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AP_Compass: removed unusued compass probes

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now only use probe lists
This commit is contained in:
Andrew Tridgell 2019-09-02 10:01:33 +10:00
parent 43e011c7a8
commit bd0760f9d4
1 changed files with 1 additions and 78 deletions
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79
libraries/AP_Compass/AP_Compass.cpp
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@ -872,85 +872,8 @@ void Compass::_detect_backends(void)
break; break;
} }
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BH
ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)));
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BBBMINI
ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true, ROTATION_NONE));
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_NONE));
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(1, ROTATION_NONE));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_NAVIO2
ADD_BACKEND(DRIVER_LSM9DS1, AP_Compass_LSM9DS1::probe(hal.spi->get_device("lsm9ds1_m"), ROTATION_ROLL_180));
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_NONE));
ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_NAVIO
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_NONE));
ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true, ROTATION_NONE));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_OCPOC_ZYNQ
ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), ROTATION_NONE));
ADD_BACKEND(DRIVER_AK8963,AP_Compass_AK8963::probe_mpu9250(0, ROTATION_NONE));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_EDGE
ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true, ROTATION_NONE));
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_NONE));
ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true, ROTATION_NONE));
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(GET_I2C_DEVICE(HAL_COMPASS_AK8963_I2C_BUS, HAL_COMPASS_AK8963_I2C_ADDR), ROTATION_NONE));
ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true, ROTATION_NONE));
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_NONE));
ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true, ROTATION_NONE));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_MPU9250
#ifndef HAL_COMPASS_AK8963_MPU9250_ROTATION
#define HAL_COMPASS_AK8963_MPU9250_ROTATION ROTATION_NONE
#endif
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, HAL_COMPASS_AK8963_MPU9250_ROTATION));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HMC5843
#ifndef HAL_COMPASS_HMC5843_ROTATION
# define HAL_COMPASS_HMC5843_ROTATION ROTATION_NONE
#endif
ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR),
false, HAL_COMPASS_HMC5843_ROTATION));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HMC5843_MPU6000
ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe_mpu6000(ROTATION_NONE));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_I2C
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe(GET_I2C_DEVICE(HAL_COMPASS_AK8963_I2C_BUS, HAL_COMPASS_AK8963_I2C_ADDR), ROTATION_NONE));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_MPU9250_I2C
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(GET_I2C_DEVICE(HAL_COMPASS_AK8963_I2C_BUS, HAL_COMPASS_AK8963_I2C_ADDR), ROTATION_NONE));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AERO
ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(GET_I2C_DEVICE(HAL_COMPASS_BMM150_I2C_BUS, HAL_COMPASS_BMM150_I2C_ADDR), ROTATION_NONE));
ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true, ROTATION_NONE));
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(GET_I2C_DEVICE(HAL_COMPASS_IST8310_I2C_BUS, HAL_COMPASS_IST8310_I2C_ADDR),
true, ROTATION_PITCH_180_YAW_90));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_LIS3MDL
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(hal.spi->get_device(HAL_COMPASS_LIS3MDL_NAME), false, ROTATION_ROLL_180_YAW_90));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_MAG3110
ADD_BACKEND(DRIVER_MAG3110, AP_Compass_MAG3110::probe(GET_I2C_DEVICE(HAL_MAG3110_I2C_BUS, HAL_MAG3110_I2C_ADDR), ROTATION_NONE));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_IST8310
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(GET_I2C_DEVICE(HAL_COMPASS_IST8310_I2C_BUS, HAL_COMPASS_IST8310_I2C_ADDR),
true, ROTATION_PITCH_180_YAW_90));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_QMC5883L
ADD_BACKEND(DRIVER_QMC5883L, AP_Compass_QMC5883L::probe(GET_I2C_DEVICE(1, HAL_COMPASS_QMC5883L_I2C_ADDR),
true, HAL_COMPASS_QMC5883L_ORIENTATION_EXTERNAL));
ADD_BACKEND(DRIVER_QMC5883L, AP_Compass_QMC5883L::probe(GET_I2C_DEVICE(0, HAL_COMPASS_QMC5883L_I2C_ADDR),
false, HAL_COMPASS_QMC5883L_ORIENTATION_INTERNAL));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_LIS3MDL_I2C
FOREACH_I2C(i) {
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR), true, ROTATION_NONE));
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR2), true, ROTATION_NONE));
}
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE
ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), ROTATION_NONE));
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_NONE));
ADD_BACKEND(DRIVER_LSM9DS1, AP_Compass_LSM9DS1::probe(hal.spi->get_device("lsm9ds1_m"), ROTATION_NONE));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BMM150_I2C
ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(GET_I2C_DEVICE(HAL_COMPASS_BMM150_I2C_BUS, HAL_COMPASS_BMM150_I2C_ADDR), ROTATION_NONE));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_RM3100_SPI
ADD_BACKEND(DRIVER_RM3100, AP_Compass_RM3100::probe(hal.spi->get_device("rm3100"), ROTATION_NONE));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_NONE #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_NONE
// no compass // no compass, or only external probe
#else #else
#error Unrecognised HAL_COMPASS_TYPE setting #error Unrecognised HAL_COMPASS_TYPE setting
#endif #endif