/*
detect available backends for this board
*/
void Compass::_detect_backends(void)
{
if (_hil_mode) {
_add_backend(AP_Compass_HIL::detect(*this), nullptr, false);
return;
}
/*
macro to add a backend with check for too many backends or compass
instances. We don't try to start more than the maximum allowed
*/
#define ADD_BACKEND(backend, name, external) \
do { _add_backend(backend, name, external); \
if (_backend_count == COMPASS_MAX_BACKEND || \
_compass_count == COMPASS_MAX_INSTANCES) { \
return; \
} \
} while (0)
#if HAL_COMPASS_DEFAULT == HAL_COMPASS_HIL
ADD_BACKEND(AP_Compass_HIL::detect(*this), nullptr, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_PX4 || HAL_COMPASS_DEFAULT == HAL_COMPASS_VRBRAIN
switch (AP_BoardConfig::get_board_type()) {
case AP_BoardConfig::PX4_BOARD_PX4V1:
case AP_BoardConfig::PX4_BOARD_PIXHAWK:
case AP_BoardConfig::PX4_BOARD_PHMINI:
case AP_BoardConfig::PX4_BOARD_AUAV21:
case AP_BoardConfig::PX4_BOARD_PH2SLIM:
case AP_BoardConfig::PX4_BOARD_PIXHAWK2:
case AP_BoardConfig::PX4_BOARD_PIXRACER: {
bool both_i2c_external = (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2);
// external i2c bus
ADD_BACKEND(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);
// internal i2c bus
ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_HMC5843_I2C_ADDR),
both_i2c_external, both_i2c_external?ROTATION_ROLL_180:ROTATION_YAW_270),
AP_Compass_HMC5843::name, both_i2c_external);
#if !HAL_MINIMIZE_FEATURES
#if 0
// lis3mdl - this is disabled for now due to an errata on pixhawk2 GPS unit, pending investigation
ADD_BACKEND(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);
ADD_BACKEND(AP_Compass_LIS3MDL::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_LIS3MDL_I2C_ADDR),
both_i2c_external, both_i2c_external?ROTATION_YAW_90:ROTATION_NONE),
AP_Compass_LIS3MDL::name, both_i2c_external);
#endif
// AK09916
ADD_BACKEND(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);
ADD_BACKEND(AP_Compass_AK09916::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_AK09916_I2C_ADDR),
both_i2c_external, both_i2c_external?ROTATION_YAW_270:ROTATION_NONE),
AP_Compass_AK09916::name, both_i2c_external);
#endif // HAL_MINIMIZE_FEATURES
}
break;
case AP_BoardConfig::PX4_BOARD_AEROFC:
#ifdef HAL_COMPASS_IST8310_I2C_BUS
ADD_BACKEND(AP_Compass_IST8310::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_IST8310_I2C_BUS, HAL_COMPASS_IST8310_I2C_ADDR),
ROTATION_PITCH_180_YAW_90), AP_Compass_IST8310::name, true);
#endif
break;
default:
break;
}
switch (AP_BoardConfig::get_board_type()) {
case AP_BoardConfig::PX4_BOARD_PIXHAWK:
ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.spi->get_device(HAL_COMPASS_HMC5843_NAME),
false, ROTATION_PITCH_180),
AP_Compass_HMC5843::name, false);
ADD_BACKEND(AP_Compass_LSM303D::probe(*this, hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME)),
AP_Compass_LSM303D::name, false);
break;
case AP_BoardConfig::PX4_BOARD_PIXHAWK2:
ADD_BACKEND(AP_Compass_LSM303D::probe(*this, 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(AP_Compass_AK8963::probe_mpu9250(*this, 1, ROTATION_YAW_270),
AP_Compass_AK8963::name, false);
break;
case AP_BoardConfig::PX4_BOARD_PIXRACER:
ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.spi->get_device(HAL_COMPASS_HMC5843_NAME),
false, ROTATION_PITCH_180),
AP_Compass_HMC5843::name, false);
ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_ROLL_180_YAW_90),
AP_Compass_AK8963::name, false);
break;
case AP_BoardConfig::PX4_BOARD_PHMINI:
ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_ROLL_180),
AP_Compass_AK8963::name, false);
break;
case AP_BoardConfig::PX4_BOARD_AUAV21:
ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_ROLL_180_YAW_90),
AP_Compass_AK8963::name, false);
break;
case AP_BoardConfig::PX4_BOARD_PH2SLIM:
ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_YAW_270),
AP_Compass_AK8963::name, false);
break;
default:
break;
}
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_QURT
ADD_BACKEND(AP_Compass_QURT::detect(*this), nullptr, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_RASPILOT
ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true);
ADD_BACKEND(AP_Compass_LSM303D::probe(*this, hal.spi->get_device("lsm9ds0_am")),
