Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Compass: stop passing frontend pointer

Browse Source 
Let AP_Compass_Backend call AP::compass() *once* instead of passing
the frontend pointer over and over.
This commit is contained in:
Lucas De Marchi 2018-08-06 15:21:27 -07:00 committed by Andrew Tridgell
parent 585b6dce0d
commit 4039b51810
31 changed files with 191 additions and 246 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

172
libraries/AP_Compass/AP_Compass.cpp
View File

@ -586,7 +586,7 @@ void Compass::_probe_external_i2c_compasses(void)
bool both_i2c_external = (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2);
// external i2c bus
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_HMC5843_I2C_ADDR),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(i, HAL_COMPASS_HMC5843_I2C_ADDR),
true, ROTATION_ROLL_180),
AP_Compass_HMC5843::name, true);
}
@ -595,7 +595,7 @@ void Compass::_probe_external_i2c_compasses(void)
AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_AEROFC) {
// internal i2c bus
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_HMC5843_I2C_ADDR),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(i, HAL_COMPASS_HMC5843_I2C_ADDR),
both_i2c_external, both_i2c_external?ROTATION_ROLL_180:ROTATION_YAW_270),
AP_Compass_HMC5843::name, both_i2c_external);
}
@ -603,14 +603,14 @@ void Compass::_probe_external_i2c_compasses(void)
//external i2c bus
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_QMC5883L_I2C_ADDR),
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(GET_I2C_DEVICE(i, HAL_COMPASS_QMC5883L_I2C_ADDR),
true, HAL_COMPASS_QMC5883L_ORIENTATION_EXTERNAL),
AP_Compass_QMC5883L::name, true);
}
//internal i2c bus
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_QMC5883L_I2C_ADDR),
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(GET_I2C_DEVICE(i, HAL_COMPASS_QMC5883L_I2C_ADDR),
both_i2c_external,
both_i2c_external?HAL_COMPASS_QMC5883L_ORIENTATION_EXTERNAL:HAL_COMPASS_QMC5883L_ORIENTATION_INTERNAL),
AP_Compass_QMC5883L::name,both_i2c_external);
@ -619,16 +619,14 @@ void Compass::_probe_external_i2c_compasses(void)
#if !HAL_MINIMIZE_FEATURES
// AK09916 on ICM20948
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948(*this,
GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948(GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
GET_I2C_DEVICE(i, HAL_COMPASS_ICM20948_I2C_ADDR),
true, ROTATION_PITCH_180_YAW_90),
AP_Compass_AK09916::name, true);
}
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948(*this,
GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948(GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
GET_I2C_DEVICE(i, HAL_COMPASS_ICM20948_I2C_ADDR),
both_i2c_external, ROTATION_PITCH_180_YAW_90),
AP_Compass_AK09916::name, true);
@ -636,40 +634,40 @@ void Compass::_probe_external_i2c_compasses(void)
// lis3mdl on bus 0 with default address
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR),
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR),
both_i2c_external, both_i2c_external?ROTATION_YAW_90:ROTATION_NONE),
AP_Compass_LIS3MDL::name, both_i2c_external);
}
// lis3mdl on bus 0 with alternate address
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR2),
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR2),
both_i2c_external, both_i2c_external?ROTATION_YAW_90:ROTATION_NONE),
AP_Compass_LIS3MDL::name, both_i2c_external);
}
// external lis3mdl on bus 1 with default address
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR),
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR),
true, ROTATION_YAW_90),
AP_Compass_LIS3MDL::name, true);
}
// external lis3mdl on bus 1 with alternate address
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR2),
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR2),
true, ROTATION_YAW_90),
AP_Compass_LIS3MDL::name, true);
}
// AK09916. This can be found twice, due to the ICM20948 i2c bus pass-thru, so we need to be careful to avoid that
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
true, ROTATION_YAW_270),
AP_Compass_AK09916::name, true);
}
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
both_i2c_external, both_i2c_external?ROTATION_YAW_270:ROTATION_NONE),
AP_Compass_AK09916::name, both_i2c_external);
}
@ -685,12 +683,12 @@ void Compass::_probe_external_i2c_compasses(void)
}
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_IST8310_I2C_ADDR),
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(GET_I2C_DEVICE(i, HAL_COMPASS_IST8310_I2C_ADDR),
true, default_rotation), AP_Compass_IST8310::name, true);
}
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_IST8310_I2C_ADDR),
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(GET_I2C_DEVICE(i, HAL_COMPASS_IST8310_I2C_ADDR),
both_i2c_external, default_rotation), AP_Compass_IST8310::name, both_i2c_external);
}
}
@ -703,7 +701,7 @@ void Compass::_probe_external_i2c_compasses(void)
void Compass::_detect_backends(void)
{
if (_hil_mode) {
_add_backend(AP_Compass_HIL::detect(*this), nullptr, false);
_add_backend(AP_Compass_HIL::detect(), nullptr, false);
return;
}
@ -715,7 +713,7 @@ void Compass::_detect_backends(void)
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
ADD_BACKEND(DRIVER_SITL, new AP_Compass_SITL(*this), nullptr, false);
ADD_BACKEND(DRIVER_SITL, new AP_Compass_SITL(), nullptr, false);
return;
#endif
@ -729,7 +727,7 @@ void Compass::_detect_backends(void)
#endif
#if HAL_COMPASS_DEFAULT == HAL_COMPASS_HIL
ADD_BACKEND(DRIVER_SITL, AP_Compass_HIL::detect(*this), nullptr, false);
ADD_BACKEND(DRIVER_SITL, AP_Compass_HIL::detect(), nullptr, false);
#elif AP_FEATURE_BOARD_DETECT
switch (AP_BoardConfig::get_board_type()) {
case AP_BoardConfig::PX4_BOARD_PX4V1:
@ -752,17 +750,17 @@ void Compass::_detect_backends(void)
case AP_BoardConfig::PX4_BOARD_PCNC1:
ADD_BACKEND(DRIVER_BMM150,
AP_Compass_BMM150::probe(*this, GET_I2C_DEVICE(0, 0x10)),
AP_Compass_BMM150::probe(GET_I2C_DEVICE(0, 0x10)),
AP_Compass_BMM150::name, true);
break;
case AP_BoardConfig::VRX_BOARD_BRAIN54: {
// external i2c bus
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(1, HAL_COMPASS_HMC5843_I2C_ADDR),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(1, HAL_COMPASS_HMC5843_I2C_ADDR),
true, ROTATION_ROLL_180),
AP_Compass_HMC5843::name, true);
}
// internal i2c bus
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(0, HAL_COMPASS_HMC5843_I2C_ADDR),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(0, HAL_COMPASS_HMC5843_I2C_ADDR),
false, ROTATION_YAW_270),
AP_Compass_HMC5843::name, false);
break;
@ -774,7 +772,7 @@ void Compass::_detect_backends(void)
case AP_BoardConfig::VRX_BOARD_UBRAIN51:
case AP_BoardConfig::VRX_BOARD_UBRAIN52: {
// external i2c bus
