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80 lines
3.0 KiB
C++
80 lines
3.0 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <px4_arch/i2c_hw_description.h>
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#include <lib/drivers/device/Device.hpp>
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#include <px4_platform_common/i2c.h>
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constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
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initI2CBusExternal(1),
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initI2CBusExternal(2),
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initI2CBusExternal(4),
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};
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bool px4_i2c_device_external(const uint32_t device_id)
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{
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{
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// The internal baro and mag on Pixhawk 6C are on an external
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// bus. On rev 0, the bus is actually exposed externally, on
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// rev 1+, it is properly internal, however, still marked as
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// external for compatibility.
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// device_id: 4028193
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device::Device::DeviceId device_id_baro{};
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device_id_baro.devid_s.bus_type = device::Device::DeviceBusType_I2C;
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device_id_baro.devid_s.bus = 4;
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device_id_baro.devid_s.address = 0x77;
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device_id_baro.devid_s.devtype = DRV_BARO_DEVTYPE_MS5611;
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if (device_id_baro.devid == device_id) {
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return false;
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}
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// device_id: 396321
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device::Device::DeviceId device_id_mag{};
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device_id_mag.devid_s.bus_type = device::Device::DeviceBusType_I2C;
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device_id_mag.devid_s.bus = 4;
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device_id_mag.devid_s.address = 0xc;
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device_id_mag.devid_s.devtype = DRV_MAG_DEVTYPE_IST8310;
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if (device_id_mag.devid == device_id) {
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return false;
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}
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}
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device::Device::DeviceId dev_id{};
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dev_id.devid = device_id;
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return px4_i2c_bus_external(dev_id.devid_s.bus);
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}
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