Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-26 09:45:37 +03:00
Code Issues Wiki Activity

Add support for IST8310 compass (#12917)

Browse source 
* Add support for IST8310 compass

* fix read

* Using states

* Fixes after review
This commit is contained in:
Mark Haslinghuis 2023-07-10 15:47:12 +02:00 • committed by GitHub
parent 214946bc3f
commit 949181e084
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
9 changed files with 252 additions and 6 deletions
Download patch file Download diff file Expand all files Collapse all files

21
src/main/sensors/compass.c
View file

@ -42,6 +42,7 @@
#include "drivers/compass/compass_lis3mdl.h"
#include "drivers/compass/compass_mpu925x_ak8963.h"
#include "drivers/compass/compass_qmc5883l.h"
#include "drivers/compass/compass_ist8310.h"
#include "drivers/io.h"
#include "drivers/light_led.h"
@ -92,7 +93,7 @@ void pgResetFn_compassConfig(compassConfig_t *compassConfig)
compassConfig->mag_spi_csn = IO_TAG(MAG_CS_PIN);
compassConfig->mag_i2c_device = I2C_DEV_TO_CFG(I2CINVALID);
compassConfig->mag_i2c_address = 0;
#elif defined(USE_MAG_HMC5883) || defined(USE_MAG_QMC5883) || defined(USE_MAG_AK8975) || (defined(USE_MAG_AK8963) && !(defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250)))
#elif defined(USE_MAG_HMC5883) || defined(USE_MAG_QMC5883) || defined(USE_MAG_AK8975) || defined(USE_MAG_IST8310) || (defined(USE_MAG_AK8963) && !(defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250)))
compassConfig->mag_busType = BUS_TYPE_I2C;
compassConfig->mag_i2c_device = I2C_DEV_TO_CFG(MAG_I2C_INSTANCE);
compassConfig->mag_i2c_address = MAG_I2C_ADDRESS;
@ -271,6 +272,22 @@ bool compassDetect(magDev_t *magDev, uint8_t *alignment)
#endif
FALLTHROUGH;
case MAG_IST8310:
#ifdef USE_MAG_IST8310
if (dev->bus->busType == BUS_TYPE_I2C) {
dev->busType_u.i2c.address = compassConfig()->mag_i2c_address;
}
if (ist8310Detect(magDev)) {
#ifdef MAG_IST8310_ALIGN
*alignment = MAG_IST8310_ALIGN;
#endif
magHardware = MAG_IST8310;
break;
}
#endif
FALLTHROUGH;
case MAG_NONE:
magHardware = MAG_NONE;
break;
@ -279,7 +296,7 @@ bool compassDetect(magDev_t *magDev, uint8_t *alignment)
// MAG_MPU925X_AK8963 is an MPU925x configured as I2C passthrough to the built-in AK8963 magnetometer
// Passthrough mode disables the gyro/acc part of the MPU, so we only want to detect this sensor if mag_hardware was explicitly set to MAG_MPU925X_AK8963
#ifdef USE_MAG_MPU925X_AK8963
if(compassConfig()->mag_hardware == MAG_MPU925X_AK8963){
if (compassConfig()->mag_hardware == MAG_MPU925X_AK8963){
if (mpu925Xak8963CompassDetect(magDev)) {
magHardware = MAG_MPU925X_AK8963;
} else {