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(1, HAL_COMPASS_HMC5843_I2C_ADDR),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(1, HAL_COMPASS_HMC5843_I2C_ADDR),
true, ROTATION_ROLL_180),
AP_Compass_HMC5843::name, true);
}
@ -785,78 +783,78 @@ void Compass::_detect_backends(void)
}
switch (AP_BoardConfig::get_board_type()) {
case AP_BoardConfig::PX4_BOARD_PIXHAWK:
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.spi->get_device(HAL_COMPASS_HMC5843_NAME),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(hal.spi->get_device(HAL_COMPASS_HMC5843_NAME),
false, ROTATION_PITCH_180),
AP_Compass_HMC5843::name, false);
ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(*this, hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME)),
ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME)),
AP_Compass_LSM303D::name, false);
break;
case AP_BoardConfig::PX4_BOARD_PIXHAWK2:
ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(*this, hal.spi->get_device(HAL_INS_LSM9DS0_EXT_A_NAME), ROTATION_YAW_270),
ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(hal.spi->get_device(HAL_INS_LSM9DS0_EXT_A_NAME), ROTATION_YAW_270),
AP_Compass_LSM303D::name, false);
// we run the AK8963 only on the 2nd MPU9250, which leaves the
// first MPU9250 to run without disturbance at high rate
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 1, ROTATION_YAW_270),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(1, ROTATION_YAW_270),
AP_Compass_AK8963::name, false);
break;
case AP_BoardConfig::PX4_BOARD_FMUV5:
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_IST8310_I2C_ADDR),
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(GET_I2C_DEVICE(i, HAL_COMPASS_IST8310_I2C_ADDR),
true, ROTATION_ROLL_180_YAW_90), AP_Compass_IST8310::name, true);
}
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_IST8310_I2C_ADDR),
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(GET_I2C_DEVICE(i, HAL_COMPASS_IST8310_I2C_ADDR),
false, ROTATION_ROLL_180_YAW_90), AP_Compass_IST8310::name, false);
}
break;
case AP_BoardConfig::PX4_BOARD_SP01:
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 1, ROTATION_NONE),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(1, ROTATION_NONE),
AP_Compass_AK8963::name, false);
break;
case AP_BoardConfig::PX4_BOARD_PIXRACER:
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.spi->get_device(HAL_COMPASS_HMC5843_NAME),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(hal.spi->get_device(HAL_COMPASS_HMC5843_NAME),
false, ROTATION_PITCH_180),
AP_Compass_HMC5843::name, false);
// R15 has LIS3MDL on spi bus instead of HMC; same CS pin
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, hal.spi->get_device(HAL_COMPASS_LIS3MDL_NAME),
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(hal.spi->get_device(HAL_COMPASS_LIS3MDL_NAME),
false, ROTATION_NONE),
AP_Compass_LIS3MDL::name, false);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_ROLL_180_YAW_90),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_ROLL_180_YAW_90),
AP_Compass_AK8963::name, false);
break;
case AP_BoardConfig::PX4_BOARD_PIXHAWK_PRO:
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_ROLL_180_YAW_90),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_ROLL_180_YAW_90),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, hal.spi->get_device(HAL_COMPASS_LIS3MDL_NAME),
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(hal.spi->get_device(HAL_COMPASS_LIS3MDL_NAME),
false, ROTATION_NONE),
AP_Compass_LIS3MDL::name, false);
break;
case AP_BoardConfig::PX4_BOARD_PHMINI:
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_ROLL_180),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_ROLL_180),
AP_Compass_AK8963::name, false);
break;
case AP_BoardConfig::PX4_BOARD_AUAV21:
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_ROLL_180_YAW_90),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_ROLL_180_YAW_90),
AP_Compass_AK8963::name, false);
break;
case AP_BoardConfig::PX4_BOARD_PH2SLIM:
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_YAW_270),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_YAW_270),
AP_Compass_AK8963::name, false);
break;
case AP_BoardConfig::PX4_BOARD_MINDPXV2:
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(0, HAL_COMPASS_HMC5843_I2C_ADDR),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(0, HAL_COMPASS_HMC5843_I2C_ADDR),
false, ROTATION_YAW_90),
AP_Compass_HMC5843::name, false);
ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(*this, hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME), ROTATION_PITCH_180_YAW_270),
ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME), ROTATION_PITCH_180_YAW_270),
AP_Compass_LSM303D::name, false);
break;
@ -865,108 +863,108 @@ void Compass::_detect_backends(void)
}
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BH
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
AP_Compass_HMC5843::name, false);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0), AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0), AP_Compass_AK8963::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BBBMINI
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 1),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(1),
AP_Compass_AK8963::name, true);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_NAVIO2
ADD_BACKEND(DRIVER_LSM9DS1, AP_Compass_LSM9DS1::probe(*this, hal.spi->get_device("lsm9ds1_m"), ROTATION_ROLL_180),
ADD_BACKEND(DRIVER_LSM9DS1, AP_Compass_LSM9DS1::probe(hal.spi->get_device("lsm9ds1_m"), ROTATION_ROLL_180),
AP_Compass_LSM9DS1::name, false);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_NAVIO
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_OCPOC_ZYNQ
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
AP_Compass_HMC5843::name, true);
ADD_BACKEND(DRIVER_AK8963,AP_Compass_AK8963::probe_mpu9250(*this, 0),
ADD_BACKEND(DRIVER_AK8963,AP_Compass_AK8963::probe_mpu9250(0),
AP_Compass_AK8963::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_EDGE
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, GET_I2C_DEVICE(HAL_COMPASS_AK8963_I2C_BUS, HAL_COMPASS_AK8963_I2C_ADDR)),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(GET_I2C_DEVICE(HAL_COMPASS_AK8963_I2C_BUS, HAL_COMPASS_AK8963_I2C_ADDR)),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_MPU9250
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0),
AP_Compass_AK8963::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HMC5843
#ifndef HAL_COMPASS_HMC5843_ROTATION
# define HAL_COMPASS_HMC5843_ROTATION ROTATION_NONE
#endif
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR),
false, HAL_COMPASS_HMC5843_ROTATION),
AP_Compass_HMC5843::name, false);
#if defined(HAL_COMPASS_HMC5843_I2C_EXT_BUS) && CONFIG_HAL_BOARD == HAL_BOARD_F4LIGHT
