Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-24 01:28:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Compass: avoid double detection of the AK09916

Browse Source 
with an ICM20948 we can double detect the compass due to the i2c pass-thru
This commit is contained in:
Andrew Tridgell 2017-10-02 18:23:57 +11:00
parent f03057fdeb
commit 0eb25fcc74
2 changed files with 27 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

30
libraries/AP_Compass/AP_Compass.cpp
View File

@ -510,6 +510,20 @@ bool Compass::_driver_enabled(enum DriverType driver_type)
return (mask & uint32_t(_driver_type_mask.get())) == 0;
}
/*
see if we already have probed a driver by bus type
*/
bool Compass::_have_driver(AP_HAL::Device::BusType bus_type, uint8_t bus_num, uint8_t address, uint8_t devtype) const
{
uint32_t id = AP_HAL::Device::make_bus_id(bus_type, bus_num, address, devtype);
for (uint8_t i=0; i<_compass_count; i++) {
if (id == uint32_t(_state[i].dev_id.get())) {
return true;
}
}
return false;
}
/*
detect available backends for this board
*/
@ -597,13 +611,17 @@ void Compass::_detect_backends(void)
both_i2c_external, both_i2c_external?ROTATION_YAW_90:ROTATION_NONE),
AP_Compass_LIS3MDL::name, both_i2c_external);
// AK09916
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_AK09916_I2C_ADDR),
true, ROTATION_YAW_270),
// AK09916. This can be found twice, due to the ICM20948 i2c bus pass-thru, so we need to be careful to avoid that
if (!_have_driver(AP_HAL::Device::BUS_TYPE_I2C, 1, HAL_COMPASS_AK09916_I2C_ADDR, AP_Compass_Backend::DEVTYPE_ICM20948)) {
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_AK09916_I2C_ADDR),
true, ROTATION_YAW_270),
AP_Compass_AK09916::name, true);
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_AK09916_I2C_ADDR),
both_i2c_external, both_i2c_external?ROTATION_YAW_270:ROTATION_NONE),
AP_Compass_AK09916::name, both_i2c_external);
}
if (!_have_driver(AP_HAL::Device::BUS_TYPE_I2C, 0, HAL_COMPASS_AK09916_I2C_ADDR, AP_Compass_Backend::DEVTYPE_ICM20948)) {
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_AK09916_I2C_ADDR),
both_i2c_external, both_i2c_external?ROTATION_YAW_270:ROTATION_NONE),
AP_Compass_AK09916::name, both_i2c_external);
}
// IST8310 on external and internal bus
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_IST8310_I2C_ADDR),

3
libraries/AP_Compass/AP_Compass.h
View File

@ -310,6 +310,9 @@ private:
bool _start_calibration_mask(uint8_t mask, bool retry=false, bool autosave=false, float delay_sec=0.0f, bool autoreboot=false);
bool _auto_reboot() { return _compass_cal_autoreboot; }
// see if we already have probed a driver by bus type
bool _have_driver(AP_HAL::Device::BusType bus_type, uint8_t bus_num, uint8_t address, uint8_t devtype) const;
//keep track of which calibrators have been saved
bool _cal_saved[COMPASS_MAX_INSTANCES];