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Add compass probe helper functions #31606

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360b771
AP_Compass: all backends take a generic Device rather than an I2CDevice
peterbarker Nov 27, 2025
08b9930
AP_Compass: add some helper functions for compass probing
peterbarker Nov 26, 2025
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197 changes: 118 additions & 79 deletions libraries/AP_Compass/AP_Compass.cpp
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10 changes: 10 additions & 0 deletions libraries/AP_Compass/AP_Compass.h
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Original file line number Diff line number Diff line change
Expand Up @@ -503,6 +503,16 @@ friend class AP_Compass_DroneCAN;
bool _driver_enabled(enum DriverType driver_type);
void add_backend(DriverType driver_type, AP_Compass_Backend *backend);

// helper probe functions
void probe_ak09916_via_icm20948(uint8_t i2c_bus, uint8_t ak09916_addr, uint8_t icm20948_addr, bool external, Rotation rotation);
void probe_ak09916_via_icm20948(uint8_t ins_instance, Rotation rotation);
void probe_ak8963_via_mpu9250(uint8_t imu_instance, Rotation rotation);
void probe_i2c_dev(DriverType driver_type, AP_Compass_Backend* (*probefn)(AP_HAL::OwnPtr<AP_HAL::Device>, bool, Rotation), uint8_t i2c_bus, uint8_t i2c_addr, bool external, Rotation rotation);
void probe_spi_dev(DriverType driver_type, AP_Compass_Backend* (*probefn)(AP_HAL::OwnPtr<AP_HAL::Device>, bool, Rotation), const char *name, bool external, Rotation rotation);
// short-lived method which expectes a probe function that doesn't
// offer the ability to specify an external rotation
void probe_spi_dev(DriverType driver_type, AP_Compass_Backend* (*probefn)(AP_HAL::OwnPtr<AP_HAL::Device>, Rotation), const char *name, Rotation rotation);

// backend objects
AP_Compass_Backend *_backends[COMPASS_MAX_BACKEND];
uint8_t _backend_count;
Expand Down
10 changes: 5 additions & 5 deletions libraries/AP_Compass/AP_Compass_AK09916.cpp
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Expand Up @@ -72,7 +72,7 @@ AP_Compass_AK09916::~AP_Compass_AK09916()
delete _bus;
}

AP_Compass_Backend *AP_Compass_AK09916::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
AP_Compass_Backend *AP_Compass_AK09916::probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation)
{
Expand All @@ -94,8 +94,8 @@ AP_Compass_Backend *AP_Compass_AK09916::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice>
}

#if AP_COMPASS_ICM20948_ENABLED
AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_icm,
AP_Compass_Backend *AP_Compass_AK09916::probe_ICM20948(AP_HAL::OwnPtr<AP_HAL::Device> dev,
AP_HAL::OwnPtr<AP_HAL::Device> dev_icm,
bool force_external,
enum Rotation rotation)
{
Expand Down Expand Up @@ -362,8 +362,8 @@ bool AP_Compass_AK09916::_reset()
return _bus->register_write(REG_CNTL3, 0x01); //Soft Reset
}

/* AP_HAL::I2CDevice implementation of the AK09916 */
AP_AK09916_BusDriver_HALDevice::AP_AK09916_BusDriver_HALDevice(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
/* AP_HAL::Device implementation of the AK09916 */
AP_AK09916_BusDriver_HALDevice::AP_AK09916_BusDriver_HALDevice(AP_HAL::OwnPtr<AP_HAL::Device> dev)
: _dev(std::move(dev))
{
}
Expand Down
12 changes: 6 additions & 6 deletions libraries/AP_Compass/AP_Compass_AK09916.h
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@

#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/I2CDevice.h>
#include <AP_HAL/Device.h>
#include <AP_Math/AP_Math.h>

#include "AP_Compass.h"
Expand Down Expand Up @@ -48,14 +48,14 @@ class AP_Compass_AK09916 : public AP_Compass_Backend
{
public:
/* Probe for AK09916 standalone on I2C bus */
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation);

#if AP_COMPASS_ICM20948_ENABLED
/* Probe for AK09916 on auxiliary bus of ICM20948, connected through I2C */
static AP_Compass_Backend *probe_ICM20948(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_icm,
static AP_Compass_Backend *probe_ICM20948(AP_HAL::OwnPtr<AP_HAL::Device> dev,
AP_HAL::OwnPtr<AP_HAL::Device> dev_icm,
bool force_external,
enum Rotation rotation);

