fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-24 05:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

px4_fmu-v4: add runtime external SPI4 detection to support pmw3901 (#11301)

Browse Source 
* The build is built with SPI4. At run time the signal GPIO_8266_GPIO2 it tested. If it is low the SPI4 is configured. If it is high SPI4 is not configured.
 * board_common: Add Notion of Board has bus manifest
This commit is contained in:
David Sidrane
2019-01-29 13:44:15 -05:00
committed by Daniel Agar
parent 53a127beb9
commit 6f9a9b3d2c
11 changed files with 248 additions and 52 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/pmw3901/pmw3901.cpp
+15 -10
View File
@@ -79,20 +79,25 @@
#include <board_config.h>
/* Configuration Constants */
#if defined PX4_SPI_BUS_EXPANSION // crazyflie
#define PMW3901_BUS PX4_SPI_BUS_EXPANSION
#elif defined PX4_SPI_BUS_EXTERNAL1 // fmu-v5
#define PMW3901_BUS PX4_SPI_BUS_EXTERNAL1
#if defined PX4_SPI_BUS_EXPANSION // crazyflie
# define PMW3901_BUS PX4_SPI_BUS_EXPANSION
#elif defined PX4_SPI_BUS_EXTERNAL1 // fmu-v5
# define PMW3901_BUS PX4_SPI_BUS_EXTERNAL1
#elif defined PX4_SPI_BUS_EXTERNAL // fmu-v4 extspi
# define PMW3901_BUS PX4_SPI_BUS_EXTERNAL
#else
#error "add the required spi bus from board_config.h here"
# error "add the required spi bus from board_config.h here"
#endif
#if defined PX4_SPIDEV_EXPANSION_2 // crazyflie flow deck
#define PMW3901_SPIDEV PX4_SPIDEV_EXPANSION_2
#elif defined PX4_SPIDEV_EXTERNAL1_1 // fmu-v5 ext CS1
#define PMW3901_SPIDEV PX4_SPIDEV_EXTERNAL1_1
#if defined PX4_SPIDEV_EXPANSION_2 // crazyflie flow deck
# define PMW3901_SPIDEV PX4_SPIDEV_EXPANSION_2
#elif defined PX4_SPIDEV_EXTERNAL1_1 // fmu-v5 ext CS1
# define PMW3901_SPIDEV PX4_SPIDEV_EXTERNAL1_1
#elif defined PX4_SPIDEV_EXTERNAL // fmu-v4 extspi
# define PMW3901_SPIDEV PX4_SPIDEV_EXTERNAL
#else
#error "add the required spi dev from board_config.h here"
# error "add the required spi dev from board_config.h here"
#endif
#define PMW3901_SPI_BUS_SPEED (2000000L) // 2MHz