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AP_Baro: tidy probing of external i2c baros

apm_2208
Peter Barker 3 years ago committed by Andrew Tridgell
parent
4bb3b08a4a
commit
4e438464d7
3 changed files with 56 additions and 88 deletions
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  1. 124
      libraries/AP_Baro/AP_Baro.cpp
  2. 4
      libraries/AP_Baro/AP_Baro_DPS280.h
  3. 16
      libraries/AP_Baro/AP_Baro_MS5611.h

124
libraries/AP_Baro/AP_Baro.cpp
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@ -780,114 +780,64 @@ void AP_Baro::_probe_i2c_barometers(void) @@ -780,114 +780,64 @@ void AP_Baro::_probe_i2c_barometers(void)
if (ext_bus >= 0) {
mask = 1U << (uint8_t)ext_bus;
}
static const struct BaroProbeSpec {
uint32_t bit;
AP_Baro_Backend* (*probefn)(AP_Baro&, AP_HAL::OwnPtr<AP_HAL::Device>);
uint8_t addr;
} baroprobespec[] {
#if AP_BARO_BMP085_ENABLED
if (probe & PROBE_BMP085) {
FOREACH_I2C_MASK(i,mask) {
ADD_BACKEND(AP_Baro_BMP085::probe(*this,
std::move(GET_I2C_DEVICE(i, HAL_BARO_BMP085_I2C_ADDR))));
}
}
{ PROBE_BMP085, AP_Baro_BMP085::probe, HAL_BARO_BMP085_I2C_ADDR },
#endif
#if AP_BARO_BMP280_ENABLED
if (probe & PROBE_BMP280) {
FOREACH_I2C_MASK(i,mask) {
ADD_BACKEND(AP_Baro_BMP280::probe(*this,
std::move(GET_I2C_DEVICE(i, HAL_BARO_BMP280_I2C_ADDR))));
ADD_BACKEND(AP_Baro_BMP280::probe(*this,
std::move(GET_I2C_DEVICE(i, HAL_BARO_BMP280_I2C_ADDR2))));
}
}
{ PROBE_BMP280, AP_Baro_BMP280::probe, HAL_BARO_BMP280_I2C_ADDR },
{ PROBE_BMP280, AP_Baro_BMP280::probe, HAL_BARO_BMP280_I2C_ADDR2 },
#endif
#if AP_BARO_SPL06_ENABLED
if (probe & PROBE_SPL06) {
FOREACH_I2C_MASK(i,mask) {
ADD_BACKEND(AP_Baro_SPL06::probe(*this,
std::move(GET_I2C_DEVICE(i, HAL_BARO_SPL06_I2C_ADDR))));
ADD_BACKEND(AP_Baro_SPL06::probe(*this,
std::move(GET_I2C_DEVICE(i, HAL_BARO_SPL06_I2C_ADDR2))));
}
}
{ PROBE_SPL06, AP_Baro_SPL06::probe, HAL_BARO_SPL06_I2C_ADDR },
{ PROBE_SPL06, AP_Baro_SPL06::probe, HAL_BARO_SPL06_I2C_ADDR2 },
#endif
#if AP_BARO_BMP388_ENABLED
if (probe & PROBE_BMP388) {
FOREACH_I2C_MASK(i,mask) {
ADD_BACKEND(AP_Baro_BMP388::probe(*this,
std::move(GET_I2C_DEVICE(i, HAL_BARO_BMP388_I2C_ADDR))));
ADD_BACKEND(AP_Baro_BMP388::probe(*this,
std::move(GET_I2C_DEVICE(i, HAL_BARO_BMP388_I2C_ADDR2))));
}
}
{ PROBE_BMP388, AP_Baro_BMP388::probe, HAL_BARO_BMP388_I2C_ADDR },
{ PROBE_BMP388, AP_Baro_BMP388::probe, HAL_BARO_BMP388_I2C_ADDR2 },
#endif
#if AP_BARO_MS56XX_ENABLED
if (probe & PROBE_MS5611) {
FOREACH_I2C_MASK(i,mask) {
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(GET_I2C_DEVICE(i, HAL_BARO_MS5611_I2C_ADDR))));
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(GET_I2C_DEVICE(i, HAL_BARO_MS5611_I2C_ADDR2))));
}
}
if (probe & PROBE_MS5607) {
FOREACH_I2C_MASK(i,mask) {
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(GET_I2C_DEVICE(i, HAL_BARO_MS5607_I2C_ADDR)),
AP_Baro_MS56XX::BARO_MS5607));
}
}
if (probe & PROBE_MS5637) {
FOREACH_I2C_MASK(i,mask) {
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(GET_I2C_DEVICE(i, HAL_BARO_MS5637_I2C_ADDR)),
AP_Baro_MS56XX::BARO_MS5637));
}
}
#endif // AP_BARO_MS56XX_ENABLED
{ PROBE_MS5611, AP_Baro_MS56XX::probe_5611, HAL_BARO_MS5611_I2C_ADDR },
{ PROBE_MS5611, AP_Baro_MS56XX::probe_5611, HAL_BARO_MS5611_I2C_ADDR2 },
{ PROBE_MS5607, AP_Baro_MS56XX::probe_5607, HAL_BARO_MS5607_I2C_ADDR },
{ PROBE_MS5637, AP_Baro_MS56XX::probe_5637, HAL_BARO_MS5637_I2C_ADDR },
#endif
#if AP_BARO_FBM320_ENABLED
if (probe & PROBE_FBM320) {
FOREACH_I2C_MASK(i,mask) {
ADD_BACKEND(AP_Baro_FBM320::probe(*this,
std::move(GET_I2C_DEVICE(i, HAL_BARO_FBM320_I2C_ADDR))));
ADD_BACKEND(AP_Baro_FBM320::probe(*this,
std::move(GET_I2C_DEVICE(i, HAL_BARO_FBM320_I2C_ADDR2))));
}
}
{ PROBE_FBM320, AP_Baro_FBM320::probe, HAL_BARO_FBM320_I2C_ADDR },
{ PROBE_FBM320, AP_Baro_FBM320::probe, HAL_BARO_FBM320_I2C_ADDR2 },
#endif
#if AP_BARO_DPS280_ENABLED
if (probe & PROBE_DPS280) {
FOREACH_I2C_MASK(i,mask) {
ADD_BACKEND(AP_Baro_DPS280::probe(*this,
std::move(GET_I2C_DEVICE(i, HAL_BARO_DPS280_I2C_ADDR))));
ADD_BACKEND(AP_Baro_DPS280::probe(*this,
std::move(GET_I2C_DEVICE(i, HAL_BARO_DPS280_I2C_ADDR2))));
}
}
{ PROBE_DPS280, AP_Baro_DPS280::probe_280, HAL_BARO_DPS280_I2C_ADDR },
{ PROBE_DPS280, AP_Baro_DPS280::probe_280, HAL_BARO_DPS280_I2C_ADDR2 },
#endif
#if AP_BARO_LPS2XH_ENABLED
if (probe & PROBE_LPS25H) {
FOREACH_I2C_MASK(i,mask) {
ADD_BACKEND(AP_Baro_LPS2XH::probe(*this,
std::move(GET_I2C_DEVICE(i, HAL_BARO_LPS25H_I2C_ADDR))));
}
}
{ PROBE_LPS25H, AP_Baro_LPS2XH::probe, HAL_BARO_LPS25H_I2C_ADDR },
#endif
#if APM_BUILD_TYPE(APM_BUILD_ArduSub)
#if AP_BARO_KELLERLD_ENABLED
if (probe & PROBE_KELLER) {
FOREACH_I2C_MASK(i,mask) {
ADD_BACKEND(AP_Baro_KellerLD::probe(*this,
std::move(GET_I2C_DEVICE(i, HAL_BARO_KELLERLD_I2C_ADDR))));
}
}
{ PROBE_KELLER, AP_Baro_KellerLD::probe, HAL_BARO_KELLERLD_I2C_ADDR },
#endif
#if AP_BARO_MS56XX_ENABLED
if (probe & PROBE_MS5837) {
FOREACH_I2C_MASK(i,mask) {
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(GET_I2C_DEVICE(i, HAL_BARO_MS5837_I2C_ADDR)), AP_Baro_MS56XX::BARO_MS5837));
{ PROBE_MS5837, AP_Baro_MS56XX::probe_5837, HAL_BARO_MS5837_I2C_ADDR },
#endif
#endif // APM_BUILD_TYPE(APM_BUILD_ArduSub)
};
for (const auto &spec : baroprobespec) {
if (!(probe & spec.bit)) {
// not in mask to be probed for
continue;
}
FOREACH_I2C_MASK(i, mask) {
ADD_BACKEND(spec.probefn(*this, std::move(GET_I2C_DEVICE(i, spec.addr))));
}
}
#endif
#endif
}
bool AP_Baro::should_log() const

