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AP_HAL: convert Linux compass specification to new probe list

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this avoids the special handling in AP_Compass library
This commit is contained in:
Andrew Tridgell 2019-09-02 10:01:07 +10:00
parent 3bc8522b54
commit 43e011c7a8
1 changed files with 45 additions and 67 deletions
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112
libraries/AP_HAL/board/linux.h
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@ -8,13 +8,18 @@
#define HAL_STORAGE_SIZE_AVAILABLE HAL_STORAGE_SIZE
// make sensor selection clearer
#define PROBE_IMU_I2C(driver, bus, addr, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,hal.i2c_mgr->get_device(bus, addr),##args))
#define PROBE_IMU_I2C(driver, bus, addr, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,GET_I2C_DEVICE(bus, addr),##args))
#define PROBE_IMU_SPI(driver, devname, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,hal.spi->get_device(devname),##args))
#define PROBE_IMU_SPI2(driver, devname1, devname2, args ...) ADD_BACKEND(AP_InertialSensor_ ## driver::probe(*this,hal.spi->get_device(devname1),hal.spi->get_device(devname2),##args))
#define PROBE_BARO_I2C(driver, bus, addr, args ...) ADD_BACKEND(AP_Baro_ ## driver::probe(*this,std::move(hal.i2c_mgr->get_device(bus, addr)),##args))
#define PROBE_BARO_I2C(driver, bus, addr, args ...) ADD_BACKEND(AP_Baro_ ## driver::probe(*this,std::move(GET_I2C_DEVICE(bus, addr)),##args))
#define PROBE_BARO_SPI(driver, devname, args ...) ADD_BACKEND(AP_Baro_ ## driver::probe(*this,std::move(hal.spi->get_device(devname)),##args))
#define PROBE_MAG_I2C(driver, bus, addr, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe(GET_I2C_DEVICE(bus, addr),##args))
#define PROBE_MAG_SPI(driver, devname, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe(hal.spi->get_device(devname),##args))
#define PROBE_MAG_IMU(driver, imudev, imu_instance, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe_ ## imudev(imu_instance,##args))
#define PROBE_MAG_IMU_I2C(driver, imudev, bus, addr, args ...) ADD_BACKEND(DRIVER_ ##driver, AP_Compass_ ## driver::probe_ ## imudev(GET_I2C_DEVICE(bus,addr),##args))
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NONE
#define HAL_BOARD_LOG_DIRECTORY "logs"
#define HAL_BOARD_TERRAIN_DIRECTORY "terrain"
@ -29,9 +34,8 @@
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_ROLL_180_YAW_90)
#endif
#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
#define HAL_COMPASS_HMC5843_I2C_BUS 1
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
#define HAL_GPIO_A_LED_PIN 61
#define HAL_GPIO_B_LED_PIN 48
#define HAL_GPIO_C_LED_PIN 117
@ -42,9 +46,7 @@
#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain"
#define HAL_BOARD_STORAGE_DIRECTORY "/data/ftp/internal_000/ardupilot"
#define HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensense, 2, 0x68, ROTATION_YAW_270)
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C
#define HAL_COMPASS_AK8963_I2C_BUS 1
#define HAL_COMPASS_AK8963_I2C_ADDR 0x0d
#define HAL_MAG_PROBE_LIST PROBE_MAG_I2C(AK8963, 1, 0x0d, ROTATION_NONE)
#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77, AP_Baro_MS56XX::BARO_MS5607)
#define HAL_HAVE_IMU_HEATER 1
#define HAL_IMU_TEMP_DEFAULT 55
@ -81,9 +83,7 @@
#define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain"
#define HAL_BOARD_STORAGE_DIRECTORY "/data/ftp/internal_000/ardupilot"
#define HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensense, 2, 0x68, ROTATION_PITCH_180_YAW_90)
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_I2C
#define HAL_COMPASS_AK8963_I2C_BUS 1
#define HAL_COMPASS_AK8963_I2C_ADDR 0x0d