AP_Compass_LSM303D::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BH
ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
AP_Compass_HMC5843::name, false);
ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 0), AP_Compass_AK8963::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_QFLIGHT
ADD_BACKEND(AP_Compass_QFLIGHT::detect(*this));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BBBMINI
ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true);
ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 0),
AP_Compass_AK8963::name, false);
ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 1),
AP_Compass_AK8963::name, true);
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
ADD_BACKEND(AP_Compass_HMC5843::probe_mpu6000(*this),
AP_Compass_HMC5843::name, false);
ADD_BACKEND(AP_Compass_HMC5843::probe(*this,
Linux::I2CDeviceManager::from(hal.i2c_mgr)->get_device(
{ /* UEFI with lpss set to ACPI */
"platform/80860F41:05",
/* UEFI with lpss set to PCI */
"pci0000:00/0000:00:18.6" },
HAL_COMPASS_HMC5843_I2C_ADDR),
true),
AP_Compass_HMC5843::name, true);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_NAVIO2
ADD_BACKEND(AP_Compass_LSM9DS1::probe(*this, hal.spi->get_device("lsm9ds1_m"), ROTATION_ROLL_180),
AP_Compass_LSM9DS1::name, false);
ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 0),
AP_Compass_AK8963::name, false);
ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_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(AP_Compass_AK8963::probe_mpu9250(*this, 0),
AP_Compass_AK8963::name, false);
ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_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(AP_Compass_AK8963::probe_mpu9250(*this, 0),
AP_Compass_AK8963::name, false);
ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_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(AP_Compass_AK8963::probe_mpu9250(*this, 0),
AP_Compass_AK8963::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HMC5843
ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
AP_Compass_HMC5843::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HMC5843_MPU6000
ADD_BACKEND(AP_Compass_HMC5843::probe_mpu6000(*this),
AP_Compass_HMC5843::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_I2C
ADD_BACKEND(AP_Compass_AK8963::probe(*this, hal.i2c_mgr->get_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(AP_Compass_AK8963::probe_mpu9250(*this, hal.i2c_mgr->get_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(AP_Compass_BMM150::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_BMM150_I2C_BUS, HAL_COMPASS_BMM150_I2C_ADDR)),
AP_Compass_BMM150::name, false);
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE
ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
AP_Compass_HMC5843::name, false);
ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 0),
AP_Compass_AK8963::name, false);
ADD_BACKEND(AP_Compass_LSM9DS1::probe(*this, hal.spi->get_device("lsm9ds1_m")),
AP_Compass_LSM9DS1::name, false);
#else
#error Unrecognised HAL_COMPASS_TYPE setting
#endif
#if HAL_WITH_UAVCAN
if ((AP_BoardConfig::get_can_enable() != 0) && (hal.can_mgr != nullptr))
{
if((_backend_count < COMPASS_MAX_BACKEND) && (_compass_count < COMPASS_MAX_INSTANCES))
{
printf("Creating AP_Compass_UAVCAN\n\r");
_backends[_backend_count] = new AP_Compass_UAVCAN(*this);
_backend_count++;
}
}
#endif
if (_backend_count == 0 ||
_compass_count == 0) {
hal.console->printf("No Compass backends available\n");
}
}
// add notify backends to _devices array
void AP_Notify::add_backends(void)
{
if (_num_devices != 0) {
return;
}
// Notify devices for PX4 boards
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_V3 // Has enough memory for Oreo LEDs
ADD_BACKEND(new AP_BoardLED());
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
ADD_BACKEND(new ToneAlarm_PX4());
ADD_BACKEND(new Display());
// Oreo LED enable/disable by NTF_OREO_THEME parameter
if (_oreo_theme) {
ADD_BACKEND(new OreoLED_PX4(_oreo_theme));
}
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_V4 // Has its own LED board
ADD_BACKEND(new PixRacerLED());
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
ADD_BACKEND(new ToneAlarm_PX4());
ADD_BACKEND(new Display());
#else // All other px4 boards use standard devices.
