Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-21 15:23:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Compass: remove unused external and name arguments

Browse Source 
Aka "fix copy and pasta".
This commit is contained in:
Lucas De Marchi 2018-08-06 16:08:09 -07:00 committed by Andrew Tridgell
parent 4039b51810
commit de535dc573
3 changed files with 92 additions and 166 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

250
libraries/AP_Compass/AP_Compass.cpp
View File

@ -525,7 +525,7 @@ uint8_t Compass::register_compass(void)
return _compass_count++;
}
bool Compass::_add_backend(AP_Compass_Backend *backend, const char *name, bool external)
bool Compass::_add_backend(AP_Compass_Backend *backend)
{
if (!backend) {
return false;
@ -568,8 +568,8 @@ bool Compass::_have_i2c_driver(uint8_t bus, uint8_t address) const
macro to add a backend with check for too many backends or compass
instances. We don't try to start more than the maximum allowed
*/
#define ADD_BACKEND(driver_type, backend, name, external) \
do { if (_driver_enabled(driver_type)) { _add_backend(backend, name, external); } \
#define ADD_BACKEND(driver_type, backend) \
do { if (_driver_enabled(driver_type)) { _add_backend(backend); } \
if (_backend_count == COMPASS_MAX_BACKEND || \
_compass_count == COMPASS_MAX_INSTANCES) { \
return; \
@ -587,8 +587,7 @@ void Compass::_probe_external_i2c_compasses(void)
// external i2c bus
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(i, HAL_COMPASS_HMC5843_I2C_ADDR),
true, ROTATION_ROLL_180),
AP_Compass_HMC5843::name, true);
true, ROTATION_ROLL_180));
}
if (AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_MINDPXV2 &&
@ -596,24 +595,21 @@ void Compass::_probe_external_i2c_compasses(void)
// internal i2c bus
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(i, HAL_COMPASS_HMC5843_I2C_ADDR),
both_i2c_external, both_i2c_external?ROTATION_ROLL_180:ROTATION_YAW_270),
AP_Compass_HMC5843::name, both_i2c_external);
both_i2c_external, both_i2c_external?ROTATION_ROLL_180:ROTATION_YAW_270));
}
}
//external i2c bus
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(GET_I2C_DEVICE(i, HAL_COMPASS_QMC5883L_I2C_ADDR),
true, HAL_COMPASS_QMC5883L_ORIENTATION_EXTERNAL),
AP_Compass_QMC5883L::name, true);
true, HAL_COMPASS_QMC5883L_ORIENTATION_EXTERNAL));
}
//internal i2c bus
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(GET_I2C_DEVICE(i, HAL_COMPASS_QMC5883L_I2C_ADDR),
both_i2c_external,
both_i2c_external?HAL_COMPASS_QMC5883L_ORIENTATION_EXTERNAL:HAL_COMPASS_QMC5883L_ORIENTATION_INTERNAL),
AP_Compass_QMC5883L::name,both_i2c_external);
both_i2c_external?HAL_COMPASS_QMC5883L_ORIENTATION_EXTERNAL:HAL_COMPASS_QMC5883L_ORIENTATION_INTERNAL));
}
#if !HAL_MINIMIZE_FEATURES
@ -621,55 +617,47 @@ void Compass::_probe_external_i2c_compasses(void)
FOREACH_I2C_EXTERNAL(i) {
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),
true, ROTATION_PITCH_180_YAW_90),
AP_Compass_AK09916::name, true);
true, ROTATION_PITCH_180_YAW_90));
}
FOREACH_I2C_INTERNAL(i) {
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),
both_i2c_external, ROTATION_PITCH_180_YAW_90),
AP_Compass_AK09916::name, true);
both_i2c_external, ROTATION_PITCH_180_YAW_90));
}
// lis3mdl on bus 0 with default address
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR),
both_i2c_external, both_i2c_external?ROTATION_YAW_90:ROTATION_NONE),
AP_Compass_LIS3MDL::name, both_i2c_external);
both_i2c_external, both_i2c_external?ROTATION_YAW_90:ROTATION_NONE));
}
// lis3mdl on bus 0 with alternate address
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR2),
both_i2c_external, both_i2c_external?ROTATION_YAW_90:ROTATION_NONE),
AP_Compass_LIS3MDL::name, both_i2c_external);
both_i2c_external, both_i2c_external?ROTATION_YAW_90:ROTATION_NONE));
}
