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AP_Compass: stop passing frontend pointer 

Let AP_Compass_Backend call AP::compass() *once* instead of passing
the frontend pointer over and over.
master
Lucas De Marchi 7 years ago committed by Andrew Tridgell
parent
585b6dce0d
commit
4039b51810
31 changed files with 191 additions and 246 deletions
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  1. 172
      libraries/AP_Compass/AP_Compass.cpp
  2. 16
      libraries/AP_Compass/AP_Compass_AK09916.cpp
  3. 9
      libraries/AP_Compass/AP_Compass_AK09916.h
  4. 19
      libraries/AP_Compass/AP_Compass_AK8963.cpp
  5. 10
      libraries/AP_Compass/AP_Compass_AK8963.h
  6. 11
      libraries/AP_Compass/AP_Compass_BMM150.cpp
  7. 5
      libraries/AP_Compass/AP_Compass_BMM150.h
  8. 6
      libraries/AP_Compass/AP_Compass_Backend.cpp
  9. 2
      libraries/AP_Compass/AP_Compass_Backend.h
  10. 7
      libraries/AP_Compass/AP_Compass_HIL.cpp
  11. 4
      libraries/AP_Compass/AP_Compass_HIL.h
  12. 14
      libraries/AP_Compass/AP_Compass_HMC5843.cpp
  13. 8
      libraries/AP_Compass/AP_Compass_HMC5843.h
  14. 11
      libraries/AP_Compass/AP_Compass_IST8310.cpp
  15. 6
      libraries/AP_Compass/AP_Compass_IST8310.h
  16. 11
      libraries/AP_Compass/AP_Compass_LIS3MDL.cpp
  17. 5
      libraries/AP_Compass/AP_Compass_LIS3MDL.h
  18. 10
      libraries/AP_Compass/AP_Compass_LSM303D.cpp
  19. 5
      libraries/AP_Compass/AP_Compass_LSM303D.h
  20. 11
      libraries/AP_Compass/AP_Compass_LSM9DS1.cpp
  21. 5
      libraries/AP_Compass/AP_Compass_LSM9DS1.h
  22. 10
      libraries/AP_Compass/AP_Compass_MAG3110.cpp
  23. 5
      libraries/AP_Compass/AP_Compass_MAG3110.h
  24. 11
      libraries/AP_Compass/AP_Compass_MMC3416.cpp
  25. 5
      libraries/AP_Compass/AP_Compass_MMC3416.h
  26. 19
      libraries/AP_Compass/AP_Compass_QMC5883L.cpp
  27. 10
      libraries/AP_Compass/AP_Compass_QMC5883L.h
  28. 5
      libraries/AP_Compass/AP_Compass_SITL.cpp
  29. 2
      libraries/AP_Compass/AP_Compass_SITL.h
  30. 19
      libraries/AP_Compass/AP_Compass_UAVCAN.cpp
  31. 4
      libraries/AP_Compass/AP_Compass_UAVCAN.h

