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AP_Baro: use GET_I2C_DEVICE() for i2c probes 

for consistency with compass and INS
This commit is contained in:
Andrew Tridgell 2019-09-02 10:02:24 +10:00
parent 2bc7db4cca
commit f18a18c0ee
1 changed files with 27 additions and 26 deletions
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53
libraries/AP_Baro/AP_Baro.cpp
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@ -473,6 +473,7 @@ void AP_Baro::init(void)
} }
#endif #endif
// macro for use by HAL_INS_PROBE_LIST
#define GET_I2C_DEVICE(bus, address) hal.i2c_mgr->get_device(bus, address) #define GET_I2C_DEVICE(bus, address) hal.i2c_mgr->get_device(bus, address)
#if defined(HAL_BARO_PROBE_LIST) #if defined(HAL_BARO_PROBE_LIST)
@ -483,7 +484,7 @@ void AP_Baro::init(void)
case AP_BoardConfig::PX4_BOARD_PX4V1: case AP_BoardConfig::PX4_BOARD_PX4V1:
#ifdef HAL_BARO_MS5611_I2C_BUS #ifdef HAL_BARO_MS5611_I2C_BUS
ADD_BACKEND(AP_Baro_MS56XX::probe(*this, ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.i2c_mgr->get_device(HAL_BARO_MS5611_I2C_BUS, HAL_BARO_MS5611_I2C_ADDR)))); std::move(GET_I2C_DEVICE(HAL_BARO_MS5611_I2C_BUS, HAL_BARO_MS5611_I2C_ADDR))));
#endif #endif
break; break;
@ -512,7 +513,7 @@ void AP_Baro::init(void)
case AP_BoardConfig::PX4_BOARD_AEROFC: case AP_BoardConfig::PX4_BOARD_AEROFC:
#ifdef HAL_BARO_MS5607_I2C_BUS #ifdef HAL_BARO_MS5607_I2C_BUS
ADD_BACKEND(AP_Baro_MS56XX::probe(*this, ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.i2c_mgr->get_device(HAL_BARO_MS5607_I2C_BUS, HAL_BARO_MS5607_I2C_ADDR)), std::move(GET_I2C_DEVICE(HAL_BARO_MS5607_I2C_BUS, HAL_BARO_MS5607_I2C_ADDR)),
AP_Baro_MS56XX::BARO_MS5607)); AP_Baro_MS56XX::BARO_MS5607));
#endif #endif
break; break;
@ -540,7 +541,7 @@ void AP_Baro::init(void)
case AP_BoardConfig::PX4_BOARD_PCNC1: case AP_BoardConfig::PX4_BOARD_PCNC1:
ADD_BACKEND(AP_Baro_ICM20789::probe(*this, ADD_BACKEND(AP_Baro_ICM20789::probe(*this,
std::move(hal.i2c_mgr->get_device(1, 0x63)), std::move(GET_I2C_DEVICE(1, 0x63)),
std::move(hal.spi->get_device(HAL_INS_MPU60x0_NAME)))); std::move(hal.spi->get_device(HAL_INS_MPU60x0_NAME))));
break; break;
@ -569,15 +570,15 @@ void AP_Baro::init(void)
_num_drivers = 1; _num_drivers = 1;
#elif HAL_BARO_DEFAULT == HAL_BARO_LPS25H_IMU_I2C #elif HAL_BARO_DEFAULT == HAL_BARO_LPS25H_IMU_I2C
ADD_BACKEND(AP_Baro_LPS2XH::probe_InvensenseIMU(*this, ADD_BACKEND(AP_Baro_LPS2XH::probe_InvensenseIMU(*this,
std::move(hal.i2c_mgr->get_device(HAL_BARO_LPS25H_I2C_BUS, HAL_BARO_LPS25H_I2C_ADDR)), std::move(GET_I2C_DEVICE(HAL_BARO_LPS25H_I2C_BUS, HAL_BARO_LPS25H_I2C_ADDR)),
HAL_BARO_LPS25H_I2C_IMU_ADDR)); HAL_BARO_LPS25H_I2C_IMU_ADDR));
#elif HAL_BARO_DEFAULT == HAL_BARO_20789_I2C_I2C #elif HAL_BARO_DEFAULT == HAL_BARO_20789_I2C_I2C
ADD_BACKEND(AP_Baro_ICM20789::probe(*this, ADD_BACKEND(AP_Baro_ICM20789::probe(*this,
std::move(hal.i2c_mgr->get_device(HAL_BARO_20789_I2C_BUS, HAL_BARO_20789_I2C_ADDR_PRESS)), std::move(GET_I2C_DEVICE(HAL_BARO_20789_I2C_BUS, HAL_BARO_20789_I2C_ADDR_PRESS)),
std::move(hal.i2c_mgr->get_device(HAL_BARO_20789_I2C_BUS, HAL_BARO_20789_I2C_ADDR_ICM)))); std::move(GET_I2C_DEVICE(HAL_BARO_20789_I2C_BUS, HAL_BARO_20789_I2C_ADDR_ICM))));
#elif HAL_BARO_DEFAULT == HAL_BARO_20789_I2C_SPI #elif HAL_BARO_DEFAULT == HAL_BARO_20789_I2C_SPI
ADD_BACKEND(AP_Baro_ICM20789::probe(*this, ADD_BACKEND(AP_Baro_ICM20789::probe(*this,
std::move(hal.i2c_mgr->get_device(HAL_BARO_20789_I2C_BUS, HAL_BARO_20789_I2C_ADDR_PRESS)), std::move(GET_I2C_DEVICE(HAL_BARO_20789_I2C_BUS, HAL_BARO_20789_I2C_ADDR_PRESS)),
std::move(hal.spi->get_device("icm20789")))); std::move(hal.spi->get_device("icm20789"))));
#endif #endif
@ -585,13 +586,13 @@ void AP_Baro::init(void)
if (_ext_bus >= 0) { if (_ext_bus >= 0) {