// external lis3mdl on bus 1 with default address
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR),
true, ROTATION_YAW_90),
AP_Compass_LIS3MDL::name, true);
true, ROTATION_YAW_90));
}
// external lis3mdl on bus 1 with alternate address
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR2),
true, ROTATION_YAW_90),
AP_Compass_LIS3MDL::name, true);
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
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
true, ROTATION_YAW_270),
AP_Compass_AK09916::name, true);
true, ROTATION_YAW_270));
}
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
both_i2c_external, both_i2c_external?ROTATION_YAW_270:ROTATION_NONE),
AP_Compass_AK09916::name, both_i2c_external);
both_i2c_external, both_i2c_external?ROTATION_YAW_270:ROTATION_NONE));
}
// IST8310 on external and internal bus
@ -684,12 +672,12 @@ void Compass::_probe_external_i2c_compasses(void)
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(GET_I2C_DEVICE(i, HAL_COMPASS_IST8310_I2C_ADDR),
true, default_rotation), AP_Compass_IST8310::name, true);
true, default_rotation));
}
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(GET_I2C_DEVICE(i, HAL_COMPASS_IST8310_I2C_ADDR),
both_i2c_external, default_rotation), AP_Compass_IST8310::name, both_i2c_external);
both_i2c_external, default_rotation));
}
}
#endif // HAL_MINIMIZE_FEATURES
@ -701,7 +689,7 @@ void Compass::_probe_external_i2c_compasses(void)
void Compass::_detect_backends(void)
{
if (_hil_mode) {
_add_backend(AP_Compass_HIL::detect(), nullptr, false);
_add_backend(AP_Compass_HIL::detect());
return;
}
@ -713,7 +701,7 @@ void Compass::_detect_backends(void)
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
ADD_BACKEND(DRIVER_SITL, new AP_Compass_SITL(), nullptr, false);
ADD_BACKEND(DRIVER_SITL, new AP_Compass_SITL());
return;
#endif
@ -727,7 +715,7 @@ void Compass::_detect_backends(void)
#endif
#if HAL_COMPASS_DEFAULT == HAL_COMPASS_HIL
ADD_BACKEND(DRIVER_SITL, AP_Compass_HIL::detect(), nullptr, false);
ADD_BACKEND(DRIVER_SITL, AP_Compass_HIL::detect());
#elif AP_FEATURE_BOARD_DETECT
switch (AP_BoardConfig::get_board_type()) {
case AP_BoardConfig::PX4_BOARD_PX4V1:
@ -750,19 +738,16 @@ void Compass::_detect_backends(void)
case AP_BoardConfig::PX4_BOARD_PCNC1:
ADD_BACKEND(DRIVER_BMM150,
AP_Compass_BMM150::probe(GET_I2C_DEVICE(0, 0x10)),
AP_Compass_BMM150::name, true);
AP_Compass_BMM150::probe(GET_I2C_DEVICE(0, 0x10)));
break;
case AP_BoardConfig::VRX_BOARD_BRAIN54: {
// external i2c bus
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(1, HAL_COMPASS_HMC5843_I2C_ADDR),
true, ROTATION_ROLL_180),
AP_Compass_HMC5843::name, true);
true, ROTATION_ROLL_180));
}
// internal i2c bus
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(0, HAL_COMPASS_HMC5843_I2C_ADDR),
false, ROTATION_YAW_270),
AP_Compass_HMC5843::name, false);
false, ROTATION_YAW_270));
break;
case AP_BoardConfig::VRX_BOARD_BRAIN51:
@ -773,8 +758,7 @@ void Compass::_detect_backends(void)
case AP_BoardConfig::VRX_BOARD_UBRAIN52: {
// external i2c bus
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(1, HAL_COMPASS_HMC5843_I2C_ADDR),
true, ROTATION_ROLL_180),
AP_Compass_HMC5843::name, true);
true, ROTATION_ROLL_180));
}
break;
@ -784,78 +768,63 @@ void Compass::_detect_backends(void)
switch (AP_BoardConfig::get_board_type()) {
case AP_BoardConfig::PX4_BOARD_PIXHAWK:
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(hal.spi->get_device(HAL_COMPASS_HMC5843_NAME),
false, ROTATION_PITCH_180),
AP_Compass_HMC5843::name, false);
ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME)),
AP_Compass_LSM303D::name, false);
false, ROTATION_PITCH_180));
ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME)));
break;
case AP_BoardConfig::PX4_BOARD_PIXHAWK2:
ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(hal.spi->get_device(HAL_INS_LSM9DS0_EXT_A_NAME), ROTATION_YAW_270),
AP_Compass_LSM303D::name, false);
ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(hal.spi->get_device(HAL_INS_LSM9DS0_EXT_A_NAME), ROTATION_YAW_270));
// we run the AK8963 only on the 2nd MPU9250, which leaves the
// first MPU9250 to run without disturbance at high rate
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(1, ROTATION_YAW_270),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(1, ROTATION_YAW_270));
break;
case AP_BoardConfig::PX4_BOARD_FMUV5:
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(GET_I2C_DEVICE(i, HAL_COMPASS_IST8310_I2C_ADDR),
true, ROTATION_ROLL_180_YAW_90), AP_Compass_IST8310::name, true);
true, ROTATION_ROLL_180_YAW_90));
}
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(GET_I2C_DEVICE(i, HAL_COMPASS_IST8310_I2C_ADDR),
false, ROTATION_ROLL_180_YAW_90), AP_Compass_IST8310::name, false);
false, ROTATION_ROLL_180_YAW_90));
}
break;
case AP_BoardConfig::PX4_BOARD_SP01:
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(1, ROTATION_NONE),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(1, ROTATION_NONE));
break;
case AP_BoardConfig::PX4_BOARD_PIXRACER:
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(hal.spi->get_device(HAL_COMPASS_HMC5843_NAME),
false, ROTATION_PITCH_180),
AP_Compass_HMC5843::name, false);
false, ROTATION_PITCH_180));
// R15 has LIS3MDL on spi bus instead of HMC; same CS pin
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(hal.spi->get_device(HAL_COMPASS_LIS3MDL_NAME),
false, ROTATION_NONE),
AP_Compass_LIS3MDL::name, false);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_ROLL_180_YAW_90),
AP_Compass_AK8963::name, false);
false, ROTATION_NONE));
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_ROLL_180_YAW_90));
break;
case AP_BoardConfig::PX4_BOARD_PIXHAWK_PRO:
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_ROLL_180_YAW_90),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_ROLL_180_YAW_90));
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(hal.spi->get_device(HAL_COMPASS_LIS3MDL_NAME),
false, ROTATION_NONE),
AP_Compass_LIS3MDL::name, false);
false, ROTATION_NONE));
break;
case AP_BoardConfig::PX4_BOARD_PHMINI:
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_ROLL_180),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_ROLL_180));
break;
case AP_BoardConfig::PX4_BOARD_AUAV21:
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_ROLL_180_YAW_90),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_ROLL_180_YAW_90));
break;
case AP_BoardConfig::PX4_BOARD_PH2SLIM:
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_YAW_270),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_YAW_270));
break;
case AP_BoardConfig::PX4_BOARD_MINDPXV2:
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(0, HAL_COMPASS_HMC5843_I2C_ADDR),
false, ROTATION_YAW_90),
AP_Compass_HMC5843::name, false);
ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME), ROTATION_PITCH_180_YAW_270),
AP_Compass_LSM303D::name, false);
false, ROTATION_YAW_90));
ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME), ROTATION_PITCH_180_YAW_270));
break;
default:
@ -863,109 +832,75 @@ void Compass::_detect_backends(void)
}
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BH
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
AP_Compass_HMC5843::name, false);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0), AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_HMC5883, 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_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(1),
AP_Compass_AK8963::name, true);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true));
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0));
