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AP_Compass: add option to skip auto detect internal mag

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bugobliterator 2022-10-26 06:03:50 +05:30 committed by Andrew Tridgell
parent 11154ef783
commit 61e2e8cd3d
1 changed files with 19 additions and 3 deletions
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22
libraries/AP_Compass/AP_Compass.cpp
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@ -1059,8 +1059,9 @@ bool Compass::_have_i2c_driver(uint8_t bus, uint8_t address) const
*/
void Compass::_probe_external_i2c_compasses(void)
{
#if !defined(HAL_SKIP_AUTO_INTERNAL_I2C_PROBE)
bool all_external = (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2);
#endif
#if !defined(HAL_DISABLE_I2C_MAGS_BY_DEFAULT) || defined(HAL_USE_I2C_MAG_HMC5843)
// external i2c bus
FOREACH_I2C_EXTERNAL(i) {
@ -1068,6 +1069,7 @@ void Compass::_probe_external_i2c_compasses(void)
true, ROTATION_ROLL_180));
}
#if !defined(HAL_SKIP_AUTO_INTERNAL_I2C_PROBE)
if (AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_MINDPXV2 &&
AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_AEROFC) {
// internal i2c bus
@ -1077,6 +1079,7 @@ void Compass::_probe_external_i2c_compasses(void)
}
}
#endif
#endif
#if !defined(HAL_DISABLE_I2C_MAGS_BY_DEFAULT) || defined(HAL_USE_I2C_MAG_QMC5883L)
//external i2c bus
@ -1086,6 +1089,7 @@ void Compass::_probe_external_i2c_compasses(void)
}
// internal i2c bus
#if !defined(HAL_SKIP_AUTO_INTERNAL_I2C_PROBE)
if (all_external) {
// only probe QMC5883L on internal if we are treating internals as externals
FOREACH_I2C_INTERNAL(i) {
@ -1095,6 +1099,7 @@ void Compass::_probe_external_i2c_compasses(void)
}
}
#endif
#endif
#ifndef HAL_BUILD_AP_PERIPH
// AK09916 on ICM20948
@ -1107,6 +1112,7 @@ void Compass::_probe_external_i2c_compasses(void)
true, ROTATION_PITCH_180_YAW_90));
}
#if !defined(HAL_SKIP_AUTO_INTERNAL_I2C_PROBE)
FOREACH_I2C_INTERNAL(i) {
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),
@ -1115,10 +1121,12 @@ void Compass::_probe_external_i2c_compasses(void)
GET_I2C_DEVICE(i, HAL_COMPASS_ICM20948_I2C_ADDR2),
all_external, ROTATION_PITCH_180_YAW_90));
}
#endif
#endif // HAL_BUILD_AP_PERIPH
#if !defined(HAL_DISABLE_I2C_MAGS_BY_DEFAULT) || defined(HAL_USE_I2C_MAG_LIS3MDL)
// lis3mdl on bus 0 with default address
#if !defined(HAL_SKIP_AUTO_INTERNAL_I2C_PROBE)
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR),
all_external, all_external?ROTATION_YAW_90:ROTATION_NONE));
@ -1129,7 +1137,7 @@ void Compass::_probe_external_i2c_compasses(void)
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR2),
all_external, all_external?ROTATION_YAW_90:ROTATION_NONE));
}
#endif
// external lis3mdl on bus 1 with default address
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR),
@ -1149,11 +1157,13 @@ void Compass::_probe_external_i2c_compasses(void)
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
true, ROTATION_YAW_270));
}
#if !defined(HAL_SKIP_AUTO_INTERNAL_I2C_PROBE)
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
all_external, all_external?ROTATION_YAW_270:ROTATION_NONE));
}
#endif
#endif
#if !defined(HAL_DISABLE_I2C_MAGS_BY_DEFAULT) || defined(HAL_USE_I2C_MAG_IST8310)
// IST8310 on external and internal bus
@ -1174,7 +1184,7 @@ void Compass::_probe_external_i2c_compasses(void)
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(GET_I2C_DEVICE(i, ist8310_addr[a]),
true, default_rotation));
}
#ifndef HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE
#if !defined(HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE) && !defined(HAL_SKIP_AUTO_INTERNAL_I2C_PROBE)
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(GET_I2C_DEVICE(i, ist8310_addr[a]),
all_external, default_rotation));
@ -1190,11 +1200,13 @@ void Compass::_probe_external_i2c_compasses(void)
ADD_BACKEND(DRIVER_IST8308, AP_Compass_IST8308::probe(GET_I2C_DEVICE(i, HAL_COMPASS_IST8308_I2C_ADDR),
true, ROTATION_NONE));
}
#if !defined(HAL_SKIP_AUTO_INTERNAL_I2C_PROBE)
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_IST8308, AP_Compass_IST8308::probe(GET_I2C_DEVICE(i, HAL_COMPASS_IST8308_I2C_ADDR),
all_external, ROTATION_NONE));
}
#endif
#endif
#if !defined(HAL_DISABLE_I2C_MAGS_BY_DEFAULT) || defined(HAL_USE_I2C_MAG_MMC3416)
// external i2c bus
@ -1202,11 +1214,13 @@ void Compass::_probe_external_i2c_compasses(void)
ADD_BACKEND(DRIVER_MMC3416, AP_Compass_MMC3416::probe(GET_I2C_DEVICE(i, HAL_COMPASS_MMC3416_I2C_ADDR),
true, ROTATION_NONE));
}
#if !defined(HAL_SKIP_AUTO_INTERNAL_I2C_PROBE)
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_MMC3416, AP_Compass_MMC3416::probe(GET_I2C_DEVICE(i, HAL_COMPASS_MMC3416_I2C_ADDR),
all_external, ROTATION_NONE));
}
#endif
#endif
#if !defined(HAL_DISABLE_I2C_MAGS_BY_DEFAULT) || defined(HAL_USE_I2C_MAG_RM3100)
#ifdef HAL_COMPASS_RM3100_I2C_ADDR
@ -1225,12 +1239,14 @@ void Compass::_probe_external_i2c_compasses(void)
}
}
#if !defined(HAL_SKIP_AUTO_INTERNAL_I2C_PROBE)
FOREACH_I2C_INTERNAL(i) {
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));
}
}
#endif
#endif
#if !defined(HAL_DISABLE_I2C_MAGS_BY_DEFAULT) && !defined(STM32F1)
// BMM150 on I2C, not on F1 to save flash