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AP_Compass: support probing RM3100 on all 4 addresses

This commit is contained in:
Andrew Tridgell 2020-07-30 15:29:55 +10:00
parent 849cb960e5
commit 2a662793c2
2 changed files with 19 additions and 5 deletions
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19
libraries/AP_Compass/AP_Compass.cpp
View File

@ -1103,14 +1103,25 @@ void Compass::_probe_external_i2c_compasses(void)
true, ROTATION_NONE));
}
#ifdef HAL_COMPASS_RM3100_I2C_ADDR
const uint8_t rm3100_addresses[] = { HAL_COMPASS_RM3100_I2C_ADDR };
#else
// RM3100 can be on 4 different addresses
const uint8_t rm3100_addresses[] = { HAL_COMPASS_RM3100_I2C_ADDR1,
HAL_COMPASS_RM3100_I2C_ADDR2,
HAL_COMPASS_RM3100_I2C_ADDR3,
HAL_COMPASS_RM3100_I2C_ADDR4 };
#endif
// external i2c bus
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_RM3100, AP_Compass_RM3100::probe(GET_I2C_DEVICE(i, HAL_COMPASS_RM3100_I2C_ADDR),
true, ROTATION_NONE));
for (uint8_t j=0; j<ARRAY_SIZE(rm3100_addresses); j++) {
ADD_BACKEND(DRIVER_RM3100, AP_Compass_RM3100::probe(GET_I2C_DEVICE(i, rm3100_addresses[j]), true, ROTATION_NONE));
}
}
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_RM3100, AP_Compass_RM3100::probe(GET_I2C_DEVICE(i, HAL_COMPASS_RM3100_I2C_ADDR),
all_external, ROTATION_NONE));
for (uint8_t j=0; j<ARRAY_SIZE(rm3100_addresses); j++) {
ADD_BACKEND(DRIVER_RM3100, AP_Compass_RM3100::probe(GET_I2C_DEVICE(i, rm3100_addresses[j]), all_external, ROTATION_NONE));
}
}
}

5
libraries/AP_Compass/AP_Compass_RM3100.h
View File

@ -23,7 +23,10 @@
#include "AP_Compass_Backend.h"
#ifndef HAL_COMPASS_RM3100_I2C_ADDR
# define HAL_COMPASS_RM3100_I2C_ADDR 0x20
# define HAL_COMPASS_RM3100_I2C_ADDR1 0x20
# define HAL_COMPASS_RM3100_I2C_ADDR2 0x21
# define HAL_COMPASS_RM3100_I2C_ADDR3 0x22
# define HAL_COMPASS_RM3100_I2C_ADDR4 0x23
#endif
class AP_Compass_RM3100 : public AP_Compass_Backend