From e1eda3066cd8ef62d3950422347a5db966429205 Mon Sep 17 00:00:00 2001 From: Lucas De Marchi Date: Fri, 27 Jan 2017 14:24:43 -0800 Subject: [PATCH] AP_HAL_PX4: SPIDevice: add missing ifdefs These sensors may always be present on px4fmu* boards, but they are not always present for all boards supported by the PX4Firmware. --- libraries/AP_HAL_PX4/SPIDevice.cpp | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/libraries/AP_HAL_PX4/SPIDevice.cpp b/libraries/AP_HAL_PX4/SPIDevice.cpp index 889037c9c0..590351c032 100644 --- a/libraries/AP_HAL_PX4/SPIDevice.cpp +++ b/libraries/AP_HAL_PX4/SPIDevice.cpp @@ -50,30 +50,40 @@ namespace PX4 { #define KHZ (1000U) SPIDesc SPIDeviceManager::device_table[] = { +#if defined(PX4_SPIDEV_MPU) SPIDesc("mpu6000", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_MPU, SPIDEV_MODE3, 500*KHZ, 8*MHZ), +#endif #if defined(PX4_SPIDEV_EXT_BARO) SPIDesc("ms5611_ext", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_BARO, SPIDEV_MODE3, 20*MHZ, 20*MHZ), #endif #if defined(PX4_SPIDEV_ICM) SPIDesc("icm20608", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_ICM, SPIDEV_MODE3, 500*KHZ, 8*MHZ), #endif +#if defined(PX4_SPIDEV_ACCEL_MAG) // ICM20608 on the ACCEL_MAG SPIDesc("icm20608-am", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG, SPIDEV_MODE3, 500*KHZ, 8*MHZ), +#endif #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_PX4_V4 SPIDesc("ms5611_int", PX4_SPI_BUS_BARO, (spi_dev_e)PX4_SPIDEV_BARO, SPIDEV_MODE3, 20*MHZ, 20*MHZ), #endif #ifdef PX4_SPIDEV_BARO SPIDesc("ms5611", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_BARO, SPIDEV_MODE3, 20*MHZ, 20*MHZ), #endif +#if defined(PX4_SPIDEV_ACCEL_MAG) SPIDesc("lsm9ds0_am", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_ACCEL_MAG, SPIDEV_MODE3, 11*MHZ, 11*MHZ), +#endif #ifdef PX4_SPIDEV_EXT_ACCEL_MAG SPIDesc("lsm9ds0_ext_am", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_ACCEL_MAG, SPIDEV_MODE3, 11*MHZ, 11*MHZ), #endif +#if defined(PX4_SPIDEV_GYRO) SPIDesc("lsm9ds0_g", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_GYRO, SPIDEV_MODE3, 11*MHZ, 11*MHZ), +#endif #ifdef PX4_SPIDEV_EXT_GYRO SPIDesc("lsm9ds0_ext_g",PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_GYRO, SPIDEV_MODE3, 11*MHZ, 11*MHZ), #endif +#if defined(PX4_SPIDEV_MPU) SPIDesc("mpu9250", PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_MPU, SPIDEV_MODE3, 1*MHZ, 8*MHZ), +#endif #ifdef PX4_SPIDEV_EXT_MPU SPIDesc("mpu6000_ext", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_MPU, SPIDEV_MODE3, 500*KHZ, 8*MHZ), SPIDesc("mpu9250_ext", PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_MPU, SPIDEV_MODE3, 1*MHZ, 8*MHZ),