Problems about using SPI on Pixhawk

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1

Hi, I’m currently using SPI on Pixhawk, but I encountered some problems about it.

  1. I just wanna know can I use the external SPI on board? If so, which one of the “enum AP_HAL::SPIDevice” in SPIDriver.h should I choose to initialize the device?
  2. I’ve read some code about mpu6000 and I found following ambiguous lines of code,

[color=#00BF00] /* Pin 70 defined especially to hook
up PE6 to the hal.gpio abstraction.
(It is not a valid pin under Arduino.) */[/color]
_drdy_pin = hal.gpio->channel(70);

but I found the pin70 which is PE6 is one of the external SPI pins.
Anyone has any ideas about whether MPU6000 occupies this pin?

2

You can look in the PX4 hardware repository on github to see the schematics.