From fa35731e02ff54857dc3b0dfdf09765047494446 Mon Sep 17 00:00:00 2001
From: DanielePettenuzzo <daniele@px4.io>
Date: Sat, 16 Jun 2018 16:21:02 +0200
Subject: [PATCH] ms4525_airspeed: add -a flag to scan all i2c busses during
start
---
.../ms4525/ms4525_airspeed.cpp | 41 ++++++++++++++++++-
1 file changed, 40 insertions(+), 1 deletion(-)
diff --git a/src/drivers/differential_pressure/ms4525/ms4525_airspeed.cpp b/src/drivers/differential_pressure/ms4525/ms4525_airspeed.cpp
index f0a966bbc8..b54f46edfc 100644
--- a/src/drivers/differential_pressure/ms4525/ms4525_airspeed.cpp
+++ b/src/drivers/differential_pressure/ms4525/ms4525_airspeed.cpp
@@ -81,6 +81,8 @@
#define MEAS_DRIVER_FILTER_FREQ 1.2f
#define CONVERSION_INTERVAL (1000000 / MEAS_RATE) /* microseconds */
+#define PX4_I2C_ALL 0xFF
+
class MEASAirspeed : public Airspeed
{
public:
@@ -373,7 +375,22 @@ namespace meas_airspeed
MEASAirspeed *g_dev = nullptr;
+int bus_options[] = {
+#ifdef PX4_I2C_BUS_EXPANSION
+ PX4_I2C_BUS_EXPANSION,
+#endif
+#ifdef PX4_I2C_BUS_EXPANSION1
+ PX4_I2C_BUS_EXPANSION1,
+#endif
+#ifdef PX4_I2C_BUS_EXPANSION2
+ PX4_I2C_BUS_EXPANSION2,
+#endif
+};
+
+#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
+
int start(int i2c_bus);
+bool start_bus(int i2c_bus);
int stop();
int reset();
@@ -385,6 +402,23 @@ int reset();
*/
int
start(int i2c_bus)
+{
+ if (i2c_bus == PX4_I2C_ALL) {
+ for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
+ if (start_bus(bus_options[i]) == PX4_OK) {
+ return PX4_OK;
+ }
+ }
+
+ return PX4_ERROR;
+
+ } else {
+ return start_bus(i2c_bus);
+ }
+}
+
+bool
+start_bus(int i2c_bus)
{
int fd;
@@ -483,6 +517,7 @@ meas_airspeed_usage()
PX4_INFO("usage: meas_airspeed command [options]");
PX4_INFO("options:");
PX4_INFO("\t-b --bus i2cbus (%d)", PX4_I2C_BUS_DEFAULT);
+ PX4_INFO("\t-a --all");
PX4_INFO("command:");
PX4_INFO("\tstart|stop|reset");
}
@@ -496,12 +531,16 @@ ms4525_airspeed_main(int argc, char *argv[])
int ch;
const char *myoptarg = nullptr;
- while ((ch = px4_getopt(argc, argv, "b:", &myoptind, &myoptarg)) != EOF) {
+ while ((ch = px4_getopt(argc, argv, "ab:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'b':
i2c_bus = atoi(myoptarg);
break;
+ case 'a':
+ i2c_bus = PX4_I2C_ALL;
+ break;
+
default:
meas_airspeed_usage();
return 0;
--
GitLab