AP_TemperatureSensor: refactor for upcoming upgrades

libraries/AP_TemperatureSensor/AP_TemperatureSensor.cpp

@@ -42,18 +42,50 @@ const AP_Param::GroupInfo AP_TemperatureSensor::var_info[] = {
     // @Path: AP_TemperatureSensor_Params.cpp
     AP_SUBGROUPINFO(_params[0], "1_", 10, AP_TemperatureSensor, AP_TemperatureSensor_Params),
 
-#if AP_TEMPERATURE_SENSOR_MAX_INSTANCES > 1
+#if AP_TEMPERATURE_SENSOR_MAX_INSTANCES >= 2
     // @Group: 2_
     // @Path: AP_TemperatureSensor_Params.cpp
     AP_SUBGROUPINFO(_params[1], "2_", 11, AP_TemperatureSensor, AP_TemperatureSensor_Params),
 #endif
 
-#if AP_TEMPERATURE_SENSOR_MAX_INSTANCES > 2
+#if AP_TEMPERATURE_SENSOR_MAX_INSTANCES >= 3
     // @Group: 3_
     // @Path: AP_TemperatureSensor_Params.cpp
     AP_SUBGROUPINFO(_params[2], "3_", 12, AP_TemperatureSensor, AP_TemperatureSensor_Params),
 #endif
 
+#if AP_TEMPERATURE_SENSOR_MAX_INSTANCES >= 4
+    // @Group: 4_
+    // @Path: AP_TemperatureSensor_Params.cpp
+    AP_SUBGROUPINFO(_params[3], "4_", 13, AP_TemperatureSensor, AP_TemperatureSensor_Params),
+#endif
+
+#if AP_TEMPERATURE_SENSOR_MAX_INSTANCES >= 5
+    // @Group: 5_
+    // @Path: AP_TemperatureSensor_Params.cpp
+    AP_SUBGROUPINFO(_params[4], "5_", 14, AP_TemperatureSensor, AP_TemperatureSensor_Params),
+#endif
+#if AP_TEMPERATURE_SENSOR_MAX_INSTANCES >= 6
+    // @Group: 6_
+    // @Path: AP_TemperatureSensor_Params.cpp
+    AP_SUBGROUPINFO(_params[5], "6_", 15, AP_TemperatureSensor, AP_TemperatureSensor_Params),
+#endif
+#if AP_TEMPERATURE_SENSOR_MAX_INSTANCES >= 7
+    // @Group: 7_
+    // @Path: AP_TemperatureSensor_Params.cpp
+    AP_SUBGROUPINFO(_params[6], "7_", 16, AP_TemperatureSensor, AP_TemperatureSensor_Params),
+#endif
+#if AP_TEMPERATURE_SENSOR_MAX_INSTANCES >= 8
+    // @Group: 8_
+    // @Path: AP_TemperatureSensor_Params.cpp
+    AP_SUBGROUPINFO(_params[7], "8_", 17, AP_TemperatureSensor, AP_TemperatureSensor_Params),
+#endif
+#if AP_TEMPERATURE_SENSOR_MAX_INSTANCES >= 9
+    // @Group: 9_
+    // @Path: AP_TemperatureSensor_Params.cpp
+    AP_SUBGROUPINFO(_params[8], "9_", 18, AP_TemperatureSensor, AP_TemperatureSensor_Params),
+#endif
+
     AP_GROUPEND
 };
 
@@ -86,18 +118,19 @@ void AP_TemperatureSensor::init()
     for (uint8_t instance = 0; instance < AP_TEMPERATURE_SENSOR_MAX_INSTANCES; instance++) {
 
         switch (get_type(instance)) {
-#if AP_TEMPERATURE_SENSOR_TSYS01_ENABLE
+#if AP_TEMPERATURE_SENSOR_TSYS01_ENABLED
-            case Type::TSYS01:
+            case AP_TemperatureSensor::Type::TSYS01:
                 drivers[instance] = new AP_TemperatureSensor_TSYS01(*this, _state[instance], _params[instance]);
                 break;
 #endif
-            case Type::NONE:
+            case AP_TemperatureSensor::Type::NONE:
             default:
                 break;
         }
 
