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AP_Compass: add and use AP_COMPASS_ICM20948_ENABLED

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This commit is contained in:
Peter Barker 2023-02-20 12:05:07 +11:00 committed by Andrew Tridgell
parent 648fe94d2e
commit ee6b44113d
5 changed files with 13 additions and 3 deletions
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6
libraries/AP_Compass/AP_Compass.cpp
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@ -1107,7 +1107,7 @@ void Compass::_probe_external_i2c_compasses(void)
#ifndef HAL_BUILD_AP_PERIPH #ifndef HAL_BUILD_AP_PERIPH
// AK09916 on ICM20948 // AK09916 on ICM20948
#if AP_COMPASS_AK09916_ENABLED #if AP_COMPASS_AK09916_ENABLED && AP_COMPASS_ICM20948_ENABLED
FOREACH_I2C_EXTERNAL(i) { FOREACH_I2C_EXTERNAL(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),
@ -1127,7 +1127,7 @@ void Compass::_probe_external_i2c_compasses(void)
all_external, ROTATION_PITCH_180_YAW_90)); all_external, ROTATION_PITCH_180_YAW_90));
} }
#endif #endif
#endif // AP_COMPASS_AK09916_ENABLED #endif // AP_COMPASS_AK09916_ENABLED && AP_COMPASS_ICM20948_ENABLED
#endif // HAL_BUILD_AP_PERIPH #endif // HAL_BUILD_AP_PERIPH
#if AP_COMPASS_LIS3MDL_ENABLED #if AP_COMPASS_LIS3MDL_ENABLED
@ -1380,7 +1380,7 @@ void Compass::_detect_backends(void)
// 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));
#endif #endif
#if AP_COMPASS_AK09916_ENABLED #if AP_COMPASS_AK09916_ENABLED && AP_COMPASS_ICM20948_ENABLED
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe_ICM20948(0, ROTATION_ROLL_180_YAW_90)); ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe_ICM20948(0, ROTATION_ROLL_180_YAW_90));
#endif #endif
break; break;

2
libraries/AP_Compass/AP_Compass.h
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@ -438,7 +438,9 @@ private:
#if AP_COMPASS_IST8310_ENABLED #if AP_COMPASS_IST8310_ENABLED
DRIVER_IST8310 =7, DRIVER_IST8310 =7,
#endif #endif
#if AP_COMPASS_ICM20948_ENABLED
DRIVER_ICM20948 =8, DRIVER_ICM20948 =8,
#endif
DRIVER_MMC3416 =9, DRIVER_MMC3416 =9,
#if AP_COMPASS_UAVCAN_ENABLED #if AP_COMPASS_UAVCAN_ENABLED
DRIVER_UAVCAN =11, DRIVER_UAVCAN =11,

2
libraries/AP_Compass/AP_Compass_AK09916.cpp
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@ -100,6 +100,7 @@ AP_Compass_Backend *AP_Compass_AK09916::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice>
return sensor; return sensor;
} }
#if AP_COMPASS_ICM20948_ENABLED
AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev, AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_icm, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_icm,
bool force_external, bool force_external,
@ -221,6 +222,7 @@ AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948_I2C(uint8_t inv2_instance
return sensor; return sensor;
} }
#endif // AP_COMPASS_ICM20948_ENABLED
bool AP_Compass_AK09916::init() bool AP_Compass_AK09916::init()
{ {

2
libraries/AP_Compass/AP_Compass_AK09916.h
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@ -52,6 +52,7 @@ public:
bool force_external, bool force_external,
enum Rotation rotation); enum Rotation rotation);
#if AP_COMPASS_ICM20948_ENABLED
/* Probe for AK09916 on auxiliary bus of ICM20948, connected through I2C */ /* Probe for AK09916 on auxiliary bus of ICM20948, connected through I2C */
static AP_Compass_Backend *probe_ICM20948(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev, static AP_Compass_Backend *probe_ICM20948(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_icm, AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_icm,
@ -66,6 +67,7 @@ public:
/* Probe for AK09916 on auxiliary bus of ICM20948, connected through I2C */ /* Probe for AK09916 on auxiliary bus of ICM20948, connected through I2C */
static AP_Compass_Backend *probe_ICM20948_I2C(uint8_t mpu9250_instance, static AP_Compass_Backend *probe_ICM20948_I2C(uint8_t mpu9250_instance,
enum Rotation rotation); enum Rotation rotation);
#endif
static constexpr const char *name = "AK09916"; static constexpr const char *name = "AK09916";

4
libraries/AP_Compass/AP_Compass_config.h
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@ -59,6 +59,10 @@
#define AP_COMPASS_HMC5843_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED #define AP_COMPASS_HMC5843_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
#endif #endif
#ifndef AP_COMPASS_ICM20948_ENABLED
#define AP_COMPASS_ICM20948_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
#endif
#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