AP_Compass: Add in BMM350 Driver

ArduPilot · May 6, 2024 · 654620c · 654620c
1 parent b66ecd8
commit 654620c
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Showing 8 changed files with 698 additions and 1 deletion.
diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py
@@ -150,6 +150,7 @@ def __init__(self,
     Feature('Compass', 'AK09916', 'AP_COMPASS_AK09916_ENABLED', 'Enable AK09916 compasses', 1, None),
     Feature('Compass', 'AK8963', 'AP_COMPASS_AK8963_ENABLED', 'Enable AK8963 compasses', 1, None),
     Feature('Compass', 'BMM150', 'AP_COMPASS_BMM150_ENABLED', 'Enable BMM150 compasses', 1, None),
+    Feature('Compass', 'BMM350', 'AP_COMPASS_BMM350_ENABLED', 'Enable BMM350 compasses', 1, None),
     Feature('Compass', 'EXTERNALAHRS_COMPASS', 'AP_COMPASS_EXTERNALAHRS_ENABLED', 'Enable ExternalAHRS compasses', 0, "AHRS_EXT"),  # noqa
     Feature('Compass', 'HMC5843', 'AP_COMPASS_HMC5843_ENABLED', 'Enable HMC5843 compasses', 1, None),
     Feature('Compass', 'ICM20948', 'AP_COMPASS_ICM20948_ENABLED', 'Enable AK09916 on ICM20948 compasses', 1, "AK09916"),

diff --git a/Tools/scripts/decode_devid.py b/Tools/scripts/decode_devid.py
@@ -66,6 +66,7 @@ def num(s):
     0x14 : "DEVTYPE_AK09918",
     0x15 : "DEVTYPE_AK09915",
     0x16 : "DEVTYPE_QMC5883P",
+    0x17 : "DEVTYPE_BMM350",
 }
 
 imu_types = {

diff --git a/libraries/AP_Compass/AP_Compass.cpp b/libraries/AP_Compass/AP_Compass.cpp
@@ -20,6 +20,7 @@
 #include "AP_Compass_AK8963.h"
 #include "AP_Compass_Backend.h"
 #include "AP_Compass_BMM150.h"
+#include "AP_Compass_BMM350.h"
 #include "AP_Compass_HMC5843.h"
 #include "AP_Compass_IST8308.h"
 #include "AP_Compass_IST8310.h"
@@ -515,7 +516,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
     // @Param: DISBLMSK
     // @DisplayName: Compass disable driver type mask
     // @Description: This is a bitmask of driver types to disable. If a driver type is set in this mask then that driver will not try to find a sensor at startup
-    // @Bitmask: 0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK09916,7:IST8310,8:ICM20948,9:MMC3416,11:DroneCAN,12:QMC5883,14:MAG3110,15:IST8308,16:RM3100,17:MSP,18:ExternalAHRS
+    // @Bitmask: 0:HMC5883,1:LSM303D,2:AK8963,3:BMM150,4:LSM9DS1,5:LIS3MDL,6:AK09916,7:IST8310,8:ICM20948,9:MMC3416,11:DroneCAN,12:QMC5883,14:MAG3110,15:IST8308,16:RM3100,17:MSP,18:ExternalAHRS,21:BMM350
     // @User: Advanced
     AP_GROUPINFO("DISBLMSK", 33, Compass, _driver_type_mask, 0),
 
@@ -1313,6 +1314,23 @@ void Compass::_probe_external_i2c_compasses(void)
         }
     }
 #endif // AP_COMPASS_BMM150_ENABLED
+
+#if AP_COMPASS_BMM350_ENABLED
+    // BMM350 on I2C
+    FOREACH_I2C_EXTERNAL(i) {
+        for (uint8_t addr=BMM350_I2C_ADDR_MIN; addr <= BMM350_I2C_ADDR_MAX; addr++) {
+            ADD_BACKEND(DRIVER_BMM350,
+                        AP_Compass_BMM350::probe(GET_I2C_DEVICE(i, addr), true, ROTATION_NONE));
+        }
+    }
+#if !defined(HAL_SKIP_AUTO_INTERNAL_I2C_PROBE)
+    FOREACH_I2C_INTERNAL(i) {
+        for (uint8_t addr=BMM350_I2C_ADDR_MIN; addr <= BMM350_I2C_ADDR_MAX; addr++) {
+            ADD_BACKEND(DRIVER_BMM350, AP_Compass_BMM350::probe(GET_I2C_DEVICE(i, addr), all_external, ROTATION_NONE));
+        }
+    }
+#endif
+#endif // AP_COMPASS_BMM350_ENABLED
 }
 
 /*

diff --git a/libraries/AP_Compass/AP_Compass.h b/libraries/AP_Compass/AP_Compass.h
@@ -488,6 +488,9 @@ friend class AP_Compass_Backend;
 #if AP_COMPASS_QMC5883P_ENABLED
         DRIVER_QMC5883P =20,
 #endif
+#if AP_COMPASS_BMM350_ENABLED
+        DRIVER_BMM350   =21,
+#endif
 };
 
     bool _driver_enabled(enum DriverType driver_type);