         // call init function for each backend
         if (drivers[instance] != nullptr) {
+            _state[instance].instance = instance;
             drivers[instance]->init();
             // _num_instances is actually the index for looping over instances
             // the user may have TEMP_TYPE=0 and TEMP2_TYPE=7, in which case
@@ -112,47 +145,47 @@ void AP_TemperatureSensor::init()
 void AP_TemperatureSensor::update()
 {
     for (uint8_t i=0; i<_num_instances; i++) {
-        if (drivers[i] != nullptr && get_type(i) != Type::NONE) {
+        if (drivers[i] != nullptr && get_type(i) != AP_TemperatureSensor::Type::NONE) {
             drivers[i]->update();
 
 #if HAL_LOGGING_ENABLED
             const AP_Logger *logger = AP_Logger::get_singleton();
             if (logger != nullptr && _log_flag) {
-                const uint64_t time_us = AP_HAL::micros64();
+                drivers[i]->Log_Write_TEMP();
-                drivers[i]->Log_Write_TEMP(time_us);
             }
 #endif
         }
     }
 }
 
-AP_TemperatureSensor::Type AP_TemperatureSensor::get_type(uint8_t instance) const
+AP_TemperatureSensor::Type AP_TemperatureSensor::get_type(const uint8_t instance) const
 {
     if (instance >= AP_TEMPERATURE_SENSOR_MAX_INSTANCES) {
-        return Type::NONE;
+        return AP_TemperatureSensor::Type::NONE;
     }
-    return (Type)_params[instance]._type.get();
+    return (AP_TemperatureSensor::Type)_params[instance].type.get();
 }
 
 // returns true if there is a temperature reading
-bool AP_TemperatureSensor::temperature(float &temp, const uint8_t instance) const
+bool AP_TemperatureSensor::get_temperature(float &temp, const uint8_t instance) const
 {
-    if (instance >= AP_TEMPERATURE_SENSOR_MAX_INSTANCES || drivers[instance] == nullptr) {
+    if (!healthy(instance)) {
         return false;
     }
 
     temp = _state[instance].temperature;
+    return true;
+}
 
-    return drivers[instance]->healthy();
+bool AP_TemperatureSensor::healthy(const uint8_t instance) const
+{
+    return instance < _num_instances && drivers[instance] != nullptr && drivers[instance]->healthy();
 }
 
 namespace AP {
-
+AP_TemperatureSensor &temperature_sensor() {
-AP_TemperatureSensor &temperature_sensor()
-{
     return *AP_TemperatureSensor::get_singleton();
 }
-
 };
 
 #endif // AP_TEMPERATURE_SENSOR_ENABLED

libraries/AP_TemperatureSensor/AP_TemperatureSensor.h

@@ -17,7 +17,7 @@
 #include <AP_HAL/AP_HAL.h>
 
 #ifndef AP_TEMPERATURE_SENSOR_ENABLED
-#define AP_TEMPERATURE_SENSOR_ENABLED (BOARD_FLASH_SIZE > 1024)
+#define AP_TEMPERATURE_SENSOR_ENABLED (!HAL_MINIMIZE_FEATURES && BOARD_FLASH_SIZE > 1024)
 #endif
 
 #if AP_TEMPERATURE_SENSOR_ENABLED
@@ -29,7 +29,9 @@
 #endif
 
 // first sensor is always the primary sensor
+#ifndef AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE
 #define AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE          0
+#endif
 
 // declare backend class
 class AP_TemperatureSensor_Backend;
@@ -42,12 +44,6 @@ class AP_TemperatureSensor
 
 public:
 
-    // temperature sensor types
-    enum class Type {
-        NONE                       = 0,
-        TSYS01                     = 1,
-    };
-
     // Constructor
     AP_TemperatureSensor();
 
