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AP_Baro: create and use HAL_SIM_BARO_ENABLED

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This commit is contained in:
Peter Barker 2021-10-30 12:15:47 +11:00 committed by Peter Barker
parent a53af5277c
commit daedebce2e
2 changed files with 21 additions and 10 deletions
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29
libraries/AP_Baro/AP_Baro.cpp
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@ -535,7 +535,17 @@ void AP_Baro::init(void)
sensors[i].bus_id.set(0);
}
#if HAL_ENABLE_LIBUAVCAN_DRIVERS
#if AP_SIM_BARO_ENABLED
SITL::SIM *sitl = AP::sitl();
if (sitl == nullptr) {
AP_HAL::panic("No SITL pointer");
}
for(uint8_t i = 0; i < sitl->baro_count; i++) {
ADD_BACKEND(new AP_Baro_SITL(*this));
}
#endif
#if HAL_ENABLE_LIBUAVCAN_DRIVERS && !AP_SIM_BARO_ENABLED
// Detect UAVCAN Modules, try as many times as there are driver slots
for (uint8_t i = 0; i < BARO_MAX_DRIVERS; i++) {
ADD_BACKEND(AP_Baro_UAVCAN::probe(*this));
@ -552,6 +562,15 @@ void AP_Baro::init(void)
// macro for use by HAL_INS_PROBE_LIST
#define GET_I2C_DEVICE(bus, address) hal.i2c_mgr->get_device(bus, address)
#if AP_SIM_BARO_ENABLED
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(GET_I2C_DEVICE(_ext_bus, HAL_BARO_MS5611_I2C_ADDR))));
#endif
// do not probe for other drivers when using simulation:
return;
#endif
#if defined(HAL_BARO_PROBE_LIST)
// probe list from BARO lines in hwdef.dat
HAL_BARO_PROBE_LIST;
@ -630,14 +649,6 @@ void AP_Baro::init(void)
default:
break;
}
#elif AP_SIM_BARO_ENABLED
SITL::SIM *sitl = AP::sitl();
if (sitl == nullptr) {
AP_HAL::panic("No SITL pointer");
}
for(uint8_t i = 0; i < sitl->baro_count; i++) {
ADD_BACKEND(new AP_Baro_SITL(*this));
}
#elif HAL_BARO_DEFAULT == HAL_BARO_LPS25H_IMU_I2C
ADD_BACKEND(AP_Baro_LPS2XH::probe_InvensenseIMU(*this,
std::move(GET_I2C_DEVICE(HAL_BARO_LPS25H_I2C_BUS, HAL_BARO_LPS25H_I2C_ADDR)),

2
libraries/AP_Baro/AP_Baro.h
View File

@ -7,7 +7,7 @@
#include <AP_ExternalAHRS/AP_ExternalAHRS.h>
#ifndef AP_SIM_BARO_ENABLED
#define AP_SIM_BARO_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
#define AP_SIM_BARO_ENABLED AP_SIM_ENABLED
#endif
#ifndef HAL_MSP_BARO_ENABLED