172
libraries/AP_Compass/AP_Compass.cpp
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@ -586,7 +586,7 @@ void Compass::_probe_external_i2c_compasses(void) @@ -586,7 +586,7 @@ void Compass::_probe_external_i2c_compasses(void)
bool both_i2c_external = (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2);
// external i2c bus
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_HMC5843_I2C_ADDR),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(i, HAL_COMPASS_HMC5843_I2C_ADDR),
true, ROTATION_ROLL_180),
AP_Compass_HMC5843::name, true);
}
@ -595,7 +595,7 @@ void Compass::_probe_external_i2c_compasses(void) @@ -595,7 +595,7 @@ void Compass::_probe_external_i2c_compasses(void)
AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_AEROFC) {
// internal i2c bus
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_HMC5843_I2C_ADDR),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(i, HAL_COMPASS_HMC5843_I2C_ADDR),
both_i2c_external, both_i2c_external?ROTATION_ROLL_180:ROTATION_YAW_270),
AP_Compass_HMC5843::name, both_i2c_external);
}
@ -603,14 +603,14 @@ void Compass::_probe_external_i2c_compasses(void) @@ -603,14 +603,14 @@ void Compass::_probe_external_i2c_compasses(void)
//external i2c bus
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_QMC5883L_I2C_ADDR),
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(GET_I2C_DEVICE(i, HAL_COMPASS_QMC5883L_I2C_ADDR),
true, HAL_COMPASS_QMC5883L_ORIENTATION_EXTERNAL),
AP_Compass_QMC5883L::name, true);
}
//internal i2c bus
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_QMC5883L_I2C_ADDR),
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(GET_I2C_DEVICE(i, HAL_COMPASS_QMC5883L_I2C_ADDR),
both_i2c_external,
both_i2c_external?HAL_COMPASS_QMC5883L_ORIENTATION_EXTERNAL:HAL_COMPASS_QMC5883L_ORIENTATION_INTERNAL),
AP_Compass_QMC5883L::name,both_i2c_external);
@ -619,16 +619,14 @@ void Compass::_probe_external_i2c_compasses(void) @@ -619,16 +619,14 @@ void Compass::_probe_external_i2c_compasses(void)
#if !HAL_MINIMIZE_FEATURES
// AK09916 on ICM20948
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948(*this,
GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948(GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
GET_I2C_DEVICE(i, HAL_COMPASS_ICM20948_I2C_ADDR),
true, ROTATION_PITCH_180_YAW_90),
AP_Compass_AK09916::name, true);
}
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948(*this,
GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948(GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
GET_I2C_DEVICE(i, HAL_COMPASS_ICM20948_I2C_ADDR),
both_i2c_external, ROTATION_PITCH_180_YAW_90),
AP_Compass_AK09916::name, true);
@ -636,40 +634,40 @@ void Compass::_probe_external_i2c_compasses(void) @@ -636,40 +634,40 @@ void Compass::_probe_external_i2c_compasses(void)
// lis3mdl on bus 0 with default address
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR),
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR),
both_i2c_external, both_i2c_external?ROTATION_YAW_90:ROTATION_NONE),
AP_Compass_LIS3MDL::name, both_i2c_external);
}
// lis3mdl on bus 0 with alternate address
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR2),
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR2),
both_i2c_external, both_i2c_external?ROTATION_YAW_90:ROTATION_NONE),
AP_Compass_LIS3MDL::name, both_i2c_external);
}
// external lis3mdl on bus 1 with default address
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR),
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR),
true, ROTATION_YAW_90),
AP_Compass_LIS3MDL::name, true);
}
// external lis3mdl on bus 1 with alternate address
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR2),
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR2),
true, ROTATION_YAW_90),
AP_Compass_LIS3MDL::name, true);
}
// AK09916. This can be found twice, due to the ICM20948 i2c bus pass-thru, so we need to be careful to avoid that
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
true, ROTATION_YAW_270),
AP_Compass_AK09916::name, true);
}
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
both_i2c_external, both_i2c_external?ROTATION_YAW_270:ROTATION_NONE),
AP_Compass_AK09916::name, both_i2c_external);
}
@ -685,12 +683,12 @@ void Compass::_probe_external_i2c_compasses(void) @@ -685,12 +683,12 @@ void Compass::_probe_external_i2c_compasses(void)
}
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_IST8310_I2C_ADDR),
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(GET_I2C_DEVICE(i, HAL_COMPASS_IST8310_I2C_ADDR),
true, default_rotation), AP_Compass_IST8310::name, true);
}
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_IST8310_I2C_ADDR),
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(GET_I2C_DEVICE(i, HAL_COMPASS_IST8310_I2C_ADDR),
both_i2c_external, default_rotation), AP_Compass_IST8310::name, both_i2c_external);
}
}
@ -703,7 +701,7 @@ void Compass::_probe_external_i2c_compasses(void) @@ -703,7 +701,7 @@ void Compass::_probe_external_i2c_compasses(void)
void Compass::_detect_backends(void)
{
if (_hil_mode) {
_add_backend(AP_Compass_HIL::detect(*this), nullptr, false);
_add_backend(AP_Compass_HIL::detect(), nullptr, false);
return;
}
@ -715,7 +713,7 @@ void Compass::_detect_backends(void) @@ -715,7 +713,7 @@ void Compass::_detect_backends(void)
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
ADD_BACKEND(DRIVER_SITL, new AP_Compass_SITL(*this), nullptr, false);
ADD_BACKEND(DRIVER_SITL, new AP_Compass_SITL(), nullptr, false);
return;
#endif
@ -729,7 +727,7 @@ void Compass::_detect_backends(void) @@ -729,7 +727,7 @@ void Compass::_detect_backends(void)
#endif
#if HAL_COMPASS_DEFAULT == HAL_COMPASS_HIL
ADD_BACKEND(DRIVER_SITL, AP_Compass_HIL::detect(*this), nullptr, false);
ADD_BACKEND(DRIVER_SITL, AP_Compass_HIL::detect(), nullptr, false);
#elif AP_FEATURE_BOARD_DETECT
switch (AP_BoardConfig::get_board_type()) {
case AP_BoardConfig::PX4_BOARD_PX4V1:
@ -752,17 +750,17 @@ void Compass::_detect_backends(void) @@ -752,17 +750,17 @@ void Compass::_detect_backends(void)
case AP_BoardConfig::PX4_BOARD_PCNC1:
ADD_BACKEND(DRIVER_BMM150,
AP_Compass_BMM150::probe(*this, GET_I2C_DEVICE(0, 0x10)),
AP_Compass_BMM150::probe(GET_I2C_DEVICE(0, 0x10)),
AP_Compass_BMM150::name, true);
break;
case AP_BoardConfig::VRX_BOARD_BRAIN54: {
// external i2c bus
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(1, HAL_COMPASS_HMC5843_I2C_ADDR),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(1, HAL_COMPASS_HMC5843_I2C_ADDR),
true, ROTATION_ROLL_180),
AP_Compass_HMC5843::name, true);
}
// internal i2c bus
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(0, HAL_COMPASS_HMC5843_I2C_ADDR),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(0, HAL_COMPASS_HMC5843_I2C_ADDR),
false, ROTATION_YAW_270),
AP_Compass_HMC5843::name, false);
break;
@ -774,7 +772,7 @@ void Compass::_detect_backends(void) @@ -774,7 +772,7 @@ void Compass::_detect_backends(void)
case AP_BoardConfig::VRX_BOARD_UBRAIN51:
case AP_BoardConfig::VRX_BOARD_UBRAIN52: {
// external i2c bus
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(1, HAL_COMPASS_HMC5843_I2C_ADDR),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(1, HAL_COMPASS_HMC5843_I2C_ADDR),
true, ROTATION_ROLL_180),
AP_Compass_HMC5843::name, true);
}
@ -785,78 +783,78 @@ void Compass::_detect_backends(void) @@ -785,78 +783,78 @@ void Compass::_detect_backends(void)
}
switch (AP_BoardConfig::get_board_type()) {
case AP_BoardConfig::PX4_BOARD_PIXHAWK:
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.spi->get_device(HAL_COMPASS_HMC5843_NAME),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(hal.spi->get_device(HAL_COMPASS_HMC5843_NAME),
false, ROTATION_PITCH_180),
AP_Compass_HMC5843::name, false);
ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(*this, hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME)),
ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME)),
AP_Compass_LSM303D::name, false);
break;
case AP_BoardConfig::PX4_BOARD_PIXHAWK2:
ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(*this, hal.spi->get_device(HAL_INS_LSM9DS0_EXT_A_NAME), ROTATION_YAW_270),
ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(hal.spi->get_device(HAL_INS_LSM9DS0_EXT_A_NAME), ROTATION_YAW_270),
AP_Compass_LSM303D::name, false);
// we run the AK8963 only on the 2nd MPU9250, which leaves the
// first MPU9250 to run without disturbance at high rate
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 1, ROTATION_YAW_270),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(1, ROTATION_YAW_270),
AP_Compass_AK8963::name, false);
break;
case AP_BoardConfig::PX4_BOARD_FMUV5:
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_IST8310_I2C_ADDR),
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(GET_I2C_DEVICE(i, HAL_COMPASS_IST8310_I2C_ADDR),
true, ROTATION_ROLL_180_YAW_90), AP_Compass_IST8310::name, true);
}
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_IST8310_I2C_ADDR),
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(GET_I2C_DEVICE(i, HAL_COMPASS_IST8310_I2C_ADDR),
false, ROTATION_ROLL_180_YAW_90), AP_Compass_IST8310::name, false);
}
break;
case AP_BoardConfig::PX4_BOARD_SP01:
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 1, ROTATION_NONE),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(1, ROTATION_NONE),
AP_Compass_AK8963::name, false);
break;
case AP_BoardConfig::PX4_BOARD_PIXRACER:
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.spi->get_device(HAL_COMPASS_HMC5843_NAME),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(hal.spi->get_device(HAL_COMPASS_HMC5843_NAME),
false, ROTATION_PITCH_180),
AP_Compass_HMC5843::name, false);
// R15 has LIS3MDL on spi bus instead of HMC; same CS pin
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, hal.spi->get_device(HAL_COMPASS_LIS3MDL_NAME),
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(hal.spi->get_device(HAL_COMPASS_LIS3MDL_NAME),
false, ROTATION_NONE),
AP_Compass_LIS3MDL::name, false);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_ROLL_180_YAW_90),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_ROLL_180_YAW_90),
AP_Compass_AK8963::name, false);
break;
case AP_BoardConfig::PX4_BOARD_PIXHAWK_PRO:
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_ROLL_180_YAW_90),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_ROLL_180_YAW_90),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, hal.spi->get_device(HAL_COMPASS_LIS3MDL_NAME),
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(hal.spi->get_device(HAL_COMPASS_LIS3MDL_NAME),
false, ROTATION_NONE),
