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HAL_ChibiOS: added HAL_I2C_BUS_BASE

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this allows fmuv4 to start at bus 1
This commit is contained in:
Andrew Tridgell 2018-01-20 09:01:06 +11:00
parent c60c0b8ab1
commit 88f11f5a50
2 changed files with 9 additions and 1 deletions
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7
libraries/AP_HAL_ChibiOS/I2CDevice.cpp
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@ -33,6 +33,10 @@ extern const AP_HAL::HAL& hal;
I2CBus I2CDeviceManager::businfo[ARRAY_SIZE_SIMPLE(I2CD)]; I2CBus I2CDeviceManager::businfo[ARRAY_SIZE_SIMPLE(I2CD)];
#ifndef HAL_I2C_BUS_BASE
#define HAL_I2C_BUS_BASE 0
#endif
// get a handle for DMA sharing DMA channels with other subsystems // get a handle for DMA sharing DMA channels with other subsystems
void I2CBus::dma_init(void) void I2CBus::dma_init(void)
{ {
@ -64,7 +68,7 @@ I2CDevice::I2CDevice(uint8_t busnum, uint8_t address, uint32_t bus_clock, bool u
_timeout_ms(timeout_ms), _timeout_ms(timeout_ms),
bus(I2CDeviceManager::businfo[busnum]) bus(I2CDeviceManager::businfo[busnum])
{ {
set_device_bus(busnum); set_device_bus(busnum+HAL_I2C_BUS_BASE);
set_device_address(address); set_device_address(address);
asprintf(&pname, "I2C:%u:%02x", asprintf(&pname, "I2C:%u:%02x",
(unsigned)busnum, (unsigned)address); (unsigned)busnum, (unsigned)address);
@ -205,6 +209,7 @@ I2CDeviceManager::get_device(uint8_t bus, uint8_t address,
bool use_smbus, bool use_smbus,
uint32_t timeout_ms) uint32_t timeout_ms)
{ {
bus -= HAL_I2C_BUS_BASE;
if (bus >= ARRAY_SIZE_SIMPLE(I2CD)) { if (bus >= ARRAY_SIZE_SIMPLE(I2CD)) {
return AP_HAL::OwnPtr<AP_HAL::I2CDevice>(nullptr); return AP_HAL::OwnPtr<AP_HAL::I2CDevice>(nullptr);
} }

3
libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat
View File

@ -30,6 +30,9 @@ USB_STRING_SERIAL "100"
# only one I2C bus # only one I2C bus
I2C_ORDER I2C1 I2C_ORDER I2C1
# to match px4 we make the first bus number 1
define HAL_I2C_BUS_BASE 1
# order of UARTs (and USB) # order of UARTs (and USB)
UART_ORDER OTG1 UART4 USART2 USART3 UART8 USART1 UART_ORDER OTG1 UART4 USART2 USART3 UART8 USART1