ADD_BACKEND(new AP_BoardLED());
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
ADD_BACKEND(new ToneAlarm_PX4());
ADD_BACKEND(new Display());
#endif
// Notify devices for ChibiOS boards
#elif CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
# ifdef HAL_HAVE_PIXRACER_LED
ADD_BACKEND(new PixRacerLED());
# elif (defined(HAL_GPIO_A_LED_PIN) && defined(HAL_GPIO_B_LED_PIN) && defined(HAL_GPIO_C_LED_PIN))
ADD_BACKEND(new AP_BoardLED());
#else
ADD_BACKEND(new AP_BoardLED2());
# endif
#ifdef HAL_BUZZER_PIN
ADD_BACKEND(new Buzzer());
#endif
#ifdef HAL_PWM_ALARM
ADD_BACKEND(new ToneAlarm_ChibiOS());
#endif
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
ADD_BACKEND(new Display());
// Notify devices for VRBRAIN boards
#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_VRBRAIN_V45 // Uses px4 LED board
ADD_BACKEND(new AP_BoardLED());
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
ADD_BACKEND(new ToneAlarm_PX4());
ADD_BACKEND(new ExternalLED());
#else
ADD_BACKEND(new VRBoard_LED());
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
ADD_BACKEND(new ToneAlarm_PX4());
ADD_BACKEND(new ExternalLED());
#endif
// Notify devices for linux boards
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
ADD_BACKEND(new AP_BoardLED());
ADD_BACKEND(new NavioLED_I2C());
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO2
ADD_BACKEND(new Led_Sysfs("rgb_led0", "rgb_led2", "rgb_led1"));
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_EDGE
ADD_BACKEND(new RCOutputRGBLedInverted(12, 13, 14));
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
ADD_BACKEND(new UAVCAN_RGB_LED(0));
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
ADD_BACKEND(new AP_BoardLED());
ADD_BACKEND(new Buzzer());
ADD_BACKEND(new Display());
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BLUE
ADD_BACKEND(new AP_BoardLED());
ADD_BACKEND(new Display());
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_POCKET
ADD_BACKEND(new AP_BoardLED());
ADD_BACKEND(new Buzzer());
ADD_BACKEND(new Display());
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI
ADD_BACKEND(new AP_BoardLED());
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BH
ADD_BACKEND(new AP_BoardLED());
ADD_BACKEND(new RCOutputRGBLed(HAL_RCOUT_RGBLED_RED, HAL_RCOUT_RGBLED_GREEN, HAL_RCOUT_RGBLED_BLUE));
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO
ADD_BACKEND(new DiscoLED());
ADD_BACKEND(new ToneAlarm_Linux());
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RST_ZYNQ
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
#else // other linux
ADD_BACKEND(new AP_BoardLED());
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
ADD_BACKEND(new ToneAlarm_Linux());
#endif
#elif CONFIG_HAL_BOARD == HAL_BOARD_F4LIGHT
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
ADD_BACKEND(new Display());
ADD_BACKEND(new Buzzer());