AP_Compass_LIS3MDL::name, false);
break;
case AP_BoardConfig::PX4_BOARD_PHMINI:
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_ROLL_180),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_ROLL_180),
AP_Compass_AK8963::name, false);
break;
case AP_BoardConfig::PX4_BOARD_AUAV21:
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_ROLL_180_YAW_90),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_ROLL_180_YAW_90),
AP_Compass_AK8963::name, false);
break;
case AP_BoardConfig::PX4_BOARD_PH2SLIM:
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_YAW_270),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0, ROTATION_YAW_270),
AP_Compass_AK8963::name, false);
break;
case AP_BoardConfig::PX4_BOARD_MINDPXV2:
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(0, HAL_COMPASS_HMC5843_I2C_ADDR),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(0, HAL_COMPASS_HMC5843_I2C_ADDR),
false, ROTATION_YAW_90),
AP_Compass_HMC5843::name, false);
ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(*this, hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME), ROTATION_PITCH_180_YAW_270),
ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME), ROTATION_PITCH_180_YAW_270),
AP_Compass_LSM303D::name, false);
break;
@ -865,108 +863,108 @@ void Compass::_detect_backends(void) @@ -865,108 +863,108 @@ void Compass::_detect_backends(void)
}
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BH
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
AP_Compass_HMC5843::name, false);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0), AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0), AP_Compass_AK8963::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BBBMINI
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 1),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(1),
AP_Compass_AK8963::name, true);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_NAVIO2
ADD_BACKEND(DRIVER_LSM9DS1, AP_Compass_LSM9DS1::probe(*this, hal.spi->get_device("lsm9ds1_m"), ROTATION_ROLL_180),
ADD_BACKEND(DRIVER_LSM9DS1, AP_Compass_LSM9DS1::probe(hal.spi->get_device("lsm9ds1_m"), ROTATION_ROLL_180),
AP_Compass_LSM9DS1::name, false);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_NAVIO
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_OCPOC_ZYNQ
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
AP_Compass_HMC5843::name, true);
ADD_BACKEND(DRIVER_AK8963,AP_Compass_AK8963::probe_mpu9250(*this, 0),
ADD_BACKEND(DRIVER_AK8963,AP_Compass_AK8963::probe_mpu9250(0),
AP_Compass_AK8963::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_EDGE
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, GET_I2C_DEVICE(HAL_COMPASS_AK8963_I2C_BUS, HAL_COMPASS_AK8963_I2C_ADDR)),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(GET_I2C_DEVICE(HAL_COMPASS_AK8963_I2C_BUS, HAL_COMPASS_AK8963_I2C_ADDR)),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_MPU9250
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0),
AP_Compass_AK8963::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HMC5843
#ifndef HAL_COMPASS_HMC5843_ROTATION
# define HAL_COMPASS_HMC5843_ROTATION ROTATION_NONE
#endif
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR),
false, HAL_COMPASS_HMC5843_ROTATION),
AP_Compass_HMC5843::name, false);
#if defined(HAL_COMPASS_HMC5843_I2C_EXT_BUS) && CONFIG_HAL_BOARD == HAL_BOARD_F4LIGHT
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_EXT_BUS, HAL_COMPASS_HMC5843_I2C_ADDR),true),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_EXT_BUS, HAL_COMPASS_HMC5843_I2C_ADDR),true),
AP_Compass_HMC5843::name, true);
#endif
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HMC5843_MPU6000
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe_mpu6000(*this),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe_mpu6000(),
AP_Compass_HMC5843::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_I2C
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_AK8963_I2C_BUS, HAL_COMPASS_AK8963_I2C_ADDR)),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe(GET_I2C_DEVICE(HAL_COMPASS_AK8963_I2C_BUS, HAL_COMPASS_AK8963_I2C_ADDR)),
AP_Compass_AK8963::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_MPU9250_I2C
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, GET_I2C_DEVICE(HAL_COMPASS_AK8963_I2C_BUS, HAL_COMPASS_AK8963_I2C_ADDR)),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(GET_I2C_DEVICE(HAL_COMPASS_AK8963_I2C_BUS, HAL_COMPASS_AK8963_I2C_ADDR)),
AP_Compass_AK8963::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AERO
ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_BMM150_I2C_BUS, HAL_COMPASS_BMM150_I2C_ADDR)),
ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(GET_I2C_DEVICE(HAL_COMPASS_BMM150_I2C_BUS, HAL_COMPASS_BMM150_I2C_ADDR)),
AP_Compass_BMM150::name, false);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true);
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_IST8310_I2C_BUS, HAL_COMPASS_IST8310_I2C_ADDR),
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(GET_I2C_DEVICE(HAL_COMPASS_IST8310_I2C_BUS, HAL_COMPASS_IST8310_I2C_ADDR),
true, ROTATION_PITCH_180_YAW_90), AP_Compass_IST8310::name, true);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_LIS3MDL
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, hal.spi->get_device(HAL_COMPASS_LIS3MDL_NAME), false, ROTATION_ROLL_180_YAW_90),
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(hal.spi->get_device(HAL_COMPASS_LIS3MDL_NAME), false, ROTATION_ROLL_180_YAW_90),
AP_Compass_LIS3MDL::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_MAG3110
ADD_BACKEND(DRIVER_MAG3110, AP_Compass_MAG3110::probe(*this, GET_I2C_DEVICE(HAL_MAG3110_I2C_BUS, HAL_MAG3110_I2C_ADDR), ROTATION_NONE),
ADD_BACKEND(DRIVER_MAG3110, AP_Compass_MAG3110::probe(GET_I2C_DEVICE(HAL_MAG3110_I2C_BUS, HAL_MAG3110_I2C_ADDR), ROTATION_NONE),
AP_Compass_MAG3110::name, true);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_IST8310
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_IST8310_I2C_BUS, HAL_COMPASS_IST8310_I2C_ADDR),
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(GET_I2C_DEVICE(HAL_COMPASS_IST8310_I2C_BUS, HAL_COMPASS_IST8310_I2C_ADDR),
true, ROTATION_PITCH_180_YAW_90), AP_Compass_IST8310::name, true);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_QMC5883L
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, GET_I2C_DEVICE(1, HAL_COMPASS_QMC5883L_I2C_ADDR),
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(GET_I2C_DEVICE(1, HAL_COMPASS_QMC5883L_I2C_ADDR),
true, HAL_COMPASS_QMC5883L_ORIENTATION_EXTERNAL),
AP_Compass_QMC5883L::name, true);
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, GET_I2C_DEVICE(0, HAL_COMPASS_QMC5883L_I2C_ADDR),
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(GET_I2C_DEVICE(0, HAL_COMPASS_QMC5883L_I2C_ADDR),
false, HAL_COMPASS_QMC5883L_ORIENTATION_INTERNAL),
AP_Compass_QMC5883L::name, false);
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
AP_Compass_HMC5843::name, false);
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(*this, 0),
ADD_BACKEND(DRIVER_AK8963, AP_Compass_AK8963::probe_mpu9250(0),
AP_Compass_AK8963::name, false);
ADD_BACKEND(DRIVER_LSM9DS1, AP_Compass_LSM9DS1::probe(*this, hal.spi->get_device("lsm9ds1_m")),
ADD_BACKEND(DRIVER_LSM9DS1, AP_Compass_LSM9DS1::probe(hal.spi->get_device("lsm9ds1_m")),
AP_Compass_LSM9DS1::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BMM150_I2C
ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_BMM150_I2C_BUS, HAL_COMPASS_BMM150_I2C_ADDR)),
ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(GET_I2C_DEVICE(HAL_COMPASS_BMM150_I2C_BUS, HAL_COMPASS_BMM150_I2C_ADDR)),
AP_Compass_BMM150::name, true);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_NONE
// no compass
@ -977,50 +975,50 @@ void Compass::_detect_backends(void) @@ -977,50 +975,50 @@ void Compass::_detect_backends(void)
#if defined(BOARD_I2C_BUS_EXT) && CONFIG_HAL_BOARD == HAL_BOARD_F4LIGHT
// autodetect external i2c bus
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_QMC5883L_I2C_ADDR),
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_QMC5883L_I2C_ADDR),
true,ROTATION_NONE),
AP_Compass_QMC5883L::name, true);
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_HMC5843_I2C_ADDR)),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_HMC5843_I2C_ADDR)),
AP_Compass_HMC5843::name, true);
// lis3mdl
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_LIS3MDL_I2C_ADDR),
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_LIS3MDL_I2C_ADDR),
true, ROTATION_NONE),
AP_Compass_LIS3MDL::name, true);
// AK09916
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(*this, GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_AK09916_I2C_ADDR),
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_AK09916_I2C_ADDR),
true, ROTATION_NONE),
AP_Compass_AK09916::name, true);
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_IST8310_I2C_ADDR),
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_IST8310_I2C_ADDR),
ROTATION_NONE),
AP_Compass_IST8310::name, true);
#ifdef HAL_COMPASS_BMM150_I2C_ADDR
ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(*this, GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_BMM150_I2C_ADDR)),
ADD_BACKEND(DRIVER_BMM150, AP_Compass_BMM150::probe(GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_BMM150_I2C_ADDR)),
AP_Compass_BMM150::name, true);
#endif
ADD_BACKEND(DRIVER_MAG3110, AP_Compass_MAG3110::probe(*this, GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_MAG3110_I2C_ADDR), ROTATION_NONE),
ADD_BACKEND(DRIVER_MAG3110, AP_Compass_MAG3110::probe(GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_MAG3110_I2C_ADDR), ROTATION_NONE),
AP_Compass_MAG3110::name, true);
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_QMC5883L_I2C_ADDR), ROTATION_NONE),
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(GET_I2C_DEVICE(BOARD_I2C_BUS_EXT, HAL_COMPASS_QMC5883L_I2C_ADDR), ROTATION_NONE),
AP_Compass_QMC5883L::name, true);
#endif
/* for chibios external board coniguration */
#ifdef HAL_EXT_COMPASS_HMC5843_I2C_BUS
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_EXT_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR),
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(HAL_EXT_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR),
true, ROTATION_ROLL_180),
AP_Compass_HMC5843::name, true);
#endif
#if HAL_WITH_UAVCAN
for (uint8_t i = 0; i < COMPASS_MAX_BACKEND; i++) {
ADD_BACKEND(DRIVER_UAVCAN, AP_Compass_UAVCAN::probe(*this), "UAVCAN", true);
ADD_BACKEND(DRIVER_UAVCAN, AP_Compass_UAVCAN::probe(), "UAVCAN", true);
}
#endif

