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AP_Compass: separated out external compass probing 

this allows any ChibiOS board to specify that it wants to probe for
all possible external compass types with a define in hwdef.dat

It also implements duplicate compass detection for all i2c drivers,
ensuring we can't get a load of a driver on the same bus/address twice
This commit is contained in:
Andrew Tridgell 2018-07-13 19:56:24 +10:00
parent 476bddd9a3
commit ff6d639ed7
2 changed files with 185 additions and 151 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

330
libraries/AP_Compass/AP_Compass.cpp
View File

@ -515,19 +515,143 @@ bool Compass::_driver_enabled(enum DriverType driver_type)
} }
/* /*
see if we already have probed a driver by bus type wrapper around hal.i2c_mgr->get_device() that prevents duplicate devices being opened
*/ */
bool Compass::_have_driver(AP_HAL::Device::BusType bus_type, uint8_t bus_num, uint8_t address, uint8_t devtype) const bool Compass::_have_i2c_driver(uint8_t bus, uint8_t address) const
{ {
uint32_t id = AP_HAL::Device::make_bus_id(bus_type, bus_num, address, devtype);
for (uint8_t i=0; i<_compass_count; i++) { for (uint8_t i=0; i<_compass_count; i++) {
if (id == uint32_t(_state[i].dev_id.get())) { if (AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_I2C, bus, address, 0) ==
AP_HAL::Device::change_bus_id(uint32_t(_state[i].dev_id.get()), 0)) {
// we are already using this device
return true; return true;
} }
} }
return false; return false;
} }
/*
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); } \
if (_backend_count == COMPASS_MAX_BACKEND || \
_compass_count == COMPASS_MAX_INSTANCES) { \
return; \
} \
} while (0)
#define GET_I2C_DEVICE(bus, address) _have_i2c_driver(bus, address)?nullptr:hal.i2c_mgr->get_device(bus, address)
/*
look for compasses on external i2c buses
*/
void Compass::_probe_external_i2c_compasses(void)
{
bool both_i2c_external = (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2);
// external i2c bus
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_HMC5843_I2C_ADDR),
true, ROTATION_ROLL_180),
AP_Compass_HMC5843::name, true);
}
if (AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_MINDPXV2) {
// internal i2c bus
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, 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);
}
}
//external i2c bus
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_QMC5883L_I2C_ADDR),
true,ROTATION_ROLL_180),
AP_Compass_QMC5883L::name, true);
}
//internal i2c bus
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_QMC5883L_I2C_ADDR),
both_i2c_external, both_i2c_external?ROTATION_ROLL_180:ROTATION_ROLL_180_YAW_270),
AP_Compass_QMC5883L::name,both_i2c_external);
}
#if !HAL_MINIMIZE_FEATURES
// AK09916 on ICM20948
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948(*this,
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);
}
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948(*this,
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);
}
// lis3mdl on bus 0 with default address
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, 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);
}
// lis3mdl on bus 0 with alternate address
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, 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);
}
// external lis3mdl on bus 1 with default address
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR),
true, ROTATION_YAW_90),
AP_Compass_LIS3MDL::name, true);
}
// external lis3mdl on bus 1 with alternate address
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR2),
true, ROTATION_YAW_90),
AP_Compass_LIS3MDL::name, true);
}
// 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(*this, GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
true, ROTATION_YAW_270),
AP_Compass_AK09916::name, true);
}
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(*this, 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);
}
