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AP_Compass: added autodetect of all known compasses on external bus

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night-ghost 2018-02-28 12:09:04 +05:00 committed by Andrew Tridgell
parent 33bdc9196c
commit 677f2bebc3
1 changed files with 39 additions and 0 deletions
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39
libraries/AP_Compass/AP_Compass.cpp
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@ -845,6 +845,10 @@ void Compass::_detect_backends(void)
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_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, hal.i2c_mgr->get_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),
AP_Compass_HMC5843::name, false);
@ -893,6 +897,41 @@ void Compass::_detect_backends(void)
#error Unrecognised HAL_COMPASS_TYPE setting
#endif
#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, hal.i2c_mgr->get_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, hal.i2c_mgr->get_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, hal.i2c_mgr->get_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, hal.i2c_mgr->get_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, hal.i2c_mgr->get_device(BOARD_I2C_BUS_EXT, HAL_COMPASS_IST8310_I2C_ADDR),
ROTATION_NONE),
AP_Compass_IST8310::name, true);
ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(*this, hal.i2c_mgr->get_device(BOARD_I2C_BUS_EXT, HAL_COMPASS_BMM150_I2C_ADDR)),
AP_Compass_BMM150::name, true);
ADD_BACKEND(DRIVER_MAG3110, AP_Compass_MAG3110::probe(*this, hal.i2c_mgr->get_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, hal.i2c_mgr->get_device(BOARD_I2C_BUS_EXT, HAL_COMPASS_QMC5883L_I2C_ADDR), ROTATION_NONE),
AP_Compass_QMC5883L::name, true);
#endif
#if HAL_WITH_UAVCAN
if (_driver_enabled(DRIVER_UAVCAN)) {
bool added;