16
libraries/AP_Compass/AP_Compass_AK09916.cpp
Unescape View File

@ -48,15 +48,14 @@ extern const AP_HAL::HAL &hal; @@ -48,15 +48,14 @@ extern const AP_HAL::HAL &hal;
/*
probe for AK09916 directly on I2C
*/
AP_Compass_Backend *AP_Compass_AK09916::probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
AP_Compass_Backend *AP_Compass_AK09916::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
bool force_external,
enum Rotation rotation)
{
if (!dev) {
return nullptr;
}
AP_Compass_AK09916 *sensor = new AP_Compass_AK09916(compass, std::move(dev), nullptr,
AP_Compass_AK09916 *sensor = new AP_Compass_AK09916(std::move(dev), nullptr,
force_external,
rotation, AK09916_I2C);
if (!sensor || !sensor->init()) {
@ -71,8 +70,7 @@ AP_Compass_Backend *AP_Compass_AK09916::probe(Compass &compass, @@ -71,8 +70,7 @@ AP_Compass_Backend *AP_Compass_AK09916::probe(Compass &compass,
/*
probe for AK09916 connected via an ICM20948
*/
AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_icm,
bool force_external,
enum Rotation rotation)
@ -80,7 +78,7 @@ AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948(Compass &compass, @@ -80,7 +78,7 @@ AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948(Compass &compass,
if (!dev || !dev_icm) {
return nullptr;
}
AP_Compass_AK09916 *sensor = new AP_Compass_AK09916(compass, std::move(dev), std::move(dev_icm),
AP_Compass_AK09916 *sensor = new AP_Compass_AK09916(std::move(dev), std::move(dev_icm),
force_external,
rotation, AK09916_ICM20948_I2C);
if (!sensor || !sensor->init()) {
@ -91,14 +89,12 @@ AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948(Compass &compass, @@ -91,14 +89,12 @@ AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948(Compass &compass,
return sensor;
}
AP_Compass_AK09916::AP_Compass_AK09916(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> _dev,
AP_Compass_AK09916::AP_Compass_AK09916(AP_HAL::OwnPtr<AP_HAL::Device> _dev,
AP_HAL::OwnPtr<AP_HAL::Device> _dev_icm,
bool _force_external,
enum Rotation _rotation,
enum bus_type _bus_type)
: AP_Compass_Backend(compass)
, bus_type(_bus_type)
: bus_type(_bus_type)
, dev(std::move(_dev))
, dev_icm(std::move(_dev_icm))
, force_external(_force_external)

9
libraries/AP_Compass/AP_Compass_AK09916.h
Unescape View File

@ -34,14 +34,12 @@ @@ -34,14 +34,12 @@
class AP_Compass_AK09916 : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
bool force_external = false,
enum Rotation rotation = ROTATION_NONE);
// separate probe function for when behind a ICM20948 IMU
static AP_Compass_Backend *probe_ICM20948(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
static AP_Compass_Backend *probe_ICM20948(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_icm,
bool force_external = false,
enum Rotation rotation = ROTATION_NONE);
@ -56,8 +54,7 @@ private: @@ -56,8 +54,7 @@ private:
AK09916_ICM20948_I2C,
} bus_type;
AP_Compass_AK09916(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
AP_Compass_AK09916(AP_HAL::OwnPtr<AP_HAL::Device> dev,
AP_HAL::OwnPtr<AP_HAL::Device> dev_icm,
bool force_external,
enum Rotation rotation,