4
libraries/AP_Baro/AP_Baro_DPS280.h
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@ -26,6 +26,10 @@ public: @@ -26,6 +26,10 @@ public:
/* AP_Baro public interface: */
void update() override;
static AP_Baro_Backend *probe_280(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev) {
return probe(baro, std::move(dev), false);
}
static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, bool _is_dps310=false);
protected:

16
libraries/AP_Baro/AP_Baro_MS5611.h
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@ -44,9 +44,23 @@ public: @@ -44,9 +44,23 @@ public:
BARO_MS5837 = 3
};
static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, enum MS56XX_TYPE ms56xx_type = BARO_MS5611);
static AP_Baro_Backend *probe_5611(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev) {
return probe(baro, std::move(dev), BARO_MS5611);
}
static AP_Baro_Backend *probe_5607(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev) {
return probe(baro, std::move(dev), BARO_MS5607);
}
static AP_Baro_Backend *probe_5637(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev) {
return probe(baro, std::move(dev), BARO_MS5637);
}
static AP_Baro_Backend *probe_5837(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev) {
return probe(baro, std::move(dev), BARO_MS5837);
}
static AP_Baro_Backend *probe(AP_Baro &baro, AP_HAL::OwnPtr<AP_HAL::Device> dev, enum MS56XX_TYPE ms56xx_type=BARO_MS5611);
private:
/*
* Update @accum and @count with the new sample in @val, taking into
* account a maximum number of samples given by @max_count; in case

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