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_EXT_BUS, HAL_COMPASS_HMC5843_I2C_ADDR),true),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_EXT_BUS, HAL_COMPASS_HMC5843_I2C_ADDR),true),
AP_Compass_HMC5843::name, true);
#endif
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HMC5843_MPU6000
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe_mpu6000(*this),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe_mpu6000(),
AP_Compass_HMC5843::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_I2C
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_AK8963_I2C_BUS, HAL_COMPASS_AK8963_I2C_ADDR)),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe(GET_I2C_DEVICE(HAL_COMPASS_AK8963_I2C_BUS, HAL_COMPASS_AK8963_I2C_ADDR)),
AP_Compass_AK8963::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_MPU9250_I2C
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, GET_I2C_DEVICE(HAL_COMPASS_AK8963_I2C_BUS, HAL_COMPASS_AK8963_I2C_ADDR)),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(GET_I2C_DEVICE(HAL_COMPASS_AK8963_I2C_BUS, HAL_COMPASS_AK8963_I2C_ADDR)),
AP_Compass_AK8963::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AERO
ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_BMM150_I2C_BUS, HAL_COMPASS_BMM150_I2C_ADDR)),
ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(GET_I2C_DEVICE(HAL_COMPASS_BMM150_I2C_BUS, HAL_COMPASS_BMM150_I2C_ADDR)),
AP_Compass_BMM150::name, false);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true);
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_IST8310_I2C_BUS, HAL_COMPASS_IST8310_I2C_ADDR),
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(GET_I2C_DEVICE(HAL_COMPASS_IST8310_I2C_BUS, HAL_COMPASS_IST8310_I2C_ADDR),
true, ROTATION_PITCH_180_YAW_90), AP_Compass_IST8310::name, true);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_LIS3MDL
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, hal.spi->get_device(HAL_COMPASS_LIS3MDL_NAME), false, ROTATION_ROLL_180_YAW_90),
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(hal.spi->get_device(HAL_COMPASS_LIS3MDL_NAME), false, ROTATION_ROLL_180_YAW_90),
AP_Compass_LIS3MDL::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_MAG3110
ADD_BACKEND(DRIVER_MAG3110, AP_Compass_MAG3110::probe(*this, GET_I2C_DEVICE(HAL_MAG3110_I2C_BUS, HAL_MAG3110_I2C_ADDR), ROTATION_NONE),
ADD_BACKEND(DRIVER_MAG3110, AP_Compass_MAG3110::probe(GET_I2C_DEVICE(HAL_MAG3110_I2C_BUS, HAL_MAG3110_I2C_ADDR), ROTATION_NONE),
AP_Compass_MAG3110::name, true);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_IST8310
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_IST8310_I2C_BUS, HAL_COMPASS_IST8310_I2C_ADDR),
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(GET_I2C_DEVICE(HAL_COMPASS_IST8310_I2C_BUS, HAL_COMPASS_IST8310_I2C_ADDR),
true, ROTATION_PITCH_180_YAW_90), AP_Compass_IST8310::name, true);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_QMC5883L
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, GET_I2C_DEVICE(1, HAL_COMPASS_QMC5883L_I2C_ADDR),
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(GET_I2C_DEVICE(1, HAL_COMPASS_QMC5883L_I2C_ADDR),
true, HAL_COMPASS_QMC5883L_ORIENTATION_EXTERNAL),
AP_Compass_QMC5883L::name, true);
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, GET_I2C_DEVICE(0, HAL_COMPASS_QMC5883L_I2C_ADDR),
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(GET_I2C_DEVICE(0, HAL_COMPASS_QMC5883L_I2C_ADDR),
false, HAL_COMPASS_QMC5883L_ORIENTATION_INTERNAL),
AP_Compass_QMC5883L::name, false);
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
AP_Compass_HMC5843::name, false);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_LSM9DS1, AP_Compass_LSM9DS1::probe(*this, hal.spi->get_device("lsm9ds1_m")),
ADD_BACKEND(DRIVER_LSM9DS1, AP_Compass_LSM9DS1::probe(hal.spi->get_device("lsm9ds1_m")),
AP_Compass_LSM9DS1::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BMM150_I2C
ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_BMM150_I2C_BUS, HAL_COMPASS_BMM150_I2C_ADDR)),
ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(GET_I2C_DEVICE(HAL_COMPASS_BMM150_I2C_BUS, HAL_COMPASS_BMM150_I2C_ADDR)),
AP_Compass_BMM150::name, true);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_NONE
// no compass
@ -977,50 +975,50 @@ void Compass::_detect_backends(void)
#if defined(BOARD_I2C_BUS_EXT) && CONFIG_HAL_BOARD == HAL_BOARD_F4LIGHT
// autodetect external i2c bus
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_QMC5883L_I2C_ADDR),
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_QMC5883L_I2C_ADDR),
true,ROTATION_NONE),
AP_Compass_QMC5883L::name, true);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_HMC5843_I2C_ADDR)),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_HMC5843_I2C_ADDR)),
AP_Compass_HMC5843::name, true);
// lis3mdl
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_LIS3MDL_I2C_ADDR),
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_LIS3MDL_I2C_ADDR),
true, ROTATION_NONE),
AP_Compass_LIS3MDL::name, true);
// AK09916
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(*this, GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_AK09916_I2C_ADDR),
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_AK09916_I2C_ADDR),
true, ROTATION_NONE),
AP_Compass_AK09916::name, true);
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_IST8310_I2C_ADDR),
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_IST8310_I2C_ADDR),
ROTATION_NONE),
AP_Compass_IST8310::name, true);
#ifdef HAL_COMPASS_BMM150_I2C_ADDR
ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(*this, GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_BMM150_I2C_ADDR)),
ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_BMM150_I2C_ADDR)),
AP_Compass_BMM150::name, true);
#endif
ADD_BACKEND(DRIVER_MAG3110, AP_Compass_MAG3110::probe(*this, GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_MAG3110_I2C_ADDR), ROTATION_NONE),
ADD_BACKEND(DRIVER_MAG3110, AP_Compass_MAG3110::probe(GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_MAG3110_I2C_ADDR), ROTATION_NONE),
AP_Compass_MAG3110::name, true);
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_QMC5883L_I2C_ADDR), ROTATION_NONE),
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_QMC5883L_I2C_ADDR), ROTATION_NONE),
AP_Compass_QMC5883L::name, true);
#endif
/* for chibios external board coniguration */
#ifdef HAL_EXT_COMPASS_HMC5843_I2C_BUS
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_EXT_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_EXT_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR),
true, ROTATION_ROLL_180),
AP_Compass_HMC5843::name, true);
#endif
#if HAL_WITH_UAVCAN
for (uint8_t i = 0; i < COMPASS_MAX_BACKEND; i++) {
ADD_BACKEND(DRIVER_UAVCAN, AP_Compass_UAVCAN::probe(*this), "UAVCAN", true);
ADD_BACKEND(DRIVER_UAVCAN, AP_Compass_UAVCAN::probe(), "UAVCAN", true);
}
#endif