#define HAL_MAG_PROBE_LIST PROBE_MAG_I2C(AK8963, 1, 0x0d, ROTATION_NONE)
#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77, AP_Baro_MS56XX::BARO_MS5607)
#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
#define HAL_LINUX_HEAT_PWM_NUM 10
@ -124,26 +124,21 @@
#define HAL_GPIO_LED_OFF LOW
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77)
#define HAL_COMPASS_DEFAULT HAL_COMPASS_NAVIO
/* HMC5843 can be an external compass */
#define HAL_COMPASS_HMC5843_I2C_BUS 1
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
#define HAL_HAVE_SERVO_VOLTAGE 1
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
#define HAL_INS_LSM9DS1_NAME "lsm9ds1"
#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77)
#define HAL_COMPASS_DEFAULT HAL_COMPASS_NAVIO2
/* HMC5843 can be an external compass */
#define HAL_COMPASS_HMC5843_I2C_BUS 1
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
#define HAL_MAG_PROBE1 PROBE_MAG_SPI(LSM9DS1, "lsm9ds1_m", ROTATION_ROLL_180)
#define HAL_MAG_PROBE2 PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
#define HAL_MAG_PROBE_LIST HAL_MAG_PROBE1; HAL_MAG_PROBE2
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_YAW_270)
#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
/* HMC5843 can be an external compass */
#define HAL_COMPASS_HMC5843_I2C_BUS 1
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
#define HAL_GPIO_A_LED_PIN 24
#define HAL_GPIO_B_LED_PIN 25
#define HAL_GPIO_C_LED_PIN 16
@ -154,14 +149,14 @@
#define HAL_INS_DEFAULT HAL_INS_HIL
#define HAL_BARO_DEFAULT HAL_BARO_HIL
#define HAL_COMPASS_DEFAULT HAL_COMPASS_HIL
// only external compasses
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
#define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_OCPOC_ZYNQ
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
#define HAL_COMPASS_DEFAULT HAL_COMPASS_OCPOC_ZYNQ
/* HMC5843 can be an external compass */
#define HAL_COMPASS_HMC5843_I2C_BUS 4
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
#define AP_COMPASS_OFFSETS_MAX_DEFAULT 1000
#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
#define HAL_GPIO_A_LED_PIN 69
#define HAL_GPIO_B_LED_PIN 68
@ -173,10 +168,10 @@
#define HAL_INS_PROBE2 PROBE_IMU_SPI(Invensense, "mpu9250ext", ROTATION_NONE)
#define HAL_INS_PROBE_LIST HAL_INS_PROBE1; HAL_INS_PROBE2
#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
#define HAL_COMPASS_DEFAULT HAL_COMPASS_BBBMINI
/* HMC5843 can be an external compass */
#define HAL_COMPASS_HMC5843_I2C_BUS 2
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
#define HAL_MAG_PROBE1 PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
#define HAL_MAG_PROBE2 PROBE_MAG_IMU(AK8963, mpu9250, 1, ROTATION_NONE)
#define HAL_MAG_PROBE_LIST HAL_MAG_PROBE1; HAL_MAG_PROBE2
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 2
#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 2
#define HAL_WITH_UAVCAN 1
@ -187,12 +182,8 @@
#define HAL_GPIO_LED_OFF LOW
#define HAL_INS_PROBE_LIST PROBE_IMU_I2C(Invensense, 2, 0x68, ROTATION_NONE)
#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(BMP280, 2, 0x76)
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250_I2C
#define HAL_COMPASS_AK8963_I2C_BUS 2
#define HAL_COMPASS_AK8963_I2C_ADDR 0x0C
/* HMC5843 can be an external compass */
#define HAL_COMPASS_HMC5843_I2C_BUS 1
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU_I2C(AK8963, mpu9250, 2, 0x0c, ROTATION_NONE)
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 1
#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 1
#define HAL_WITH_UAVCAN 1
@ -205,10 +196,8 @@
#define HAL_BUZZER_PIN 28
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(BMP280, "bmp280")