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(1));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_NAVIO2
ADD_BACKEND(DRIVER_LSM9DS1, AP_Compass_LSM9DS1::probe(hal.spi->get_device("lsm9ds1_m"), ROTATION_ROLL_180),
AP_Compass_LSM9DS1::name, false);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true);
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));
ADD_BACKEND(DRIVER_HMC5883, 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),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0));
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_OCPOC_ZYNQ
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
AP_Compass_HMC5843::name, true);
ADD_BACKEND(DRIVER_AK8963,AP_Compass_AK8963::probe_mpu9250(0),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_HMC5883, 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_EDGE
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true));
#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),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0));
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true));
#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)),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(GET_I2C_DEVICE(HAL_COMPASS_AK8963_I2C_BUS, HAL_COMPASS_AK8963_I2C_ADDR)));
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true));
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0));
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_MPU9250
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HMC5843
#ifndef HAL_COMPASS_HMC5843_ROTATION
# define HAL_COMPASS_HMC5843_ROTATION ROTATION_NONE
#endif
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR),
false, HAL_COMPASS_HMC5843_ROTATION),
AP_Compass_HMC5843::name, false);
false, HAL_COMPASS_HMC5843_ROTATION));
#if defined(HAL_COMPASS_HMC5843_I2C_EXT_BUS) && CONFIG_HAL_BOARD == HAL_BOARD_F4LIGHT
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_EXT_BUS, HAL_COMPASS_HMC5843_I2C_ADDR),true),
AP_Compass_HMC5843::name, true);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_EXT_BUS, HAL_COMPASS_HMC5843_I2C_ADDR),true));
#endif
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HMC5843_MPU6000
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe_mpu6000(),
AP_Compass_HMC5843::name, false);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe_mpu6000());
#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)),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe(GET_I2C_DEVICE(HAL_COMPASS_AK8963_I2C_BUS, HAL_COMPASS_AK8963_I2C_ADDR)));
#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)),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(GET_I2C_DEVICE(HAL_COMPASS_AK8963_I2C_BUS, HAL_COMPASS_AK8963_I2C_ADDR)));
#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)),
AP_Compass_BMM150::name, false);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true);
ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(GET_I2C_DEVICE(HAL_COMPASS_BMM150_I2C_BUS, HAL_COMPASS_BMM150_I2C_ADDR)));
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true));
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), AP_Compass_IST8310::name, true);
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),
AP_Compass_LIS3MDL::name, false);
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),
AP_Compass_MAG3110::name, true);
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), AP_Compass_IST8310::name, true);
true, ROTATION_PITCH_180_YAW_90));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_QMC5883L
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(GET_I2C_DEVICE(1, HAL_COMPASS_QMC5883L_I2C_ADDR),
true, HAL_COMPASS_QMC5883L_ORIENTATION_EXTERNAL),
AP_Compass_QMC5883L::name, true);
true, HAL_COMPASS_QMC5883L_ORIENTATION_EXTERNAL));
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(GET_I2C_DEVICE(0, HAL_COMPASS_QMC5883L_I2C_ADDR),