ADD_BACKEND(new AP_BoardLED2()); // needs AP_BoardLED2 in master
#else
ADD_BACKEND(new AP_BoardLED());
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_EXTERNAL));
ADD_BACKEND(new ToshibaLED_I2C(TOSHIBA_LED_I2C_BUS_INTERNAL));
ADD_BACKEND(new Display());
#endif
}
/*
initialise the barometer object, loading backend drivers
*/
void AP_Baro::init(void)
{
// ensure that there isn't a previous ground temperature saved
if (!is_zero(_user_ground_temperature)) {
_user_ground_temperature.set_and_save(0.0f);
_user_ground_temperature.notify();
}
if (_hil_mode) {
drivers[0] = new AP_Baro_HIL(*this);
_num_drivers = 1;
return;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
ADD_BACKEND(new AP_Baro_SITL(*this));
return;
#endif
#if HAL_WITH_UAVCAN
bool added;
do {
added = _add_backend(AP_Baro_UAVCAN::probe(*this));
if (_num_drivers == BARO_MAX_DRIVERS || _num_sensors == BARO_MAX_INSTANCES) {
return;
}
} while (added);
#endif
#if HAL_BARO_DEFAULT == HAL_BARO_PX4 || HAL_BARO_DEFAULT == HAL_BARO_VRBRAIN
switch (AP_BoardConfig::get_board_type()) {
case AP_BoardConfig::PX4_BOARD_PX4V1:
#ifdef HAL_BARO_MS5611_I2C_BUS
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.i2c_mgr->get_device(HAL_BARO_MS5611_I2C_BUS, HAL_BARO_MS5611_I2C_ADDR))));
#endif
break;
case AP_BoardConfig::PX4_BOARD_PIXHAWK:
case AP_BoardConfig::PX4_BOARD_PHMINI:
case AP_BoardConfig::PX4_BOARD_AUAV21:
case AP_BoardConfig::PX4_BOARD_PH2SLIM:
case AP_BoardConfig::PX4_BOARD_PIXHAWK_PRO:
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.spi->get_device(HAL_BARO_MS5611_NAME))));
break;
case AP_BoardConfig::PX4_BOARD_PIXHAWK2:
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.spi->get_device(HAL_BARO_MS5611_SPI_EXT_NAME))));
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.spi->get_device(HAL_BARO_MS5611_NAME))));
break;
case AP_BoardConfig::PX4_BOARD_PIXRACER:
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.spi->get_device(HAL_BARO_MS5611_SPI_INT_NAME))));
break;
case AP_BoardConfig::PX4_BOARD_AEROFC:
#ifdef HAL_BARO_MS5607_I2C_BUS
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.i2c_mgr->get_device(HAL_BARO_MS5607_I2C_BUS, HAL_BARO_MS5607_I2C_ADDR)),
AP_Baro_MS56XX::BARO_MS5607));
#endif
break;
default:
break;
}
#elif HAL_BARO_DEFAULT == HAL_BARO_HIL
drivers[0] = new AP_Baro_HIL(*this);
_num_drivers = 1;
#elif HAL_BARO_DEFAULT == HAL_BARO_BMP085
drivers[0] = new AP_Baro_BMP085(*this,
std::move(hal.i2c_mgr->get_device(HAL_BARO_BMP085_BUS, HAL_BARO_BMP085_I2C_ADDR)));
_num_drivers = 1;
#elif HAL_BARO_DEFAULT == HAL_BARO_BMP280_I2C
ADD_BACKEND(AP_Baro_BMP280::probe(*this,
std::move(hal.i2c_mgr->get_device(HAL_BARO_BMP280_BUS, HAL_BARO_BMP280_I2C_ADDR))));
#elif HAL_BARO_DEFAULT == HAL_BARO_BMP280_SPI
ADD_BACKEND(AP_Baro_BMP280::probe(*this,
std::move(hal.spi->get_device(HAL_BARO_BMP280_NAME))));
#elif HAL_BARO_DEFAULT == HAL_BARO_MS5611_I2C
