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AP_Compass: probe for RM3100

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This commit is contained in:
Pierre Kancir 2019-02-20 14:13:33 +01:00 committed by Andrew Tridgell
parent 318c0a958d
commit d9edd3c8b5
1 changed files with 21 additions and 10 deletions
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31
libraries/AP_Compass/AP_Compass.cpp
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@ -678,7 +678,7 @@ void Compass::_probe_external_i2c_compasses(void)
ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(i, HAL_COMPASS_HMC5843_I2C_ADDR), ADD_BACKEND(DRIVER_HMC5843, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(i, HAL_COMPASS_HMC5843_I2C_ADDR),
true, ROTATION_ROLL_180)); true, ROTATION_ROLL_180));
} }
if (AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_MINDPXV2 && if (AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_MINDPXV2 &&
AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_AEROFC) { AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_AEROFC) {
// internal i2c bus // internal i2c bus
@ -687,13 +687,13 @@ void Compass::_probe_external_i2c_compasses(void)
all_external, all_external?ROTATION_ROLL_180:ROTATION_YAW_270)); all_external, all_external?ROTATION_ROLL_180:ROTATION_YAW_270));
} }
} }
//external i2c bus //external i2c bus
FOREACH_I2C_EXTERNAL(i) { FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_QMC5883L, AP_Compass_QMC5883L::probe(GET_I2C_DEVICE(i, HAL_COMPASS_QMC5883L_I2C_ADDR), ADD_BACKEND(DRIVER_QMC5883L, AP_Compass_QMC5883L::probe(GET_I2C_DEVICE(i, HAL_COMPASS_QMC5883L_I2C_ADDR),
true, HAL_COMPASS_QMC5883L_ORIENTATION_EXTERNAL)); true, HAL_COMPASS_QMC5883L_ORIENTATION_EXTERNAL));
} }
// internal i2c bus // internal i2c bus
if (all_external) { if (all_external) {
// only probe QMC5883L on internal if we are treating internals as externals // only probe QMC5883L on internal if we are treating internals as externals
@ -703,7 +703,7 @@ void Compass::_probe_external_i2c_compasses(void)
all_external?HAL_COMPASS_QMC5883L_ORIENTATION_EXTERNAL:HAL_COMPASS_QMC5883L_ORIENTATION_INTERNAL)); all_external?HAL_COMPASS_QMC5883L_ORIENTATION_EXTERNAL:HAL_COMPASS_QMC5883L_ORIENTATION_INTERNAL));
} }
} }
#if !HAL_MINIMIZE_FEATURES #if !HAL_MINIMIZE_FEATURES
// AK09916 on ICM20948 // AK09916 on ICM20948
FOREACH_I2C_EXTERNAL(i) { FOREACH_I2C_EXTERNAL(i) {
@ -711,7 +711,7 @@ void Compass::_probe_external_i2c_compasses(void)
GET_I2C_DEVICE(i, HAL_COMPASS_ICM20948_I2C_ADDR), GET_I2C_DEVICE(i, HAL_COMPASS_ICM20948_I2C_ADDR),
true, ROTATION_PITCH_180_YAW_90)); true, ROTATION_PITCH_180_YAW_90));
} }
FOREACH_I2C_INTERNAL(i) { FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948(GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR), ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948(GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
GET_I2C_DEVICE(i, HAL_COMPASS_ICM20948_I2C_ADDR), GET_I2C_DEVICE(i, HAL_COMPASS_ICM20948_I2C_ADDR),
@ -723,25 +723,25 @@ void Compass::_probe_external_i2c_compasses(void)
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR), ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR),
all_external, all_external?ROTATION_YAW_90:ROTATION_NONE)); all_external, all_external?ROTATION_YAW_90:ROTATION_NONE));
} }
// lis3mdl on bus 0 with alternate address // lis3mdl on bus 0 with alternate address
FOREACH_I2C_INTERNAL(i) { FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR2), ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR2),
all_external, all_external?ROTATION_YAW_90:ROTATION_NONE)); all_external, all_external?ROTATION_YAW_90:ROTATION_NONE));
} }
// external lis3mdl on bus 1 with default address // external lis3mdl on bus 1 with default address
FOREACH_I2C_EXTERNAL(i) { FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR), ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR),
true, ROTATION_YAW_90)); true, ROTATION_YAW_90));
} }
// external lis3mdl on bus 1 with alternate address // external lis3mdl on bus 1 with alternate address
FOREACH_I2C_EXTERNAL(i) { FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR2), ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR2),
true, ROTATION_YAW_90)); true, ROTATION_YAW_90));
} }
// AK09916. This can be found twice, due to the ICM20948 i2c bus pass-thru, so we need to be careful to avoid that // AK09916. This can be found twice, due to the ICM20948 i2c bus pass-thru, so we need to be careful to avoid that
FOREACH_I2C_EXTERNAL(i) { FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR), ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
@ -751,7 +751,7 @@ void Compass::_probe_external_i2c_compasses(void)
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR), ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
all_external, all_external?ROTATION_YAW_270:ROTATION_NONE)); all_external, all_external?ROTATION_YAW_270:ROTATION_NONE));
} }
// 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) {
@ -782,6 +782,17 @@ void Compass::_probe_external_i2c_compasses(void)
ADD_BACKEND(DRIVER_IST8308, AP_Compass_IST8308::probe(GET_I2C_DEVICE(i, HAL_COMPASS_IST8308_I2C_ADDR), ADD_BACKEND(DRIVER_IST8308, AP_Compass_IST8308::probe(GET_I2C_DEVICE(i, HAL_COMPASS_IST8308_I2C_ADDR),
true, ROTATION_NONE)); true, ROTATION_NONE));
} }
// external i2c bus
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_RM3100, AP_Compass_RM3100::probe(GET_I2C_DEVICE(i, HAL_COMPASS_RM3100_I2C_ADDR),
true, ROTATION_NONE));
}
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_RM3100, AP_Compass_RM3100::probe(GET_I2C_DEVICE(i, HAL_COMPASS_RM3100_I2C_ADDR),
all_external, ROTATION_NONE));
}
#endif // HAL_MINIMIZE_FEATURES #endif // HAL_MINIMIZE_FEATURES
} }