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AP_Compass: add and use AP_COMPASS_LSM303D_ENABLED

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This commit is contained in:
Peter Barker 2023-01-27 15:09:50 +11:00 committed by Andrew Tridgell
parent 1e003871b0
commit cbd1264f90
5 changed files with 25 additions and 2 deletions
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6
libraries/AP_Compass/AP_Compass.cpp
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@ -1353,11 +1353,15 @@ void Compass::_detect_backends(void)
case AP_BoardConfig::PX4_BOARD_PIXHAWK: case AP_BoardConfig::PX4_BOARD_PIXHAWK:
ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(hal.spi->get_device(HAL_COMPASS_HMC5843_NAME), ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(hal.spi->get_device(HAL_COMPASS_HMC5843_NAME),
false, ROTATION_PITCH_180)); false, ROTATION_PITCH_180));
#if AP_COMPASS_LSM303D_ENABLED
ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME), ROTATION_NONE)); ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME), ROTATION_NONE));
#endif
break; break;
case AP_BoardConfig::PX4_BOARD_PIXHAWK2: case AP_BoardConfig::PX4_BOARD_PIXHAWK2:
#if AP_COMPASS_LSM303D_ENABLED
ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(hal.spi->get_device(HAL_INS_LSM9DS0_EXT_A_NAME), ROTATION_YAW_270)); ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(hal.spi->get_device(HAL_INS_LSM9DS0_EXT_A_NAME), ROTATION_YAW_270));
#endif
// we run the AK8963 only on the 2nd MPU9250, which leaves the // we run the AK8963 only on the 2nd MPU9250, which leaves the
// first MPU9250 to run without disturbance at high rate // first MPU9250 to run without disturbance at high rate
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(1, ROTATION_YAW_270)); ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(1, ROTATION_YAW_270));
@ -1401,7 +1405,9 @@ void Compass::_detect_backends(void)
case AP_BoardConfig::PX4_BOARD_MINDPXV2: case AP_BoardConfig::PX4_BOARD_MINDPXV2:
ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(0, HAL_COMPASS_HMC5843_I2C_ADDR), ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(0, HAL_COMPASS_HMC5843_I2C_ADDR),
false, ROTATION_YAW_90)); false, ROTATION_YAW_90));
#if AP_COMPASS_LSM303D_ENABLED
ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME), ROTATION_PITCH_180_YAW_270)); ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME), ROTATION_PITCH_180_YAW_270));
#endif
break; break;
default: default:

2
libraries/AP_Compass/AP_Compass.h
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@ -415,7 +415,9 @@ private:
// enum of drivers for COMPASS_TYPEMASK // enum of drivers for COMPASS_TYPEMASK
enum DriverType { enum DriverType {
DRIVER_HMC5843 =0, DRIVER_HMC5843 =0,
#if AP_COMPASS_LSM303D_ENABLED
DRIVER_LSM303D =1, DRIVER_LSM303D =1,
#endif
DRIVER_AK8963 =2, DRIVER_AK8963 =2,
DRIVER_BMM150 =3, DRIVER_BMM150 =3,
DRIVER_LSM9DS1 =4, DRIVER_LSM9DS1 =4,

9
libraries/AP_Compass/AP_Compass_LSM303D.cpp
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@ -12,13 +12,16 @@
You should have received a copy of the GNU General Public License You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>. along with this program. If not, see <http://www.gnu.org/licenses/>.
*/ */
#include "AP_Compass_LSM303D.h"
#if AP_COMPASS_LSM303D_ENABLED
#include <utility> #include <utility>
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include "AP_Compass_LSM303D.h"
extern const AP_HAL::HAL &hal; extern const AP_HAL::HAL &hal;
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
@ -428,3 +431,5 @@ bool AP_Compass_LSM303D::_mag_set_samplerate(uint16_t frequency)
return true; return true;
} }
#endif // AP_COMPASS_LSM303D_ENABLED

6
libraries/AP_Compass/AP_Compass_LSM303D.h
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@ -1,5 +1,9 @@
#pragma once #pragma once
#include "AP_Compass_config.h"
#if AP_COMPASS_LSM303D_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/Device.h> #include <AP_HAL/Device.h>
@ -53,3 +57,5 @@ private:
uint8_t _mag_samplerate; uint8_t _mag_samplerate;
uint8_t _reg7_expected; uint8_t _reg7_expected;
}; };
#endif // AP_COMPASS_LSM303D_ENABLED

4
libraries/AP_Compass/AP_Compass_config.h
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@ -37,3 +37,7 @@
#ifndef AP_COMPASS_IST8308_ENABLED #ifndef AP_COMPASS_IST8308_ENABLED
#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_LSM303D_ENABLED
#define AP_COMPASS_LSM303D_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
#endif