#if APM_BUILD_TYPE(APM_BUILD_ArduSub) #if APM_BUILD_TYPE(APM_BUILD_ArduSub)
ADD_BACKEND(AP_Baro_MS56XX::probe(*this, ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.i2c_mgr->get_device(_ext_bus, HAL_BARO_MS5837_I2C_ADDR)), AP_Baro_MS56XX::BARO_MS5837)); std::move(GET_I2C_DEVICE(_ext_bus, HAL_BARO_MS5837_I2C_ADDR)), AP_Baro_MS56XX::BARO_MS5837));
ADD_BACKEND(AP_Baro_KellerLD::probe(*this, ADD_BACKEND(AP_Baro_KellerLD::probe(*this,
std::move(hal.i2c_mgr->get_device(_ext_bus, HAL_BARO_KELLERLD_I2C_ADDR)))); std::move(GET_I2C_DEVICE(_ext_bus, HAL_BARO_KELLERLD_I2C_ADDR))));
#else #else
ADD_BACKEND(AP_Baro_MS56XX::probe(*this, ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.i2c_mgr->get_device(_ext_bus, HAL_BARO_MS5611_I2C_ADDR)))); std::move(GET_I2C_DEVICE(_ext_bus, HAL_BARO_MS5611_I2C_ADDR))));
#endif #endif
} }
@ -628,79 +629,79 @@ void AP_Baro::_probe_i2c_barometers(void)
if (probe & PROBE_BMP085) { if (probe & PROBE_BMP085) {
FOREACH_I2C_MASK(i,mask) { 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(GET_I2C_DEVICE(i, HAL_BARO_BMP085_I2C_ADDR))));
} }
} }
if (probe & PROBE_BMP280) { if (probe & PROBE_BMP280) {
FOREACH_I2C_MASK(i,mask) { 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(GET_I2C_DEVICE(i, HAL_BARO_BMP280_I2C_ADDR))));
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_ADDR2)))); std::move(GET_I2C_DEVICE(i, HAL_BARO_BMP280_I2C_ADDR2))));
} }
} }
if (probe & PROBE_BMP388) { if (probe & PROBE_BMP388) {
FOREACH_I2C_MASK(i,mask) { FOREACH_I2C_MASK(i,mask) {
ADD_BACKEND(AP_Baro_BMP388::probe(*this, ADD_BACKEND(AP_Baro_BMP388::probe(*this,
std::move(hal.i2c_mgr->get_device(i, HAL_BARO_BMP388_I2C_ADDR)))); std::move(GET_I2C_DEVICE(i, HAL_BARO_BMP388_I2C_ADDR))));
ADD_BACKEND(AP_Baro_BMP388::probe(*this, ADD_BACKEND(AP_Baro_BMP388::probe(*this,
std::move(hal.i2c_mgr->get_device(i, HAL_BARO_BMP388_I2C_ADDR2)))); std::move(GET_I2C_DEVICE(i, HAL_BARO_BMP388_I2C_ADDR2))));
} }
} }
if (probe & PROBE_MS5611) { if (probe & PROBE_MS5611) {
FOREACH_I2C_MASK(i,mask) { 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(GET_I2C_DEVICE(i, HAL_BARO_MS5611_I2C_ADDR))));
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_ADDR2)))); std::move(GET_I2C_DEVICE(i, HAL_BARO_MS5611_I2C_ADDR2))));
} }
} }
if (probe & PROBE_MS5607) { if (probe & PROBE_MS5607) {
FOREACH_I2C_MASK(i,mask) { 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(GET_I2C_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_MASK(i,mask) { 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(GET_I2C_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_MASK(i,mask) { 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(GET_I2C_DEVICE(i, HAL_BARO_FBM320_I2C_ADDR))));
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_ADDR2)))); std::move(GET_I2C_DEVICE(i, HAL_BARO_FBM320_I2C_ADDR2))));
} }
} }
if (probe & PROBE_DPS280) { if (probe & PROBE_DPS280) {
FOREACH_I2C_MASK(i,mask) { 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(GET_I2C_DEVICE(i, HAL_BARO_DPS280_I2C_ADDR))));
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_ADDR2)))); std::move(GET_I2C_DEVICE(i, HAL_BARO_DPS280_I2C_ADDR2))));
} }
} }
if (probe & PROBE_LPS25H) { if (probe & PROBE_LPS25H) {
FOREACH_I2C_MASK(i,mask) { 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(GET_I2C_DEVICE(i, HAL_BARO_LPS25H_I2C_ADDR))));
} }
} }
if (probe & PROBE_LPS25H) { if (probe & PROBE_LPS25H) {
FOREACH_I2C_MASK(i,mask) { 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(GET_I2C_DEVICE(i, HAL_BARO_KELLERLD_I2C_ADDR))));
} }
} }
if (probe & PROBE_MS5837) { if (probe & PROBE_MS5837) {
FOREACH_I2C_MASK(i,mask) { 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(GET_I2C_DEVICE(i, HAL_BARO_MS5837_I2C_ADDR)), AP_Baro_MS56XX::BARO_MS5837));
} }
} }
} }