Expand Down Expand Up @@ -141,7 +141,7 @@ class AP_AK09916_BusDriver
class AP_AK09916_BusDriver_HALDevice: public AP_AK09916_BusDriver
{
public:
AP_AK09916_BusDriver_HALDevice(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
AP_AK09916_BusDriver_HALDevice(AP_HAL::OwnPtr<AP_HAL::Device> dev);

virtual bool block_read(uint8_t reg, uint8_t *buf, uint32_t size) override;
virtual bool register_read(uint8_t reg, uint8_t *val) override;
Expand Down Expand Up @@ -173,7 +173,7 @@ class AP_AK09916_BusDriver_HALDevice: public AP_AK09916_BusDriver
}

private:
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
AP_HAL::OwnPtr<AP_HAL::Device> _dev;
};

class AP_AK09916_BusDriver_Auxiliary : public AP_AK09916_BusDriver
Expand Down
8 changes: 4 additions & 4 deletions libraries/AP_Compass/AP_Compass_AK8963.cpp
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Expand Up @@ -63,7 +63,7 @@ AP_Compass_AK8963::~AP_Compass_AK8963()
delete _bus;
}

AP_Compass_Backend *AP_Compass_AK8963::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
AP_Compass_Backend *AP_Compass_AK8963::probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation rotation)
{
if (!dev) {
Expand All @@ -83,7 +83,7 @@ AP_Compass_Backend *AP_Compass_AK8963::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> d
return sensor;
}

AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
AP_Compass_Backend *AP_Compass_AK8963::probe_mpu9250(AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation rotation)
{
if (!dev) {
Expand Down Expand Up @@ -271,8 +271,8 @@ bool AP_Compass_AK8963::_calibrate()
return true;
}

/* AP_HAL::I2CDevice implementation of the AK8963 */
AP_AK8963_BusDriver_HALDevice::AP_AK8963_BusDriver_HALDevice(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
/* AP_HAL::Device implementation of the AK8963 */
AP_AK8963_BusDriver_HALDevice::AP_AK8963_BusDriver_HALDevice(AP_HAL::OwnPtr<AP_HAL::Device> dev)
: _dev(std::move(dev))
{
}
Expand Down
11 changes: 5 additions & 6 deletions libraries/AP_Compass/AP_Compass_AK8963.h
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Original file line number Diff line number Diff line change
Expand Up @@ -6,8 +6,7 @@

#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/I2CDevice.h>
#include <AP_HAL/SPIDevice.h>
#include <AP_HAL/Device.h>
#include <AP_Math/AP_Math.h>

#include "AP_Compass.h"
Expand All @@ -22,11 +21,11 @@ class AP_Compass_AK8963 : public AP_Compass_Backend
{
public:
/* Probe for AK8963 standalone on I2C bus */
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation rotation);

/* Probe for AK8963 on auxiliary bus of MPU9250, connected through I2C */
static AP_Compass_Backend *probe_mpu9250(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
static AP_Compass_Backend *probe_mpu9250(AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation rotation);

/* Probe for AK8963 on auxiliary bus of MPU9250, connected through SPI */
Expand Down Expand Up @@ -93,7 +92,7 @@ class AP_AK8963_BusDriver
class AP_AK8963_BusDriver_HALDevice: public AP_AK8963_BusDriver
{
public:
AP_AK8963_BusDriver_HALDevice(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
AP_AK8963_BusDriver_HALDevice(AP_HAL::OwnPtr<AP_HAL::Device> dev);

virtual bool block_read(uint8_t reg, uint8_t *buf, uint32_t size) override;
virtual bool register_read(uint8_t reg, uint8_t *val) override;
Expand All @@ -113,7 +112,7 @@ class AP_AK8963_BusDriver_HALDevice: public AP_AK8963_BusDriver
}

private:
AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev;
AP_HAL::OwnPtr<AP_HAL::Device> _dev;
};

class AP_AK8963_BusDriver_Auxiliary : public AP_AK8963_BusDriver
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_Compass/AP_Compass_BMM150.cpp
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Expand Up @@ -65,7 +65,7 @@

extern const AP_HAL::HAL &hal;

AP_Compass_Backend *AP_Compass_BMM150::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev, bool force_external, enum Rotation rotation)
AP_Compass_Backend *AP_Compass_BMM150::probe(AP_HAL::OwnPtr<AP_HAL::Device> dev, bool force_external, enum Rotation rotation)
{
if (!dev) {
return nullptr;
Expand Down
4 changes: 2 additions & 2 deletions libraries/AP_Compass/AP_Compass_BMM150.h
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Expand Up @@ -22,7 +22,7 @@

#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/I2CDevice.h>
#include <AP_HAL/Device.h>
#include <AP_Math/AP_Math.h>

#include "AP_Compass.h"
Expand All @@ -34,7 +34,7 @@
class AP_Compass_BMM150 : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev, bool force_external, enum Rotation rotation);
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::Device> dev, bool force_external, enum Rotation rotation);

void read() override;

Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_Compass/AP_Compass_BMM350.h
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Expand Up @@ -21,7 +21,7 @@

#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/I2CDevice.h>
#include <AP_HAL/Device.h>
#include <AP_Math/AP_Math.h>

#include "AP_Compass.h"
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_Compass/AP_Compass_IIS2MDC.cpp
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Expand Up @@ -43,7 +43,7 @@

extern const AP_HAL::HAL &hal;

