I2C Addresses

[Nitay Megides]

Hello,

I'm developing a sensor i'd like to integrate with Ardupilot, and I'm wondering which I2C address could I give it without causing a address collision.

Is there a table of some sort that specifies all the I2C sensors Ardupilot uses and their I2C addresses?

Thanks

Nitay

[Randy Mackay]

Nitay,

 

     I don’t know of a list that’s maintained anywhere.  I did a quick search through the code and these are the addresses I came up with:

     Airspeed sensor (MS4525DO) = 0x28

     Solo Smart battery = 0x0B

     Compass (MS5843) = 0x1E

     Toshiba LED = 0x55

     Maxbotix I2C Sonar = 0x70

     Pulsed Light Lidar = 0x62

 

-Randy

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[Nitay Megides]

Thanks Randy!

(The IR-Lock integration looks great by the way)

Do you reckon such list should go in the Wiki?

Thanks

Nitay

[Andrew Tridgell]

Hi Nitay,

It depends on the type of sensor of course, but it is really nice when
the sensor has a settable I2C address. I've just added support for the
LightWare I2C Lidar and having the address be settable and stored in the
Lidars eeprom is very nice.

I'd also recommend having a WHOAMI register for the device so drivers
can be sure a sensor on the address is the one they want. That means if
we do have address conflicts we can at least tell them apart.

What sensor are you developing?

Cheers, Tridge

[Nitay Megides]

Thanks for the tips! Added a WHOAMI register, A settable address is a problem for us at the moment. But I guess we'll add it when needed.

We're developing a camera capable of receiving commands from Ardupilot and reporting all kinds of info.

I'll give a proper introduction to the diy community (hopefully) in the near future.

I gotta say I expected implementing an I2C module will be the easiest way to go - Then I ran into this post (After a lot of tinkering around with the code). Is there a better way to implement an I2C device without adding a driver to the firmware?

Also, what's the preferred interface for adding devices to the pixhawk?

[Al B]

Hi Tridge,

Copter-3.3.3 was released this week and the release note indicates that it supports Lightware I2C.  I tried to test it using the APM instructions, but “sonarrange” just displays 0 in MP.

You mention that "is really nice when the sensor has a settable I2C address", do I need to change the sensor default 0x55 address to something else?

TIA!