@@ -55,12 +51,26 @@ public:
 
     static AP_TemperatureSensor *get_singleton() { return _singleton; }
 
+    // temperature sensor types
+    enum class Type : uint8_t {
+        NONE                        = 0,
+        TSYS01                      = 1,
+    };
+
+    // option to map to another system component
+    enum class Source : uint8_t {
+        None                        = 0,
+        ESC                         = 1,
+        Motor                       = 2,
+        Battery_Index               = 3,
+        Battery_ID_SerialNumber     = 4,
+    };
+
     // The TemperatureSensor_State structure is filled in by the backend driver
     struct TemperatureSensor_State {
         const struct AP_Param::GroupInfo *var_info;
-        uint32_t    last_time_micros;          // time when the sensor was last read in microseconds
+        uint32_t    last_time_ms;              // time when the sensor was last read in milliseconds
         float       temperature;               // temperature (deg C)
-        bool        healthy;                   // temperature sensor is communicating correctly
         uint8_t     instance;                  // instance number
     };
 
@@ -73,13 +83,14 @@ public:
     // Update the temperature for all temperature sensors
     void update();
 
-    // get_type - returns temperature sensor type
+    bool get_temperature(float &temp, const uint8_t instance = AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE) const;
-    Type get_type() const { return get_type(AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE); }
-    Type get_type(uint8_t instance) const;
 
-    // temperature
+    bool healthy(const uint8_t instance = AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE) const;
-    bool temperature(float &temp) const { return temperature(temp, AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE); }
+
-    bool temperature(float &temp, const uint8_t instance) const;
+    // accessors to params
+    Type get_type(const uint8_t instance = AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE) const;
+    Source get_source(const uint8_t instance = AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE) const;
+    int32_t get_source_id(const uint8_t instance = AP_TEMPERATURE_SENSOR_PRIMARY_INSTANCE) const;
 
     static const struct AP_Param::GroupInfo var_info[];
 

libraries/AP_TemperatureSensor/AP_TemperatureSensor_Backend.cpp

@@ -18,15 +18,14 @@
 #if AP_TEMPERATURE_SENSOR_ENABLED
 #include "AP_TemperatureSensor_Backend.h"
 
-#include <AP_Common/AP_Common.h>
-#include <AP_HAL/AP_HAL.h>
 #include <AP_Logger/AP_Logger.h>
 
 /*
     base class constructor.
     This incorporates initialisation as well.
 */
-AP_TemperatureSensor_Backend::AP_TemperatureSensor_Backend(AP_TemperatureSensor &front, AP_TemperatureSensor::TemperatureSensor_State &state,
+AP_TemperatureSensor_Backend::AP_TemperatureSensor_Backend(AP_TemperatureSensor &front,
+                                                            AP_TemperatureSensor::TemperatureSensor_State &state,
                                                             AP_TemperatureSensor_Params &params):
     _front(front),
     _state(state),
@@ -34,14 +33,29 @@ AP_TemperatureSensor_Backend::AP_TemperatureSensor_Backend(AP_TemperatureSensor
 {
 }
 
-void AP_TemperatureSensor_Backend::Log_Write_TEMP(uint64_t time_us) const
+// returns true if a temperature has been recently updated
+bool AP_TemperatureSensor_Backend::healthy(void) const
+{
+    return (_state.last_time_ms > 0) && (AP_HAL::millis() - _state.last_time_ms < 5000);
+}
+
+void AP_TemperatureSensor_Backend::Log_Write_TEMP() const
 {
     AP::logger().Write("TEMP",
             "TimeUS,"     "Instance,"       "Temp" , // labels
             "s"               "#"           "O"    , // units
             "F"               "-"           "0"    , // multipliers
             "Q"               "B"           "f"    , // types
-            time_us, _state.instance, _state.temperature);
+     AP_HAL::micros64(), _state.instance, _state.temperature);
+}
+
+void AP_TemperatureSensor_Backend::set_temperature(const float temperature)
+{
+    {
+        WITH_SEMAPHORE(_sem);
+        _state.temperature = temperature;
+        _state.last_time_ms = AP_HAL::millis();
+    }
 }
 