16
libraries/AP_Compass/AP_Compass_AK09916.cpp
View File

@ -48,15 +48,14 @@ extern const AP_HAL::HAL &hal;
/*
probe for AK09916 directly on I2C
*/
AP_Compass_Backend *AP_Compass_AK09916::probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
AP_Compass_Backend *AP_Compass_AK09916::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
bool force_external,
enum Rotation rotation)
{
if (!dev) {
return nullptr;
}
AP_Compass_AK09916 *sensor = new AP_Compass_AK09916(compass, std::move(dev), nullptr,
AP_Compass_AK09916 *sensor = new AP_Compass_AK09916(std::move(dev), nullptr,
force_external,
rotation, AK09916_I2C);
if (!sensor || !sensor->init()) {
@ -71,8 +70,7 @@ AP_Compass_Backend *AP_Compass_AK09916::probe(Compass &compass,
/*
probe for AK09916 connected via an ICM20948
*/
AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_icm,
bool force_external,
enum Rotation rotation)
@ -80,7 +78,7 @@ AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948(Compass &compass,
if (!dev || !dev_icm) {
return nullptr;
}
AP_Compass_AK09916 *sensor = new AP_Compass_AK09916(compass, std::move(dev), std::move(dev_icm),
AP_Compass_AK09916 *sensor = new AP_Compass_AK09916(std::move(dev), std::move(dev_icm),
force_external,
rotation, AK09916_ICM20948_I2C);
if (!sensor || !sensor->init()) {
@ -91,14 +89,12 @@ AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948(Compass &compass,
return sensor;
}
AP_Compass_AK09916::AP_Compass_AK09916(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> _dev,
AP_Compass_AK09916::AP_Compass_AK09916(AP_HAL::OwnPtr<AP_HAL::Device> _dev,
AP_HAL::OwnPtr<AP_HAL::Device> _dev_icm,
bool _force_external,
enum Rotation _rotation,
enum bus_type _bus_type)
: AP_Compass_Backend(compass)
, bus_type(_bus_type)
: bus_type(_bus_type)
, dev(std::move(_dev))
, dev_icm(std::move(_dev_icm))
, force_external(_force_external)

9
libraries/AP_Compass/AP_Compass_AK09916.h
View File

@ -34,14 +34,12 @@
class AP_Compass_AK09916 : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
bool force_external = false,
enum Rotation rotation = ROTATION_NONE);
// separate probe function for when behind a ICM20948 IMU
static AP_Compass_Backend *probe_ICM20948(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
static AP_Compass_Backend *probe_ICM20948(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_icm,
bool force_external = false,
enum Rotation rotation = ROTATION_NONE);
@ -56,8 +54,7 @@ private:
AK09916_ICM20948_I2C,
} bus_type;
AP_Compass_AK09916(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
AP_Compass_AK09916(AP_HAL::OwnPtr<AP_HAL::Device> dev,
AP_HAL::OwnPtr<AP_HAL::Device> dev_icm,
bool force_external,
enum Rotation rotation,

19
libraries/AP_Compass/AP_Compass_AK8963.cpp
View File

@ -52,10 +52,9 @@ struct PACKED sample_regs {
extern const AP_HAL::HAL &hal;
AP_Compass_AK8963::AP_Compass_AK8963(Compass &compass, AP_AK8963_BusDriver *bus,
AP_Compass_AK8963::AP_Compass_AK8963(AP_AK8963_BusDriver *bus,
enum Rotation rotation)
: AP_Compass_Backend(compass)
, _bus(bus)
: _bus(bus)
, _rotation(rotation)
{
}
@ -65,8 +64,7 @@ AP_Compass_AK8963::~AP_Compass_AK8963()
delete _bus;
}
AP_Compass_Backend *AP_Compass_AK8963::probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
AP_Compass_Backend *AP_Compass_AK8963::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
enum Rotation rotation)
{
if (!dev) {
@ -77,7 +75,7 @@ AP_Compass_Backend *AP_Compass_AK8963::probe(Compass &compass,
return nullptr;
}
AP_Compass_AK8963 *sensor = new AP_Compass_AK8963(compass, bus, rotation);
AP_Compass_AK8963 *sensor = new AP_Compass_AK8963(bus, rotation);
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;
@ -86,8 +84,7 @@ AP_Compass_Backend *AP_Compass_AK8963::probe(Compass &compass,
return sensor;
}
AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
enum Rotation rotation)
{
if (!dev) {
@ -98,10 +95,10 @@ AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(Compass &compass,
/* Allow MPU9250 to shortcut auxiliary bus and host bus */
ins.detect_backends();
return probe(compass, std::move(dev), rotation);
return probe(std::move(dev), rotation);
}
AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(Compass &compass, uint8_t mpu9250_instance,
AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(uint8_t mpu9250_instance,
enum Rotation rotation)
{
AP_InertialSensor &ins = *AP_InertialSensor::get_instance();
@ -112,7 +109,7 @@ AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(Compass &compass, uint8_t m
return nullptr;
}
AP_Compass_AK8963 *sensor = new AP_Compass_AK8963(compass, bus, rotation);
AP_Compass_AK8963 *sensor = new AP_Compass_AK8963(bus, rotation);
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;