// IST8310 on external and internal bus
if (AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_FMUV5) {
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_IST8310_I2C_ADDR),
true, ROTATION_PITCH_180), AP_Compass_IST8310::name, true);
}
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_IST8310_I2C_ADDR),
both_i2c_external, ROTATION_PITCH_180), AP_Compass_IST8310::name, both_i2c_external);
}
}
#endif // HAL_MINIMIZE_FEATURES
}
/* /*
detect available backends for this board detect available backends for this board
*/ */
@ -545,22 +669,19 @@ void Compass::_detect_backends(void)
} }
#endif #endif
/*
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); } \
if (_backend_count == COMPASS_MAX_BACKEND || \
_compass_count == COMPASS_MAX_INSTANCES) { \
return; \
} \
} while (0)
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
ADD_BACKEND(DRIVER_SITL, new AP_Compass_SITL(*this), nullptr, false); ADD_BACKEND(DRIVER_SITL, new AP_Compass_SITL(*this), nullptr, false);
return; return;
#endif #endif
#ifdef HAL_PROBE_EXTERNAL_I2C_COMPASSES
// allow boards to ask for external probing of all i2c compass types in hwdef.dat
_probe_external_i2c_compasses();
if (_backend_count == COMPASS_MAX_BACKEND ||
_compass_count == COMPASS_MAX_INSTANCES) {
return;
}
#endif
#if HAL_COMPASS_DEFAULT == HAL_COMPASS_HIL #if HAL_COMPASS_DEFAULT == HAL_COMPASS_HIL
ADD_BACKEND(DRIVER_SITL, AP_Compass_HIL::detect(*this), nullptr, false); ADD_BACKEND(DRIVER_SITL, AP_Compass_HIL::detect(*this), nullptr, false);
@ -575,122 +696,35 @@ void Compass::_detect_backends(void)
case AP_BoardConfig::PX4_BOARD_PIXRACER: case AP_BoardConfig::PX4_BOARD_PIXRACER:
case AP_BoardConfig::PX4_BOARD_MINDPXV2: case AP_BoardConfig::PX4_BOARD_MINDPXV2:
case AP_BoardConfig::PX4_BOARD_FMUV5: case AP_BoardConfig::PX4_BOARD_FMUV5:
case AP_BoardConfig::PX4_BOARD_PIXHAWK_PRO:{ case AP_BoardConfig::PX4_BOARD_PIXHAWK_PRO:
bool both_i2c_external = (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2); _probe_external_i2c_compasses();
// external i2c bus if (_backend_count == COMPASS_MAX_BACKEND ||
FOREACH_I2C_EXTERNAL(i) { _compass_count == COMPASS_MAX_INSTANCES) {
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(i, HAL_COMPASS_HMC5843_I2C_ADDR), return;
true, ROTATION_ROLL_180),
AP_Compass_HMC5843::name, true);
}
if (AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_MINDPXV2) {
// internal i2c bus
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_HMC5843_I2C_ADDR),
both_i2c_external, both_i2c_external?ROTATION_ROLL_180:ROTATION_YAW_270),
AP_Compass_HMC5843::name, both_i2c_external);
}
//external i2c bus
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, hal.i2c_mgr->get_device(i, HAL_COMPASS_QMC5883L_I2C_ADDR),
true,ROTATION_ROLL_180),
AP_Compass_QMC5883L::name, true);
}
//internal i2c bus
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_QMC5883L_I2C_ADDR),
both_i2c_external, both_i2c_external?ROTATION_ROLL_180:ROTATION_ROLL_180_YAW_270),
AP_Compass_QMC5883L::name,both_i2c_external);
#if !HAL_MINIMIZE_FEATURES
// AK09916 on ICM20948
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948(*this,
hal.i2c_mgr->get_device(i, HAL_COMPASS_AK09916_I2C_ADDR),
hal.i2c_mgr->get_device(i, HAL_COMPASS_ICM20948_I2C_ADDR),
true, ROTATION_PITCH_180_YAW_90),
AP_Compass_AK09916::name, true);
}
ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948(*this,
hal.i2c_mgr->get_device(0, HAL_COMPASS_AK09916_I2C_ADDR),
hal.i2c_mgr->get_device(0, HAL_COMPASS_ICM20948_I2C_ADDR),
both_i2c_external, ROTATION_PITCH_180_YAW_90),
AP_Compass_AK09916::name, true);
// lis3mdl on bus 0 with default address
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_LIS3MDL_I2C_ADDR),
both_i2c_external, both_i2c_external?ROTATION_YAW_90:ROTATION_NONE),
AP_Compass_LIS3MDL::name, both_i2c_external);
// lis3mdl on bus 0 with alternate address
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_LIS3MDL_I2C_ADDR2),
both_i2c_external, both_i2c_external?ROTATION_YAW_90:ROTATION_NONE),
AP_Compass_LIS3MDL::name, both_i2c_external);
// external lis3mdl on bus 1 with default address
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, hal.i2c_mgr->get_device(i, HAL_COMPASS_LIS3MDL_I2C_ADDR),
true, ROTATION_YAW_90),
AP_Compass_LIS3MDL::name, true);
}
// external lis3mdl on bus 1 with alternate address
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, hal.i2c_mgr->get_device(i, HAL_COMPASS_LIS3MDL_I2C_ADDR2),
true, ROTATION_YAW_90),
AP_Compass_LIS3MDL::name, true);
}
// 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) {
if (!_have_driver(AP_HAL::Device::BUS_TYPE_I2C, i, HAL_COMPASS_AK09916_I2C_ADDR, AP_Compass_Backend::DEVTYPE_ICM20948)) {
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(*this, hal.i2c_mgr->get_device(i, HAL_COMPASS_AK09916_I2C_ADDR),
true, ROTATION_YAW_270),
AP_Compass_AK09916::name, true);
}
}
if (!_have_driver(AP_HAL::Device::BUS_TYPE_I2C, 0, HAL_COMPASS_AK09916_I2C_ADDR, AP_Compass_Backend::DEVTYPE_ICM20948)) {
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_AK09916_I2C_ADDR),
both_i2c_external, both_i2c_external?ROTATION_YAW_270:ROTATION_NONE),
AP_Compass_AK09916::name, both_i2c_external);
}
// IST8310 on external and internal bus
if (AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_FMUV5) {
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, hal.i2c_mgr->get_device(i, HAL_COMPASS_IST8310_I2C_ADDR),
true, ROTATION_PITCH_180), AP_Compass_IST8310::name, true);
}
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_IST8310_I2C_ADDR),
both_i2c_external, ROTATION_PITCH_180), AP_Compass_IST8310::name, both_i2c_external);
}
#endif // HAL_MINIMIZE_FEATURES
} }
break; break;
case AP_BoardConfig::PX4_BOARD_PCNC1: case AP_BoardConfig::PX4_BOARD_PCNC1:
ADD_BACKEND(DRIVER_BMM150, ADD_BACKEND(DRIVER_BMM150,
AP_Compass_BMM150::probe(*this, hal.i2c_mgr->get_device(0, 0x10)), AP_Compass_BMM150::probe(*this, GET_I2C_DEVICE(0, 0x10)),
AP_Compass_BMM150::name, true); AP_Compass_BMM150::name, true);
break; break;
case AP_BoardConfig::PX4_BOARD_AEROFC: case AP_BoardConfig::PX4_BOARD_AEROFC:
#ifdef HAL_COMPASS_IST8310_I2C_BUS #ifdef HAL_COMPASS_IST8310_I2C_BUS
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_IST8310_I2C_BUS, HAL_COMPASS_IST8310_I2C_ADDR), ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, 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), AP_Compass_IST8310::name, true);
#endif #endif
break; break;
case AP_BoardConfig::VRX_BOARD_BRAIN54: { case AP_BoardConfig::VRX_BOARD_BRAIN54: {
// external i2c bus // external i2c bus
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_HMC5843_I2C_ADDR), ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(1, HAL_COMPASS_HMC5843_I2C_ADDR),
true, ROTATION_ROLL_180), true, ROTATION_ROLL_180),
AP_Compass_HMC5843::name, true); AP_Compass_HMC5843::name, true);
} }
// internal i2c bus // internal i2c bus
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_HMC5843_I2C_ADDR), ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(0, HAL_COMPASS_HMC5843_I2C_ADDR),
false, ROTATION_YAW_270), false, ROTATION_YAW_270),
AP_Compass_HMC5843::name, false); AP_Compass_HMC5843::name, false);
break; break;
@ -702,7 +736,7 @@ void Compass::_detect_backends(void)
case AP_BoardConfig::VRX_BOARD_UBRAIN51: case AP_BoardConfig::VRX_BOARD_UBRAIN51:
case AP_BoardConfig::VRX_BOARD_UBRAIN52: { case AP_BoardConfig::VRX_BOARD_UBRAIN52: {
// external i2c bus // external i2c bus
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_HMC5843_I2C_ADDR), ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(1, HAL_COMPASS_HMC5843_I2C_ADDR),
true, ROTATION_ROLL_180), true, ROTATION_ROLL_180),
AP_Compass_HMC5843::name, true); AP_Compass_HMC5843::name, true);
} }
@ -731,11 +765,11 @@ void Compass::_detect_backends(void)
case AP_BoardConfig::PX4_BOARD_FMUV5: case AP_BoardConfig::PX4_BOARD_FMUV5:
FOREACH_I2C_EXTERNAL(i) { FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, hal.i2c_mgr->get_device(i, HAL_COMPASS_IST8310_I2C_ADDR), ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, 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), AP_Compass_IST8310::name, true);
} }
FOREACH_I2C_INTERNAL(i) { FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, hal.i2c_mgr->get_device(i, HAL_COMPASS_IST8310_I2C_ADDR), ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, 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), AP_Compass_IST8310::name, false);
} }
break; break;
@ -781,7 +815,7 @@ void Compass::_detect_backends(void)
break; break;
case AP_BoardConfig::PX4_BOARD_MINDPXV2: case AP_BoardConfig::PX4_BOARD_MINDPXV2:
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_HMC5843_I2C_ADDR), ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(0, HAL_COMPASS_HMC5843_I2C_ADDR),
false, ROTATION_YAW_90), false, ROTATION_YAW_90),
AP_Compass_HMC5843::name, false); AP_Compass_HMC5843::name, false);
ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(*this, hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME), ROTATION_PITCH_180_YAW_270), ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(*this, hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME), ROTATION_PITCH_180_YAW_270),
@ -793,11 +827,11 @@ void Compass::_detect_backends(void)
} }
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BH #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BH
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)), ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
AP_Compass_HMC5843::name, false); AP_Compass_HMC5843::name, false);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0), AP_Compass_AK8963::name, false); ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0), AP_Compass_AK8963::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BBBMINI #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BBBMINI
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true), ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true); AP_Compass_HMC5843::name, true);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0), ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0),
AP_Compass_AK8963::name, false); AP_Compass_AK8963::name, false);
@ -808,37 +842,37 @@ void Compass::_detect_backends(void)
AP_Compass_LSM9DS1::name, false); AP_Compass_LSM9DS1::name, false);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0), ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0),
AP_Compass_AK8963::name, false); AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true), ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true); AP_Compass_HMC5843::name, true);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_NAVIO #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_NAVIO
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0), ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0),
AP_Compass_AK8963::name, false); AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true), ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true); AP_Compass_HMC5843::name, true);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_OCPOC_ZYNQ #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_OCPOC_ZYNQ
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)), ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
AP_Compass_HMC5843::name, true); AP_Compass_HMC5843::name, true);
ADD_BACKEND(DRIVER_AK8963,AP_Compass_AK8963::probe_mpu9250(*this, 0), ADD_BACKEND(DRIVER_AK8963,AP_Compass_AK8963::probe_mpu9250(*this, 0),
AP_Compass_AK8963::name, false); AP_Compass_AK8963::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_EDGE #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_EDGE
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true), ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true); AP_Compass_HMC5843::name, true);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \ #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_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0), ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0),
AP_Compass_AK8963::name, false); AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true), ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true); AP_Compass_HMC5843::name, true);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, hal.i2c_mgr->get_device(HAL_COMPASS_AK8963_I2C_BUS, HAL_COMPASS_AK8963_I2C_ADDR)), ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, GET_I2C_DEVICE(HAL_COMPASS_AK8963_I2C_BUS, HAL_COMPASS_AK8963_I2C_ADDR)),
AP_Compass_AK8963::name, false); AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true), ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true); AP_Compass_HMC5843::name, true);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET #elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0), ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0),
AP_Compass_AK8963::name, false); AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true), ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true); AP_Compass_HMC5843::name, true);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_MPU9250 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_MPU9250
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0), ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0),
@ -847,54 +881,54 @@ void Compass::_detect_backends(void)
#ifndef HAL_COMPASS_HMC5843_ROTATION #ifndef HAL_COMPASS_HMC5843_ROTATION
# define HAL_COMPASS_HMC5843_ROTATION ROTATION_NONE # define HAL_COMPASS_HMC5843_ROTATION ROTATION_NONE
#endif #endif
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR),
false, HAL_COMPASS_HMC5843_ROTATION), false, HAL_COMPASS_HMC5843_ROTATION),
AP_Compass_HMC5843::name, false); AP_Compass_HMC5843::name, false);
#if defined(HAL_COMPASS_HMC5843_I2C_EXT_BUS) && CONFIG_HAL_BOARD == HAL_BOARD_F4LIGHT #if defined(HAL_COMPASS_HMC5843_I2C_EXT_BUS) && CONFIG_HAL_BOARD == HAL_BOARD_F4LIGHT
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_EXT_BUS, HAL_COMPASS_HMC5843_I2C_ADDR),true), ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_EXT_BUS, HAL_COMPASS_HMC5843_I2C_ADDR),true),
AP_Compass_HMC5843::name, true); AP_Compass_HMC5843::name, true);
#endif #endif
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HMC5843_MPU6000 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HMC5843_MPU6000
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe_mpu6000(*this), ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe_mpu6000(*this),
AP_Compass_HMC5843::name, false); AP_Compass_HMC5843::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_I2C #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_I2C
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_AK8963_I2C_BUS, HAL_COMPASS_AK8963_I2C_ADDR)), ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_AK8963_I2C_BUS, HAL_COMPASS_AK8963_I2C_ADDR)),
AP_Compass_AK8963::name, false); AP_Compass_AK8963::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_MPU9250_I2C #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_MPU9250_I2C
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, hal.i2c_mgr->get_device(HAL_COMPASS_AK8963_I2C_BUS, HAL_COMPASS_AK8963_I2C_ADDR)), ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, GET_I2C_DEVICE(HAL_COMPASS_AK8963_I2C_BUS, HAL_COMPASS_AK8963_I2C_ADDR)),
AP_Compass_AK8963::name, false); AP_Compass_AK8963::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AERO #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AERO
ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_BMM150_I2C_BUS, HAL_COMPASS_BMM150_I2C_ADDR)), ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_BMM150_I2C_BUS, HAL_COMPASS_BMM150_I2C_ADDR)),
AP_Compass_BMM150::name, false); AP_Compass_BMM150::name, false);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true), ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true); AP_Compass_HMC5843::name, true);
