From 9bbbb52669d3405bdcd8ed53bb3bbcb2b687d27f Mon Sep 17 00:00:00 2001
From: Brendan Bartels <bbartels@iastate.edu>
Date: Sat, 22 Apr 2017 11:59:04 -0500
Subject: [PATCH] quad: fix last issues on virt_quad with new i2c
---
quad/src/virt_quad/hw_impl_unix.c | 1 +
quad/src/virt_quad/main.c | 4 +++-
2 files changed, 4 insertions(+), 1 deletion(-)
diff --git a/quad/src/virt_quad/hw_impl_unix.c b/quad/src/virt_quad/hw_impl_unix.c
index d3607f17e..e1dbcf9e2 100644
--- a/quad/src/virt_quad/hw_impl_unix.c
+++ b/quad/src/virt_quad/hw_impl_unix.c
@@ -28,6 +28,7 @@ struct RCReceiverDriver create_unix_rc_receiver() {
struct I2CDriver create_unix_i2c() {
struct I2CDriver i2c;
i2c.state = NULL;
+ i2c.busId = 0;
i2c.reset = unix_i2c_reset;
i2c.write = unix_i2c_write;
i2c.read = unix_i2c_read;
diff --git a/quad/src/virt_quad/main.c b/quad/src/virt_quad/main.c
index 0937f9f9a..9b0c676af 100644
--- a/quad/src/virt_quad/main.c
+++ b/quad/src/virt_quad/main.c
@@ -32,6 +32,7 @@ void help_sub_command(char *argv[]);
*/
int setup_hardware(hardware_t *hardware) {
hardware->i2c_0 = create_unix_i2c();
+ hardware->i2c_1 = create_unix_i2c();
hardware->rc_receiver = create_unix_rc_receiver();
hardware->motors = create_unix_motors();
hardware->uart = create_unix_uart();
@@ -40,7 +41,7 @@ int setup_hardware(hardware_t *hardware) {
hardware->mio7_led = create_unix_mio7_led();
hardware->sys = create_unix_system();
hardware->imu = create_unix_imu(&hardware->i2c_0);
- hardware->lidar = create_unix_lidar(&hardware->i2c_0);
+ hardware->lidar = create_unix_lidar(&hardware->i2c_1);
hardware->of = create_unix_optical_flow(&hardware->i2c_0);
return 0;
}
@@ -121,6 +122,7 @@ void open_new_shm_io() {
pthread_mutex_init(&virt_quad_io->led_lock, &attr);
pthread_mutex_init(&virt_quad_io->motors_lock, &attr);
pthread_mutex_init(&virt_quad_io->rc_lock, &attr);
+ pthread_mutex_init(&virt_quad_io->i2c_lock, &attr);
}
void open_existing_shm_io() {
--
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