/*
detect available backends for this board
*/
void Compass::_detect_backends(void)
{
if (_hil_mode) {
_add_backend(AP_Compass_HIL::detect(*this));
return;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
_add_backend(AP_Compass_HMC5843::detect_i2c(*this, hal.i2c));
_add_backend(AP_Compass_LSM303D::detect_spi(*this));
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE && CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_BEBOP
_add_backend(AP_Compass_HMC5843::detect_i2c(*this, hal.i2c));
_add_backend(AP_Compass_AK8963::detect_mpu9250(*this, hal.spi->device(AP_HAL::SPIDevice_MPU9250)));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HIL
_add_backend(AP_Compass_HIL::detect(*this));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HMC5843
_add_backend(AP_Compass_HMC5843::detect_i2c(*this, hal.i2c));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HMC5843_MPU6000
_add_backend(AP_Compass_HMC5843::detect_mpu6000(*this));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_I2C && HAL_INS_AK8963_I2C_BUS == 1
_add_backend(AP_Compass_AK8963::detect_i2c(*this, hal.i2c1,
HAL_COMPASS_AK8963_I2C_ADDR));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_PX4 || HAL_COMPASS_DEFAULT == HAL_COMPASS_VRBRAIN
_add_backend(AP_Compass_PX4::detect(*this));
#else
#error Unrecognised HAL_COMPASS_TYPE setting
#endif
if (_backend_count == 0 ||
_compass_count == 0) {
hal.console->println_P(PSTR("No Compass backends available"));
}
}
/*
detect available backends for this board
*/
void
AP_InertialSensor::_detect_backends(void)
{
#if HAL_INS_DEFAULT == HAL_INS_HIL
_add_backend(AP_InertialSensor_HIL::detect);
#elif HAL_INS_DEFAULT == HAL_INS_MPU6000
_add_backend(AP_InertialSensor_MPU6000::detect);
#elif HAL_INS_DEFAULT == HAL_INS_PX4 || HAL_INS_DEFAULT == HAL_INS_VRBRAIN
_add_backend(AP_InertialSensor_PX4::detect);
#elif HAL_INS_DEFAULT == HAL_INS_OILPAN
_add_backend(AP_InertialSensor_Oilpan::detect);
#elif HAL_INS_DEFAULT == HAL_INS_MPU9250
_add_backend(AP_InertialSensor_MPU9250::detect);
#elif HAL_INS_DEFAULT == HAL_INS_FLYMAPLE
_add_backend(AP_InertialSensor_Flymaple::detect);
#else
#error Unrecognised HAL_INS_TYPE setting
#endif
#if 0 // disabled due to broken hardware on some PXF capes
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF
// the PXF also has a MPU6000
_add_backend(AP_InertialSensor_MPU6000::detect);
#endif
#endif
if (_backend_count == 0 ||
_gyro_count == 0 ||
_accel_count == 0) {
hal.scheduler->panic(PSTR("No INS backends available"));
}
// set the product ID to the ID of the first backend
_product_id.set(_backends[0]->product_id());
}
/*
detect available backends for this board
*/
void
Compass::_detect_backends(void)
{
if (_hil_mode) {
_add_backend(AP_Compass_HIL::detect);
return;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE
_add_backend(AP_Compass_HMC5843::detect);
_add_backend(AP_Compass_AK8963_MPU9250::detect);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HIL
_add_backend(AP_Compass_HIL::detect);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HMC5843
_add_backend(AP_Compass_HMC5843::detect);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_PX4 || HAL_COMPASS_DEFAULT == HAL_COMPASS_VRBRAIN
_add_backend(AP_Compass_PX4::detect);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_MPU9250
_add_backend(AP_Compass_AK8963_MPU9250::detect);
#else
#error Unrecognised HAL_COMPASS_TYPE setting
#endif
if (_backend_count == 0 ||
_compass_count == 0) {
hal.scheduler->panic(PSTR("No Compass backends available"));
}
}
/*
detect if an instance of a rangefinder is connected.
