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AP_TemperatureSensor: Update TSYS01 for Pixhawk2

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This commit is contained in:
Willian Galvani 2019-09-27 09:39:48 -03:00 committed by Jacob Walser
parent c863959296
commit 8752a10e3f
3 changed files with 6 additions and 5 deletions
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5
ArduSub/system.cpp
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@ -40,13 +40,16 @@ void Sub::init_ardupilot()
switch (AP_BoardConfig::get_board_type()) { switch (AP_BoardConfig::get_board_type()) {
case AP_BoardConfig::PX4_BOARD_PIXHAWK2: case AP_BoardConfig::PX4_BOARD_PIXHAWK2:
AP_Param::set_by_name("GND_EXT_BUS", 0); AP_Param::set_by_name("GND_EXT_BUS", 0);
celsius.init(0);
break; break;
default: default:
AP_Param::set_by_name("GND_EXT_BUS", 1); AP_Param::set_by_name("GND_EXT_BUS", 1);
celsius.init(1);
break; break;
} }
#else #else
AP_Param::set_default_by_name("GND_EXT_BUS", 1); AP_Param::set_default_by_name("GND_EXT_BUS", 1);
celsius.init(1);
#endif #endif
// identify ourselves correctly with the ground station // identify ourselves correctly with the ground station
@ -71,8 +74,6 @@ void Sub::init_ardupilot()
barometer.init(); barometer.init();
celsius.init();
// Register the mavlink service callback. This will run // Register the mavlink service callback. This will run
// anytime there are more than 5ms remaining in a call to // anytime there are more than 5ms remaining in a call to
// hal.scheduler->delay. // hal.scheduler->delay.

4
libraries/AP_TemperatureSensor/TSYS01.cpp
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@ -13,9 +13,9 @@ static const uint8_t TSYS01_CMD_READ_PROM = 0xA0;
static const uint8_t TSYS01_CMD_CONVERT = 0x40; static const uint8_t TSYS01_CMD_CONVERT = 0x40;
static const uint8_t TSYS01_CMD_READ_ADC = 0x00; static const uint8_t TSYS01_CMD_READ_ADC = 0x00;
bool TSYS01::init() bool TSYS01::init(uint8_t bus)
{ {
_dev = std::move(hal.i2c_mgr->get_device(1, TSYS01_ADDR)); _dev = std::move(hal.i2c_mgr->get_device(bus, TSYS01_ADDR));
if (!_dev) { if (!_dev) {
printf("TSYS01 device is null!"); printf("TSYS01 device is null!");
return false; return false;

2
libraries/AP_TemperatureSensor/TSYS01.h
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@ -13,7 +13,7 @@
class TSYS01 { class TSYS01 {
public: public:
bool init(void); bool init(uint8_t bus);
float temperature(void) { return _temperature; } // temperature in degrees C float temperature(void) { return _temperature; } // temperature in degrees C
bool healthy(void) { // do we have a valid temperature reading? bool healthy(void) { // do we have a valid temperature reading?
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL