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AP_Compass: fixed external handling for BMM150

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This commit is contained in:
Andrew Tridgell 2020-12-17 12:16:59 +11:00
parent 3d4a8829f3
commit 09603e29ce
3 changed files with 12 additions and 8 deletions
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4
libraries/AP_Compass/AP_Compass.cpp
View File

@ -1167,7 +1167,7 @@ void Compass::_probe_external_i2c_compasses(void)
FOREACH_I2C_EXTERNAL(i) {
for (uint8_t addr=BMM150_I2C_ADDR_MIN; addr <= BMM150_I2C_ADDR_MAX; addr++) {
ADD_BACKEND(DRIVER_BMM150,
AP_Compass_BMM150::probe(GET_I2C_DEVICE(i, addr), ROTATION_NONE));
AP_Compass_BMM150::probe(GET_I2C_DEVICE(i, addr), true, ROTATION_NONE));
}
}
#endif // HAL_BUILD_AP_PERIPH
@ -1235,7 +1235,7 @@ void Compass::_detect_backends(void)
case AP_BoardConfig::PX4_BOARD_PCNC1:
ADD_BACKEND(DRIVER_BMM150,
AP_Compass_BMM150::probe(GET_I2C_DEVICE(0, 0x10), ROTATION_NONE));
AP_Compass_BMM150::probe(GET_I2C_DEVICE(0, 0x10), false, ROTATION_NONE));
break;
case AP_BoardConfig::VRX_BOARD_BRAIN54: {
// external i2c bus

11
libraries/AP_Compass/AP_Compass_BMM150.cpp
View File

@ -63,12 +63,12 @@
extern const AP_HAL::HAL &hal;
AP_Compass_Backend *AP_Compass_BMM150::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev, enum Rotation rotation)
AP_Compass_Backend *AP_Compass_BMM150::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev, bool force_external, enum Rotation rotation)
{
if (!dev) {
return nullptr;
}
AP_Compass_BMM150 *sensor = new AP_Compass_BMM150(std::move(dev), rotation);
AP_Compass_BMM150 *sensor = new AP_Compass_BMM150(std::move(dev), force_external, rotation);
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;
@ -77,8 +77,8 @@ AP_Compass_Backend *AP_Compass_BMM150::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> d
return sensor;
}
AP_Compass_BMM150::AP_Compass_BMM150(AP_HAL::OwnPtr<AP_HAL::Device> dev, enum Rotation rotation)
: _dev(std::move(dev)), _rotation(rotation)
AP_Compass_BMM150::AP_Compass_BMM150(AP_HAL::OwnPtr<AP_HAL::Device> dev, bool force_external, enum Rotation rotation)
: _dev(std::move(dev)), _rotation(rotation), _force_external(force_external)
{
}
@ -219,6 +219,9 @@ bool AP_Compass_BMM150::init()
set_rotation(_compass_instance, _rotation);
if (_force_external) {
set_external(_compass_instance, true);
}
_perf_err = hal.util->perf_alloc(AP_HAL::Util::PC_COUNT, "BMM150_err");

5
libraries/AP_Compass/AP_Compass_BMM150.h
View File

@ -30,14 +30,14 @@
class AP_Compass_BMM150 : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev, enum Rotation rotation);
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev, bool force_external, enum Rotation rotation);
void read() override;
static constexpr const char *name = "BMM150";
private:
AP_Compass_BMM150(AP_HAL::OwnPtr<AP_HAL::Device> dev, enum Rotation rotation);
AP_Compass_BMM150(AP_HAL::OwnPtr<AP_HAL::Device> dev, bool force_external, enum Rotation rotation);
/**
* Device periodic callback to read data from the sensor.
@ -69,4 +69,5 @@ private:
uint32_t _last_read_ms;
AP_HAL::Util::perf_counter_t _perf_err;
enum Rotation _rotation;
bool _force_external;
};