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.i2c_mgr->get_device(HAL_BARO_MS5611_I2C_BUS, HAL_BARO_MS5611_I2C_ADDR))));
#elif HAL_BARO_DEFAULT == HAL_BARO_MS5611_SPI
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.spi->get_device(HAL_BARO_MS5611_NAME))));
#elif HAL_BARO_DEFAULT == HAL_BARO_MS5607_I2C
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.i2c_mgr->get_device(HAL_BARO_MS5607_I2C_BUS, HAL_BARO_MS5607_I2C_ADDR)),
AP_Baro_MS56XX::BARO_MS5607));
#elif HAL_BARO_DEFAULT == HAL_BARO_MS5637_I2C
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.i2c_mgr->get_device(HAL_BARO_MS5637_I2C_BUS, HAL_BARO_MS5637_I2C_ADDR)),
AP_Baro_MS56XX::BARO_MS5637));
#elif HAL_BARO_DEFAULT == HAL_BARO_QFLIGHT
drivers[0] = new AP_Baro_QFLIGHT(*this);
_num_drivers = 1;
#elif HAL_BARO_DEFAULT == HAL_BARO_QURT
drivers[0] = new AP_Baro_QURT(*this);
_num_drivers = 1;
#elif HAL_BARO_DEFAULT == HAL_BARO_LPS25H
ADD_BACKEND(AP_Baro_LPS25H::probe(*this,
std::move(hal.i2c_mgr->get_device(HAL_BARO_LPS25H_I2C_BUS, HAL_BARO_LPS25H_I2C_ADDR))));
#endif
// can optionally have baro on I2C too
if (_ext_bus >= 0) {
#if APM_BUILD_TYPE(APM_BUILD_ArduSub)
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.i2c_mgr->get_device(_ext_bus, HAL_BARO_MS5837_I2C_ADDR)), AP_Baro_MS56XX::BARO_MS5837));
ADD_BACKEND(AP_Baro_KellerLD::probe(*this,
std::move(hal.i2c_mgr->get_device(_ext_bus, HAL_BARO_KELLERLD_I2C_ADDR))));
#else
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.i2c_mgr->get_device(_ext_bus, HAL_BARO_MS5611_I2C_ADDR))));
#endif
}
if (_num_drivers == 0 || _num_sensors == 0 || drivers[0] == nullptr) {
AP_BoardConfig::sensor_config_error("Baro: unable to initialise driver");
}
}
/*
initialise the barometer object, loading backend drivers
*/
void AP_Baro::init(void)
{
// ensure that there isn't a previous ground temperature saved
if (!is_zero(_user_ground_temperature)) {
_user_ground_temperature.set_and_save(0.0f);
_user_ground_temperature.notify();
}
if (_hil_mode) {
drivers[0] = new AP_Baro_HIL(*this);
_num_drivers = 1;
return;
}
#if HAL_BARO_DEFAULT == HAL_BARO_PX4 || HAL_BARO_DEFAULT == HAL_BARO_VRBRAIN
switch (AP_BoardConfig::get_board_type()) {
case AP_BoardConfig::PX4_BOARD_PX4V1:
#ifdef HAL_BARO_MS5611_I2C_BUS
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.i2c_mgr->get_device(HAL_BARO_MS5611_I2C_BUS, HAL_BARO_MS5611_I2C_ADDR))));
#endif
break;
case AP_BoardConfig::PX4_BOARD_PIXHAWK:
case AP_BoardConfig::PX4_BOARD_PHMINI:
case AP_BoardConfig::PX4_BOARD_AUAV21:
case AP_BoardConfig::PX4_BOARD_PH2SLIM:
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.spi->get_device(HAL_BARO_MS5611_NAME))));
break;
case AP_BoardConfig::PX4_BOARD_PIXHAWK2:
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.spi->get_device(HAL_BARO_MS5611_SPI_EXT_NAME))));
