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AP_Baro: probe both i2c buses on CubeBlack for barometers

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This commit is contained in:
Andrew Tridgell 2018-09-06 13:48:52 +10:00
parent eec3a2ab31
commit dda8e7c35a
1 changed files with 16 additions and 10 deletions
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26
libraries/AP_Baro/AP_Baro.cpp
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@ -630,14 +630,20 @@ void AP_Baro::init(void)
void AP_Baro::_probe_i2c_barometers(void) void AP_Baro::_probe_i2c_barometers(void)
{ {
uint32_t probe = _baro_probe_ext.get(); uint32_t probe = _baro_probe_ext.get();
uint32_t mask = hal.i2c_mgr->get_bus_mask_external();
if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2) {
// for the purpose of baro probing, treat CubeBlack internal i2c as external. It has
// no internal i2c baros, so this is safe
mask |= hal.i2c_mgr->get_bus_mask_internal();
}
if (probe & PROBE_BMP085) { if (probe & PROBE_BMP085) {
FOREACH_I2C_EXTERNAL(i) { FOREACH_I2C_MASK(i,mask) {
ADD_BACKEND(AP_Baro_BMP085::probe(*this, ADD_BACKEND(AP_Baro_BMP085::probe(*this,
std::move(hal.i2c_mgr->get_device(i, HAL_BARO_BMP085_I2C_ADDR)))); std::move(hal.i2c_mgr->get_device(i, HAL_BARO_BMP085_I2C_ADDR))));
} }
} }
if (probe & PROBE_BMP280) { if (probe & PROBE_BMP280) {
FOREACH_I2C_EXTERNAL(i) { FOREACH_I2C_MASK(i,mask) {
ADD_BACKEND(AP_Baro_BMP280::probe(*this, ADD_BACKEND(AP_Baro_BMP280::probe(*this,
std::move(hal.i2c_mgr->get_device(i, HAL_BARO_BMP280_I2C_ADDR)))); std::move(hal.i2c_mgr->get_device(i, HAL_BARO_BMP280_I2C_ADDR))));
ADD_BACKEND(AP_Baro_BMP280::probe(*this, ADD_BACKEND(AP_Baro_BMP280::probe(*this,
@ -645,7 +651,7 @@ void AP_Baro::_probe_i2c_barometers(void)
} }
} }
if (probe & PROBE_MS5611) { if (probe & PROBE_MS5611) {
FOREACH_I2C_EXTERNAL(i) { FOREACH_I2C_MASK(i,mask) {
ADD_BACKEND(AP_Baro_MS56XX::probe(*this, ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.i2c_mgr->get_device(i, HAL_BARO_MS5611_I2C_ADDR)))); std::move(hal.i2c_mgr->get_device(i, HAL_BARO_MS5611_I2C_ADDR))));
ADD_BACKEND(AP_Baro_MS56XX::probe(*this, ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
@ -653,21 +659,21 @@ void AP_Baro::_probe_i2c_barometers(void)
} }
} }
if (probe & PROBE_MS5607) { if (probe & PROBE_MS5607) {
FOREACH_I2C_EXTERNAL(i) { FOREACH_I2C_MASK(i,mask) {
ADD_BACKEND(AP_Baro_MS56XX::probe(*this, ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.i2c_mgr->get_device(i, HAL_BARO_MS5607_I2C_ADDR)), std::move(hal.i2c_mgr->get_device(i, HAL_BARO_MS5607_I2C_ADDR)),
AP_Baro_MS56XX::BARO_MS5607)); AP_Baro_MS56XX::BARO_MS5607));
} }
} }
if (probe & PROBE_MS5637) { if (probe & PROBE_MS5637) {
FOREACH_I2C_EXTERNAL(i) { FOREACH_I2C_MASK(i,mask) {
ADD_BACKEND(AP_Baro_MS56XX::probe(*this, ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.i2c_mgr->get_device(i, HAL_BARO_MS5637_I2C_ADDR)), std::move(hal.i2c_mgr->get_device(i, HAL_BARO_MS5637_I2C_ADDR)),
AP_Baro_MS56XX::BARO_MS5637)); AP_Baro_MS56XX::BARO_MS5637));
} }
} }
if (probe & PROBE_FBM320) { if (probe & PROBE_FBM320) {
FOREACH_I2C_EXTERNAL(i) { FOREACH_I2C_MASK(i,mask) {
ADD_BACKEND(AP_Baro_FBM320::probe(*this, ADD_BACKEND(AP_Baro_FBM320::probe(*this,
std::move(hal.i2c_mgr->get_device(i, HAL_BARO_FBM320_I2C_ADDR)))); std::move(hal.i2c_mgr->get_device(i, HAL_BARO_FBM320_I2C_ADDR))));
ADD_BACKEND(AP_Baro_FBM320::probe(*this, ADD_BACKEND(AP_Baro_FBM320::probe(*this,
@ -675,7 +681,7 @@ void AP_Baro::_probe_i2c_barometers(void)
} }
} }
if (probe & PROBE_DPS280) { if (probe & PROBE_DPS280) {
FOREACH_I2C_EXTERNAL(i) { FOREACH_I2C_MASK(i,mask) {
ADD_BACKEND(AP_Baro_DPS280::probe(*this, ADD_BACKEND(AP_Baro_DPS280::probe(*this,
std::move(hal.i2c_mgr->get_device(i, HAL_BARO_DPS280_I2C_ADDR)))); std::move(hal.i2c_mgr->get_device(i, HAL_BARO_DPS280_I2C_ADDR))));
ADD_BACKEND(AP_Baro_DPS280::probe(*this, ADD_BACKEND(AP_Baro_DPS280::probe(*this,
@ -683,19 +689,19 @@ void AP_Baro::_probe_i2c_barometers(void)
} }
} }
if (probe & PROBE_LPS25H) { if (probe & PROBE_LPS25H) {
FOREACH_I2C_EXTERNAL(i) { FOREACH_I2C_MASK(i,mask) {
ADD_BACKEND(AP_Baro_LPS2XH::probe(*this, ADD_BACKEND(AP_Baro_LPS2XH::probe(*this,
std::move(hal.i2c_mgr->get_device(i, HAL_BARO_LPS25H_I2C_ADDR)))); std::move(hal.i2c_mgr->get_device(i, HAL_BARO_LPS25H_I2C_ADDR))));
} }
} }
if (probe & PROBE_LPS25H) { if (probe & PROBE_LPS25H) {
FOREACH_I2C_EXTERNAL(i) { FOREACH_I2C_MASK(i,mask) {
ADD_BACKEND(AP_Baro_KellerLD::probe(*this, ADD_BACKEND(AP_Baro_KellerLD::probe(*this,
std::move(hal.i2c_mgr->get_device(i, HAL_BARO_KELLERLD_I2C_ADDR)))); std::move(hal.i2c_mgr->get_device(i, HAL_BARO_KELLERLD_I2C_ADDR))));
} }
} }
if (probe & PROBE_MS5837) { if (probe & PROBE_MS5837) {
FOREACH_I2C_EXTERNAL(i) { FOREACH_I2C_MASK(i,mask) {
ADD_BACKEND(AP_Baro_MS56XX::probe(*this, ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.i2c_mgr->get_device(i, HAL_BARO_MS5837_I2C_ADDR)), AP_Baro_MS56XX::BARO_MS5837)); std::move(hal.i2c_mgr->get_device(i, HAL_BARO_MS5837_I2C_ADDR)), AP_Baro_MS56XX::BARO_MS5837));
} }