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AP_Compass: use I2C bus masks 

this allows for external compasses on all external I2C ports, while
retaining existing device ordering
master
Andrew Tridgell 7 years ago
parent
6bf3dea5e7
commit
8fd69250bd
1 changed files with 37 additions and 23 deletions
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  1. 60
      libraries/AP_Compass/AP_Compass.cpp

60
libraries/AP_Compass/AP_Compass.cpp
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@ -578,9 +578,11 @@ void Compass::_detect_backends(void) @@ -578,9 +578,11 @@ void Compass::_detect_backends(void)
case AP_BoardConfig::PX4_BOARD_PIXHAWK_PRO:{
bool both_i2c_external = (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2);
// external i2c bus
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_HMC5843_I2C_ADDR),
true, ROTATION_ROLL_180),
AP_Compass_HMC5843::name, true);
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(i, HAL_COMPASS_HMC5843_I2C_ADDR),
true, ROTATION_ROLL_180),
AP_Compass_HMC5843::name, true);
}
if (AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_MINDPXV2) {
// internal i2c bus
@ -590,9 +592,11 @@ void Compass::_detect_backends(void) @@ -590,9 +592,11 @@ void Compass::_detect_backends(void)
}
//external i2c bus
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_QMC5883L_I2C_ADDR),
true,ROTATION_ROLL_180),
AP_Compass_QMC5883L::name, true);
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, hal.i2c_mgr->get_device(i, HAL_COMPASS_QMC5883L_I2C_ADDR),
true,ROTATION_ROLL_180),
AP_Compass_QMC5883L::name, true);
}
//internal i2c bus
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_QMC5883L_I2C_ADDR),
both_i2c_external, both_i2c_external?ROTATION_ROLL_180:ROTATION_ROLL_180_YAW_270),
@ -600,11 +604,13 @@ void Compass::_detect_backends(void) @@ -600,11 +604,13 @@ void Compass::_detect_backends(void)
#if !HAL_MINIMIZE_FEATURES
// AK09916 on ICM20948
ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948(*this,
hal.i2c_mgr->get_device(1, HAL_COMPASS_AK09916_I2C_ADDR),
hal.i2c_mgr->get_device(1, HAL_COMPASS_ICM20948_I2C_ADDR),
true, ROTATION_PITCH_180_YAW_90),
AP_Compass_AK09916::name, true);
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948(*this,
hal.i2c_mgr->get_device(i, HAL_COMPASS_AK09916_I2C_ADDR),
hal.i2c_mgr->get_device(i, HAL_COMPASS_ICM20948_I2C_ADDR),
true, ROTATION_PITCH_180_YAW_90),
AP_Compass_AK09916::name, true);
}
ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948(*this,
hal.i2c_mgr->get_device(0, HAL_COMPASS_AK09916_I2C_ADDR),
@ -623,20 +629,26 @@ void Compass::_detect_backends(void) @@ -623,20 +629,26 @@ void Compass::_detect_backends(void)
AP_Compass_LIS3MDL::name, both_i2c_external);
// external lis3mdl on bus 1 with default address
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);
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, hal.i2c_mgr->get_device(i, HAL_COMPASS_LIS3MDL_I2C_ADDR),
true, ROTATION_YAW_90),
AP_Compass_LIS3MDL::name, true);
}
// external lis3mdl on bus 1 with alternate 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);
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(*this, hal.i2c_mgr->get_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
if (!_have_driver(AP_HAL::Device::BUS_TYPE_I2C, 1, HAL_COMPASS_AK09916_I2C_ADDR, AP_Compass_Backend::DEVTYPE_ICM20948)) {
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_AK09916_I2C_ADDR),
true, ROTATION_YAW_270),
AP_Compass_AK09916::name, true);
FOREACH_I2C_EXTERNAL(i) {
if (!_have_driver(AP_HAL::Device::BUS_TYPE_I2C, i, HAL_COMPASS_AK09916_I2C_ADDR, AP_Compass_Backend::DEVTYPE_ICM20948)) {
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(*this, hal.i2c_mgr->get_device(i, HAL_COMPASS_AK09916_I2C_ADDR),
true, ROTATION_YAW_270),
AP_Compass_AK09916::name, true);
}
}
if (!_have_driver(AP_HAL::Device::BUS_TYPE_I2C, 0, HAL_COMPASS_AK09916_I2C_ADDR, AP_Compass_Backend::DEVTYPE_ICM20948)) {
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_AK09916_I2C_ADDR),
@ -645,8 +657,10 @@ void Compass::_detect_backends(void) @@ -645,8 +657,10 @@ void Compass::_detect_backends(void)
}
// IST8310 on external and internal bus
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_IST8310_I2C_ADDR),
true, ROTATION_PITCH_180), AP_Compass_IST8310::name, true);
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, hal.i2c_mgr->get_device(i, HAL_COMPASS_IST8310_I2C_ADDR),
true, ROTATION_PITCH_180), AP_Compass_IST8310::name, true);
}
if (AP_BoardConfig::get_board_type() != AP_BoardConfig::PX4_BOARD_FMUV5) {
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_IST8310_I2C_ADDR),

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