finger pressing the sensor.

A message is displayed in the terminal.

Thanks, fixed.

kartben · 2025-02-14T08:45:00Z

samples/sensor/pressure_interrupt/README.rst

+## Default configuration
+
+[00:00:00.266,479] <inf> PRESS_INT_SAMPLE: Starting ICP201xx sample.
+[00:00:00.273,803] <inf> PRESS_INT_SAMPLE: temp 25.49 Cel, pressure 96.271438 kPa, altitude 447.208465 m
+[00:00:00.280,914] <inf> PRESS_INT_SAMPLE: temp 25.50 Cel, pressure 96.271331 kPa, altitude 447.234161 m
+[00:00:00.288,024] <inf> PRESS_INT_SAMPLE: temp 25.49 Cel, pressure 96.266685 kPa, altitude 447.636077 m
+[00:00:00.295,135] <inf> PRESS_INT_SAMPLE: temp 25.50 Cel, pressure 96.267951 kPa, altitude 447.537078 m
+[00:00:00.302,246] <inf> PRESS_INT_SAMPLE: temp 25.51 Cel, pressure 96.268577 kPa, altitude 447.488281 m
+[00:00:00.309,356] <inf> PRESS_INT_SAMPLE: temp 25.50 Cel, pressure 96.269340 kPa, altitude 447.414978 m
+[00:00:00.316,467] <inf> PRESS_INT_SAMPLE: temp 25.50 Cel, pressure 96.268562 kPa, altitude 447.473663 m
+[00:00:00.323,547] <inf> PRESS_INT_SAMPLE: temp 25.50 Cel, pressure 96.267341 kPa, altitude 447.596496 m
+<repeats endlessly>
+
+<when sensor is pressed>
+[00:00:09.819,061] <inf> PRESS_INT_SAMPLE: PRESSURE CHANGE INTERRUPT
+
+<when the sensor pressure crosses defined threhold>
+[00:00:09.859,039] <inf> PRESS_INT_SAMPLE: PRESSURE THRESHOLD INTERRUPT


needs 3-space indenting

Thanks, fixed.

kartben · 2025-02-14T08:47:07Z

samples/sensor/pressure_interrupt/README.rst

+ / {
+	aliases {
+			pressure-sensor = &icp201xx;
+		};
+	};


Suggested change

/ {

aliases {

pressure-sensor = &icp201xx;

};

};

/ {

aliases {

pressure-sensor = &icp201xx;

};

};

Thanks, fixed.

drivers/sensor/tdk/icp201xx/icp201xx_drv.c

yperess · 2025-02-18T06:18:55Z

drivers/sensor/tdk/icp201xx/icp201xx_drv.h

+	icp201xx_reg_write_fn write;
+};
+
+#if CONFIG_SPI


drivers/sensor/tdk/icp201xx/icp201xx_drv.c

yperess · 2025-02-18T06:20:29Z

drivers/sensor/tdk/icp201xx/icp201xx_drv.c

+#ifdef CONFIG_CPU_HAS_FPU
+#include <math.h>
+#define ATMOSPHERICAL_PRESSURE_KPA ((float)101.325)
+#define TO_KELVIN(temp_C)          (((float)273.15) + temp_C)
+/* Constant in altitude formula:
+ * M*g/R = (0,0289644 * 9,80665 / 8,31432)
+ * with M the molar mass of air.
+ * with g the gravitational force acceleration.
+ * with R the universal gaz constant.
+ */
+#define HEIGHT_TO_PRESSURE_COEFF   ((float)0.03424)
+
+/* Constant in altitude formula:
+ * R / (M*g) = 8,31432 / (0,0289644 * 9,80665)
+ * with M the molar mass of air.
+ * with g the gravitational force acceleration.
+ * with R the universal gaz constant.
+ */
+#define PRESSURE_TO_HEIGHT_COEFF   ((float)29.27127)
+/* Constant for altitude formula:
+ * logarithm of pressure at 0m
+ * ln(101.325)
+ */
+#define LOG_ATMOSPHERICAL_PRESSURE ((float)4.61833)
+#endif


