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Adds support for another MPU9250 or MPU6500 on px4fmu-v4 internal SPI bus. Adds PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_MPU to board config and spi.c. Call 'mpu9250 -S start' to enable.

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This commit is contained in:
aklimaj 2018-04-26 15:36:17 -06:00 committed by Lorenz Meier
parent c7c3e23f0d
commit 25528a5ae0
2 changed files with 3 additions and 0 deletions
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2
src/drivers/boards/px4fmu-v4/board_config.h
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@ -133,6 +133,7 @@
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPI_BUS_RAMTRON 2
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_RAMTRON
#define PX4_SPI_BUS_EXT 1
/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
@ -147,6 +148,7 @@
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 11)
#define PX4_SPIDEV_BMI055_ACC PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 12)
#define PX4_SPIDEV_BMI055_GYR PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 13)
#define PX4_SPIDEV_EXT_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 14)
/* onboard MS5611 and FRAM are both on bus SPI2
* spi_dev_e:SPIDEV_FLASH has the value 2 and is used in the NuttX ramtron driver

1
src/drivers/boards/px4fmu-v4/spi.c
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@ -121,6 +121,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool s
case PX4_SPIDEV_ICM_20602:
case PX4_SPIDEV_ICM_20608:
case PX4_SPIDEV_BMI055_ACC:
case PX4_SPIDEV_EXT_MPU:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN2, 1);
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN15, !selected);