AP_Compass: Add in BMM350 Driver #26987
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@tridge Can you check it? It will be used in CUAV's new flight controller. |
| @@ -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 | |||
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Shouldn't you use 19 here?
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19:MMC5XX3,20:QMC5883P seems to be missing here, should I complete it?
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A follow-up PR would be good :-)
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Thanks to the developers for your reviews and suggestions, I will modify it based on your suggestions. |
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Here is the data log of BMM350 compared to other compasses. mag0 is the BMM350, mag1 is another internal compass and mag2 is a external IST8310 compass. |
| @@ -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 | |||
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A follow-up PR would be good :-)
| { | ||
| uint8_t data[read_len + 2]; | ||
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| if (!_dev->read_registers(reg, data, read_len + 2)) { |
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| if (!_dev->read_registers(reg, data, read_len + 2)) { | |
| if (!_dev->read_registers(reg, data, ARRAY_SIZE(data))) { |
| while (boot_retries--) { | ||
| // Soft reset | ||
| if (!_dev->write_register(BMM350_REG_CMD, BMM350_CMD_SOFTRESET)) { | ||
| continue; |
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No delay in this case. Not sure if that's a problem or not.
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I've created a separate PR wuith the commits appropriately split as I could not force-push your branch. Thanks for this contribution! |
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