19
libraries/AP_Compass/AP_Compass_AK8963.cpp
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@ -52,10 +52,9 @@ struct PACKED sample_regs { @@ -52,10 +52,9 @@ struct PACKED sample_regs {
extern const AP_HAL::HAL &hal;
AP_Compass_AK8963::AP_Compass_AK8963(Compass &compass, AP_AK8963_BusDriver *bus,
AP_Compass_AK8963::AP_Compass_AK8963(AP_AK8963_BusDriver *bus,
enum Rotation rotation)
: AP_Compass_Backend(compass)
, _bus(bus)
: _bus(bus)
, _rotation(rotation)
{
}
@ -65,8 +64,7 @@ AP_Compass_AK8963::~AP_Compass_AK8963() @@ -65,8 +64,7 @@ AP_Compass_AK8963::~AP_Compass_AK8963()
delete _bus;
}
AP_Compass_Backend *AP_Compass_AK8963::probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
AP_Compass_Backend *AP_Compass_AK8963::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
enum Rotation rotation)
{
if (!dev) {
@ -77,7 +75,7 @@ AP_Compass_Backend *AP_Compass_AK8963::probe(Compass &compass, @@ -77,7 +75,7 @@ AP_Compass_Backend *AP_Compass_AK8963::probe(Compass &compass,
return nullptr;
}
AP_Compass_AK8963 *sensor = new AP_Compass_AK8963(compass, bus, rotation);
AP_Compass_AK8963 *sensor = new AP_Compass_AK8963(bus, rotation);
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;
@ -86,8 +84,7 @@ AP_Compass_Backend *AP_Compass_AK8963::probe(Compass &compass, @@ -86,8 +84,7 @@ AP_Compass_Backend *AP_Compass_AK8963::probe(Compass &compass,
return sensor;
}
AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
enum Rotation rotation)
{
if (!dev) {
@ -98,10 +95,10 @@ AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(Compass &compass, @@ -98,10 +95,10 @@ AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(Compass &compass,
/* Allow MPU9250 to shortcut auxiliary bus and host bus */
ins.detect_backends();
return probe(compass, std::move(dev), rotation);
return probe(std::move(dev), rotation);
}
AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(Compass &compass, uint8_t mpu9250_instance,
AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(uint8_t mpu9250_instance,
enum Rotation rotation)
{
AP_InertialSensor &ins = *AP_InertialSensor::get_instance();
@ -112,7 +109,7 @@ AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(Compass &compass, uint8_t m @@ -112,7 +109,7 @@ AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(Compass &compass, uint8_t m
return nullptr;
}
AP_Compass_AK8963 *sensor = new AP_Compass_AK8963(compass, bus, rotation);
AP_Compass_AK8963 *sensor = new AP_Compass_AK8963(bus, rotation);
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;

10
libraries/AP_Compass/AP_Compass_AK8963.h
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@ -18,17 +18,15 @@ class AP_Compass_AK8963 : public AP_Compass_Backend @@ -18,17 +18,15 @@ class AP_Compass_AK8963 : public AP_Compass_Backend
{
public:
/* Probe for AK8963 standalone on I2C bus */
static AP_Compass_Backend *probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
enum Rotation rotation = ROTATION_NONE);
/* Probe for AK8963 on auxiliary bus of MPU9250, connected through I2C */
static AP_Compass_Backend *probe_mpu9250(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
static AP_Compass_Backend *probe_mpu9250(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
enum Rotation rotation = ROTATION_NONE);
/* Probe for AK8963 on auxiliary bus of MPU9250, connected through SPI */
static AP_Compass_Backend *probe_mpu9250(Compass &compass, uint8_t mpu9250_instance,
static AP_Compass_Backend *probe_mpu9250(uint8_t mpu9250_instance,
enum Rotation rotation = ROTATION_NONE);
static constexpr const char *name = "AK8963";
@ -38,7 +36,7 @@ public: @@ -38,7 +36,7 @@ public:
void read() override;
private:
AP_Compass_AK8963(Compass &compass, AP_AK8963_BusDriver *bus,
AP_Compass_AK8963(AP_AK8963_BusDriver *bus,
enum Rotation rotation = ROTATION_NONE);
bool init();

11
libraries/AP_Compass/AP_Compass_BMM150.cpp
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@ -63,13 +63,12 @@ @@ -63,13 +63,12 @@
extern const AP_HAL::HAL &hal;
AP_Compass_Backend *AP_Compass_BMM150::probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
AP_Compass_Backend *AP_Compass_BMM150::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
{
if (!dev) {
return nullptr;
}
AP_Compass_BMM150 *sensor = new AP_Compass_BMM150(compass, std::move(dev));
AP_Compass_BMM150 *sensor = new AP_Compass_BMM150(std::move(dev));
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;
@ -78,10 +77,8 @@ AP_Compass_Backend *AP_Compass_BMM150::probe(Compass &compass, @@ -78,10 +77,8 @@ AP_Compass_Backend *AP_Compass_BMM150::probe(Compass &compass,
return sensor;
}
AP_Compass_BMM150::AP_Compass_BMM150(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev)
: AP_Compass_Backend(compass)
, _dev(std::move(dev))
AP_Compass_BMM150::AP_Compass_BMM150(AP_HAL::OwnPtr<AP_HAL::Device> dev)
: _dev(std::move(dev))
{
}

5
libraries/AP_Compass/AP_Compass_BMM150.h
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@ -27,15 +27,14 @@ @@ -27,15 +27,14 @@
class AP_Compass_BMM150 : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
void read() override;
static constexpr const char *name = "BMM150";
private:
AP_Compass_BMM150(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev);
AP_Compass_BMM150(AP_HAL::OwnPtr<AP_HAL::Device> dev);
/**
* Device periodic callback to read data from the sensor.

6
libraries/AP_Compass/AP_Compass_Backend.cpp
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@ -6,10 +6,10 @@ @@ -6,10 +6,10 @@
extern const AP_HAL::HAL& hal;
AP_Compass_Backend::AP_Compass_Backend(Compass &compass) :
_compass(compass)
AP_Compass_Backend::AP_Compass_Backend()
: _compass(AP::compass())
{
_sem = hal.util->new_semaphore();
_sem = hal.util->new_semaphore();
}
void AP_Compass_Backend::rotate_field(Vector3f &mag, uint8_t instance)

2
libraries/AP_Compass/AP_Compass_Backend.h
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@ -25,7 +25,7 @@ class Compass; // forward declaration @@ -25,7 +25,7 @@ class Compass; // forward declaration
class AP_Compass_Backend
{
public:
AP_Compass_Backend(Compass &compass);
AP_Compass_Backend();
// we declare a virtual destructor so that drivers can
// override with a custom destructor if need be.

7
libraries/AP_Compass/AP_Compass_HIL.cpp
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@ -25,17 +25,16 @@ @@ -25,17 +25,16 @@
extern const AP_HAL::HAL& hal;
// constructor
AP_Compass_HIL::AP_Compass_HIL(Compass &compass):
AP_Compass_Backend(compass)
AP_Compass_HIL::AP_Compass_HIL()
{
memset(_compass_instance, 0, sizeof(_compass_instance));
_compass._setup_earth_field();
}
// detect the sensor
AP_Compass_Backend *AP_Compass_HIL::detect(Compass &compass)
AP_Compass_Backend *AP_Compass_HIL::detect()
{
AP_Compass_HIL *sensor = new AP_Compass_HIL(compass);
AP_Compass_HIL *sensor = new AP_Compass_HIL();
if (sensor == nullptr) {
return nullptr;
}

4
libraries/AP_Compass/AP_Compass_HIL.h
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@ -7,12 +7,12 @@ @@ -7,12 +7,12 @@
class AP_Compass_HIL : public AP_Compass_Backend
{
public:
AP_Compass_HIL(Compass &compass);
AP_Compass_HIL();
void read(void);
bool init(void);
// detect the sensor
static AP_Compass_Backend *detect(Compass &compass);
static AP_Compass_Backend *detect();
private:
uint8_t _compass_instance[HIL_NUM_COMPASSES];