 #endif // AP_TEMPERATURE_SENSOR_ENABLED

libraries/AP_TemperatureSensor/AP_TemperatureSensor_Backend.h

@@ -17,6 +17,7 @@
 #include "AP_TemperatureSensor.h"
 
 #if AP_TEMPERATURE_SENSOR_ENABLED
+#include <AP_HAL/Semaphores.h>
 
 class AP_TemperatureSensor_Backend
 {
@@ -31,15 +32,24 @@ public:
     virtual void update() = 0;
 
     // do we have a valid temperature reading?
-    bool healthy(void) const { return _state.healthy; }
+    virtual bool healthy(void) const;
 
     // logging functions
-    void Log_Write_TEMP(const uint64_t time_us) const;
+    void Log_Write_TEMP() const;
+
+    AP_HAL::OwnPtr<AP_HAL::Device> _dev;
+
 
 protected:
+
+    void set_temperature(const float temperature);
+
     AP_TemperatureSensor                            &_front;    // reference to front-end
     AP_TemperatureSensor::TemperatureSensor_State   &_state;    // reference to this instance's state (held in the front-end)
     AP_TemperatureSensor_Params                     &_params;   // reference to this instance's parameters (held in the front-end)
+
+private:
+    HAL_Semaphore _sem; // used to copy from backend to frontend
 };
 
 #endif // AP_TEMPERATURE_SENSOR_ENABLED

libraries/AP_TemperatureSensor/AP_TemperatureSensor_Params.cpp

@@ -1,18 +1,41 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 #include "AP_TemperatureSensor_Params.h"
 #include "AP_TemperatureSensor.h"
 
 #if AP_TEMPERATURE_SENSOR_ENABLED
 
-#ifndef HAL_TEMPERATURE_SENSOR_I2C_TYPE_DEFAULT
+#ifndef AP_TEMPERATURE_SENSOR_TYPE_DEFAULT
-#define HAL_TEMPERATURE_SENSOR_I2C_TYPE_DEFAULT 0
+#define AP_TEMPERATURE_SENSOR_TYPE_DEFAULT 0
 #endif
 
-#ifndef HAL_TEMPERATURE_SENSOR_I2C_ADDR_DEFAULT
+#ifndef AP_TEMPERATURE_SENSOR_I2C_ADDR_DEFAULT
-#define HAL_TEMPERATURE_SENSOR_I2C_ADDR_DEFAULT 0
+#define AP_TEMPERATURE_SENSOR_I2C_ADDR_DEFAULT 0
 #endif
 
-#ifndef HAL_TEMPERATURE_SENSOR_I2C_BUS_DEFAULT
+#ifndef AP_TEMPERATURE_SENSOR_I2C_BUS_DEFAULT
-#define HAL_TEMPERATURE_SENSOR_I2C_BUS_DEFAULT 0
+#define AP_TEMPERATURE_SENSOR_I2C_BUS_DEFAULT 0
+#endif
+
+#ifndef AP_TEMPERATURE_SENSOR_SOURCE_ID_DEFAULT
+#define AP_TEMPERATURE_SENSOR_SOURCE_ID_DEFAULT -1
+#endif
+
+#ifndef AP_TEMPERATURE_SENSOR_SOURCE_DEFAULT
+#define AP_TEMPERATURE_SENSOR_SOURCE_DEFAULT (int8_t)AP_TemperatureSensor::Source::None
 #endif
 
 const AP_Param::GroupInfo AP_TemperatureSensor_Params::var_info[] = {
@@ -22,23 +45,23 @@ const AP_Param::GroupInfo AP_TemperatureSensor_Params::var_info[] = {
     // @Values: 0:Disabled, 1:TSYS01
     // @User: Standard
     // @RebootRequired: True
-    AP_GROUPINFO_FLAGS("TYPE", 1, AP_TemperatureSensor_Params, _type, HAL_TEMPERATURE_SENSOR_I2C_TYPE_DEFAULT, AP_PARAM_FLAG_ENABLE),
+    AP_GROUPINFO_FLAGS("TYPE", 1, AP_TemperatureSensor_Params, type, AP_TEMPERATURE_SENSOR_TYPE_DEFAULT, AP_PARAM_FLAG_ENABLE),
 