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_IST8310_I2C_BUS, HAL_COMPASS_IST8310_I2C_ADDR), ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, 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), AP_Compass_IST8310::name, true);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_LIS3MDL #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_LIS3MDL
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, hal.spi->get_device(HAL_COMPASS_LIS3MDL_NAME), false, ROTATION_ROLL_180_YAW_90), ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, hal.spi->get_device(HAL_COMPASS_LIS3MDL_NAME), false, ROTATION_ROLL_180_YAW_90),
AP_Compass_LIS3MDL::name, false); AP_Compass_LIS3MDL::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_MAG3110 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_MAG3110
ADD_BACKEND(DRIVER_MAG3110, AP_Compass_MAG3110::probe(*this, hal.i2c_mgr->get_device(HAL_MAG3110_I2C_BUS, HAL_MAG3110_I2C_ADDR), ROTATION_NONE), ADD_BACKEND(DRIVER_MAG3110, AP_Compass_MAG3110::probe(*this, GET_I2C_DEVICE(HAL_MAG3110_I2C_BUS, HAL_MAG3110_I2C_ADDR), ROTATION_NONE),
AP_Compass_MAG3110::name, true); AP_Compass_MAG3110::name, true);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_IST8310 #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_IST8310
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_IST8310_I2C_BUS, HAL_COMPASS_IST8310_I2C_ADDR), ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, 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), AP_Compass_IST8310::name, true);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_QMC5883L #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_QMC5883L
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_QMC5883L_I2C_ADDR), ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, GET_I2C_DEVICE(1, HAL_COMPASS_QMC5883L_I2C_ADDR),
true,ROTATION_ROLL_180), true,ROTATION_ROLL_180),
AP_Compass_QMC5883L::name, true); AP_Compass_QMC5883L::name, true);
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_QMC5883L_I2C_ADDR), ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, GET_I2C_DEVICE(0, HAL_COMPASS_QMC5883L_I2C_ADDR),
false,ROTATION_PITCH_180_YAW_270), false,ROTATION_PITCH_180_YAW_270),
AP_Compass_QMC5883L::name, false); AP_Compass_QMC5883L::name, false);
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)), ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
AP_Compass_HMC5843::name, false); AP_Compass_HMC5843::name, false);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0), ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0),
AP_Compass_AK8963::name, false); AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_LSM9DS1, AP_Compass_LSM9DS1::probe(*this, hal.spi->get_device("lsm9ds1_m")), ADD_BACKEND(DRIVER_LSM9DS1, AP_Compass_LSM9DS1::probe(*this, hal.spi->get_device("lsm9ds1_m")),
AP_Compass_LSM9DS1::name, false); AP_Compass_LSM9DS1::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BMM150_I2C #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BMM150_I2C
ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_BMM150_I2C_BUS, HAL_COMPASS_BMM150_I2C_ADDR)), ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_BMM150_I2C_BUS, HAL_COMPASS_BMM150_I2C_ADDR)),
AP_Compass_BMM150::name, true); AP_Compass_BMM150::name, true);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_NONE #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_NONE
// no compass // no compass
@ -905,43 +939,43 @@ void Compass::_detect_backends(void)
#if defined(BOARD_I2C_BUS_EXT) && CONFIG_HAL_BOARD == HAL_BOARD_F4LIGHT #if defined(BOARD_I2C_BUS_EXT) && CONFIG_HAL_BOARD == HAL_BOARD_F4LIGHT
// autodetect external i2c bus // autodetect external i2c bus
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, hal.i2c_mgr->get_device(BOARD_I2C_BUS_EXT, HAL_COMPASS_QMC5883L_I2C_ADDR), ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_QMC5883L_I2C_ADDR),
true,ROTATION_NONE), true,ROTATION_NONE),
AP_Compass_QMC5883L::name, true); AP_Compass_QMC5883L::name, true);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(BOARD_I2C_BUS_EXT, HAL_COMPASS_HMC5843_I2C_ADDR)), ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_HMC5843_I2C_ADDR)),
