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Make BMX055 optional if MMC5603NJ present (#22698)

pull/22801/head
Willem Melching 2021-10-26 17:43:33 +02:00 committed by GitHub
parent 89f311714c
commit b078d8e425
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1 changed files with 13 additions and 4 deletions
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17
selfdrive/sensord/sensors_qcom2.cc
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@ -50,10 +50,10 @@ int sensor_loop() {
// Sensor init
std::vector<std::pair<Sensor *, bool>> sensors_init; // Sensor, required
sensors_init.push_back({&bmx055_accel, true});
sensors_init.push_back({&bmx055_gyro, true});
sensors_init.push_back({&bmx055_magn, true});
sensors_init.push_back({&bmx055_temp, true});
sensors_init.push_back({&bmx055_accel, false});
sensors_init.push_back({&bmx055_gyro, false});
sensors_init.push_back({&bmx055_magn, false});
sensors_init.push_back({&bmx055_temp, false});
sensors_init.push_back({&lsm6ds3_accel, true});
sensors_init.push_back({&lsm6ds3_gyro, true});
@ -63,6 +63,7 @@ int sensor_loop() {
sensors_init.push_back({&light, true});
bool has_magnetometer = false;
// Initialize sensors
std::vector<Sensor *> sensors;
@ -75,10 +76,18 @@ int sensor_loop() {
return -1;
}
} else {
if (sensor.first == &bmx055_magn || sensor.first == &mmc5603nj_magn) {
has_magnetometer = true;
}
sensors.push_back(sensor.first);
}
}
if (!has_magnetometer) {
LOGE("No magnetometer present");
return -1;
}
PubMaster pm({"sensorEvents"});
while (!do_exit) {