     // @Param: BUS
-    // @DisplayName: Temperature sensor I2C bus
+    // @DisplayName: Temperature sensor bus
-    // @Description: Temperature sensor I2C bus number
+    // @Description: Temperature sensor bus number, typically used to select from multiple I2C buses
     // @Range: 0 3
     // @User: Advanced
     // @RebootRequired: True
-    AP_GROUPINFO("BUS", 3, AP_TemperatureSensor_Params, _i2c_bus, HAL_TEMPERATURE_SENSOR_I2C_BUS_DEFAULT),
+    AP_GROUPINFO("BUS", 2, AP_TemperatureSensor_Params, bus, AP_TEMPERATURE_SENSOR_I2C_BUS_DEFAULT),
 
     // @Param: ADDR
-    // @DisplayName: Temperature sensor I2C address
+    // @DisplayName: Temperature sensor address
-    // @Description: Temperature sensor I2C address
+    // @Description: Temperature sensor address, typically used for I2C address
     // @Range: 0 127
     // @User: Advanced
     // @RebootRequired: True
-    AP_GROUPINFO("ADDR", 4, AP_TemperatureSensor_Params, _i2c_address, HAL_TEMPERATURE_SENSOR_I2C_ADDR_DEFAULT),
+    AP_GROUPINFO("ADDR", 3, AP_TemperatureSensor_Params, bus_address, AP_TEMPERATURE_SENSOR_I2C_ADDR_DEFAULT),
 
     AP_GROUPEND
 };

libraries/AP_TemperatureSensor/AP_TemperatureSensor_Params.h

@@ -1,3 +1,18 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 #pragma once
 
 #include <AP_Param/AP_Param.h>
@@ -10,7 +25,8 @@ public:
 
     CLASS_NO_COPY(AP_TemperatureSensor_Params);
 
-    AP_Int8  _type;             // 0=disabled, others see frontend enum TYPE
+    AP_Int8 type;                   // AP_TemperatureSensor::Type, 0=disabled, others see frontend enum TYPE
-    AP_Int8  _i2c_bus;          // I2C bus number
+    AP_Int8 bus;                    // I2C bus number
-    AP_Int8  _i2c_address;      // I2C address
+    AP_Int8 bus_address;            // I2C address
+    
 };

libraries/AP_TemperatureSensor/AP_TemperatureSensor_TSYS01.cpp

@@ -1,12 +1,30 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 #include "AP_TemperatureSensor_TSYS01.h"
 
-#if AP_TEMPERATURE_SENSOR_TSYS01_ENABLE
+#if AP_TEMPERATURE_SENSOR_TSYS01_ENABLED
 #include <utility>
 #include <stdio.h>
-#include <AP_HAL/AP_HAL.h>
 #include <AP_HAL/I2CDevice.h>
 #include <AP_Math/AP_Math.h>
 
+#ifndef AP_TEMPERATURE_SENSOR_TSYS01_ENFORCE_KNOWN_VALID_I2C_ADDRESS
+#define AP_TEMPERATURE_SENSOR_TSYS01_ENFORCE_KNOWN_VALID_I2C_ADDRESS 1
+#endif
+
 extern const AP_HAL::HAL &hal;
 
 static const uint8_t TSYS01_CMD_RESET       = 0x1E;
@@ -18,14 +36,15 @@ void AP_TemperatureSensor_TSYS01::init()
 {
     constexpr char name[] = "TSYS01";
 
