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Fixed CI broken build. Made TELEM2 default port. 

Device port can be set via SENS_EN_CM8JL65 parameter:
SENS_EN_CM8JL65 = 0 -> Disabled
SENS_EN_CM8JL65 = 1 -> Enabled on TELEM2
SENS_EN_CM8JL65 = 2 -> Enabled on TELEM1

Signed-off-by: Claudio Micheli <claudio@auterion.com>
This commit is contained in:
Claudio Micheli 2019-01-04 11:11:37 +01:00 committed by Beat Küng
parent e4381bfc87
commit 7124cbf3af
4 changed files with 15 additions and 7 deletions
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11
ROMFS/px4fmu_common/init.d/rc.sensors
View File

@ -94,9 +94,16 @@ then
fi
# Lanbao PSK-CM8JL65-CC5 distance sensor
if param compare SENS_EN_CM8JL65 1
if param greater SENS_EN_CM8JL65 0
then
cm8jl65 start
if param compare SENS_EN_CM8JL65 1
then
cm8jl65 start
fi
if param compare SENS_EN_CM8JL65 2
then
cm8jl65 start -d "/dev/ttyS1"
fi
fi

4
src/drivers/distance_sensor/cm8jl65/cm8jl65.cpp
View File

@ -75,8 +75,8 @@
#define CM8JL65_TAKE_RANGE_REG 'd'
// designated serial port on Pixhawk (TELEM1)
#define CM8JL65_DEFAULT_PORT "/dev/ttyS1" // Its baudrate is 115200
// designated serial port on Pixhawk (TELEM2)
#define CM8JL65_DEFAULT_PORT "/dev/ttyS2" // Its baudrate is 115200
// normal conversion wait time
#define CM8JL65_CONVERSION_INTERVAL 50*1000UL/* 50ms */

2
src/drivers/distance_sensor/cm8jl65/cm8jl65_parser.cpp
View File

@ -177,7 +177,7 @@ int cm8jl65_parser(uint8_t c, uint8_t *parserbuf, CM8JL65_PARSE_STATE *state, ui
if (c == (*crc16 & 0xFF)) {
// printf("Checksum verified \n");
*dist = (parserbuf[DISTANCE_MSB_POS] << 8) | parserbuf[DISTANCE_LSB_POS];
return OK;
return 0;
}
/*else {
//printf("Checksum invalidon low byte: 0x%02X, calculated: 0x%04X \n",c, *crc16);

5
src/drivers/distance_sensor/cm8jl65/parameters.c
View File

@ -36,9 +36,10 @@
*
* @reboot_required true
* @min 0
* @max 1
* @max 2
* @group Sensors
* @value 0 Disabled
* @value 1 Enabled
* @value 1 Enabled on TELEM2
* @value 2 Enabled on TELEM1
*/
PARAM_DEFINE_INT32(SENS_EN_CM8JL65, 0);