14
libraries/AP_Compass/AP_Compass_HMC5843.cpp
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@ -94,10 +94,9 @@ extern const AP_HAL::HAL& hal; @@ -94,10 +94,9 @@ extern const AP_HAL::HAL& hal;
#define HMC5843_REG_ID_A 0x0A
AP_Compass_HMC5843::AP_Compass_HMC5843(Compass &compass, AP_HMC5843_BusDriver *bus,
AP_Compass_HMC5843::AP_Compass_HMC5843(AP_HMC5843_BusDriver *bus,
bool force_external, enum Rotation rotation)
: AP_Compass_Backend(compass)
, _bus(bus)
: _bus(bus)
, _rotation(rotation)
, _force_external(force_external)
{
@ -108,8 +107,7 @@ AP_Compass_HMC5843::~AP_Compass_HMC5843() @@ -108,8 +107,7 @@ AP_Compass_HMC5843::~AP_Compass_HMC5843()
delete _bus;
}
AP_Compass_Backend *AP_Compass_HMC5843::probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
AP_Compass_Backend *AP_Compass_HMC5843::probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation)
{
@ -121,7 +119,7 @@ AP_Compass_Backend *AP_Compass_HMC5843::probe(Compass &compass, @@ -121,7 +119,7 @@ AP_Compass_Backend *AP_Compass_HMC5843::probe(Compass &compass,
return nullptr;
}
AP_Compass_HMC5843 *sensor = new AP_Compass_HMC5843(compass, bus, force_external, rotation);
AP_Compass_HMC5843 *sensor = new AP_Compass_HMC5843(bus, force_external, rotation);
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;
@ -130,7 +128,7 @@ AP_Compass_Backend *AP_Compass_HMC5843::probe(Compass &compass, @@ -130,7 +128,7 @@ AP_Compass_Backend *AP_Compass_HMC5843::probe(Compass &compass,
return sensor;
}
AP_Compass_Backend *AP_Compass_HMC5843::probe_mpu6000(Compass &compass, enum Rotation rotation)
AP_Compass_Backend *AP_Compass_HMC5843::probe_mpu6000(enum Rotation rotation)
{
AP_InertialSensor &ins = *AP_InertialSensor::get_instance();
@ -141,7 +139,7 @@ AP_Compass_Backend *AP_Compass_HMC5843::probe_mpu6000(Compass &compass, enum Rot @@ -141,7 +139,7 @@ AP_Compass_Backend *AP_Compass_HMC5843::probe_mpu6000(Compass &compass, enum Rot
return nullptr;
}
AP_Compass_HMC5843 *sensor = new AP_Compass_HMC5843(compass, bus, false, rotation);
AP_Compass_HMC5843 *sensor = new AP_Compass_HMC5843(bus, false, rotation);
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;

8
libraries/AP_Compass/AP_Compass_HMC5843.h
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@ -16,13 +16,11 @@ class AP_HMC5843_BusDriver; @@ -16,13 +16,11 @@ class AP_HMC5843_BusDriver;
class AP_Compass_HMC5843 : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external = false,
enum Rotation rotation = ROTATION_NONE);
static AP_Compass_Backend *probe_mpu6000(Compass &compass,
enum Rotation rotation = ROTATION_NONE);
static AP_Compass_Backend *probe_mpu6000(enum Rotation rotation = ROTATION_NONE);
static constexpr const char *name = "HMC5843";
@ -31,7 +29,7 @@ public: @@ -31,7 +29,7 @@ public:
void read() override;
private:
AP_Compass_HMC5843(Compass &compass, AP_HMC5843_BusDriver *bus,
AP_Compass_HMC5843(AP_HMC5843_BusDriver *bus,
bool force_external, enum Rotation rotation);
bool init();

11
libraries/AP_Compass/AP_Compass_IST8310.cpp
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@ -75,8 +75,7 @@ static const int16_t IST8310_MIN_VAL_Z = -IST8310_MAX_VAL_Z; @@ -75,8 +75,7 @@ static const int16_t IST8310_MIN_VAL_Z = -IST8310_MAX_VAL_Z;
extern const AP_HAL::HAL &hal;
AP_Compass_Backend *AP_Compass_IST8310::probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
AP_Compass_Backend *AP_Compass_IST8310::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
bool force_external,
enum Rotation rotation)
{
@ -84,7 +83,7 @@ AP_Compass_Backend *AP_Compass_IST8310::probe(Compass &compass, @@ -84,7 +83,7 @@ AP_Compass_Backend *AP_Compass_IST8310::probe(Compass &compass,
return nullptr;
}
AP_Compass_IST8310 *sensor = new AP_Compass_IST8310(compass, std::move(dev), force_external, rotation);
AP_Compass_IST8310 *sensor = new AP_Compass_IST8310(std::move(dev), force_external, rotation);
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;
@ -93,12 +92,10 @@ AP_Compass_Backend *AP_Compass_IST8310::probe(Compass &compass, @@ -93,12 +92,10 @@ AP_Compass_Backend *AP_Compass_IST8310::probe(Compass &compass,
return sensor;
}
AP_Compass_IST8310::AP_Compass_IST8310(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
AP_Compass_IST8310::AP_Compass_IST8310(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation)
: AP_Compass_Backend(compass)
, _dev(std::move(dev))
: _dev(std::move(dev))
, _rotation(rotation)
, _force_external(force_external)
{

6
libraries/AP_Compass/AP_Compass_IST8310.h
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@ -31,8 +31,7 @@ @@ -31,8 +31,7 @@
class AP_Compass_IST8310 : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
bool force_external = false,
enum Rotation rotation = ROTATION_NONE);
@ -41,8 +40,7 @@ public: @@ -41,8 +40,7 @@ public:
static constexpr const char *name = "IST8310";
private:
AP_Compass_IST8310(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
AP_Compass_IST8310(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation);

11
libraries/AP_Compass/AP_Compass_LIS3MDL.cpp
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@ -48,15 +48,14 @@ @@ -48,15 +48,14 @@
extern const AP_HAL::HAL &hal;
AP_Compass_Backend *AP_Compass_LIS3MDL::probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
AP_Compass_Backend *AP_Compass_LIS3MDL::probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation)
{
if (!dev) {
return nullptr;
}
AP_Compass_LIS3MDL *sensor = new AP_Compass_LIS3MDL(compass, std::move(dev), force_external, rotation);
AP_Compass_LIS3MDL *sensor = new AP_Compass_LIS3MDL(std::move(dev), force_external, rotation);
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;
@ -65,12 +64,10 @@ AP_Compass_Backend *AP_Compass_LIS3MDL::probe(Compass &compass, @@ -65,12 +64,10 @@ AP_Compass_Backend *AP_Compass_LIS3MDL::probe(Compass &compass,
return sensor;
}
AP_Compass_LIS3MDL::AP_Compass_LIS3MDL(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> _dev,
AP_Compass_LIS3MDL::AP_Compass_LIS3MDL(AP_HAL::OwnPtr<AP_HAL::Device> _dev,
bool _force_external,
enum Rotation _rotation)
: AP_Compass_Backend(compass)
, dev(std::move(_dev))
: dev(std::move(_dev))
, force_external(_force_external)
, rotation(_rotation)
{