*/
void RangeFinder::detect_instance(uint8_t instance)
{
uint8_t type = _type[instance];
switch (type) {
case RangeFinder_TYPE_PLI2C:
if (!_add_backend(AP_RangeFinder_PulsedLightLRF::detect(0, *this, instance, state[instance]))) {
_add_backend(AP_RangeFinder_PulsedLightLRF::detect(1, *this, instance, state[instance]));
}
break;
case RangeFinder_TYPE_MBI2C:
_add_backend(AP_RangeFinder_MaxsonarI2CXL::detect(*this, instance, state[instance]));
break;
case RangeFinder_TYPE_LWI2C:
if (_address[instance]) {
_add_backend(AP_RangeFinder_LightWareI2C::detect(*this, instance, state[instance],
hal.i2c_mgr->get_device(HAL_RANGEFINDER_LIGHTWARE_I2C_BUS, _address[instance])));
}
break;
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
case RangeFinder_TYPE_PX4:
if (AP_RangeFinder_PX4::detect(*this, instance)) {
state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_PX4(*this, instance, state[instance]);
}
break;
case RangeFinder_TYPE_PX4_PWM:
if (AP_RangeFinder_PX4_PWM::detect(*this, instance)) {
state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_PX4_PWM(*this, instance, state[instance]);
}
break;
#endif
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
case RangeFinder_TYPE_BBB_PRU:
if (AP_RangeFinder_BBB_PRU::detect(*this, instance)) {
state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_BBB_PRU(*this, instance, state[instance]);
}
break;
#endif
case RangeFinder_TYPE_LWSER:
if (AP_RangeFinder_LightWareSerial::detect(*this, instance, serial_manager)) {
state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_LightWareSerial(*this, instance, state[instance], serial_manager);
}
break;
case RangeFinder_TYPE_LEDDARONE:
if (AP_RangeFinder_LeddarOne::detect(*this, instance, serial_manager)) {
state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_LeddarOne(*this, instance, state[instance], serial_manager);
}
break;
case RangeFinder_TYPE_ULANDING:
if (AP_RangeFinder_uLanding::detect(*this, instance, serial_manager)) {
state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_uLanding(*this, instance, state[instance], serial_manager);
}
break;
#if (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO) && defined(HAVE_LIBIIO)
case RangeFinder_TYPE_BEBOP:
if (AP_RangeFinder_Bebop::detect(*this, instance)) {
state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_Bebop(*this, instance, state[instance]);
}
break;
#endif
case RangeFinder_TYPE_MAVLink:
if (AP_RangeFinder_MAVLink::detect(*this, instance)) {
state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_MAVLink(*this, instance, state[instance]);
}
break;
case RangeFinder_TYPE_MBSER:
if (AP_RangeFinder_MaxsonarSerialLV::detect(*this, instance, serial_manager)) {
state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_MaxsonarSerialLV(*this, instance, state[instance], serial_manager);
}
break;
case RangeFinder_TYPE_ANALOG:
// note that analog will always come back as present if the pin is valid
if (AP_RangeFinder_analog::detect(*this, instance)) {
state[instance].instance = instance;
drivers[instance] = new AP_RangeFinder_analog(*this, instance, state[instance]);
}
break;
default:
break;
}
}
/*
detect available backends for this board
*/
void Compass::_detect_backends(void)
{
if (_hil_mode) {
_add_backend(AP_Compass_HIL::detect(*this));
return;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
_add_backend(AP_Compass_HMC5843::detect_i2c(*this, hal.i2c));
_add_backend(AP_Compass_LSM303D::detect_spi(*this));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BH
// detect_mpu9250() failed will cause panic if no actual mpu9250 backend,
// in BH, only one compass should be detected
AP_Compass_Backend *backend = AP_Compass_HMC5843::detect_i2c(*this, hal.i2c);
if (backend) {
_add_backend(backend);
} else {
_add_backend(AP_Compass_AK8963::detect_mpu9250(*this, 0));
}
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && \
CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE && \
CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_BEBOP && \
CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_QFLIGHT && \
CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_MINLURE
_add_backend(AP_Compass_HMC5843::detect_i2c(*this, hal.i2c));
_add_backend(AP_Compass_AK8963::detect_mpu9250(*this, 0));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HIL
_add_backend(AP_Compass_HIL::detect(*this));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HMC5843
_add_backend(AP_Compass_HMC5843::detect_i2c(*this, hal.i2c));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HMC5843_MPU6000
_add_backend(AP_Compass_HMC5843::detect_mpu6000(*this));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_I2C && HAL_INS_AK8963_I2C_BUS == 1
_add_backend(AP_Compass_AK8963::detect_i2c(*this, hal.i2c1,
HAL_COMPASS_AK8963_I2C_ADDR));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_MPU9250_I2C
_add_backend(AP_Compass_AK8963::detect_mpu9250_i2c(*this, HAL_COMPASS_AK8963_I2C_POINTER,
HAL_COMPASS_AK8963_I2C_ADDR));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_PX4 || HAL_COMPASS_DEFAULT == HAL_COMPASS_VRBRAIN
_add_backend(AP_Compass_PX4::detect(*this));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_MPU9250
_add_backend(AP_Compass_AK8963::detect_mpu9250(*this, 0));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_QFLIGHT
_add_backend(AP_Compass_QFLIGHT::detect(*this));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_QURT
_add_backend(AP_Compass_QURT::detect(*this));
#else
#error Unrecognised HAL_COMPASS_TYPE setting
#endif
if (_backend_count == 0 ||
_compass_count == 0) {
hal.console->println("No Compass backends available");
}
}
/*
detect if an instance of a rangefinder is connected.