10
libraries/AP_Compass/AP_Compass_AK8963.h
View File

@ -18,17 +18,15 @@ class AP_Compass_AK8963 : public AP_Compass_Backend
{
public:
/* Probe for AK8963 standalone on I2C bus */
static AP_Compass_Backend *probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
enum Rotation rotation = ROTATION_NONE);
/* Probe for AK8963 on auxiliary bus of MPU9250, connected through I2C */
static AP_Compass_Backend *probe_mpu9250(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
static AP_Compass_Backend *probe_mpu9250(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
enum Rotation rotation = ROTATION_NONE);
/* Probe for AK8963 on auxiliary bus of MPU9250, connected through SPI */
static AP_Compass_Backend *probe_mpu9250(Compass &compass, uint8_t mpu9250_instance,
static AP_Compass_Backend *probe_mpu9250(uint8_t mpu9250_instance,
enum Rotation rotation = ROTATION_NONE);
static constexpr const char *name = "AK8963";
@ -38,7 +36,7 @@ public:
void read() override;
private:
AP_Compass_AK8963(Compass &compass, AP_AK8963_BusDriver *bus,
AP_Compass_AK8963(AP_AK8963_BusDriver *bus,
enum Rotation rotation = ROTATION_NONE);
bool init();

11
libraries/AP_Compass/AP_Compass_BMM150.cpp
View File

@ -63,13 +63,12 @@
extern const AP_HAL::HAL &hal;
AP_Compass_Backend *AP_Compass_BMM150::probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
AP_Compass_Backend *AP_Compass_BMM150::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
{
if (!dev) {
return nullptr;
}
AP_Compass_BMM150 *sensor = new AP_Compass_BMM150(compass, std::move(dev));
AP_Compass_BMM150 *sensor = new AP_Compass_BMM150(std::move(dev));
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;
@ -78,10 +77,8 @@ AP_Compass_Backend *AP_Compass_BMM150::probe(Compass &compass,
return sensor;
}
AP_Compass_BMM150::AP_Compass_BMM150(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev)
: AP_Compass_Backend(compass)
, _dev(std::move(dev))
AP_Compass_BMM150::AP_Compass_BMM150(AP_HAL::OwnPtr<AP_HAL::Device> dev)
: _dev(std::move(dev))
{
}

5
libraries/AP_Compass/AP_Compass_BMM150.h
View File

@ -27,15 +27,14 @@
class AP_Compass_BMM150 : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
void read() override;
static constexpr const char *name = "BMM150";
private:
AP_Compass_BMM150(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev);
AP_Compass_BMM150(AP_HAL::OwnPtr<AP_HAL::Device> dev);
/**
* Device periodic callback to read data from the sensor.

6
libraries/AP_Compass/AP_Compass_Backend.cpp
View File

@ -6,10 +6,10 @@
extern const AP_HAL::HAL& hal;
AP_Compass_Backend::AP_Compass_Backend(Compass &compass) :
_compass(compass)
AP_Compass_Backend::AP_Compass_Backend()
: _compass(AP::compass())
{
_sem = hal.util->new_semaphore();
_sem = hal.util->new_semaphore();
}
void AP_Compass_Backend::rotate_field(Vector3f &mag, uint8_t instance)

2
libraries/AP_Compass/AP_Compass_Backend.h
View File

@ -25,7 +25,7 @@ class Compass; // forward declaration
class AP_Compass_Backend
{
public:
AP_Compass_Backend(Compass &compass);
AP_Compass_Backend();
// we declare a virtual destructor so that drivers can
// override with a custom destructor if need be.

7
libraries/AP_Compass/AP_Compass_HIL.cpp
View File

@ -25,17 +25,16 @@
extern const AP_HAL::HAL& hal;
// constructor
AP_Compass_HIL::AP_Compass_HIL(Compass &compass):
AP_Compass_Backend(compass)
AP_Compass_HIL::AP_Compass_HIL()
{
memset(_compass_instance, 0, sizeof(_compass_instance));
_compass._setup_earth_field();
}
// detect the sensor
AP_Compass_Backend *AP_Compass_HIL::detect(Compass &compass)
AP_Compass_Backend *AP_Compass_HIL::detect()
{
AP_Compass_HIL *sensor = new AP_Compass_HIL(compass);
AP_Compass_HIL *sensor = new AP_Compass_HIL();
if (sensor == nullptr) {
return nullptr;
}

4
libraries/AP_Compass/AP_Compass_HIL.h
View File

@ -7,12 +7,12 @@
class AP_Compass_HIL : public AP_Compass_Backend
{
public:
AP_Compass_HIL(Compass &compass);
AP_Compass_HIL();
void read(void);
bool init(void);
// detect the sensor
static AP_Compass_Backend *detect(Compass &compass);
static AP_Compass_Backend *detect();
private:
uint8_t _compass_instance[HIL_NUM_COMPASSES];