I still don't think you actually need a float, you should be able to use a fixed point API.

rbuisson-invn · 2025-02-18T13:57:11Z

@yperess, it's not clear to me how I could compute a logarithm only using fixed points.
The C logf() function is called there:
drivers/sensor/tdk/icp201xx/icp201xx_drv.c line 75.
static float convertToHeight(float pressure_kp, float temperature_C)
{
return PRESSURE_TO_HEIGHT_COEFF * TO_KELVIN(temperature_C) *
(LOG_ATMOSPHERICAL_PRESSURE - logf(pressure_kp));
}

kartben · 2025-02-18T15:12:47Z

please also add relevant entries to build_all/sensors dtsi's and conf files as this is the only way to be certain we'll have coverage independently of the existence of samples and respective overlays.

this part hasn't been addressed - thanks!

yperess · 2025-02-19T06:16:19Z

@yperess, it's not clear to me how I could compute a logarithm only using fixed points. The C logf() function is called there: drivers/sensor/tdk/icp201xx/icp201xx_drv.c line 75. static float convertToHeight(float pressure_kp, float temperature_C) { return PRESSURE_TO_HEIGHT_COEFF * TO_KELVIN(temperature_C) * (LOG_ATMOSPHERICAL_PRESSURE - logf(pressure_kp)); }

I see we haven't ported this part of the math functions to the DSP subsystem yet. I'll get on that for the next release. The API will look like https://github.com/zephyrproject-rtos/cmsis-dsp/blob/main/Include/dsp/fast_math_functions.h#L158.

Please address the issue in #83914 (comment) and I'll be happy to approve as is.

kartben

looks great, thank you! Just a final nit

kartben · 2025-02-20T09:51:21Z

tests/drivers/build_all/sensor/app.overlay

+				   <&test_gpio 0 0>;
+				   <&test_gpio 0 0>;	/* 0x31 */


I think the original intent here is to give a visual clue every 10 lines, so probably needs to be:

Suggested change

<&test_gpio 0 0>;

<&test_gpio 0 0>; /* 0x31 */

<&test_gpio 0 0>; /* 0x30 */

<&test_gpio 0 0>;

I think the original intent here is to give a visual clue every 10 lines, so probably needs to be:

Thanks for active follow up ;)
I'll fix.

rbuisson-invn · 2025-02-20T13:26:24Z

@yperess, it's not clear to me how I could compute a logarithm only using fixed points. The C logf() function is called there: drivers/sensor/tdk/icp201xx/icp201xx_drv.c line 75. static float convertToHeight(float pressure_kp, float temperature_C) { return PRESSURE_TO_HEIGHT_COEFF * TO_KELVIN(temperature_C) * (LOG_ATMOSPHERICAL_PRESSURE - logf(pressure_kp)); }

I see we haven't ported this part of the math functions to the DSP subsystem yet. I'll get on that for the next release. The API will look like https://github.com/zephyrproject-rtos/cmsis-dsp/blob/main/Include/dsp/fast_math_functions.h#L158.

Please address the issue in #83914 (comment) and I'll be happy to approve as is.

Sure, it's now done.
Thanks for the overall review and feedback!

icp201xx are barometric pressure and temperature sensors. https://invensense.tdk.com/smartpressure Signed-off-by: Remi Buisson <remi.buisson@tdk.com>

Use official TDK Invensense driver for icp201xx sensor in tdk_hal module. Signed-off-by: Remi Buisson <remi.buisson@tdk.com>

Add I2C and SPI variants for icp201xx. Signed-off-by: Remi Buisson <remi.buisson@tdk.com>

Polls and reports pressure, temperature and altitude data Signed-off-by: Remi Buisson <remi.buisson@tdk.com>