AP_Compass_HMC5843::name, true); AP_Compass_HMC5843::name, true);
// lis3mdl // lis3mdl
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, hal.i2c_mgr->get_device(BOARD_I2C_BUS_EXT, HAL_COMPASS_LIS3MDL_I2C_ADDR), ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_LIS3MDL_I2C_ADDR),
true, ROTATION_NONE), true, ROTATION_NONE),
AP_Compass_LIS3MDL::name, true); AP_Compass_LIS3MDL::name, true);
// AK09916 // AK09916
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(*this, hal.i2c_mgr->get_device(BOARD_I2C_BUS_EXT, HAL_COMPASS_AK09916_I2C_ADDR), ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(*this, GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_AK09916_I2C_ADDR),
true, ROTATION_NONE), true, ROTATION_NONE),
AP_Compass_AK09916::name, true); AP_Compass_AK09916::name, true);
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, hal.i2c_mgr->get_device(BOARD_I2C_BUS_EXT, HAL_COMPASS_IST8310_I2C_ADDR), ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_IST8310_I2C_ADDR),
ROTATION_NONE), ROTATION_NONE),
AP_Compass_IST8310::name, true); AP_Compass_IST8310::name, true);
#ifdef HAL_COMPASS_BMM150_I2C_ADDR #ifdef HAL_COMPASS_BMM150_I2C_ADDR
ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(*this, hal.i2c_mgr->get_device(BOARD_I2C_BUS_EXT, HAL_COMPASS_BMM150_I2C_ADDR)), ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(*this, GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_BMM150_I2C_ADDR)),
AP_Compass_BMM150::name, true); AP_Compass_BMM150::name, true);
#endif #endif
ADD_BACKEND(DRIVER_MAG3110, AP_Compass_MAG3110::probe(*this, hal.i2c_mgr->get_device(BOARD_I2C_BUS_EXT, HAL_MAG3110_I2C_ADDR), ROTATION_NONE), ADD_BACKEND(DRIVER_MAG3110, AP_Compass_MAG3110::probe(*this, GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_MAG3110_I2C_ADDR), ROTATION_NONE),
AP_Compass_MAG3110::name, true); AP_Compass_MAG3110::name, true);
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, hal.i2c_mgr->get_device(BOARD_I2C_BUS_EXT, HAL_COMPASS_QMC5883L_I2C_ADDR), ROTATION_NONE), ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_QMC5883L_I2C_ADDR), ROTATION_NONE),
AP_Compass_QMC5883L::name, true); AP_Compass_QMC5883L::name, true);
#endif #endif
/* for chibios external board coniguration */ /* for chibios external board coniguration */
#ifdef HAL_EXT_COMPASS_HMC5843_I2C_BUS #ifdef HAL_EXT_COMPASS_HMC5843_I2C_BUS
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_EXT_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_EXT_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR),
true, ROTATION_ROLL_180), true, ROTATION_ROLL_180),
AP_Compass_HMC5843::name, true); AP_Compass_HMC5843::name, true);
#endif #endif

6
libraries/AP_Compass/AP_Compass.h
View File

@ -339,6 +339,7 @@ private:
// load backend drivers // load backend drivers
bool _add_backend(AP_Compass_Backend *backend, const char *name, bool external); bool _add_backend(AP_Compass_Backend *backend, const char *name, bool external);
void _probe_external_i2c_compasses(void);
void _detect_backends(void); void _detect_backends(void);
// compass cal // compass cal
@ -351,9 +352,8 @@ private:
bool _start_calibration_mask(uint8_t mask, bool retry=false, bool autosave=false, float delay_sec=0.0f, bool autoreboot=false); bool _start_calibration_mask(uint8_t mask, bool retry=false, bool autosave=false, float delay_sec=0.0f, bool autoreboot=false);
bool _auto_reboot() { return _compass_cal_autoreboot; } bool _auto_reboot() { return _compass_cal_autoreboot; }
// see if we already have probed a driver by bus type // see if we already have probed a i2c driver by bus number and address
bool _have_driver(AP_HAL::Device::BusType bus_type, uint8_t bus_num, uint8_t address, uint8_t devtype) const; bool _have_i2c_driver(uint8_t bus_num, uint8_t address) const;
//keep track of which calibrators have been saved //keep track of which calibrators have been saved
bool _cal_saved[COMPASS_MAX_INSTANCES]; bool _cal_saved[COMPASS_MAX_INSTANCES];