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AP_Compass: enable LIS3MDL on I2C and RM3100 on SPI

This commit is contained in:
Andrew Tridgell 2019-05-27 11:48:33 +10:00
parent 29fe4241a8
commit 0ec3f80bbe
2 changed files with 12 additions and 0 deletions
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7
libraries/AP_Compass/AP_Compass.cpp
View File

@ -925,12 +925,19 @@ void Compass::_detect_backends(void)
true, HAL_COMPASS_QMC5883L_ORIENTATION_EXTERNAL));
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(GET_I2C_DEVICE(0, HAL_COMPASS_QMC5883L_I2C_ADDR),
false, HAL_COMPASS_QMC5883L_ORIENTATION_INTERNAL));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_LIS3MDL_I2C
FOREACH_I2C(i) {
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR), true, ROTATION_NONE));
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR2), true, ROTATION_NONE));
}
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE
ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)));
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0));
ADD_BACKEND(DRIVER_LSM9DS1, AP_Compass_LSM9DS1::probe(hal.spi->get_device("lsm9ds1_m")));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BMM150_I2C
ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(GET_I2C_DEVICE(HAL_COMPASS_BMM150_I2C_BUS, HAL_COMPASS_BMM150_I2C_ADDR)));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_RM3100_SPI
ADD_BACKEND(DRIVER_RM3100, AP_Compass_RM3100::probe(hal.spi->get_device("rm3100"), ROTATION_NONE));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_NONE
// no compass
#else

5
libraries/AP_Compass/AP_Compass_RM3100.cpp
View File

@ -97,6 +97,11 @@ bool AP_Compass_RM3100::init()
return false;
}
if (dev->bus_type() == AP_HAL::Device::BUS_TYPE_SPI) {
// read has high bit set for SPI
dev->set_read_flag(0x80);
}
// high retries for init
dev->set_retries(10);