fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 08:03:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

crazyflie: add spi expansion to board configurations (modify spi bus and device in pmw3901 driver)

Browse Source
This commit is contained in:
DanielePettenuzzo
2018-05-22 12:21:45 +02:00
committed by Beat Küng
parent 2d20f31a70
commit 8a4e144e86
5 changed files with 250 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/pmw3901/pmw3901.cpp
+4 -13
View File
@@ -77,17 +77,8 @@
#include <board_config.h>
/* Configuration Constants */
#ifdef PX4_SPI_BUS_EXT1
#define PMW3901_BUS PX4_SPI_BUS_EXT1 // fmu-v4pro
#else
#define PMW3901_BUS PX4_SPI_BUS_EXTERNAL1 // fmu-v5
#endif
#ifdef PX4_SPIDEV_EXT0
#define PMW3901_SPIDEV PX4_SPIDEV_EXT0 // fmu-v4pro
#else
#define PMW3901_SPIDEV PX4_SPIDEV_EXTERNAL1_1 // fmu-v5
#endif
#define PMW3901_BUS PX4_SPI_BUS_EXPANSION /* fmu-v4pro: PX4_SPI_BUS_EXT1 | fmu-v5: PX4_SPI_BUS_EXTERNAL1 */
#define PMW3901_SPIDEV PX4_SPIDEV_EXPANSION_2 /* fmu-v4pro: PX4_SPIDEV_EXT0 | fmu-v5: PX4_SPIDEV_EXTERNAL1_1 */
#define PMW3901_SPI_BUS_SPEED (2000000L) // 2MHz
@@ -571,8 +562,8 @@ PMW3901::collect()
readMotionCount(delta_x_raw, delta_y_raw);
delta_x = (float)delta_x_raw / 500.0f; // proportional factor + convert from pixels to radians
delta_y = (float)delta_y_raw / 500.0f; // proportional factor + convert from pixels to radians
delta_x = (float)delta_x_raw / 500.0f; // proportional factor + convert from pixels to radians
delta_y = (float)delta_y_raw / 500.0f; // proportional factor + convert from pixels to radians
struct optical_flow_s report;