aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_OpticalFlow: probe all I2C buses for px4flow on Hex Cubes

Browse Source
This commit is contained in:
Andrew Tridgell 2020-01-27 17:32:14 +11:00 committed by Randy Mackay
parent 53ce463a90
commit b47181a86f
1 changed files with 4 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/AP_OpticalFlow/AP_OpticalFlow_PX4Flow.cpp
View File

@ -24,6 +24,7 @@
#include <utility> #include <utility>
#include "OpticalFlow.h" #include "OpticalFlow.h"
#include <stdio.h> #include <stdio.h>
#include <AP_BoardConfig/AP_BoardConfig.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -60,7 +61,9 @@ bool AP_OpticalFlow_PX4Flow::scan_buses(void)
uint8_t retry_attempt = 0; uint8_t retry_attempt = 0;
while (!success && retry_attempt < PX4FLOW_INIT_RETRIES) { 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 #ifdef HAL_OPTFLOW_PX4FLOW_I2C_BUS
// only one bus from HAL // only one bus from HAL
if (bus != HAL_OPTFLOW_PX4FLOW_I2C_BUS) { if (bus != HAL_OPTFLOW_PX4FLOW_I2C_BUS) {