mpu9250 allow a 2nd internal spi instance and remove px4fmu-v4 fake external (#9386)

src/drivers/boards/px4fmu-v4/board_config.h

@@ -133,7 +133,6 @@
 #define PX4_SPI_BUS_SENSORS          1
 #define PX4_SPI_BUS_RAMTRON          2
 #define PX4_SPI_BUS_BARO             PX4_SPI_BUS_RAMTRON
-#define PX4_SPI_BUS_EXT              1
 
 /* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
 #define PX4_SPIDEV_GYRO              PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
@@ -148,7 +147,7 @@
 #define PX4_SPIDEV_ICM_20602         PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 11)
 #define PX4_SPIDEV_BMI055_ACC        PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 12)
 #define PX4_SPIDEV_BMI055_GYR        PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 13)
-#define PX4_SPIDEV_EXT_MPU           PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 14)
+#define PX4_SPIDEV_MPU2              PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 14)
 
 /* onboard MS5611 and FRAM are both on bus SPI2
  * spi_dev_e:SPIDEV_FLASH has the value 2 and is used in the NuttX ramtron driver

src/drivers/boards/px4fmu-v4/spi.c

@@ -121,7 +121,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool s
 	case PX4_SPIDEV_ICM_20602:
 	case PX4_SPIDEV_ICM_20608:
 	case PX4_SPIDEV_BMI055_ACC:
-	case PX4_SPIDEV_EXT_MPU:
+	case PX4_SPIDEV_MPU2:
 		/* Making sure the other peripherals are not selected */
 		px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN2, 1);
 		px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN15, !selected);
@@ -237,6 +237,4 @@ __EXPORT void board_spi_reset(int ms)
 	stm32_configgpio(GPIO_SPI1_SCK);
 	stm32_configgpio(GPIO_SPI1_MISO);
 	stm32_configgpio(GPIO_SPI1_MOSI);
-
-
 }

src/drivers/imu/mpu9250/main.cpp

@@ -74,6 +74,11 @@
 #define MPU_DEVICE_PATH_ACCEL		"/dev/mpu9250_accel"
 #define MPU_DEVICE_PATH_GYRO		"/dev/mpu9250_gyro"
 #define MPU_DEVICE_PATH_MAG		"/dev/mpu9250_mag"
+
+#define MPU_DEVICE_PATH_ACCEL_1		"/dev/mpu9250_accel1"
+#define MPU_DEVICE_PATH_GYRO_1		"/dev/mpu9250_gyro1"
+#define MPU_DEVICE_PATH_MAG_1		"/dev/mpu9250_mag1"
+
 #define MPU_DEVICE_PATH_ACCEL_EXT	"/dev/mpu9250_accel_ext"
 #define MPU_DEVICE_PATH_GYRO_EXT	"/dev/mpu9250_gyro_ext"
 #define MPU_DEVICE_PATH_MAG_EXT 	"/dev/mpu9250_mag_ext"
@@ -87,6 +92,7 @@ enum MPU9250_BUS {
 	MPU9250_BUS_I2C_INTERNAL,
 	MPU9250_BUS_I2C_EXTERNAL,
 	MPU9250_BUS_SPI_INTERNAL,
+	MPU9250_BUS_SPI_INTERNAL2,
 	MPU9250_BUS_SPI_EXTERNAL
 };
 
@@ -109,21 +115,25 @@ struct mpu9250_bus_option {
 	MPU9250_constructor interface_constructor;
 	bool magpassthrough;
 	uint8_t busnum;
+	uint32_t address;
 	MPU9250	*dev;
 } bus_options[] = {
 #if defined (USE_I2C)
 #  if defined(PX4_I2C_BUS_ONBOARD)
-	{ MPU9250_BUS_I2C_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG,  &MPU9250_I2C_interface, false, PX4_I2C_BUS_ONBOARD, NULL },
+	{ MPU9250_BUS_I2C_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG,  &MPU9250_I2C_interface, false, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_MPU9250, NULL },
 #  endif
 #  if defined(PX4_I2C_BUS_EXPANSION)
-	{ MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION, NULL },
+	{ MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_MPU9250, NULL },
 #  endif
 #endif
 #ifdef PX4_SPIDEV_MPU
-	{ MPU9250_BUS_SPI_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, NULL },
+	{ MPU9250_BUS_SPI_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU, NULL },
+#endif
+#ifdef PX4_SPIDEV_MPU2
+	{ MPU9250_BUS_SPI_INTERNAL2, MPU_DEVICE_PATH_ACCEL_1, MPU_DEVICE_PATH_GYRO_1, MPU_DEVICE_PATH_MAG_1, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU2, NULL },
 #endif
-#if defined(PX4_SPI_BUS_EXT)
-	{ MPU9250_BUS_SPI_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT, &MPU9250_SPI_interface, true, PX4_SPI_BUS_EXT, NULL },
+#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_MPU)
+	{ MPU9250_BUS_SPI_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT, &MPU9250_SPI_interface, true, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_MPU, NULL },
 #endif
 };
 
