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AP_Compass: add and use AP_COMPASS_IST8310_ENABLED

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Peter Barker 2023-02-10 12:48:02 +11:00 committed by Andrew Tridgell
parent 4d79c6b9d6
commit b26d771c9f
5 changed files with 20 additions and 3 deletions
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6
libraries/AP_Compass/AP_Compass.cpp
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@ -1168,7 +1168,7 @@ void Compass::_probe_external_i2c_compasses(void)
#endif #endif
#endif #endif
#if AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED || defined(HAL_USE_I2C_MAG_IST8310) #if AP_COMPASS_IST8310_ENABLED
// IST8310 on external and internal bus // IST8310 on external and internal bus
if (AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_FMUV5 && if (AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_FMUV5 &&
AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_FMUV6) { AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_FMUV6) {
@ -1195,7 +1195,7 @@ void Compass::_probe_external_i2c_compasses(void)
#endif #endif
} }
} }
#endif #endif // AP_COMPASS_IST8310_ENABLED
#if AP_COMPASS_IST8308_ENABLED #if AP_COMPASS_IST8308_ENABLED
// external i2c bus // external i2c bus
@ -1380,6 +1380,7 @@ void Compass::_detect_backends(void)
case AP_BoardConfig::PX4_BOARD_FMUV5: case AP_BoardConfig::PX4_BOARD_FMUV5:
case AP_BoardConfig::PX4_BOARD_FMUV6: case AP_BoardConfig::PX4_BOARD_FMUV6:
#if AP_COMPASS_IST8310_ENABLED
FOREACH_I2C_EXTERNAL(i) { FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(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)); true, ROTATION_ROLL_180_YAW_90));
@ -1388,6 +1389,7 @@ void Compass::_detect_backends(void)
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(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)); false, ROTATION_ROLL_180_YAW_90));
} }
#endif // AP_COMPASS_IST8310_ENABLED
break; break;
case AP_BoardConfig::PX4_BOARD_SP01: case AP_BoardConfig::PX4_BOARD_SP01:

2
libraries/AP_Compass/AP_Compass.h
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@ -429,7 +429,9 @@ private:
DRIVER_LSM9DS1 =4, DRIVER_LSM9DS1 =4,
DRIVER_LIS3MDL =5, DRIVER_LIS3MDL =5,
DRIVER_AK09916 =6, DRIVER_AK09916 =6,
#if AP_COMPASS_IST8310_ENABLED
DRIVER_IST8310 =7, DRIVER_IST8310 =7,
#endif
DRIVER_ICM20948 =8, DRIVER_ICM20948 =8,
DRIVER_MMC3416 =9, DRIVER_MMC3416 =9,
DRIVER_UAVCAN =11, DRIVER_UAVCAN =11,

4
libraries/AP_Compass/AP_Compass_IST8310.cpp
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@ -18,6 +18,8 @@
*/ */
#include "AP_Compass_IST8310.h" #include "AP_Compass_IST8310.h"
#if AP_COMPASS_IST8310_ENABLED
#include <stdio.h> #include <stdio.h>
#include <utility> #include <utility>
@ -236,3 +238,5 @@ void AP_Compass_IST8310::read()
{ {
drain_accumulated_samples(_instance); drain_accumulated_samples(_instance);
} }
#endif // AP_COMPASS_IST8310_ENABLED

7
libraries/AP_Compass/AP_Compass_IST8310.h
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@ -16,12 +16,15 @@
*/ */
#pragma once #pragma once
#include "AP_Compass_config.h"
#if AP_COMPASS_IST8310_ENABLED
#include <AP_Common/AP_Common.h> #include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_HAL/I2CDevice.h> #include <AP_HAL/I2CDevice.h>
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include "AP_Compass.h"
#include "AP_Compass_Backend.h" #include "AP_Compass_Backend.h"
#ifndef HAL_COMPASS_IST8310_I2C_ADDR #ifndef HAL_COMPASS_IST8310_I2C_ADDR
@ -56,3 +59,5 @@ private:
bool _ignore_next_sample; bool _ignore_next_sample;
bool _force_external; bool _force_external;
}; };
#endif // AP_COMPASS_IST8310_ENABLED

4
libraries/AP_Compass/AP_Compass_config.h
View File

@ -59,6 +59,10 @@
#define AP_COMPASS_IST8308_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED #define AP_COMPASS_IST8308_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
#endif #endif
#ifndef AP_COMPASS_IST8310_ENABLED
#define AP_COMPASS_IST8310_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
#endif
#ifndef AP_COMPASS_LSM303D_ENABLED #ifndef AP_COMPASS_LSM303D_ENABLED
#define AP_COMPASS_LSM303D_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED #define AP_COMPASS_LSM303D_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
#endif #endif