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fmu-v5: add PX4_I2C_BUS_EXPANSION1 and 2 to all drivers that check all the busses

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This commit is contained in:
DanielePettenuzzo
2018-06-06 17:31:33 +02:00
committed by Lorenz Meier
parent 01afeed967
commit 7a760ee501
10 changed files with 61 additions and 9 deletions
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src/drivers/imu/mpu6000/mpu6000.cpp
+10 -4
View File
@@ -2221,12 +2221,18 @@ struct mpu6000_bus_option {
MPU6000 *dev;
} bus_options[] = {
#if defined (USE_I2C)
# if defined(PX4_I2C_BUS_ONBOARD)
# if defined(PX4_I2C_BUS_ONBOARD)
{ MPU6000_BUS_I2C_INTERNAL, MPU_DEVICE_TYPE_MPU6000, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, &MPU6000_I2C_interface, PX4_I2C_BUS_ONBOARD, false, NULL },
# endif
# if defined(PX4_I2C_BUS_EXPANSION)
# endif
# if defined(PX4_I2C_BUS_EXPANSION)
{ MPU6000_BUS_I2C_EXTERNAL, MPU_DEVICE_TYPE_MPU6000, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, &MPU6000_I2C_interface, PX4_I2C_BUS_EXPANSION, true, NULL },
# endif
# endif
# if defined(PX4_I2C_BUS_EXPANSION1)
{ MPU6000_BUS_I2C_EXTERNAL, MPU_DEVICE_TYPE_MPU6000, MPU_DEVICE_PATH_ACCEL_EXT1, MPU_DEVICE_PATH_GYRO_EXT1, &MPU6000_I2C_interface, PX4_I2C_BUS_EXPANSION1, true, NULL },
# endif
# if defined(PX4_I2C_BUS_EXPANSION2)
{ MPU6000_BUS_I2C_EXTERNAL, MPU_DEVICE_TYPE_MPU6000, MPU_DEVICE_PATH_ACCEL_EXT2, MPU_DEVICE_PATH_GYRO_EXT2, &MPU6000_I2C_interface, PX4_I2C_BUS_EXPANSION2, true, NULL },
# endif
#endif
#ifdef PX4_SPIDEV_MPU
{ MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_TYPE_MPU6000, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL },
src/drivers/imu/mpu6000/mpu6000.h
+2
View File
@@ -57,6 +57,8 @@
#define MPU_DEVICE_PATH_GYRO_EXT "/dev/mpu6000_gyro_ext"
#define MPU_DEVICE_PATH_ACCEL_EXT1 "/dev/mpu6000_accel_ext1"
#define MPU_DEVICE_PATH_GYRO_EXT1 "/dev/mpu6000_gyro_ext1"
#define MPU_DEVICE_PATH_ACCEL_EXT2 "/dev/mpu6000_accel_ext2"
#define MPU_DEVICE_PATH_GYRO_EXT2 "/dev/mpu6000_gyro_ext2"
#define ICM20602_DEVICE_PATH_ACCEL "/dev/icm20602_accel"
#define ICM20602_DEVICE_PATH_GYRO "/dev/icm20602_gyro"
src/drivers/imu/mpu9250/main.cpp
+14
View File
@@ -83,6 +83,14 @@
#define MPU_DEVICE_PATH_GYRO_EXT "/dev/mpu9250_gyro_ext"
#define MPU_DEVICE_PATH_MAG_EXT "/dev/mpu9250_mag_ext"
#define MPU_DEVICE_PATH_ACCEL_EXT1 "/dev/mpu9250_accel_ext1"
#define MPU_DEVICE_PATH_GYRO_EXT1 "/dev/mpu9250_gyro_ext1"
#define MPU_DEVICE_PATH_MAG_EXT1 "/dev/mpu9250_mag_ext1"
#define MPU_DEVICE_PATH_ACCEL_EXT2 "/dev/mpu9250_accel_ext2"
#define MPU_DEVICE_PATH_GYRO_EXT2 "/dev/mpu9250_gyro_ext2"
#define MPU_DEVICE_PATH_MAG_EXT2 "/dev/mpu9250_mag_ext2"
/** driver 'main' command */
extern "C" { __EXPORT int mpu9250_main(int argc, char *argv[]); }
@@ -125,6 +133,12 @@ struct mpu9250_bus_option {
# if defined(PX4_I2C_BUS_EXPANSION)
{ MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_MPU9250, NULL },
# endif
# if defined(PX4_I2C_BUS_EXPANSION1)
{ MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT1, MPU_DEVICE_PATH_GYRO_EXT1, MPU_DEVICE_PATH_MAG_EXT1, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION1, PX4_I2C_OBDEV_MPU9250, NULL },
# endif
# if defined(PX4_I2C_BUS_EXPANSION2)
{ MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT2, MPU_DEVICE_PATH_GYRO_EXT2, MPU_DEVICE_PATH_MAG_EXT2, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION2, PX4_I2C_OBDEV_MPU9250, NULL },
# endif
#endif
#ifdef PX4_SPIDEV_MPU
{ MPU9250_BUS_SPI_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU, NULL },