false, HAL_COMPASS_QMC5883L_ORIENTATION_INTERNAL),
AP_Compass_QMC5883L::name, false);
false, HAL_COMPASS_QMC5883L_ORIENTATION_INTERNAL));
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
AP_Compass_HMC5843::name, false);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_LSM9DS1, AP_Compass_LSM9DS1::probe(hal.spi->get_device("lsm9ds1_m")),
AP_Compass_LSM9DS1::name, false);
ADD_BACKEND(DRIVER_HMC5883, 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));
ADD_BACKEND(DRIVER_LSM9DS1, AP_Compass_LSM9DS1::probe(hal.spi->get_device("lsm9ds1_m")));
#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)),
AP_Compass_BMM150::name, true);
ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(GET_I2C_DEVICE(HAL_COMPASS_BMM150_I2C_BUS, HAL_COMPASS_BMM150_I2C_ADDR)));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_NONE
// no compass
#else
@ -976,49 +911,40 @@ void Compass::_detect_backends(void)
#if defined(BOARD_I2C_BUS_EXT) && CONFIG_HAL_BOARD == HAL_BOARD_F4LIGHT
// autodetect external i2c bus
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_QMC5883L_I2C_ADDR),
true,ROTATION_NONE),
AP_Compass_QMC5883L::name, true);
true, ROTATION_NONE));
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_HMC5843_I2C_ADDR)),
AP_Compass_HMC5843::name, true);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_HMC5843_I2C_ADDR)));
// lis3mdl
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_LIS3MDL_I2C_ADDR),
true, ROTATION_NONE),
AP_Compass_LIS3MDL::name, true);
true, ROTATION_NONE));
// AK09916
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_AK09916_I2C_ADDR),
true, ROTATION_NONE),
AP_Compass_AK09916::name, true);
true, ROTATION_NONE));
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_IST8310_I2C_ADDR),
ROTATION_NONE),
AP_Compass_IST8310::name, true);
ROTATION_NONE));
#ifdef HAL_COMPASS_BMM150_I2C_ADDR
ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_BMM150_I2C_ADDR)),
AP_Compass_BMM150::name, true);
ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_BMM150_I2C_ADDR)));
#endif
ADD_BACKEND(DRIVER_MAG3110, AP_Compass_MAG3110::probe(GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_MAG3110_I2C_ADDR), ROTATION_NONE),
AP_Compass_MAG3110::name, true);
ADD_BACKEND(DRIVER_MAG3110, AP_Compass_MAG3110::probe(GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_MAG3110_I2C_ADDR), ROTATION_NONE));
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_QMC5883L_I2C_ADDR), ROTATION_NONE),
AP_Compass_QMC5883L::name, true);
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_QMC5883L_I2C_ADDR), ROTATION_NONE));
#endif
/* for chibios external board coniguration */
#ifdef HAL_EXT_COMPASS_HMC5843_I2C_BUS
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_EXT_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR),
true, ROTATION_ROLL_180),
AP_Compass_HMC5843::name, true);
true, ROTATION_ROLL_180));
#endif
#if HAL_WITH_UAVCAN
for (uint8_t i = 0; i < COMPASS_MAX_BACKEND; i++) {
ADD_BACKEND(DRIVER_UAVCAN, AP_Compass_UAVCAN::probe(), "UAVCAN", true);
ADD_BACKEND(DRIVER_UAVCAN, AP_Compass_UAVCAN::probe());
}
#endif

2
libraries/AP_Compass/AP_Compass.h
View File

@ -334,7 +334,7 @@ private:
uint8_t register_compass(void);
// load backend drivers
bool _add_backend(AP_Compass_Backend *backend, const char *name, bool external);
bool _add_backend(AP_Compass_Backend *backend);
void _probe_external_i2c_compasses(void);
void _detect_backends(void);

6
libraries/AP_Compass/AP_Compass_SITL.cpp
View File

@ -5,9 +5,9 @@
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
extern const AP_HAL::HAL& hal;
AP_Compass_SITL::AP_Compass_SITL():
_sitl(AP::sitl()),
_has_sample(false),
AP_Compass_SITL::AP_Compass_SITL()
: _sitl(AP::sitl())
, _has_sample(false)
{
if (_sitl != nullptr) {
_compass._setup_earth_field();