AP_Compass_Backend *AP_Compass_IIS2MDC::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
AP_Compass_Backend *AP_Compass_IIS2MDC::probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation)
{
Expand Down
4 changes: 2 additions & 2 deletions libraries/AP_Compass/AP_Compass_IIS2MDC.h
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Expand Up @@ -20,7 +20,7 @@
#if AP_COMPASS_IIS2MDC_ENABLED

#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/I2CDevice.h>
#include <AP_HAL/Device.h>

#include "AP_Compass.h"
#include "AP_Compass_Backend.h"
Expand All @@ -40,7 +40,7 @@
class AP_Compass_IIS2MDC : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation);

Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_Compass/AP_Compass_IST8308.cpp
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Expand Up @@ -81,7 +81,7 @@

extern const AP_HAL::HAL &hal;

AP_Compass_Backend *AP_Compass_IST8308::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
AP_Compass_Backend *AP_Compass_IST8308::probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation)
{
Expand Down
4 changes: 2 additions & 2 deletions libraries/AP_Compass/AP_Compass_IST8308.h
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Expand Up @@ -22,7 +22,7 @@

#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/I2CDevice.h>
#include <AP_HAL/Device.h>

#include "AP_Compass_Backend.h"

Expand All @@ -33,7 +33,7 @@
class AP_Compass_IST8308 : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation);

Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_Compass/AP_Compass_IST8310.cpp
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Expand Up @@ -78,7 +78,7 @@ static const int16_t IST8310_MIN_VAL_Z = -IST8310_MAX_VAL_Z;

extern const AP_HAL::HAL &hal;

AP_Compass_Backend *AP_Compass_IST8310::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
AP_Compass_Backend *AP_Compass_IST8310::probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation)
{
Expand Down
4 changes: 2 additions & 2 deletions libraries/AP_Compass/AP_Compass_IST8310.h
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Expand Up @@ -22,7 +22,7 @@

#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/I2CDevice.h>
#include <AP_HAL/Device.h>
#include <AP_Math/AP_Math.h>

#include "AP_Compass_Backend.h"
Expand All @@ -38,7 +38,7 @@
class AP_Compass_IST8310 : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation);

Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_Compass/AP_Compass_MMC3416.cpp
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Expand Up @@ -43,7 +43,7 @@ extern const AP_HAL::HAL &hal;
// datasheet says 50ms min for refill
#define MIN_DELAY_SET_RESET 50

AP_Compass_Backend *AP_Compass_MMC3416::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
AP_Compass_Backend *AP_Compass_MMC3416::probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation)
{
Expand Down
4 changes: 2 additions & 2 deletions libraries/AP_Compass/AP_Compass_MMC3416.h
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Expand Up @@ -20,7 +20,7 @@

#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/I2CDevice.h>
#include <AP_HAL/Device.h>
#include <AP_Math/AP_Math.h>

#include "AP_Compass.h"
Expand All @@ -33,7 +33,7 @@
class AP_Compass_MMC3416 : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation);

Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_Compass/AP_Compass_MMC5xx3.h
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Expand Up @@ -20,7 +20,7 @@

#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/I2CDevice.h>
#include <AP_HAL/Device.h>
#include <AP_Math/AP_Math.h>

#include "AP_Compass.h"
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_Compass/AP_Compass_QMC5883L.cpp
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Expand Up @@ -57,7 +57,7 @@
#define QMC5883L_REG_ID 0x0D
#define QMC5883_ID_VAL 0xFF

AP_Compass_Backend *AP_Compass_QMC5883L::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
AP_Compass_Backend *AP_Compass_QMC5883L::probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation)
{
Expand Down
4 changes: 2 additions & 2 deletions libraries/AP_Compass/AP_Compass_QMC5883L.h
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Expand Up @@ -22,7 +22,7 @@

#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/I2CDevice.h>
#include <AP_HAL/Device.h>
#include <AP_Math/AP_Math.h>

#include "AP_Compass.h"
Expand All @@ -46,7 +46,7 @@
class AP_Compass_QMC5883L : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation);

Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_Compass/AP_Compass_QMC5883P.cpp
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Expand Up @@ -73,7 +73,7 @@
#define DEBUG 0
#endif

AP_Compass_Backend *AP_Compass_QMC5883P::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
AP_Compass_Backend *AP_Compass_QMC5883P::probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation)
{
Expand Down
4 changes: 2 additions & 2 deletions libraries/AP_Compass/AP_Compass_QMC5883P.h
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Expand Up @@ -17,7 +17,7 @@
#pragma once

#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/I2CDevice.h>
#include <AP_HAL/Device.h>
#include <AP_Math/AP_Math.h>

#include "AP_Compass_config.h"
Expand Down Expand Up @@ -45,7 +45,7 @@
class AP_Compass_QMC5883P : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev,
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::Device> dev,
bool force_external,
enum Rotation rotation);

Expand Down
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