*/
void RangeFinder::detect_instance(uint8_t instance, uint8_t& serial_instance)
{
enum RangeFinder_Type _type = (enum RangeFinder_Type)state[instance].type.get();
switch (_type) {
case RangeFinder_TYPE_PLI2C:
case RangeFinder_TYPE_PLI2CV3:
if (!_add_backend(AP_RangeFinder_PulsedLightLRF::detect(1, state[instance], _type))) {
_add_backend(AP_RangeFinder_PulsedLightLRF::detect(0, state[instance], _type));
}
break;
case RangeFinder_TYPE_MBI2C:
if (!_add_backend(AP_RangeFinder_MaxsonarI2CXL::detect(state[instance],
hal.i2c_mgr->get_device(1, AP_RANGE_FINDER_MAXSONARI2CXL_DEFAULT_ADDR)))) {
_add_backend(AP_RangeFinder_MaxsonarI2CXL::detect(state[instance],
hal.i2c_mgr->get_device(0, AP_RANGE_FINDER_MAXSONARI2CXL_DEFAULT_ADDR)));
}
break;
case RangeFinder_TYPE_LWI2C:
if (state[instance].address) {
#ifdef HAL_RANGEFINDER_LIGHTWARE_I2C_BUS
_add_backend(AP_RangeFinder_LightWareI2C::detect(state[instance],
hal.i2c_mgr->get_device(HAL_RANGEFINDER_LIGHTWARE_I2C_BUS, state[instance].address)));
#else
if (!_add_backend(AP_RangeFinder_LightWareI2C::detect(state[instance],
hal.i2c_mgr->get_device(1, state[instance].address)))) {
_add_backend(AP_RangeFinder_LightWareI2C::detect(state[instance],
hal.i2c_mgr->get_device(0, state[instance].address)));
}
#endif
}
break;
case RangeFinder_TYPE_TRI2C:
if (state[instance].address) {
if (!_add_backend(AP_RangeFinder_TeraRangerI2C::detect(state[instance],
hal.i2c_mgr->get_device(1, state[instance].address)))) {
_add_backend(AP_RangeFinder_TeraRangerI2C::detect(state[instance],
hal.i2c_mgr->get_device(0, state[instance].address)));
}
}
break;
case RangeFinder_TYPE_VL53L0X:
if (!_add_backend(AP_RangeFinder_VL53L0X::detect(state[instance],
hal.i2c_mgr->get_device(1, 0x29)))) {
_add_backend(AP_RangeFinder_VL53L0X::detect(state[instance],
hal.i2c_mgr->get_device(0, 0x29)));
}
break;
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
case RangeFinder_TYPE_PX4_PWM:
if (AP_RangeFinder_PX4_PWM::detect()) {
drivers[instance] = new AP_RangeFinder_PX4_PWM(state[instance], _powersave_range, estimated_terrain_height);
}
break;
#endif
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
case RangeFinder_TYPE_BBB_PRU:
if (AP_RangeFinder_BBB_PRU::detect()) {
drivers[instance] = new AP_RangeFinder_BBB_PRU(state[instance]);
}
break;
#endif
case RangeFinder_TYPE_LWSER:
if (AP_RangeFinder_LightWareSerial::detect(serial_manager, serial_instance)) {
drivers[instance] = new AP_RangeFinder_LightWareSerial(state[instance], serial_manager, serial_instance++);
}
break;
case RangeFinder_TYPE_LEDDARONE:
if (AP_RangeFinder_LeddarOne::detect(serial_manager, serial_instance)) {
drivers[instance] = new AP_RangeFinder_LeddarOne(state[instance], serial_manager, serial_instance++);
}
break;
case RangeFinder_TYPE_ULANDING:
if (AP_RangeFinder_uLanding::detect(serial_manager, serial_instance)) {
drivers[instance] = new AP_RangeFinder_uLanding(state[instance], serial_manager, serial_instance++);
}
break;
#if (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_DISCO) && defined(HAVE_LIBIIO)
case RangeFinder_TYPE_BEBOP:
if (AP_RangeFinder_Bebop::detect()) {
drivers[instance] = new AP_RangeFinder_Bebop(state[instance]);
}
break;
#endif
case RangeFinder_TYPE_MAVLink:
if (AP_RangeFinder_MAVLink::detect()) {
drivers[instance] = new AP_RangeFinder_MAVLink(state[instance]);
}
break;
case RangeFinder_TYPE_MBSER:
if (AP_RangeFinder_MaxsonarSerialLV::detect(serial_manager, serial_instance)) {
drivers[instance] = new AP_RangeFinder_MaxsonarSerialLV(state[instance], serial_manager, serial_instance++);
}
break;
case RangeFinder_TYPE_ANALOG:
// note that analog will always come back as present if the pin is valid
if (AP_RangeFinder_analog::detect(state[instance])) {
drivers[instance] = new AP_RangeFinder_analog(state[instance]);
}
break;
case RangeFinder_TYPE_NMEA:
if (AP_RangeFinder_NMEA::detect(serial_manager, serial_instance)) {
drivers[instance] = new AP_RangeFinder_NMEA(state[instance], serial_manager, serial_instance++);
}
break;
case RangeFinder_TYPE_WASP:
if (AP_RangeFinder_Wasp::detect(serial_manager, serial_instance)) {
drivers[instance] = new AP_RangeFinder_Wasp(state[instance], serial_manager, serial_instance++);
}
break;
case RangeFinder_TYPE_BenewakeTF02:
if (AP_RangeFinder_Benewake::detect(serial_manager, serial_instance)) {
drivers[instance] = new AP_RangeFinder_Benewake(state[instance], serial_manager, serial_instance++, AP_RangeFinder_Benewake::BENEWAKE_TF02);
}
break;
case RangeFinder_TYPE_BenewakeTFmini:
if (AP_RangeFinder_Benewake::detect(serial_manager, serial_instance)) {
drivers[instance] = new AP_RangeFinder_Benewake(state[instance], serial_manager, serial_instance++, AP_RangeFinder_Benewake::BENEWAKE_TFmini);
}
break;
default:
break;
}
// if the backend has some local parameters then make those available in the tree
if (drivers[instance] && state[instance].var_info) {
backend_var_info[instance] = state[instance].var_info;
AP_Param::load_object_from_eeprom(drivers[instance], backend_var_info[instance]);
}
}
/*
detect available backends for this board
*/
void
AP_InertialSensor::detect_backends(void)
{
if (_backends_detected)
return;
_backends_detected = true;
if (_hil_mode) {
_add_backend(AP_InertialSensor_HIL::detect(*this));
return;
}
#if HAL_INS_DEFAULT == HAL_INS_HIL
_add_backend(AP_InertialSensor_HIL::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_MPU60XX_SPI
_add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME)));
#elif HAL_INS_DEFAULT == HAL_INS_MPU60XX_I2C
_add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.i2c_mgr->get_device(HAL_INS_MPU60x0_I2C_BUS, HAL_INS_MPU60x0_I2C_ADDR)));
#elif HAL_INS_DEFAULT == HAL_INS_BH
_add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.i2c_mgr->get_device(HAL_INS_MPU60x0_I2C_BUS, HAL_INS_MPU60x0_I2C_ADDR)));
_add_backend(AP_InertialSensor_MPU9250::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME)));
#elif HAL_INS_DEFAULT == HAL_INS_PX4 || HAL_INS_DEFAULT == HAL_INS_VRBRAIN
_add_backend(AP_InertialSensor_PX4::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_MPU9250_SPI
_add_backend(AP_InertialSensor_MPU9250::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME)));
#elif HAL_INS_DEFAULT == HAL_INS_FLYMAPLE
_add_backend(AP_InertialSensor_Flymaple::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_LSM9DS0
_add_backend(AP_InertialSensor_LSM9DS0::probe(*this,
hal.spi->get_device(HAL_INS_LSM9DS0_G_NAME),
hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME)));
#elif HAL_INS_DEFAULT == HAL_INS_L3G4200D
_add_backend(AP_InertialSensor_L3G4200D::probe(*this, hal.i2c_mgr->get_device(HAL_INS_L3G4200D_I2C_BUS, HAL_INS_L3G4200D_I2C_ADDR));
#elif HAL_INS_DEFAULT == HAL_INS_RASPILOT
_add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME)));
_add_backend(AP_InertialSensor_LSM9DS0::probe(*this,
hal.spi->get_device(HAL_INS_LSM9DS0_G_NAME),
hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME)));
#elif HAL_INS_DEFAULT == HAL_INS_MPU9250_I2C
_add_backend(AP_InertialSensor_MPU9250::probe(*this, hal.i2c_mgr->get_device(HAL_INS_MPU9250_I2C_BUS, HAL_INS_MPU9250_I2C_ADDR));
#elif HAL_INS_DEFAULT == HAL_INS_QFLIGHT
_add_backend(AP_InertialSensor_QFLIGHT::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_QURT