14
libraries/AP_Compass/AP_Compass_HMC5843.cpp
View File

@ -94,10 +94,9 @@ extern const AP_HAL::HAL& hal;
#define HMC5843_REG_ID_A 0x0A
AP_Compass_HMC5843::AP_Compass_HMC5843(Compass &compass, AP_HMC5843_BusDriver *bus,
AP_Compass_HMC5843::AP_Compass_HMC5843(AP_HMC5843_BusDriver *bus,
bool force_external, enum Rotation rotation)
: AP_Compass_Backend(compass)
, _bus(bus)
: _bus(bus)
, _rotation(rotation)
, _force_external(force_external)
{
@ -108,8 +107,7 @@ AP_Compass_HMC5843::~AP_Compass_HMC5843()
delete _bus;
}
AP_Compass_Backend *AP_Compass_HMC5843::probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
AP_Compass_Backend *AP_Compass_HMC5843::probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation)
{
@ -121,7 +119,7 @@ AP_Compass_Backend *AP_Compass_HMC5843::probe(Compass &compass,
return nullptr;
}
AP_Compass_HMC5843 *sensor = new AP_Compass_HMC5843(compass, bus, force_external, rotation);
AP_Compass_HMC5843 *sensor = new AP_Compass_HMC5843(bus, force_external, rotation);
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;
@ -130,7 +128,7 @@ AP_Compass_Backend *AP_Compass_HMC5843::probe(Compass &compass,
return sensor;
}
AP_Compass_Backend *AP_Compass_HMC5843::probe_mpu6000(Compass &compass, enum Rotation rotation)
AP_Compass_Backend *AP_Compass_HMC5843::probe_mpu6000(enum Rotation rotation)
{
AP_InertialSensor &ins = *AP_InertialSensor::get_instance();
@ -141,7 +139,7 @@ AP_Compass_Backend *AP_Compass_HMC5843::probe_mpu6000(Compass &compass, enum Rot
return nullptr;
}
AP_Compass_HMC5843 *sensor = new AP_Compass_HMC5843(compass, bus, false, rotation);
AP_Compass_HMC5843 *sensor = new AP_Compass_HMC5843(bus, false, rotation);
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;

8
libraries/AP_Compass/AP_Compass_HMC5843.h
View File

@ -16,13 +16,11 @@ class AP_HMC5843_BusDriver;
class AP_Compass_HMC5843 : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external = false,
enum Rotation rotation = ROTATION_NONE);
static AP_Compass_Backend *probe_mpu6000(Compass &compass,
enum Rotation rotation = ROTATION_NONE);
static AP_Compass_Backend *probe_mpu6000(enum Rotation rotation = ROTATION_NONE);
static constexpr const char *name = "HMC5843";
@ -31,7 +29,7 @@ public:
void read() override;
private:
AP_Compass_HMC5843(Compass &compass, AP_HMC5843_BusDriver *bus,
AP_Compass_HMC5843(AP_HMC5843_BusDriver *bus,
bool force_external, enum Rotation rotation);
bool init();

11
libraries/AP_Compass/AP_Compass_IST8310.cpp
View File

@ -75,8 +75,7 @@ static const int16_t IST8310_MIN_VAL_Z = -IST8310_MAX_VAL_Z;
extern const AP_HAL::HAL &hal;
AP_Compass_Backend *AP_Compass_IST8310::probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
AP_Compass_Backend *AP_Compass_IST8310::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
bool force_external,
enum Rotation rotation)
{
@ -84,7 +83,7 @@ AP_Compass_Backend *AP_Compass_IST8310::probe(Compass &compass,
return nullptr;
}
AP_Compass_IST8310 *sensor = new AP_Compass_IST8310(compass, std::move(dev), force_external, rotation);
AP_Compass_IST8310 *sensor = new AP_Compass_IST8310(std::move(dev), force_external, rotation);
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;
@ -93,12 +92,10 @@ AP_Compass_Backend *AP_Compass_IST8310::probe(Compass &compass,
return sensor;
}
AP_Compass_IST8310::AP_Compass_IST8310(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
AP_Compass_IST8310::AP_Compass_IST8310(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation)
: AP_Compass_Backend(compass)
, _dev(std::move(dev))
: _dev(std::move(dev))
, _rotation(rotation)
, _force_external(force_external)
{

6
libraries/AP_Compass/AP_Compass_IST8310.h
View File

@ -31,8 +31,7 @@
class AP_Compass_IST8310 : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
bool force_external = false,
enum Rotation rotation = ROTATION_NONE);
@ -41,8 +40,7 @@ public:
static constexpr const char *name = "IST8310";
private:
AP_Compass_IST8310(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
AP_Compass_IST8310(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation);

11
libraries/AP_Compass/AP_Compass_LIS3MDL.cpp
View File

@ -48,15 +48,14 @@
extern const AP_HAL::HAL &hal;
AP_Compass_Backend *AP_Compass_LIS3MDL::probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
AP_Compass_Backend *AP_Compass_LIS3MDL::probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation)
{
if (!dev) {
return nullptr;
}
AP_Compass_LIS3MDL *sensor = new AP_Compass_LIS3MDL(compass, std::move(dev), force_external, rotation);
AP_Compass_LIS3MDL *sensor = new AP_Compass_LIS3MDL(std::move(dev), force_external, rotation);
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;
@ -65,12 +64,10 @@ AP_Compass_Backend *AP_Compass_LIS3MDL::probe(Compass &compass,
return sensor;
}
AP_Compass_LIS3MDL::AP_Compass_LIS3MDL(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> _dev,
AP_Compass_LIS3MDL::AP_Compass_LIS3MDL(AP_HAL::OwnPtr<AP_HAL::Device> _dev,
bool _force_external,
enum Rotation _rotation)
: AP_Compass_Backend(compass)
, dev(std::move(_dev))
: dev(std::move(_dev))
, force_external(_force_external)
, rotation(_rotation)
{

5
libraries/AP_Compass/AP_Compass_LIS3MDL.h
View File

@ -33,8 +33,7 @@
class AP_Compass_LIS3MDL : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external = false,
enum Rotation rotation = ROTATION_NONE);
@ -43,7 +42,7 @@ public:
static constexpr const char *name = "LIS3MDL";
private:
AP_Compass_LIS3MDL(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev,
AP_Compass_LIS3MDL(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation);

