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AP_OpticalFlow: probe all I2C buses for px4flow on Hex Cubes

This commit is contained in:
Andrew Tridgell 2020-01-27 17:32:14 +11:00
parent 136d348783
commit ff6843327d
1 changed files with 4 additions and 1 deletions
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5
libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.cpp
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@ -24,6 +24,7 @@
#include <utility>
#include "OpticalFlow.h"
#include <stdio.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
extern const AP_HAL::HAL& hal;
@ -60,7 +61,9 @@ bool AP_OpticalFlow_PX4Flow::scan_buses(void)
uint8_t retry_attempt = 0;
while (!success && retry_attempt < PX4FLOW_INIT_RETRIES) {
FOREACH_I2C_EXTERNAL(bus) {
bool all_external = (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2);
uint32_t bus_mask = all_external? hal.i2c_mgr->get_bus_mask() : hal.i2c_mgr->get_bus_mask_external();
FOREACH_I2C_MASK(bus, bus_mask) {
#ifdef HAL_OPTFLOW_PX4FLOW_I2C_BUS
// only one bus from HAL
if (bus != HAL_OPTFLOW_PX4FLOW_I2C_BUS) {