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AP_Compass: make device IDs match PX4 drivers 

match in-tree drivers to PX4Firmware drivers
This commit is contained in:
Andrew Tridgell 2016-11-05 11:24:21 +11:00
parent aa4025bdf9
commit 147b253e65
8 changed files with 24 additions and 18 deletions
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4
libraries/AP_Compass/AP_Compass.cpp
View File

@ -511,10 +511,10 @@ void Compass::_detect_backends(void)
AP_Compass_LSM303D::name, false);
}
if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V3) {
_add_backend(AP_Compass_LSM303D::probe(*this, hal.spi->get_device(HAL_INS_LSM9DS0_EXT_A_NAME)),
AP_Compass_LSM303D::name, false);
_add_backend(AP_Compass_AK8963::probe_mpu9250(*this, 0),
AP_Compass_AK8963::name, false);
_add_backend(AP_Compass_LSM303D::probe(*this, hal.spi->get_device(HAL_INS_LSM9DS0_EXT_A_NAME)),
AP_Compass_LSM303D::name, false);
_add_backend(AP_Compass_AK8963::probe_mpu9250(*this, 1),
AP_Compass_AK8963::name, false);
}

11
libraries/AP_Compass/AP_Compass.h
View File

@ -12,17 +12,6 @@
#include "CompassCalibrator.h"
#include "AP_Compass_Backend.h"
// compass product id
#define AP_COMPASS_TYPE_UNKNOWN 0x00
#define AP_COMPASS_TYPE_HIL 0x01
#define AP_COMPASS_TYPE_HMC5843 0x02
#define AP_COMPASS_TYPE_PX4 0x04
#define AP_COMPASS_TYPE_VRBRAIN 0x05
#define AP_COMPASS_TYPE_AK8963 0x06
#define AP_COMPASS_TYPE_LSM303D 0x08
#define AP_COMPASS_TYPE_LSM9DS1 0x09
#define AP_COMPASS_TYPE_BMM150 0x0A
// motor compensation types (for use with motor_comp_enabled)
#define AP_COMPASS_MOT_COMP_DISABLED 0x00
#define AP_COMPASS_MOT_COMP_THROTTLE 0x01

2
libraries/AP_Compass/AP_Compass_AK8963.cpp
View File

@ -149,7 +149,7 @@ bool AP_Compass_AK8963::init()
/* register the compass instance in the frontend */
_compass_instance = register_compass();
_bus->set_device_type(AP_COMPASS_TYPE_AK8963);
_bus->set_device_type(DEVTYPE_AK8963);
set_dev_id(_compass_instance, _bus->get_bus_id());
bus_sem->give();

2
libraries/AP_Compass/AP_Compass_BMM150.cpp
View File

@ -183,7 +183,7 @@ bool AP_Compass_BMM150::init()
/* register the compass instance in the frontend */
_compass_instance = register_compass();
_dev->set_device_type(AP_COMPASS_TYPE_BMM150);
_dev->set_device_type(DEVTYPE_BMM150);
set_dev_id(_compass_instance, _dev->get_bus_id());
_dev->register_periodic_callback(MEASURE_TIME_USEC,

17
libraries/AP_Compass/AP_Compass_Backend.h
View File

@ -41,6 +41,23 @@ public:
// backends
virtual void accumulate(void) {};
/*
device driver IDs. These are used to fill in the devtype field
of the device ID, which shows up as COMPASS*ID* parameters to
users. The values are chosen for compatibility with existing PX4
drivers.
If a change is made to a driver that would make existing
calibration values invalid then this number must be changed.
*/
enum DevTypes {
DEVTYPE_HMC5883 = 0x01,
DEVTYPE_LSM303D = 0x02,
DEVTYPE_AK8963 = 0x04,
DEVTYPE_BMM150 = 0x05,
DEVTYPE_LSM9DS1 = 0x06,
};
protected:
/*

2
libraries/AP_Compass/AP_Compass_HMC5843.cpp
View File

@ -181,7 +181,7 @@ bool AP_Compass_HMC5843::init()
_compass_instance = register_compass();
_bus->set_device_type(AP_COMPASS_TYPE_HMC5843);
_bus->set_device_type(DEVTYPE_HMC5883);
set_dev_id(_compass_instance, _bus->get_bus_id());
if (_force_external) {

2
libraries/AP_Compass/AP_Compass_LSM303D.cpp
View File

@ -269,7 +269,7 @@ bool AP_Compass_LSM303D::init()
/* register the compass instance in the frontend */
_compass_instance = register_compass();
_dev->set_device_type(AP_COMPASS_TYPE_LSM303D);
_dev->set_device_type(DEVTYPE_LSM303D);
set_dev_id(_compass_instance, _dev->get_bus_id());
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT

2
libraries/AP_Compass/AP_Compass_LSM9DS1.cpp
View File

@ -95,7 +95,7 @@ bool AP_Compass_LSM9DS1::init()
_compass_instance = register_compass();
_dev->set_device_type(AP_COMPASS_TYPE_LSM9DS1);
_dev->set_device_type(DEVTYPE_LSM9DS1);
set_dev_id(_compass_instance, _dev->get_bus_id());
_dev->register_periodic_callback(10000, FUNCTOR_BIND_MEMBER(&AP_Compass_LSM9DS1::_update, bool));