10
libraries/AP_Compass/AP_Compass_LSM303D.cpp
View File

@ -150,20 +150,18 @@ extern const AP_HAL::HAL &hal;
#define LSM303D_MAG_DEFAULT_RANGE_GA 2
#define LSM303D_MAG_DEFAULT_RATE 100
AP_Compass_LSM303D::AP_Compass_LSM303D(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev)
: AP_Compass_Backend(compass)
, _dev(std::move(dev))
AP_Compass_LSM303D::AP_Compass_LSM303D(AP_HAL::OwnPtr<AP_HAL::Device> dev)
: _dev(std::move(dev))
{
}
AP_Compass_Backend *AP_Compass_LSM303D::probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
AP_Compass_Backend *AP_Compass_LSM303D::probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation rotation)
{
if (!dev) {
return nullptr;
}
AP_Compass_LSM303D *sensor = new AP_Compass_LSM303D(compass, std::move(dev));
AP_Compass_LSM303D *sensor = new AP_Compass_LSM303D(std::move(dev));
if (!sensor || !sensor->init(rotation)) {
delete sensor;
return nullptr;

5
libraries/AP_Compass/AP_Compass_LSM303D.h
View File

@ -11,8 +11,7 @@
class AP_Compass_LSM303D : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation = ROTATION_NONE);
static constexpr const char *name = "LSM303D";
@ -22,7 +21,7 @@ public:
virtual ~AP_Compass_LSM303D() { }
private:
AP_Compass_LSM303D(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev);
AP_Compass_LSM303D(AP_HAL::OwnPtr<AP_HAL::Device> dev);
bool init(enum Rotation rotation);
uint8_t _register_read(uint8_t reg);

11
libraries/AP_Compass/AP_Compass_LSM9DS1.cpp
View File

@ -57,23 +57,20 @@ struct PACKED sample_regs {
extern const AP_HAL::HAL &hal;
AP_Compass_LSM9DS1::AP_Compass_LSM9DS1(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
AP_Compass_LSM9DS1::AP_Compass_LSM9DS1(AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation rotation)
: AP_Compass_Backend(compass)
, _dev(std::move(dev))
: _dev(std::move(dev))
, _rotation(rotation)
{
}
AP_Compass_Backend *AP_Compass_LSM9DS1::probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
AP_Compass_Backend *AP_Compass_LSM9DS1::probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation rotation)
{
if (!dev) {
return nullptr;
}
AP_Compass_LSM9DS1 *sensor = new AP_Compass_LSM9DS1(compass, std::move(dev), rotation);
AP_Compass_LSM9DS1 *sensor = new AP_Compass_LSM9DS1(std::move(dev), rotation);
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;

5
libraries/AP_Compass/AP_Compass_LSM9DS1.h
View File

@ -11,8 +11,7 @@
class AP_Compass_LSM9DS1 : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation rotation = ROTATION_NONE);
static constexpr const char *name = "LSM9DS1";
@ -22,7 +21,7 @@ public:
virtual ~AP_Compass_LSM9DS1() {}
private:
AP_Compass_LSM9DS1(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev,
AP_Compass_LSM9DS1(AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation rotation = ROTATION_NONE);
bool init();
bool _check_id(void);

10
libraries/AP_Compass/AP_Compass_MAG3110.cpp
View File

@ -80,20 +80,18 @@ RUS:
AP_Compass_MAG3110::AP_Compass_MAG3110(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev)
: AP_Compass_Backend(compass)
, _dev(std::move(dev))
AP_Compass_MAG3110::AP_Compass_MAG3110(AP_HAL::OwnPtr<AP_HAL::Device> dev)
: _dev(std::move(dev))
{
}
AP_Compass_Backend *AP_Compass_MAG3110::probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
AP_Compass_Backend *AP_Compass_MAG3110::probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation rotation)
{
if (!dev) {
return nullptr;
}
AP_Compass_MAG3110 *sensor = new AP_Compass_MAG3110(compass, std::move(dev));
AP_Compass_MAG3110 *sensor = new AP_Compass_MAG3110(std::move(dev));
if (!sensor || !sensor->init(rotation)) {
delete sensor;
return nullptr;

5
libraries/AP_Compass/AP_Compass_MAG3110.h
View File

@ -16,8 +16,7 @@
class AP_Compass_MAG3110 : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation = ROTATION_NONE);
static constexpr const char *name = "MAG3110";
@ -27,7 +26,7 @@ public:
~AP_Compass_MAG3110() { }
private:
AP_Compass_MAG3110(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev);
AP_Compass_MAG3110(AP_HAL::OwnPtr<AP_HAL::Device> dev);
bool init(enum Rotation rotation);

11
libraries/AP_Compass/AP_Compass_MMC3416.cpp
View File

@ -41,15 +41,14 @@ extern const AP_HAL::HAL &hal;
// datasheet says 50ms min for refill
#define MIN_DELAY_SET_RESET 50
AP_Compass_Backend *AP_Compass_MMC3416::probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
AP_Compass_Backend *AP_Compass_MMC3416::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
bool force_external,
enum Rotation rotation)
{
if (!dev) {
return nullptr;
}
AP_Compass_MMC3416 *sensor = new AP_Compass_MMC3416(compass, std::move(dev), force_external, rotation);
AP_Compass_MMC3416 *sensor = new AP_Compass_MMC3416(std::move(dev), force_external, rotation);
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;
@ -58,12 +57,10 @@ AP_Compass_Backend *AP_Compass_MMC3416::probe(Compass &compass,
return sensor;
}
AP_Compass_MMC3416::AP_Compass_MMC3416(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> _dev,
AP_Compass_MMC3416::AP_Compass_MMC3416(AP_HAL::OwnPtr<AP_HAL::Device> _dev,
bool _force_external,
enum Rotation _rotation)
: AP_Compass_Backend(compass)
, dev(std::move(_dev))
: dev(std::move(_dev))
, force_external(_force_external)
, rotation(_rotation)
{

5
libraries/AP_Compass/AP_Compass_MMC3416.h
View File

@ -29,8 +29,7 @@
class AP_Compass_MMC3416 : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
bool force_external = false,
enum Rotation rotation = ROTATION_NONE);
@ -39,7 +38,7 @@ public:
static constexpr const char *name = "MMC3416";
private:
AP_Compass_MMC3416(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev,
AP_Compass_MMC3416(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation);