Reports generic barometric sensor interrupts * Data ready interrupt * Pressure threshold interrupt * Pressure changed interrupt Signed-off-by: Remi Buisson <remi.buisson@tdk.com>

zephyrbot added area: Samples Samples area: Sensors Sensors labels Jan 13, 2025

zephyrbot requested review from asemjonovs, avisconti, jeppenodgaard, kartben, MaureenHelm, nashif, teburd, tristan-google, ubieda and yperess January 13, 2025 16:15

zephyrbot assigned MaureenHelm Jan 13, 2025

zephyrbot added manifest manifest-hal_tdk DNM This PR should not be merged (Do Not Merge) labels Jan 13, 2025

rbuisson-invn force-pushed the TDK_Invensense_icp201xx_pressure_sensor branch 7 times, most recently from 92248ff to 4e866f3 Compare January 16, 2025 09:36

zephyrbot removed the DNM This PR should not be merged (Do Not Merge) label Jan 16, 2025

rbuisson-invn force-pushed the TDK_Invensense_icp201xx_pressure_sensor branch from 4e866f3 to 90baab8 Compare January 16, 2025 13:19

afontaine-invn approved these changes Jan 27, 2025

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yperess requested changes Feb 5, 2025

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rbuisson-invn force-pushed the TDK_Invensense_icp201xx_pressure_sensor branch from 90baab8 to aedacd0 Compare February 10, 2025 09:52

kartben requested changes Feb 14, 2025

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rbuisson-invn dismissed yperess’s stale review via 444d9aa February 17, 2025 09:38

rbuisson-invn force-pushed the TDK_Invensense_icp201xx_pressure_sensor branch 2 times, most recently from 444d9aa to 52640a9 Compare February 17, 2025 09:54

yperess requested changes Feb 18, 2025

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rbuisson-invn force-pushed the TDK_Invensense_icp201xx_pressure_sensor branch from 52640a9 to a37bc76 Compare February 18, 2025 09:48

rbuisson-invn requested review from yperess and kartben February 18, 2025 13:57

rbuisson-invn force-pushed the TDK_Invensense_icp201xx_pressure_sensor branch 7 times, most recently from 1c54338 to e4607ac Compare February 20, 2025 08:52

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rbuisson-invn force-pushed the TDK_Invensense_icp201xx_pressure_sensor branch from e4607ac to 8815ad9 Compare February 20, 2025 10:03

kartben previously approved these changes Feb 20, 2025

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rbuisson-invn added 5 commits February 20, 2025 15:30

modules: hal_tdk: Add icp201xx support

25e1922

icp201xx are barometric pressure and temperature sensors. https://invensense.tdk.com/smartpressure Signed-off-by: Remi Buisson <remi.buisson@tdk.com>

drivers: sensor: icp201xx: Add icp201xx support

e9c59af

Use official TDK Invensense driver for icp201xx sensor in tdk_hal module. Signed-off-by: Remi Buisson <remi.buisson@tdk.com>

dts: bindings: sensor: Add invensense icp201xx properties

d0ef4e9

Add I2C and SPI variants for icp201xx. Signed-off-by: Remi Buisson <remi.buisson@tdk.com>

samples: sensor: Barometric pressure polling generic example

752011b

Polls and reports pressure, temperature and altitude data Signed-off-by: Remi Buisson <remi.buisson@tdk.com>

samples: sensor: Barometric pressure interrupt generic example

39f0118

Reports generic barometric sensor interrupts * Data ready interrupt * Pressure threshold interrupt * Pressure changed interrupt Signed-off-by: Remi Buisson <remi.buisson@tdk.com>

rbuisson-invn dismissed kartben’s stale review via 39f0118 February 20, 2025 14:31

rbuisson-invn force-pushed the TDK_Invensense_icp201xx_pressure_sensor branch from 8815ad9 to 39f0118 Compare February 20, 2025 14:31

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Add Tdk invensense icp201xx pressure sensor support #83914

Add Tdk invensense icp201xx pressure sensor support #83914

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	filter: dt_alias_exists("pressure_sensor")
	filter: dt_alias_exists("pressure-sensor")

	.. zephyr:code-sample: pressure_interrupt
	.. :zephyr:code-sample: pressure_interrupt

Add Tdk invensense icp201xx pressure sensor support #83914

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