device::Device *
MPU9250_SPI_interface(int bus, bool external_bus)
{
uint32_t cs = SPIDEV_NONE(0);
device::Device *interface = nullptr;
if (external_bus) {
#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_MPU)
cs = PX4_SPIDEV_EXT_MPU;
#else
errx(0, "External SPI not available");
#endif
} else {
cs = PX4_SPIDEV_MPU;
}
if (cs != SPIDEV_NONE(0)) {
interface = new MPU9250_SPI(bus, cs);
}
return interface;
}
device::Device *
MPU9250_SPI_interface(int bus, int device_type, uint32_t cs, bool external_bus)
{
device::Device *interface = nullptr;
if (external_bus) {
#if !(defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_MPU))
errx(0, "External SPI not available");
#endif
}
if (cs != SPIDEV_NONE(0)) {
interface = new MPU9250_SPI(bus, cs);
}
return interface;
}
