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AP_Compass: HMC5843: add parameter force_external to constructor

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And to the detection probe() method. That way we don't need to use a board
`#ifdef` inside the class code.  Additionally, we make raspilot board use it.
This commit is contained in:
Gustavo Jose de Sousa 2016-01-22 13:30:30 -02:00 committed by Lucas De Marchi
parent 54fd3702c3
commit 670b0071f9
3 changed files with 16 additions and 11 deletions
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2
libraries/AP_Compass/AP_Compass.cpp
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@ -440,7 +440,7 @@ void Compass::_detect_backends(void)
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_QURT #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_QURT
_add_backend(AP_Compass_QURT::detect(*this)); _add_backend(AP_Compass_QURT::detect(*this));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_RASPILOT #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_RASPILOT
_add_backend(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR))); _add_backend(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true));
_add_backend(AP_Compass_LSM303D::probe(*this, hal.spi->get_device("lsm9ds0_am"))); _add_backend(AP_Compass_LSM303D::probe(*this, hal.spi->get_device("lsm9ds0_am")));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BH #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BH
// detect_mpu9250() failed will cause panic if no actual mpu9250 backend, // detect_mpu9250() failed will cause panic if no actual mpu9250 backend,

18
libraries/AP_Compass/AP_Compass_HMC5843.cpp
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@ -88,9 +88,11 @@ extern const AP_HAL::HAL& hal;
#define HMC5843_REG_DATA_OUTPUT_X_MSB 0x03 #define HMC5843_REG_DATA_OUTPUT_X_MSB 0x03
AP_Compass_HMC5843::AP_Compass_HMC5843(Compass &compass, AP_HMC5843_BusDriver *bus) AP_Compass_HMC5843::AP_Compass_HMC5843(Compass &compass, AP_HMC5843_BusDriver *bus,
bool force_external)
: AP_Compass_Backend(compass) : AP_Compass_Backend(compass)
, _bus(bus) , _bus(bus)
, _force_external(force_external)
{ {
} }
@ -100,14 +102,15 @@ AP_Compass_HMC5843::~AP_Compass_HMC5843()
} }
AP_Compass_Backend *AP_Compass_HMC5843::probe(Compass &compass, AP_Compass_Backend *AP_Compass_HMC5843::probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev) AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
bool force_external)
{ {
AP_HMC5843_BusDriver *bus = new AP_HMC5843_BusDriver_HALDevice(std::move(dev)); AP_HMC5843_BusDriver *bus = new AP_HMC5843_BusDriver_HALDevice(std::move(dev));
if (!bus) { if (!bus) {
return nullptr; return nullptr;
} }
AP_Compass_HMC5843 *sensor = new AP_Compass_HMC5843(compass, bus); AP_Compass_HMC5843 *sensor = new AP_Compass_HMC5843(compass, bus, force_external);
if (!sensor || !sensor->init()) { if (!sensor || !sensor->init()) {
delete sensor; delete sensor;
return nullptr; return nullptr;
@ -127,7 +130,7 @@ AP_Compass_Backend *AP_Compass_HMC5843::probe_mpu6000(Compass &compass)
return nullptr; return nullptr;
} }
AP_Compass_HMC5843 *sensor = new AP_Compass_HMC5843(compass, bus); AP_Compass_HMC5843 *sensor = new AP_Compass_HMC5843(compass, bus, false);
if (!sensor || !sensor->init()) { if (!sensor || !sensor->init()) {
delete sensor; delete sensor;
return nullptr; return nullptr;
@ -181,10 +184,9 @@ bool AP_Compass_HMC5843::init()
_compass_instance = register_compass(); _compass_instance = register_compass();
set_dev_id(_compass_instance, _product_id); set_dev_id(_compass_instance, _product_id);
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT if (_force_external) {
// FIXME: wrong way to force external compass set_external(_compass_instance, true);
set_external(_compass_instance, true); }
#endif
return true; return true;

7
libraries/AP_Compass/AP_Compass_HMC5843.h
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@ -18,7 +18,8 @@ class AP_Compass_HMC5843 : public AP_Compass_Backend
{ {
public: public:
static AP_Compass_Backend *probe(Compass &compass, static AP_Compass_Backend *probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev); AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
bool force_external = false);
static AP_Compass_Backend *probe_mpu6000(Compass &compass); static AP_Compass_Backend *probe_mpu6000(Compass &compass);
@ -29,7 +30,8 @@ public:
void accumulate() override; void accumulate() override;
private: private:
AP_Compass_HMC5843(Compass &compass, AP_HMC5843_BusDriver *bus); AP_Compass_HMC5843(Compass &compass, AP_HMC5843_BusDriver *bus,
bool force_external);
bool _detect_version(); bool _detect_version();
bool _calibrate(); bool _calibrate();
@ -61,6 +63,7 @@ private:
uint8_t _product_id; uint8_t _product_id;
bool _initialised; bool _initialised;
bool _force_external;
}; };
class AP_HMC5843_BusDriver class AP_HMC5843_BusDriver