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add pmw3901 optical flow support for fmu-v5 (#10750)

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This commit is contained in:
Daniele Pettenuzzo 2018-10-24 16:25:41 +02:00 committed by Daniel Agar
parent 99294b2040
commit d2e2b5e8ce
3 changed files with 12 additions and 4 deletions
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3
ROMFS/px4fmu_common/init.d/rc.sensors
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@ -345,6 +345,9 @@ then
# Possible internal compass
ist8310 -C -b 5 start
# Possible pmw3901 optical flow sensor
pmw3901 start
fi
if ver hwcmp PX4_SAME70XPLAINED_V1

1
cmake/configs/nuttx_px4fmu-v5_default.cmake
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@ -32,6 +32,7 @@ set(config_module_list
drivers/irlock
drivers/mkblctrl
drivers/oreoled
drivers/pmw3901
drivers/pwm_input
drivers/pwm_out_sim
drivers/px4flow

12
src/drivers/pmw3901/pmw3901.cpp
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@ -79,16 +79,20 @@
#include <board_config.h>
/* Configuration Constants */
#ifdef PX4_SPI_BUS_EXPANSION
#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
#else
#define PMW3901_BUS 0
#error "add the required spi bus from board_config.h here"
#endif
#ifdef PX4_SPIDEV_EXPANSION_2
#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
#else
#define PMW3901_SPIDEV 0
#error "add the required spi dev from board_config.h here"
#endif
#define PMW3901_SPI_BUS_SPEED (2000000L) // 2MHz