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.spi->get_device(HAL_BARO_MS5611_NAME))));
break;
case AP_BoardConfig::PX4_BOARD_PIXRACER:
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.spi->get_device(HAL_BARO_MS5611_SPI_INT_NAME))));
break;
case AP_BoardConfig::PX4_BOARD_AEROFC:
#ifdef HAL_BARO_MS5607_I2C_BUS
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.i2c_mgr->get_device(HAL_BARO_MS5607_I2C_BUS, HAL_BARO_MS5607_I2C_ADDR)),
AP_Baro_MS56XX::BARO_MS5607));
#endif
break;
default:
break;
}
#elif HAL_BARO_DEFAULT == HAL_BARO_HIL
drivers[0] = new AP_Baro_HIL(*this);
_num_drivers = 1;
#elif HAL_BARO_DEFAULT == HAL_BARO_BMP085
drivers[0] = new AP_Baro_BMP085(*this,
std::move(hal.i2c_mgr->get_device(HAL_BARO_BMP085_BUS, HAL_BARO_BMP085_I2C_ADDR)));
_num_drivers = 1;
#elif HAL_BARO_DEFAULT == HAL_BARO_BMP280_I2C
ADD_BACKEND(AP_Baro_BMP280::probe(*this,
std::move(hal.i2c_mgr->get_device(HAL_BARO_BMP280_BUS, HAL_BARO_BMP280_I2C_ADDR))));
#elif HAL_BARO_DEFAULT == HAL_BARO_BMP280_SPI
ADD_BACKEND(AP_Baro_BMP280::probe(*this,
std::move(hal.spi->get_device(HAL_BARO_BMP280_NAME))));
#elif HAL_BARO_DEFAULT == HAL_BARO_MS5611_I2C
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.i2c_mgr->get_device(HAL_BARO_MS5611_I2C_BUS, HAL_BARO_MS5611_I2C_ADDR))));
#elif HAL_BARO_DEFAULT == HAL_BARO_MS5611_SPI
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.spi->get_device(HAL_BARO_MS5611_NAME))));
#elif HAL_BARO_DEFAULT == HAL_BARO_MS5607_I2C
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.i2c_mgr->get_device(HAL_BARO_MS5607_I2C_BUS, HAL_BARO_MS5607_I2C_ADDR)),
AP_Baro_MS56XX::BARO_MS5607));
#elif HAL_BARO_DEFAULT == HAL_BARO_MS5637_I2C
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.i2c_mgr->get_device(HAL_BARO_MS5637_I2C_BUS, HAL_BARO_MS5637_I2C_ADDR)),
AP_Baro_MS56XX::BARO_MS5637));
#elif HAL_BARO_DEFAULT == HAL_BARO_QFLIGHT
drivers[0] = new AP_Baro_QFLIGHT(*this);
_num_drivers = 1;
#elif HAL_BARO_DEFAULT == HAL_BARO_QURT
drivers[0] = new AP_Baro_QURT(*this);
_num_drivers = 1;
#endif
// can optionally have baro on I2C too
if (_ext_bus >= 0) {
#if APM_BUILD_TYPE(APM_BUILD_ArduSub)
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.i2c_mgr->get_device(_ext_bus, HAL_BARO_MS5837_I2C_ADDR)), AP_Baro_MS56XX::BARO_MS5837));
#else
ADD_BACKEND(AP_Baro_MS56XX::probe(*this,
std::move(hal.i2c_mgr->get_device(_ext_bus, HAL_BARO_MS5611_I2C_ADDR))));
#endif
}
#if HAL_WITH_UAVCAN
// If there is place left - allocate one UAVCAN based baro
if ((AP_BoardConfig::get_can_enable() != 0) && (hal.can_mgr != nullptr))
{
if(_num_drivers < BARO_MAX_DRIVERS && _num_sensors < BARO_MAX_INSTANCES)
{
printf("Creating AP_Baro_UAVCAN\n\r");
drivers[_num_drivers] = new AP_Baro_UAVCAN(*this);
_num_drivers++;
}
}
#endif
if (_num_drivers == 0 || _num_sensors == 0 || drivers[0] == nullptr) {
AP_HAL::panic("Baro: unable to initialise driver");
}
}