fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

ms4525_airspeed: add -a flag to scan all i2c busses during start

Browse Source
This commit is contained in:
DanielePettenuzzo 2018-06-16 16:21:02 +02:00 committed by Beat Küng
parent 7a82c777b2
commit fa35731e02
1 changed files with 40 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

41
src/drivers/differential_pressure/ms4525/ms4525_airspeed.cpp
View File

@ -81,6 +81,8 @@
#define MEAS_DRIVER_FILTER_FREQ 1.2f
#define CONVERSION_INTERVAL (1000000 / MEAS_RATE) /* microseconds */
#define PX4_I2C_ALL 0xFF
class MEASAirspeed : public Airspeed
{
public:
@ -373,7 +375,22 @@ namespace meas_airspeed
MEASAirspeed *g_dev = nullptr;
int bus_options[] = {
#ifdef PX4_I2C_BUS_EXPANSION
PX4_I2C_BUS_EXPANSION,
#endif
#ifdef PX4_I2C_BUS_EXPANSION1
PX4_I2C_BUS_EXPANSION1,
#endif
#ifdef PX4_I2C_BUS_EXPANSION2
PX4_I2C_BUS_EXPANSION2,
#endif
};
#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
int start(int i2c_bus);
bool start_bus(int i2c_bus);
int stop();
int reset();
@ -385,6 +402,23 @@ int reset();
*/
int
start(int i2c_bus)
{
if (i2c_bus == PX4_I2C_ALL) {
for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
if (start_bus(bus_options[i]) == PX4_OK) {
return PX4_OK;
}
}
return PX4_ERROR;
} else {
return start_bus(i2c_bus);
}
}
bool
start_bus(int i2c_bus)
{
int fd;
@ -483,6 +517,7 @@ meas_airspeed_usage()
PX4_INFO("usage: meas_airspeed command [options]");
PX4_INFO("options:");
PX4_INFO("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
PX4_INFO("\t-a --all");
PX4_INFO("command:");
PX4_INFO("\tstart|stop|reset");
}
@ -496,12 +531,16 @@ ms4525_airspeed_main(int argc, char *argv[])
int ch;
const char *myoptarg = nullptr;
while ((ch = px4_getopt(argc, argv, "b:", &myoptind, &myoptarg)) != EOF) {
while ((ch = px4_getopt(argc, argv, "ab:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'b':
i2c_bus = atoi(myoptarg);
break;
case 'a':
i2c_bus = PX4_I2C_ALL;
break;
default:
meas_airspeed_usage();
return 0;