19
libraries/AP_Compass/AP_Compass_QMC5883L.cpp
View File

@ -57,16 +57,15 @@
extern const AP_HAL::HAL &hal;
AP_Compass_Backend *AP_Compass_QMC5883L::probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
bool force_external,
enum Rotation rotation)
AP_Compass_Backend *AP_Compass_QMC5883L::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
bool force_external,
enum Rotation rotation)
{
if (!dev) {
return nullptr;
}
AP_Compass_QMC5883L *sensor = new AP_Compass_QMC5883L(compass, std::move(dev),force_external,rotation);
AP_Compass_QMC5883L *sensor = new AP_Compass_QMC5883L(std::move(dev),force_external,rotation);
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;
@ -75,12 +74,10 @@ AP_Compass_Backend *AP_Compass_QMC5883L::probe(Compass &compass,
return sensor;
}
AP_Compass_QMC5883L::AP_Compass_QMC5883L(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation)
: AP_Compass_Backend(compass)
, _dev(std::move(dev))
AP_Compass_QMC5883L::AP_Compass_QMC5883L(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation)
: _dev(std::move(dev))
, _rotation(rotation)
, _force_external(force_external)
{

10
libraries/AP_Compass/AP_Compass_QMC5883L.h
View File

@ -42,8 +42,7 @@
class AP_Compass_QMC5883L : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
bool force_external,
enum Rotation rotation = ROTATION_NONE);
@ -52,10 +51,9 @@ public:
static constexpr const char *name = "QMC5883L";
private:
AP_Compass_QMC5883L(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation);
AP_Compass_QMC5883L(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation);
void _dump_registers();
bool _check_whoami();

5
libraries/AP_Compass/AP_Compass_SITL.cpp
View File

@ -5,16 +5,15 @@
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
extern const AP_HAL::HAL& hal;
AP_Compass_SITL::AP_Compass_SITL(Compass &compass):
AP_Compass_SITL::AP_Compass_SITL():
_sitl(AP::sitl()),
_has_sample(false),
AP_Compass_Backend(compass)
{
if (_sitl != nullptr) {
_compass._setup_earth_field();
for (uint8_t i=0; i<SITL_NUM_COMPASSES; i++) {
// default offsets to correct value
compass.set_offsets(i, _sitl->mag_ofs);
_compass.set_offsets(i, _sitl->mag_ofs);
_compass_instance[i] = register_compass();
set_dev_id(_compass_instance[i], AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_SITL, i, 0, DEVTYPE_SITL));

2
libraries/AP_Compass/AP_Compass_SITL.h
View File

@ -13,7 +13,7 @@
class AP_Compass_SITL : public AP_Compass_Backend {
public:
AP_Compass_SITL(Compass &);
AP_Compass_SITL();
void read(void);

19
libraries/AP_Compass/AP_Compass_UAVCAN.cpp
View File

@ -38,15 +38,12 @@ UC_REGISTRY_BINDER(Mag2Cb, uavcan::equipment::ahrs::MagneticFieldStrength2);
AP_Compass_UAVCAN::DetectedModules AP_Compass_UAVCAN::_detected_modules[] = {0};
AP_HAL::Semaphore* AP_Compass_UAVCAN::_sem_registry = nullptr;
/*
constructor - registers instance at top Compass driver
*/
AP_Compass_UAVCAN::AP_Compass_UAVCAN(Compass &compass, AP_UAVCAN* ap_uavcan, uint8_t node_id, uint8_t sensor_id):
AP_Compass_Backend(compass),
_ap_uavcan(ap_uavcan),
_node_id(node_id),
_sensor_id(sensor_id)
{}
AP_Compass_UAVCAN::AP_Compass_UAVCAN(AP_UAVCAN* ap_uavcan, uint8_t node_id, uint8_t sensor_id)
: _ap_uavcan(ap_uavcan)
, _node_id(node_id)
, _sensor_id(sensor_id)
{
}
void AP_Compass_UAVCAN::subscribe_msgs(AP_UAVCAN* ap_uavcan)
{
@ -86,7 +83,7 @@ void AP_Compass_UAVCAN::give_registry()
_sem_registry->give();
}
AP_Compass_Backend* AP_Compass_UAVCAN::probe(Compass& _frontend)
AP_Compass_Backend* AP_Compass_UAVCAN::probe()
{
if (!take_registry()) {
return nullptr;
@ -95,7 +92,7 @@ AP_Compass_Backend* AP_Compass_UAVCAN::probe(Compass& _frontend)
for (uint8_t i = 0; i < COMPASS_MAX_BACKEND; i++) {
if (!_detected_modules[i].driver && _detected_modules[i].ap_uavcan) {
// Register new Compass mode to a backend
driver = new AP_Compass_UAVCAN(_frontend, _detected_modules[i].ap_uavcan, _detected_modules[i].node_id, _detected_modules[i].sensor_id);
driver = new AP_Compass_UAVCAN(_detected_modules[i].ap_uavcan, _detected_modules[i].node_id, _detected_modules[i].sensor_id);
if (driver) {
_detected_modules[i].driver = driver;
driver->init();

4
libraries/AP_Compass/AP_Compass_UAVCAN.h
View File

@ -10,12 +10,12 @@ class Mag2Cb;
class AP_Compass_UAVCAN : public AP_Compass_Backend {
public:
AP_Compass_UAVCAN(Compass &compass, AP_UAVCAN* ap_uavcan, uint8_t node_id, uint8_t sensor_id);
AP_Compass_UAVCAN(AP_UAVCAN* ap_uavcan, uint8_t node_id, uint8_t sensor_id);
void read(void) override;
static void subscribe_msgs(AP_UAVCAN* ap_uavcan);
static AP_Compass_Backend* probe(Compass& _frontend);
static AP_Compass_Backend* probe();
static void handle_magnetic_field(AP_UAVCAN* ap_uavcan, uint8_t node_id, const MagCb &cb);
static void handle_magnetic_field_2(AP_UAVCAN* ap_uavcan, uint8_t node_id, const Mag2Cb &cb);