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docs/en/sensor_bus/i2c_development.md
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@@ -4,9 +4,10 @@ I2C is a packet-switched serial communication protocol that allows multiple mast
It is intended for attaching lower-speed peripheral ICs to processors and microcontrollers in short-distance, intra-board communication.
Pixhawk/PX4 support it for:
* Connecting off board components that require higher data rates than provided by a strict serial UART, such as rangefinders.
* Compatibility with peripheral devices that only support I2C.
* Allowing multiple devices to attach to a single bus (useful for conserving ports).
- Connecting off board components that require higher data rates than provided by a strict serial UART, such as rangefinders.
- Compatibility with peripheral devices that only support I2C.
- Allowing multiple devices to attach to a single bus (useful for conserving ports).
For example, LEDs, Compass, rangefinders etc.
::: info
@@ -22,15 +23,17 @@ The bus is not fast enough even with a single device attached to allow vibration
Drivers should `#include <drivers/device/i2c.h>` and then provide an implementation of the abstract base class `I2C` defined in **I2C.hpp** for the target hardware (i.e. for NuttX [here](https://github.com/PX4/PX4-Autopilot/blob/main/src/lib/drivers/device/nuttx/I2C.hpp)).
A small number of drivers will also need to include headers for their type of device (**drv_*.h**) in [/src/drivers/](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers) - e.g. [drv_led.h](https://github.com/PX4/PX4-Autopilot/blob/main/src/drivers/drv_led.h).
A small number of drivers will also need to include headers for their type of device (**drv\_\*.h**) in [/src/drivers/](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers) - e.g. [drv_led.h](https://github.com/PX4/PX4-Autopilot/blob/main/src/drivers/drv_led.h).
To include a driver in firmware you must add the driver to the board-specific cmake file that corresponds to the target you want to build for.
You can do this for a single driver:
```
CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
```
You can also include all drivers of a particular type.
```
CONFIG_COMMON_DISTANCE_SENSOR=y
```
@@ -44,12 +47,13 @@ For example, you can see/search for `CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LA
To find I2C driver examples, search for **i2c.h** in [/src/drivers/](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers).
Just a few examples are:
* [drivers/distance_sensor/lightware_laser_i2c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_laser_i2c) - I2C driver for [Lightware SF1XX LIDAR](../sensor/sfxx_lidar.md).
* [drivers/distance_sensor/lightware_laser_serial](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_laser_serial) - Serial driver for [Lightware SF1XX LIDAR](../sensor/sfxx_lidar.md).
* [drivers/ms5611](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/ms5611) - I2C Driver for the MS5611 and MS6507 barometric pressure sensor connected via I2C (or SPI).
- [drivers/distance_sensor/lightware_laser_i2c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_laser_i2c) - I2C driver for [Lightware SF1XX LIDAR](../sensor/sfxx_lidar.md).
- [drivers/distance_sensor/lightware_laser_serial](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/distance_sensor/lightware_laser_serial) - Serial driver for [Lightware SF1XX LIDAR](../sensor/sfxx_lidar.md).
- [drivers/ms5611](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/barometer/ms5611) - I2C Driver for the MS5611 and MS6507 barometric pressure sensor connected via I2C (or SPI).
## Further Information
* [I2C](https://en.wikipedia.org/wiki/I%C2%B2C) (Wikipedia)
* [I2C Comparative Overview](https://learn.sparkfun.com/tutorials/i2c) (learn.sparkfun.com)
* [Driver Framework](../middleware/drivers.md)
- [I2C](https://en.wikipedia.org/wiki/I%C2%B2C) (Wikipedia)
- [I2C Comparative Overview](https://learn.sparkfun.com/tutorials/i2c) (learn.sparkfun.com)
- [Driver Framework](../middleware/drivers.md)