_add_backend(AP_InertialSensor_QURT::detect(*this));
#else
#error Unrecognised HAL_INS_TYPE setting
#endif
if (_backend_count == 0) {
AP_HAL::panic("No INS backends available");
}
// set the product ID to the ID of the first backend
_product_id.set(_backends[0]->product_id());
}
/*
detect available backends for this board
*/
void
AP_InertialSensor::detect_backends(void)
{
if (_backends_detected)
return;
_backends_detected = true;
if (_hil_mode) {
_add_backend(AP_InertialSensor_HIL::detect(*this));
return;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
_add_backend(AP_InertialSensor_SITL::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_HIL
_add_backend(AP_InertialSensor_HIL::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_MPU60XX_SPI
_add_backend(AP_InertialSensor_MPU6000::detect_spi(*this));
#elif HAL_INS_DEFAULT == HAL_INS_BH
_add_backend(AP_InertialSensor_MPU6000::detect_i2c(*this, hal.i2c, HAL_INS_MPU60XX_I2C_ADDR));
_add_backend(AP_InertialSensor_MPU9250::detect(*this, hal.spi->device(AP_HAL::SPIDevice_MPU9250)));
#elif HAL_INS_DEFAULT == HAL_INS_MPU60XX_I2C && HAL_INS_MPU60XX_I2C_BUS == 2
_add_backend(AP_InertialSensor_MPU6000::detect_i2c(*this, hal.i2c2, HAL_INS_MPU60XX_I2C_ADDR));
#elif HAL_INS_DEFAULT == HAL_INS_PX4 || HAL_INS_DEFAULT == HAL_INS_VRBRAIN
_add_backend(AP_InertialSensor_PX4::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_MPU9250
_add_backend(AP_InertialSensor_MPU9250::detect(*this, hal.spi->device(AP_HAL::SPIDevice_MPU9250)));
#elif HAL_INS_DEFAULT == HAL_INS_FLYMAPLE
_add_backend(AP_InertialSensor_Flymaple::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_LSM9DS0
_add_backend(AP_InertialSensor_LSM9DS0::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_L3G4200D
_add_backend(AP_InertialSensor_L3G4200D::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_RASPILOT
//_add_backend(AP_InertialSensor_L3GD20::detect);
//_add_backend(AP_InertialSensor_LSM303D::detect);
_add_backend(AP_InertialSensor_MPU6000::detect_spi(*this));
#elif HAL_INS_DEFAULT == HAL_INS_MPU9250_I2C
_add_backend(AP_InertialSensor_MPU9250::detect_i2c(*this,
HAL_INS_MPU9250_I2C_POINTER,
HAL_INS_MPU9250_I2C_ADDR));
#elif HAL_INS_DEFAULT == HAL_INS_QFLIGHT
_add_backend(AP_InertialSensor_QFLIGHT::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_QURT
_add_backend(AP_InertialSensor_QURT::detect(*this));
#else
#error Unrecognised HAL_INS_TYPE setting
#endif
if (_backend_count == 0) {
AP_HAL::panic("No INS backends available");
}
// set the product ID to the ID of the first backend
_product_id.set(_backends[0]->product_id());
}
/*
detect available backends for this board
*/
void Compass::_detect_backends(void)
{
if (_hil_mode) {
_add_backend(AP_Compass_HIL::detect(*this), nullptr, false);
return;
}
#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
_add_backend(AP_Compass_PX4::detect(*this), nullptr, false);
#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
// In BH, only one compass should be detected
bool ret = _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);
if (!ret) {
_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_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);
_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 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 (_backend_count == 0 ||
_compass_count == 0) {
hal.console->println("No Compass backends available");
}
}
/*
detect available backends for this board
*/
void Compass::_detect_backends(void)
{
if (_hil_mode) {
_add_backend(AP_Compass_HIL::detect(*this));
return;
}
#if HAL_COMPASS_DEFAULT == HAL_COMPASS_HIL
