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AP_Compass: probe for LIS3MDL in mRo Neo-M8N GPS module

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This commit is contained in:
Mark Whitehorn 2017-07-26 16:38:30 -06:00 committed by Andrew Tridgell
parent 4c6922e413
commit a6e9baa8f6
2 changed files with 12 additions and 0 deletions
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11
libraries/AP_Compass/AP_Compass.cpp
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@ -597,9 +597,20 @@ void Compass::_detect_backends(void)
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_LIS3MDL_I2C_ADDR),
true, ROTATION_YAW_90),
AP_Compass_LIS3MDL::name, true);
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);
// external lis3mdl in mRo Neo-M8N GPS module
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_LIS3MDL_I2C_ADDR),
true, ROTATION_YAW_90),
AP_Compass_LIS3MDL::name, true);
// external lis3mdl in mRo Neo-M8N GPS module (alternate I2C address)
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_LIS3MDL_I2C_ADDR2),
true, ROTATION_YAW_90),
AP_Compass_LIS3MDL::name, true);
// AK09916
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_AK09916_I2C_ADDR),

1
libraries/AP_Compass/AP_Compass_LIS3MDL.h
View File

@ -25,6 +25,7 @@
#ifndef HAL_COMPASS_LIS3MDL_I2C_ADDR
// this can also be on 0x1e
# define HAL_COMPASS_LIS3MDL_I2C_ADDR 0x1c
# define HAL_COMPASS_LIS3MDL_I2C_ADDR2 0x1e
#endif
class AP_Compass_LIS3MDL : public AP_Compass_Backend