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https://github.com/ArduPilot/ardupilot
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AP_Compass: add and use AP_COMPASS_MMC3416
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927055784d
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@ -1214,7 +1214,7 @@ void Compass::_probe_external_i2c_compasses(void)
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#endif
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#endif
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#endif // AP_COMPASS_IST8308_ENABLED
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#endif // AP_COMPASS_IST8308_ENABLED
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#if AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED || defined(HAL_USE_I2C_MAG_MMC3416)
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#if AP_COMPASS_MMC3416_ENABLED
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// external i2c bus
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// external i2c bus
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FOREACH_I2C_EXTERNAL(i) {
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FOREACH_I2C_EXTERNAL(i) {
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ADD_BACKEND(DRIVER_MMC3416, AP_Compass_MMC3416::probe(GET_I2C_DEVICE(i, HAL_COMPASS_MMC3416_I2C_ADDR),
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ADD_BACKEND(DRIVER_MMC3416, AP_Compass_MMC3416::probe(GET_I2C_DEVICE(i, HAL_COMPASS_MMC3416_I2C_ADDR),
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@ -1226,7 +1226,7 @@ void Compass::_probe_external_i2c_compasses(void)
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all_external, ROTATION_NONE));
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all_external, ROTATION_NONE));
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}
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}
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#endif
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#endif
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#endif
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#endif // AP_COMPASS_MMC3416_ENABLED
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#if AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED || defined(HAL_USE_I2C_MAG_RM3100)
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#if AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED || defined(HAL_USE_I2C_MAG_RM3100)
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#ifdef HAL_COMPASS_RM3100_I2C_ADDR
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#ifdef HAL_COMPASS_RM3100_I2C_ADDR
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@ -441,7 +441,9 @@ private:
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#if AP_COMPASS_ICM20948_ENABLED
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#if AP_COMPASS_ICM20948_ENABLED
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DRIVER_ICM20948 =8,
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DRIVER_ICM20948 =8,
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#endif
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#endif
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#if AP_COMPASS_MMC3416_ENABLED
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DRIVER_MMC3416 =9,
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DRIVER_MMC3416 =9,
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#endif
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#if AP_COMPASS_UAVCAN_ENABLED
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#if AP_COMPASS_UAVCAN_ENABLED
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DRIVER_UAVCAN =11,
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DRIVER_UAVCAN =11,
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#endif
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#endif
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@ -17,6 +17,8 @@
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*/
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*/
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#include "AP_Compass_MMC3416.h"
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#include "AP_Compass_MMC3416.h"
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#if AP_COMPASS_MMC3416_ENABLED
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/AP_HAL.h>
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#include <utility>
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#include <utility>
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#include <AP_Math/AP_Math.h>
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#include <AP_Math/AP_Math.h>
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@ -301,3 +303,5 @@ void AP_Compass_MMC3416::read()
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{
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{
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drain_accumulated_samples(compass_instance);
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drain_accumulated_samples(compass_instance);
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}
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}
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#endif // AP_COMPASS_MMC3416_ENABLED
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@ -14,6 +14,10 @@
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*/
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*/
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#pragma once
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#pragma once
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#include "AP_Compass_config.h"
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#if AP_COMPASS_MMC3416_ENABLED
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#include <AP_Common/AP_Common.h>
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#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_HAL/I2CDevice.h>
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#include <AP_HAL/I2CDevice.h>
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@ -72,3 +76,5 @@ private:
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enum Rotation rotation;
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enum Rotation rotation;
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};
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};
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#endif // AP_COMPASS_MMC3416_ENABLED
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@ -82,3 +82,7 @@
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#ifndef AP_COMPASS_LSM9DS1_ENABLED
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#ifndef AP_COMPASS_LSM9DS1_ENABLED
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#define AP_COMPASS_LSM9DS1_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#define AP_COMPASS_LSM9DS1_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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#endif
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#ifndef AP_COMPASS_MMC3416_ENABLED
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#define AP_COMPASS_MMC3416_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
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#endif
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