_add_backend(AP_Compass_HIL::detect(*this));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_PX4 || HAL_COMPASS_DEFAULT == HAL_COMPASS_VRBRAIN
_add_backend(AP_Compass_PX4::detect(*this));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_QURT
_add_backend(AP_Compass_QURT::detect(*this));
#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));
_add_backend(AP_Compass_LSM303D::probe(*this, hal.spi->get_device("lsm9ds0_am")));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BH
// detect_mpu9250() failed will cause panic if no actual mpu9250 backend,
// in BH, only one compass should be detected
AP_Compass_Backend *backend = AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR));
if (backend) {
_add_backend(backend);
} else {
_add_backend(AP_Compass_AK8963::probe_mpu9250(*this, 0));
}
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_QFLIGHT
_add_backend(AP_Compass_QFLIGHT::detect(*this));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BBBMINI
AP_Compass_Backend *backend = AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR));
if (backend) {
_add_backend(backend);
hal.console->printf("HMC5843: External compass detected\n");
} else {
hal.console->printf("HMC5843: External compass not detected\n");
}
backend = AP_Compass_AK8963::probe_mpu9250(*this, 0);
if (backend) {
_add_backend(backend);
hal.console->printf("AK8953: Onboard compass detected\n");
} else {
hal.console->printf("AK8953: Onboard compass not detected\n");
}
backend = AP_Compass_AK8963::probe_mpu9250(*this, 1);
if (backend) {
_add_backend(backend);
hal.console->printf("AK8953: External compass detected\n");
} else {
hal.console->printf("AK8953: External compass not detected\n");
}
#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_MINLURE
_add_backend(AP_Compass_HMC5843::probe_mpu6000(*this));
_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));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_NAVIO2
AP_Compass_Backend *backend = AP_Compass_AK8963::probe_mpu9250(*this, 0);
if (backend) {
_add_backend(backend);
hal.console->printf("AK8953: Compass detected\n");
} else {
hal.console->printf("AK8953: Compass not detected\n");
}
backend = AP_Compass_LSM9DS1::probe(*this, hal.spi->get_device("lsm9ds1_m"));
if (backend) {
_add_backend(backend);
hal.console->printf("LSM9DS1: Compass detected\n");
} else {
hal.console->printf("LSM9DS1: Compass not detected\n");
}
backend = AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR));
if (backend) {
_add_backend(backend);
hal.console->printf("HMC5843: External compass detected\n");
} else {
hal.console->printf("HMC5843: External compass not detected\n");
}
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_NAVIO
AP_Compass_Backend *backend = AP_Compass_AK8963::probe_mpu9250(*this, 0);
if (backend) {
_add_backend(backend);
hal.console->printf("AK8953: Compass detected\n");
} else {
hal.console->printf("AK8953: Compass not detected\n");
}
backend = AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR));
if (backend) {
_add_backend(backend);
hal.console->printf("HMC5843: External compass detected\n");
} else {
hal.console->printf("HMC5843: External compass not detected\n");
}
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_AK8963_MPU9250
_add_backend(AP_Compass_AK8963::probe_mpu9250(*this, 0));
#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)));
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_HMC5843_MPU6000
_add_backend(AP_Compass_HMC5843::probe_mpu6000(*this));
#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)));
#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)));