+#if AP_TEMPERATURE_SENSOR_TSYS01_ENFORCE_KNOWN_VALID_I2C_ADDRESS
     // I2C Address: Default to using TSYS01_ADDR_CSB0 & Check I2C Address is Correct
-    uint8_t addr = _params._i2c_address;
+    if ((_params.bus_address != TSYS01_ADDR_CSB0) && (_params.bus_address != TSYS01_ADDR_CSB1)) {
-    if ((addr != TSYS01_ADDR_CSB0) && (addr != TSYS01_ADDR_CSB1)) {
+        printf("%s wrong I2C addr of 0x%2X, setting to 0x%2X", name, (unsigned)_params.bus_address.get(), (unsigned)TSYS01_ADDR_CSB0);
-        printf("%s, wrong I2C addr", name);
+        _params.bus_address.set(TSYS01_ADDR_CSB0);
-        return;
     }
+#endif
 
-    _dev = std::move(hal.i2c_mgr->get_device(_params._i2c_bus, _params._i2c_address));
+    _dev = std::move(hal.i2c_mgr->get_device(_params.bus, _params.bus_address));
     if (!_dev) {
         printf("%s device is null!", name);
         return;
@@ -35,19 +54,20 @@ void AP_TemperatureSensor_TSYS01::init()
 
     _dev->set_retries(10);
 
-    if (!_reset()) {
+    // reset
+    if (!_dev->transfer(&TSYS01_CMD_RESET, 1, nullptr, 0)) {
         printf("%s reset failed", name);
         return;
     }
 
     hal.scheduler->delay(4);
 
-    if (!_read_prom()) {
+    if (!read_prom()) {
         printf("%s prom read failed", name);
         return;
     }
 
-    _convert();
+    start_next_sample();
 
     // lower retries for run
     _dev->set_retries(3);
@@ -58,11 +78,6 @@ void AP_TemperatureSensor_TSYS01::init()
                                      FUNCTOR_BIND_MEMBER(&AP_TemperatureSensor_TSYS01::_timer, void));
 }
 
-bool AP_TemperatureSensor_TSYS01::_reset() const
-{
-    return _dev->transfer(&TSYS01_CMD_RESET, 1, nullptr, 0);
-}
-
 // Register map
 // prom word	Address
 //      0       0xA0 -> unused
@@ -73,67 +88,65 @@ bool AP_TemperatureSensor_TSYS01::_reset() const
 //      5       0xAA -> _k[0]
 //      6       0xAC -> unused
 //      7       0xAE -> unused
-bool AP_TemperatureSensor_TSYS01::_read_prom()
+bool AP_TemperatureSensor_TSYS01::read_prom()
 {
     bool success = false;
-    for (int i = 0; i < 5; i++) {
+    for (uint8_t i = 0; i < ARRAY_SIZE(_k); i++) {
         // Read only the prom values that we use
-        _k[i] = _read_prom_word(5-i);
+        _k[i] = read_prom_word(ARRAY_SIZE(_k)-i);
-        success |= _k[i] != 0;
+        success |= (_k[i] != 0);
     }
     return success;
 }
 
 // Borrowed from MS Baro driver
-uint16_t AP_TemperatureSensor_TSYS01::_read_prom_word(uint8_t word) const
+uint16_t AP_TemperatureSensor_TSYS01::read_prom_word(const uint8_t word) const
 {
     const uint8_t reg = TSYS01_CMD_READ_PROM + (word << 1);
     uint8_t val[2];
     if (!_dev->transfer(&reg, 1, val, 2)) {
         return 0;
     }
-    return (val[0] << 8) | val[1];
+    return UINT16_VALUE(val[0], val[1]);
 }
 
-bool AP_TemperatureSensor_TSYS01::_convert() const
+uint32_t AP_TemperatureSensor_TSYS01::read_adc() const
-{
-    return _dev->transfer(&TSYS01_CMD_CONVERT, 1, nullptr, 0);
-}
-
-uint32_t AP_TemperatureSensor_TSYS01::_read_adc() const
 {
     uint8_t val[3];
     if (!_dev->transfer(&TSYS01_CMD_READ_ADC, 1, val, 3)) {
         return 0;
     }
-    return (val[0] << 16) | (val[1] << 8) | val[2];
+    return UINT32_VALUE(0,val[0],val[1],val[2]);
 }
 
 void AP_TemperatureSensor_TSYS01::_timer(void)
 {
-    const uint32_t adc = _read_adc();
+    const uint32_t adc = read_adc();
-    _state.healthy = adc != 0;
 