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
/* HMC5843 can be an external compass */
#define HAL_COMPASS_HMC5843_I2C_BUS 2
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 2
#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 2
#define HAL_WITH_UAVCAN 1
@ -217,10 +206,8 @@
#define HAL_INS_PROBE1 PROBE_IMU_I2C(Invensense, 1, 0x69, ROTATION_NONE)
#define HAL_INS_PROBE2 PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
#define HAL_INS_PROBE_LIST HAL_INS_PROBE1; HAL_INS_PROBE2
#define HAL_COMPASS_DEFAULT HAL_COMPASS_BH
/* HMC5843 can be an external compass */
#define HAL_COMPASS_HMC5843_I2C_BUS 1
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
#define HAL_GPIO_A_LED_PIN 17
#define HAL_GPIO_B_LED_PIN 18
#define HAL_GPIO_C_LED_PIN 22
@ -232,10 +219,8 @@
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_YAW_270)
#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
/* HMC5843 can be an external compass */
#define HAL_COMPASS_HMC5843_I2C_BUS 1
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
#define HAL_GPIO_A_LED_PIN 24
#define HAL_GPIO_B_LED_PIN 25
#define HAL_GPIO_C_LED_PIN 16
@ -244,18 +229,15 @@
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_AERO
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(BMI160, "bmi160")
#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 2, 0x76)
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AERO
#define HAL_COMPASS_BMM150_I2C_BUS 2
#define HAL_COMPASS_BMM150_I2C_ADDR 0x12
#define HAL_COMPASS_IST8310_I2C_BUS 4
#define HAL_COMPASS_IST8310_I2C_ADDR 0x0E
#define HAL_COMPASS_HMC5843_I2C_BUS 4
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
#define HAL_MAG_PROBE1 PROBE_MAG_I2C(BMM150, 2, 0x12, ROTATION_NONE)
#define HAL_MAG_PROBE2 PROBE_MAG_I2C(HMC5843, 4, 0x1e, true, ROTATION_NONE)
#define HAL_MAG_PROBE3 PROBE_MAG_I2C(IST8310, 4, 0x0e, true, ROTATION_PITCH_180_YAW_90)
#define HAL_MAG_PROBE_LIST HAL_MAG_PROBE1; HAL_MAG_PROBE2; HAL_MAG_PROBE3
#define HAL_RCOUTPUT_TAP_DEVICE "/dev/ttyS1"
#define HAL_WITH_UAVCAN 1
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DARK
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI(Invensense, "mpu9250", ROTATION_NONE)
#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250
#define HAL_MAG_PROBE_LIST PROBE_MAG_IMU(AK8963, mpu9250, 0, ROTATION_NONE)
#define HAL_BARO_PROBE_LIST PROBE_BARO_I2C(MS56XX, 1, 0x77)
#define HAL_GPIO_A_LED_PIN 24
#define HAL_GPIO_B_LED_PIN 25
@ -270,13 +252,10 @@
#define HAL_INS_PROBE2 PROBE_IMU_SPI(Invensense, "mpu60x0ext", ROTATION_YAW_90)
#define HAL_INS_PROBE_LIST HAL_INS_PROBE1; HAL_INS_PROBE2
#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
#define HAL_COMPASS_HMC5843_I2C_BUS 1
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
#define HAL_COMPASS_DEFAULT HAL_COMPASS_EDGE
// only external compasses
#define HAL_PROBE_EXTERNAL_I2C_COMPASSES
#define HAL_COMPASS_DEFAULT HAL_COMPASS_NONE
#define HAL_WITH_UAVCAN 1
/* HMC5843 can be an external compass */
#define HAL_COMPASS_HMC5843_I2C_BUS 1
#define HAL_COMPASS_HMC5843_I2C_ADDR 0x1E
#define HAL_IMU_TEMP_DEFAULT 55
#define HAL_HAVE_IMU_HEATER 1
#define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
@ -289,8 +268,7 @@
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
#define HAL_INS_PROBE_LIST PROBE_IMU_SPI2(Invensense, "rst_g", "rst_a", ROTATION_ROLL_180_YAW_90, ROTATION_ROLL_180_YAW_90)
#define HAL_BARO_PROBE_LIST PROBE_BARO_SPI(MS56XX, "ms5611")
#define HAL_COMPASS_DEFAULT HAL_COMPASS_LIS3MDL
#define HAL_COMPASS_LIS3MDL_NAME "lis3mdl"
#define HAL_MAG_PROBE_LIST PROBE_MAG_SPI(LIS3MDL, lis3mdl, false, ROTATION_ROLL_180_YAW_90)
#define HAL_OPTFLOW_PX4FLOW_I2C_BUS 0
#define HAL_HAVE_GETTIME_SETTIME 1