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AP_Compass: add and use AP_COMPASS_BMM150_ENABLED

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Peter Barker 2023-02-08 09:55:11 +11:00 committed by Peter Barker
parent 0b127e0437
commit feb809fbb7
5 changed files with 21 additions and 3 deletions
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8
libraries/AP_Compass/AP_Compass.cpp
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@ -1251,15 +1251,15 @@ void Compass::_probe_external_i2c_compasses(void)
#endif #endif
#endif #endif
#if AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED && !defined(STM32F1) #if AP_COMPASS_BMM150_ENABLED
// BMM150 on I2C, not on F1 to save flash // BMM150 on I2C
FOREACH_I2C_EXTERNAL(i) { FOREACH_I2C_EXTERNAL(i) {
for (uint8_t addr=BMM150_I2C_ADDR_MIN; addr <= BMM150_I2C_ADDR_MAX; addr++) { for (uint8_t addr=BMM150_I2C_ADDR_MIN; addr <= BMM150_I2C_ADDR_MAX; addr++) {
ADD_BACKEND(DRIVER_BMM150, ADD_BACKEND(DRIVER_BMM150,
AP_Compass_BMM150::probe(GET_I2C_DEVICE(i, addr), true, ROTATION_NONE)); AP_Compass_BMM150::probe(GET_I2C_DEVICE(i, addr), true, ROTATION_NONE));
} }
} }
#endif // HAL_BUILD_AP_PERIPH #endif // AP_COMPASS_BMM150_ENABLED
} }
/* /*
@ -1320,8 +1320,10 @@ void Compass::_detect_backends(void)
break; break;
case AP_BoardConfig::PX4_BOARD_PCNC1: case AP_BoardConfig::PX4_BOARD_PCNC1:
#if AP_COMPASS_BMM150_ENABLED
ADD_BACKEND(DRIVER_BMM150, ADD_BACKEND(DRIVER_BMM150,
AP_Compass_BMM150::probe(GET_I2C_DEVICE(0, 0x10), false, ROTATION_NONE)); AP_Compass_BMM150::probe(GET_I2C_DEVICE(0, 0x10), false, ROTATION_NONE));
#endif
break; break;
case AP_BoardConfig::VRX_BOARD_BRAIN54: case AP_BoardConfig::VRX_BOARD_BRAIN54:
case AP_BoardConfig::VRX_BOARD_BRAIN51: { case AP_BoardConfig::VRX_BOARD_BRAIN51: {

2
libraries/AP_Compass/AP_Compass.h
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@ -423,7 +423,9 @@ private:
#if AP_COMPASS_AK8963_ENABLED #if AP_COMPASS_AK8963_ENABLED
DRIVER_AK8963 =2, DRIVER_AK8963 =2,
#endif #endif
#if AP_COMPASS_BMM150_ENABLED
DRIVER_BMM150 =3, DRIVER_BMM150 =3,
#endif
DRIVER_LSM9DS1 =4, DRIVER_LSM9DS1 =4,
DRIVER_LIS3MDL =5, DRIVER_LIS3MDL =5,
DRIVER_AK09916 =6, DRIVER_AK09916 =6,

4
libraries/AP_Compass/AP_Compass_BMM150.cpp
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@ -16,6 +16,8 @@
*/ */
#include "AP_Compass_BMM150.h" #include "AP_Compass_BMM150.h"
#if AP_COMPASS_BMM150_ENABLED
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <utility> #include <utility>
@ -325,3 +327,5 @@ void AP_Compass_BMM150::read()
drain_accumulated_samples(_compass_instance); drain_accumulated_samples(_compass_instance);
} }
#endif // AP_COMPASS_BMM150_ENABLED

6
libraries/AP_Compass/AP_Compass_BMM150.h
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@ -16,6 +16,10 @@
*/ */
#pragma once #pragma once
#include "AP_Compass_config.h"
#if AP_COMPASS_BMM150_ENABLED
#include <AP_Common/AP_Common.h> #include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h> #include <AP_HAL/AP_HAL.h>
#include <AP_HAL/I2CDevice.h> #include <AP_HAL/I2CDevice.h>
@ -70,3 +74,5 @@ private:
enum Rotation _rotation; enum Rotation _rotation;
bool _force_external; bool _force_external;
}; };
#endif // AP_COMPASS_BMM150_ENABLED

4
libraries/AP_Compass/AP_Compass_config.h
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@ -38,6 +38,10 @@
#define AP_COMPASS_AK8963_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED #define AP_COMPASS_AK8963_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
#endif #endif
#ifndef AP_COMPASS_BMM150_ENABLED
#define AP_COMPASS_BMM150_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED && !defined(STM32F1)
#endif
#ifndef AP_COMPASS_HMC5843_ENABLED #ifndef AP_COMPASS_HMC5843_ENABLED
#define AP_COMPASS_HMC5843_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED #define AP_COMPASS_HMC5843_ENABLED AP_COMPASS_I2C_BACKEND_DEFAULT_ENABLED
#endif #endif