-    if (_state.healthy) {
+    if (adc != 0) {
-        _calculate(adc);
+        const float temp = calculate(adc);
-    } else {
+        set_temperature(temp);
-        _state.temperature = 0;
     }
 
-    //printf("\nTemperature: %.2lf C", _state.temperature;
+    start_next_sample();
-
-    _convert();
 }
 
-void AP_TemperatureSensor_TSYS01::_calculate(uint32_t adc)
+void AP_TemperatureSensor_TSYS01::start_next_sample()
+{
+    _dev->transfer(&TSYS01_CMD_CONVERT, 1, nullptr, 0);
+}
+
+float AP_TemperatureSensor_TSYS01::calculate(const uint32_t adc) const
 {
     const float adc16 = adc/256;
-    _state.temperature =
+    const float temperature =
         -2   * _k[4] * powf(10, -21) * powf(adc16, 4) +
         4    * _k[3] * powf(10, -16) * powf(adc16, 3) +
         -2   * _k[2] * powf(10, -11) * powf(adc16, 2) +
         1    * _k[1] * powf(10, -6)  * adc16 +
         -1.5 * _k[0] * powf(10, -2);
+
+    return temperature;
 }
 
-#endif // AP_TEMPERATURE_SENSOR_TSYS01_ENABLE
+#endif // AP_TEMPERATURE_SENSOR_TSYS01_ENABLED

libraries/AP_TemperatureSensor/AP_TemperatureSensor_TSYS01.h

@@ -1,3 +1,18 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
 /*
  * I2C driver for Measurement Specialties MEAS TSYS01 digital temperature sensor
  */
@@ -5,14 +20,11 @@
 #pragma once
 #include "AP_TemperatureSensor_Backend.h"
 
-#ifndef AP_TEMPERATURE_SENSOR_TSYS01_ENABLE
+#ifndef AP_TEMPERATURE_SENSOR_TSYS01_ENABLED
-#define AP_TEMPERATURE_SENSOR_TSYS01_ENABLE AP_TEMPERATURE_SENSOR_ENABLED
+#define AP_TEMPERATURE_SENSOR_TSYS01_ENABLED AP_TEMPERATURE_SENSOR_ENABLED
 #endif
 
-#if AP_TEMPERATURE_SENSOR_TSYS01_ENABLE
+#if AP_TEMPERATURE_SENSOR_TSYS01_ENABLED
-#include <AP_HAL/AP_HAL.h>
-#include <AP_HAL/Semaphores.h>
-#include <AP_HAL/Device.h>
 
 #define TSYS01_ADDR_CSB0 0x77
 #define TSYS01_ADDR_CSB1 0x76
@@ -25,26 +37,25 @@ public:
 
     void update() override {};
 
-    AP_HAL::OwnPtr<AP_HAL::Device> _dev;
 
 private:
     uint16_t _k[5];         // internal calibration for temperature calculation
 
     // reset device
-    bool _reset(void) const;
+    bool reset(void) const;
 
     // read (relevant) internal calibration registers into _k
-    bool _read_prom(void);
+    bool read_prom(void);
-    uint16_t _read_prom_word(uint8_t word) const;
+    uint16_t read_prom_word(const uint8_t word) const;
 
     // begin an ADC conversion (min:7.40ms typ:8.22ms max:9.04ms)
-    bool _convert(void) const;
+    void start_next_sample();
-    uint32_t _read_adc(void) const;
+    uint32_t read_adc(void) const;
 
     // update the temperature, called at 20Hz
     void _timer(void);
 
     // calculate temperature using adc reading and internal calibration
-    void _calculate(uint32_t adc);
+    float calculate(const uint32_t adc) const;
 };
-#endif // AP_TEMPERATURE_SENSOR_TSYS01_ENABLE
+#endif // AP_TEMPERATURE_SENSOR_TSYS01_ENABLED