5
libraries/AP_Compass/AP_Compass_LIS3MDL.h
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@ -33,8 +33,7 @@ @@ -33,8 +33,7 @@
class AP_Compass_LIS3MDL : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external = false,
enum Rotation rotation = ROTATION_NONE);
@ -43,7 +42,7 @@ public: @@ -43,7 +42,7 @@ public:
static constexpr const char *name = "LIS3MDL";
private:
AP_Compass_LIS3MDL(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev,
AP_Compass_LIS3MDL(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation);

10
libraries/AP_Compass/AP_Compass_LSM303D.cpp
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@ -150,20 +150,18 @@ extern const AP_HAL::HAL &hal; @@ -150,20 +150,18 @@ extern const AP_HAL::HAL &hal;
#define LSM303D_MAG_DEFAULT_RANGE_GA 2
#define LSM303D_MAG_DEFAULT_RATE 100
AP_Compass_LSM303D::AP_Compass_LSM303D(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev)
: AP_Compass_Backend(compass)
, _dev(std::move(dev))
AP_Compass_LSM303D::AP_Compass_LSM303D(AP_HAL::OwnPtr<AP_HAL::Device> dev)
: _dev(std::move(dev))
{
}
AP_Compass_Backend *AP_Compass_LSM303D::probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
AP_Compass_Backend *AP_Compass_LSM303D::probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation rotation)
{
if (!dev) {
return nullptr;
}
AP_Compass_LSM303D *sensor = new AP_Compass_LSM303D(compass, std::move(dev));
AP_Compass_LSM303D *sensor = new AP_Compass_LSM303D(std::move(dev));
if (!sensor || !sensor->init(rotation)) {
delete sensor;
return nullptr;

5
libraries/AP_Compass/AP_Compass_LSM303D.h
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@ -11,8 +11,7 @@ @@ -11,8 +11,7 @@
class AP_Compass_LSM303D : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation = ROTATION_NONE);
static constexpr const char *name = "LSM303D";
@ -22,7 +21,7 @@ public: @@ -22,7 +21,7 @@ public:
virtual ~AP_Compass_LSM303D() { }
private:
AP_Compass_LSM303D(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev);
AP_Compass_LSM303D(AP_HAL::OwnPtr<AP_HAL::Device> dev);
bool init(enum Rotation rotation);
uint8_t _register_read(uint8_t reg);

11
libraries/AP_Compass/AP_Compass_LSM9DS1.cpp
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@ -57,23 +57,20 @@ struct PACKED sample_regs { @@ -57,23 +57,20 @@ struct PACKED sample_regs {
extern const AP_HAL::HAL &hal;
AP_Compass_LSM9DS1::AP_Compass_LSM9DS1(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
AP_Compass_LSM9DS1::AP_Compass_LSM9DS1(AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation rotation)
: AP_Compass_Backend(compass)
, _dev(std::move(dev))
: _dev(std::move(dev))
, _rotation(rotation)
{
}
AP_Compass_Backend *AP_Compass_LSM9DS1::probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
AP_Compass_Backend *AP_Compass_LSM9DS1::probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation rotation)
{
if (!dev) {
return nullptr;
}
AP_Compass_LSM9DS1 *sensor = new AP_Compass_LSM9DS1(compass, std::move(dev), rotation);
AP_Compass_LSM9DS1 *sensor = new AP_Compass_LSM9DS1(std::move(dev), rotation);
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;

5
libraries/AP_Compass/AP_Compass_LSM9DS1.h
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@ -11,8 +11,7 @@ @@ -11,8 +11,7 @@
class AP_Compass_LSM9DS1 : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation rotation = ROTATION_NONE);
static constexpr const char *name = "LSM9DS1";
@ -22,7 +21,7 @@ public: @@ -22,7 +21,7 @@ public:
virtual ~AP_Compass_LSM9DS1() {}
private:
AP_Compass_LSM9DS1(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev,
AP_Compass_LSM9DS1(AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation rotation = ROTATION_NONE);
bool init();
bool _check_id(void);

10
libraries/AP_Compass/AP_Compass_MAG3110.cpp
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@ -80,20 +80,18 @@ RUS: @@ -80,20 +80,18 @@ RUS:
AP_Compass_MAG3110::AP_Compass_MAG3110(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev)
: AP_Compass_Backend(compass)
, _dev(std::move(dev))
AP_Compass_MAG3110::AP_Compass_MAG3110(AP_HAL::OwnPtr<AP_HAL::Device> dev)
: _dev(std::move(dev))
{
}
AP_Compass_Backend *AP_Compass_MAG3110::probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
AP_Compass_Backend *AP_Compass_MAG3110::probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation rotation)
{
if (!dev) {
return nullptr;
}
AP_Compass_MAG3110 *sensor = new AP_Compass_MAG3110(compass, std::move(dev));
AP_Compass_MAG3110 *sensor = new AP_Compass_MAG3110(std::move(dev));
if (!sensor || !sensor->init(rotation)) {
delete sensor;
return nullptr;

5
libraries/AP_Compass/AP_Compass_MAG3110.h
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@ -16,8 +16,7 @@ @@ -16,8 +16,7 @@
class AP_Compass_MAG3110 : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation = ROTATION_NONE);
static constexpr const char *name = "MAG3110";
@ -27,7 +26,7 @@ public: @@ -27,7 +26,7 @@ public:
~AP_Compass_MAG3110() { }
private:
AP_Compass_MAG3110(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev);
AP_Compass_MAG3110(AP_HAL::OwnPtr<AP_HAL::Device> dev);
bool init(enum Rotation rotation);

11
libraries/AP_Compass/AP_Compass_MMC3416.cpp
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@ -41,15 +41,14 @@ extern const AP_HAL::HAL &hal; @@ -41,15 +41,14 @@ extern const AP_HAL::HAL &hal;
// datasheet says 50ms min for refill
#define MIN_DELAY_SET_RESET 50
AP_Compass_Backend *AP_Compass_MMC3416::probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
AP_Compass_Backend *AP_Compass_MMC3416::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
bool force_external,
enum Rotation rotation)
{
if (!dev) {
return nullptr;
}
AP_Compass_MMC3416 *sensor = new AP_Compass_MMC3416(compass, std::move(dev), force_external, rotation);
AP_Compass_MMC3416 *sensor = new AP_Compass_MMC3416(std::move(dev), force_external, rotation);
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;
@ -58,12 +57,10 @@ AP_Compass_Backend *AP_Compass_MMC3416::probe(Compass &compass, @@ -58,12 +57,10 @@ AP_Compass_Backend *AP_Compass_MMC3416::probe(Compass &compass,
return sensor;
}
AP_Compass_MMC3416::AP_Compass_MMC3416(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> _dev,
AP_Compass_MMC3416::AP_Compass_MMC3416(AP_HAL::OwnPtr<AP_HAL::Device> _dev,
bool _force_external,
enum Rotation _rotation)
: AP_Compass_Backend(compass)
, dev(std::move(_dev))
: dev(std::move(_dev))
, force_external(_force_external)
, rotation(_rotation)
{

