PX4 · bkueng · Feb 13, 2020 · Feb 13, 2020 · Feb 14, 2020 · Feb 14, 2020
diff --git a/boards/emlid/navio2/default.cmake b/boards/emlid/navio2/default.cmake
@@ -18,7 +18,7 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		gps
 		#imu # all available imu drivers
-		imu/mpu9250
+		#imu/mpu9250
 		imu/st/lsm9ds1
 		linux_pwm_out
 		#magnetometer # all available magnetometer drivers

diff --git a/boards/emlid/navio2/src/CMakeLists.txt b/boards/emlid/navio2/src/CMakeLists.txt
@@ -32,5 +32,5 @@
 ############################################################################
 
 add_library(drivers_board
-	empty.c
+	spi.cpp
 )
diff --git a/boards/emlid/navio2/src/board_config.h b/boards/emlid/navio2/src/board_config.h
@@ -58,11 +58,11 @@
 
 
 // SPI
-#define PX4_SPI_BUS_SENSORS    0
-#define PX4_SPIDEV_UBLOX       PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 0) // spidev0.0 - ublox m8n
-#define PX4_SPIDEV_MPU         PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1) // spidev0.1 - mpu9250
-#define PX4_SPIDEV_LSM9DS1_M   PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2) // spidev0.2 - lsm9ds1 mag
-#define PX4_SPIDEV_LSM9DS1_AG  PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 3) // spidev0.3 - lsm9ds1 accel/gyro
+//#define PX4_SPI_BUS_SENSORS    0
+//#define PX4_SPIDEV_UBLOX       PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 0) // spidev0.0 - ublox m8n
+//#define PX4_SPIDEV_MPU         PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1) // spidev0.1 - mpu9250
+//#define PX4_SPIDEV_LSM9DS1_M   PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2) // spidev0.2 - lsm9ds1 mag
+//#define PX4_SPIDEV_LSM9DS1_AG  PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 3) // spidev0.3 - lsm9ds1 accel/gyro
 
 
 // ADC channels:

diff --git a/boards/emlid/navio2/src/empty.c b/boards/emlid/navio2/src/empty.c
diff --git a/boards/emlid/navio2/src/spi.cpp b/boards/emlid/navio2/src/spi.cpp
@@ -0,0 +1,44 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(0, {
+		// spidev0.0 - ublox m8n
+		initSPIDevice(DRV_GYR_DEVTYPE_MPU9250, 1),
+		initSPIDevice(DRV_MAG_DEVTYPE_ST_LSM9DS1_M, 2),
+		initSPIDevice(DRV_IMU_DEVTYPE_ST_LSM9DS1_AG, 3),
+	}),
+};
diff --git a/boards/px4/fmu-v3/default.cmake b/boards/px4/fmu-v3/default.cmake
@@ -19,35 +19,35 @@ px4_add_board(
 		TEL4:/dev/ttyS6
 	DRIVERS
 		adc
-		barometer # all available barometer drivers
-		batt_smbus
+		barometer/ms5611 # all available barometer drivers
+		#batt_smbus
 		camera_capture
 		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
+		#differential_pressure # all available differential pressure drivers
+		#distance_sensor # all available distance sensor drivers
 		dshot
 		gps
 		#heater
 		#imu # all available imu drivers
-		imu/adis16448
-		imu/adis16477
-		imu/adis16497
-		imu/l3gd20
-		imu/lsm303d
+		#imu/adis16448
+		#imu/adis16477
+		#imu/adis16497
+		#imu/l3gd20
+		#imu/lsm303d
 		imu/mpu6000
-		imu/mpu9250
-		imu/icm20948
-		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
+		#imu/mpu9250
+		#imu/icm20948
+		#irlock
+		#lights/blinkm
+		#lights/rgbled
+		#lights/rgbled_ncp5623c
 		#lights/rgbled_pwm
-		magnetometer # all available magnetometer drivers
+		#magnetometer # all available magnetometer drivers
 		mkblctrl
 		#optical_flow # all available optical flow drivers
-		optical_flow/px4flow
+		#optical_flow/px4flow
 		#osd
-		pca9685
+		#pca9685
 		#power_monitor/ina226
 		#protocol_splitter
 		pwm_input
@@ -56,7 +56,7 @@ px4_add_board(
 		px4io
 		roboclaw
 		tap_esc
-		telemetry # all available telemetry drivers
+		#telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
 		uavcan
@@ -110,7 +110,7 @@ px4_add_board(
 		reflect
 		sd_bench
 		shutdown
-		tests # tests and test runner
+		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control

diff --git a/boards/px4/fmu-v3/src/CMakeLists.txt b/boards/px4/fmu-v3/src/CMakeLists.txt
@@ -33,10 +33,10 @@
 
 add_library(drivers_board
 	can.c
-	i2c.c
+	i2c.cpp
 	init.c
 	led.c
-	spi.c
+	spi.cpp
 	timer_config.cpp
 	usb.c
 	manifest.c
-Original file line number
+Diff line change
@@ Expand Up / @@ -32,5 +32,5 @@ @@
     ############################################################################
     add_library(drivers_board
-    	empty.c
+    	spi.cpp
     )