#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)));
_add_backend(AP_Compass_AK8963::probe_mpu9250(*this, 0));
_add_backend(AP_Compass_LSM9DS1::probe(*this, hal.spi->get_device("lsm9ds1_m")));
#else
#error Unrecognised HAL_COMPASS_TYPE setting
#endif
if (_backend_count == 0 ||
_compass_count == 0) {
hal.console->println("No Compass backends available");
}
}
/*
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");
}
}
/*
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");
}
}
/*
detect available backends for this board
*/
void
AP_InertialSensor::detect_backends(void)
{
if (_backends_detected)
return;
_backends_detected = true;
if (_hil_mode) {
_add_backend(AP_InertialSensor_HIL::detect(*this));
return;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
_add_backend(AP_InertialSensor_SITL::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_HIL
_add_backend(AP_InertialSensor_HIL::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_MPU60XX_SPI
_add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME)));
#elif HAL_INS_DEFAULT == HAL_INS_MPU60XX_I2C
_add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.i2c_mgr->get_device(HAL_INS_MPU60x0_I2C_BUS, HAL_INS_MPU60x0_I2C_ADDR)));
#elif HAL_INS_DEFAULT == HAL_INS_BH
_add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.i2c_mgr->get_device(HAL_INS_MPU60x0_I2C_BUS, HAL_INS_MPU60x0_I2C_ADDR)));
_add_backend(AP_InertialSensor_MPU9250::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME)));
#elif HAL_INS_DEFAULT == HAL_INS_PX4 || HAL_INS_DEFAULT == HAL_INS_VRBRAIN
_add_backend(AP_InertialSensor_PX4::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_MPU9250_SPI
_add_backend(AP_InertialSensor_MPU9250::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME)));
#elif HAL_INS_DEFAULT == HAL_INS_LSM9DS0
_add_backend(AP_InertialSensor_LSM9DS0::probe(*this,
hal.spi->get_device(HAL_INS_LSM9DS0_G_NAME),
hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME)));
#elif HAL_INS_DEFAULT == HAL_INS_L3G4200D
_add_backend(AP_InertialSensor_L3G4200D::probe(*this, hal.i2c_mgr->get_device(HAL_INS_L3G4200D_I2C_BUS, HAL_INS_L3G4200D_I2C_ADDR)));
#elif HAL_INS_DEFAULT == HAL_INS_RASPILOT
_add_backend(AP_InertialSensor_MPU6000::probe(*this, hal.spi->get_device(HAL_INS_MPU60x0_NAME)));
_add_backend(AP_InertialSensor_LSM9DS0::probe(*this,
hal.spi->get_device(HAL_INS_LSM9DS0_G_NAME),
hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME)));
#elif HAL_INS_DEFAULT == HAL_INS_MPU9250_I2C
_add_backend(AP_InertialSensor_MPU9250::probe(*this, hal.i2c_mgr->get_device(HAL_INS_MPU9250_I2C_BUS, HAL_INS_MPU9250_I2C_ADDR)));
#elif HAL_INS_DEFAULT == HAL_INS_QFLIGHT
_add_backend(AP_InertialSensor_QFLIGHT::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_QURT
_add_backend(AP_InertialSensor_QURT::detect(*this));
#elif HAL_INS_DEFAULT == HAL_INS_BBBMINI
AP_InertialSensor_Backend *backend = AP_InertialSensor_MPU9250::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME));
if (backend) {
_add_backend(backend);
hal.console->printf("MPU9250: Onboard IMU detected\n");
} else {
hal.console->printf("MPU9250: Onboard IMU not detected\n");
}
backend = AP_InertialSensor_MPU9250::probe(*this, hal.spi->get_device(HAL_INS_MPU9250_NAME_EXT));
if (backend) {
_add_backend(backend);
hal.console->printf("MPU9250: External IMU detected\n");
} else {
hal.console->printf("MPU9250: External IMU not detected\n");
}
#else
#error Unrecognised HAL_INS_TYPE setting
#endif
if (_backend_count == 0) {
AP_HAL::panic("No INS backends available");
}
// set the product ID to the ID of the first backend
_product_id.set(_backends[0]->product_id());
}