5
libraries/AP_Compass/AP_Compass_MMC3416.h
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@ -29,8 +29,7 @@ @@ -29,8 +29,7 @@
class AP_Compass_MMC3416 : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
bool force_external = false,
enum Rotation rotation = ROTATION_NONE);
@ -39,7 +38,7 @@ public: @@ -39,7 +38,7 @@ public:
static constexpr const char *name = "MMC3416";
private:
AP_Compass_MMC3416(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev,
AP_Compass_MMC3416(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation);

19
libraries/AP_Compass/AP_Compass_QMC5883L.cpp
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@ -57,16 +57,15 @@ @@ -57,16 +57,15 @@
extern const AP_HAL::HAL &hal;
AP_Compass_Backend *AP_Compass_QMC5883L::probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
bool force_external,
enum Rotation rotation)
AP_Compass_Backend *AP_Compass_QMC5883L::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
bool force_external,
enum Rotation rotation)
{
if (!dev) {
return nullptr;
}
AP_Compass_QMC5883L *sensor = new AP_Compass_QMC5883L(compass, std::move(dev),force_external,rotation);
AP_Compass_QMC5883L *sensor = new AP_Compass_QMC5883L(std::move(dev),force_external,rotation);
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;
@ -75,12 +74,10 @@ AP_Compass_Backend *AP_Compass_QMC5883L::probe(Compass &compass, @@ -75,12 +74,10 @@ AP_Compass_Backend *AP_Compass_QMC5883L::probe(Compass &compass,
return sensor;
}
AP_Compass_QMC5883L::AP_Compass_QMC5883L(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation)
: AP_Compass_Backend(compass)
, _dev(std::move(dev))
AP_Compass_QMC5883L::AP_Compass_QMC5883L(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation)
: _dev(std::move(dev))
, _rotation(rotation)
, _force_external(force_external)
{

10
libraries/AP_Compass/AP_Compass_QMC5883L.h
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@ -42,8 +42,7 @@ @@ -42,8 +42,7 @@
class AP_Compass_QMC5883L : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
bool force_external,
enum Rotation rotation = ROTATION_NONE);
@ -52,10 +51,9 @@ public: @@ -52,10 +51,9 @@ public:
static constexpr const char *name = "QMC5883L";
private:
AP_Compass_QMC5883L(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation);
AP_Compass_QMC5883L(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation);
void _dump_registers();
bool _check_whoami();

5
libraries/AP_Compass/AP_Compass_SITL.cpp
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@ -5,16 +5,15 @@ @@ -5,16 +5,15 @@
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
extern const AP_HAL::HAL& hal;
AP_Compass_SITL::AP_Compass_SITL(Compass &compass):
AP_Compass_SITL::AP_Compass_SITL():
_sitl(AP::sitl()),
_has_sample(false),
AP_Compass_Backend(compass)
{
if (_sitl != nullptr) {
_compass._setup_earth_field();
for (uint8_t i=0; i<SITL_NUM_COMPASSES; i++) {
// default offsets to correct value
compass.set_offsets(i, _sitl->mag_ofs);
_compass.set_offsets(i, _sitl->mag_ofs);
_compass_instance[i] = register_compass();
set_dev_id(_compass_instance[i], AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_SITL, i, 0, DEVTYPE_SITL));

2
libraries/AP_Compass/AP_Compass_SITL.h
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@ -13,7 +13,7 @@ @@ -13,7 +13,7 @@
class AP_Compass_SITL : public AP_Compass_Backend {
public:
AP_Compass_SITL(Compass &);
AP_Compass_SITL();
void read(void);

19
libraries/AP_Compass/AP_Compass_UAVCAN.cpp
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@ -38,15 +38,12 @@ UC_REGISTRY_BINDER(Mag2Cb, uavcan::equipment::ahrs::MagneticFieldStrength2); @@ -38,15 +38,12 @@ UC_REGISTRY_BINDER(Mag2Cb, uavcan::equipment::ahrs::MagneticFieldStrength2);
AP_Compass_UAVCAN::DetectedModules AP_Compass_UAVCAN::_detected_modules[] = {0};
AP_HAL::Semaphore* AP_Compass_UAVCAN::_sem_registry = nullptr;
/*
constructor - registers instance at top Compass driver
*/
AP_Compass_UAVCAN::AP_Compass_UAVCAN(Compass &compass, AP_UAVCAN* ap_uavcan, uint8_t node_id, uint8_t sensor_id):
AP_Compass_Backend(compass),
_ap_uavcan(ap_uavcan),
_node_id(node_id),
_sensor_id(sensor_id)
{}
AP_Compass_UAVCAN::AP_Compass_UAVCAN(AP_UAVCAN* ap_uavcan, uint8_t node_id, uint8_t sensor_id)
: _ap_uavcan(ap_uavcan)
, _node_id(node_id)
, _sensor_id(sensor_id)
{
}
void AP_Compass_UAVCAN::subscribe_msgs(AP_UAVCAN* ap_uavcan)
{
@ -86,7 +83,7 @@ void AP_Compass_UAVCAN::give_registry() @@ -86,7 +83,7 @@ void AP_Compass_UAVCAN::give_registry()
_sem_registry->give();
}
AP_Compass_Backend* AP_Compass_UAVCAN::probe(Compass& _frontend)
AP_Compass_Backend* AP_Compass_UAVCAN::probe()
{
if (!take_registry()) {
return nullptr;
@ -95,7 +92,7 @@ AP_Compass_Backend* AP_Compass_UAVCAN::probe(Compass& _frontend) @@ -95,7 +92,7 @@ AP_Compass_Backend* AP_Compass_UAVCAN::probe(Compass& _frontend)
for (uint8_t i = 0; i < COMPASS_MAX_BACKEND; i++) {
if (!_detected_modules[i].driver && _detected_modules[i].ap_uavcan) {
// Register new Compass mode to a backend
driver = new AP_Compass_UAVCAN(_frontend, _detected_modules[i].ap_uavcan, _detected_modules[i].node_id, _detected_modules[i].sensor_id);
driver = new AP_Compass_UAVCAN(_detected_modules[i].ap_uavcan, _detected_modules[i].node_id, _detected_modules[i].sensor_id);
if (driver) {
_detected_modules[i].driver = driver;
driver->init();

4
libraries/AP_Compass/AP_Compass_UAVCAN.h
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@ -10,12 +10,12 @@ class Mag2Cb; @@ -10,12 +10,12 @@ class Mag2Cb;
class AP_Compass_UAVCAN : public AP_Compass_Backend {
public:
AP_Compass_UAVCAN(Compass &compass, AP_UAVCAN* ap_uavcan, uint8_t node_id, uint8_t sensor_id);
AP_Compass_UAVCAN(AP_UAVCAN* ap_uavcan, uint8_t node_id, uint8_t sensor_id);
void read(void) override;
static void subscribe_msgs(AP_UAVCAN* ap_uavcan);
static AP_Compass_Backend* probe(Compass& _frontend);
static AP_Compass_Backend* probe();
static void handle_magnetic_field(AP_UAVCAN* ap_uavcan, uint8_t node_id, const MagCb &cb);
static void handle_magnetic_field_2(AP_UAVCAN* ap_uavcan, uint8_t node_id, const Mag2Cb &cb);

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