@@ -169,7 +179,7 @@ start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation, bool external)
 		return false;
 	}
 
-	device::Device *interface = bus.interface_constructor(bus.busnum, external);
+	device::Device *interface = bus.interface_constructor(bus.busnum, bus.address, external);
 
 	if (interface == nullptr) {
 		warnx("no device on bus %u", (unsigned)bus.busid);
@@ -453,10 +463,15 @@ testerror(enum MPU9250_BUS busid)
 void
 usage()
 {
-	warnx("missing command: try 'start', 'info', 'test', 'stop',\n'reset', 'regdump', 'testerror'");
-	warnx("options:");
-	warnx("    -X    (external bus)");
-	warnx("    -R rotation");
+	PX4_INFO("missing command: try 'start', 'info', 'test', 'stop',\n'reset', 'regdump', 'testerror'");
+	PX4_INFO("options:");
+	PX4_INFO("    -X    (i2c external bus)");
+	PX4_INFO("    -I    (i2c internal bus)");
+	PX4_INFO("    -s    (spi internal bus)");
+	PX4_INFO("    -S    (spi external bus)");
+	PX4_INFO("    -t    (spi internal bus, 2nd instance)");
+	PX4_INFO("    -R rotation");
+
 }
 
 } // namespace
@@ -470,7 +485,7 @@ mpu9250_main(int argc, char *argv[])
 	enum Rotation rotation = ROTATION_NONE;
 
 	/* jump over start/off/etc and look at options first */
-	while ((ch = getopt(argc, argv, "XISsR:")) != EOF) {
+	while ((ch = getopt(argc, argv, "XISstR:")) != EOF) {
 		switch (ch) {
 		case 'X':
 			busid = MPU9250_BUS_I2C_EXTERNAL;
@@ -488,6 +503,10 @@ mpu9250_main(int argc, char *argv[])
 			busid = MPU9250_BUS_SPI_INTERNAL;
 			break;
 
+		case 't':
+			busid = MPU9250_BUS_SPI_INTERNAL2;
+			break;
+
 		case 'R':
 			rotation = (enum Rotation)atoi(optarg);
 			break;

src/drivers/imu/mpu9250/mpu9250.h

@@ -231,14 +231,11 @@ struct MPUReport {
 #  define MPU9250_LOW_SPEED_OP(r)			MPU9250_REG((r))
 
 /* interface factories */
-extern device::Device *MPU9250_SPI_interface(int bus, bool external_bus);
-extern device::Device *MPU9250_I2C_interface(int bus, bool external_bus);
+extern device::Device *MPU9250_SPI_interface(int bus, uint32_t cs, bool external_bus);
+extern device::Device *MPU9250_I2C_interface(int bus, uint32_t address, bool external_bus);
 extern int MPU9250_probe(device::Device *dev, int device_type);
 
-typedef device::Device *(*MPU9250_constructor)(int, bool);
-
-
-
+typedef device::Device *(*MPU9250_constructor)(int, uint32_t, bool);
 
 class MPU9250_mag;
 class MPU9250_gyro;

src/drivers/imu/mpu9250/mpu9250_i2c.cpp

@@ -61,15 +61,14 @@
 
 #ifdef USE_I2C
 
-device::Device *MPU9250_I2C_interface(int bus, bool external_bus);
+device::Device *MPU9250_I2C_interface(int bus, uint32_t address, bool external_bus);
 
 class MPU9250_I2C : public device::I2C
 {
 public:
-	MPU9250_I2C(int bus);
-	virtual ~MPU9250_I2C();
+	MPU9250_I2C(int bus, uint32_t address);
+	virtual ~MPU9250_I2C() = default;
 
-	virtual int	init();
 	virtual int	read(unsigned address, void *data, unsigned count);
 	virtual int	write(unsigned address, void *data, unsigned count);
 
@@ -80,34 +79,22 @@ protected:
 
 };
 
-
 device::Device *
-MPU9250_I2C_interface(int bus, bool external_bus)
+MPU9250_I2C_interface(int bus, uint32_t address, bool external_bus)
 {
-	return new MPU9250_I2C(bus);
+	return new MPU9250_I2C(bus, address);
 }
 
-MPU9250_I2C::MPU9250_I2C(int bus) :
-	I2C("MPU9250_I2C", nullptr, bus, PX4_I2C_OBDEV_MPU9250, 400000)
+MPU9250_I2C::MPU9250_I2C(int bus, uint32_t address) :
+	I2C("MPU9250_I2C", nullptr, bus, address, 400000)
 {
 	_device_id.devid_s.devtype =  DRV_ACC_DEVTYPE_MPU9250;
 }
 
-MPU9250_I2C::~MPU9250_I2C()
-{
-}
-
-int
-MPU9250_I2C::init()
-{
-	/* this will call probe() */
-	return I2C::init();
-}
-
 int
 MPU9250_I2C::ioctl(unsigned operation, unsigned &arg)
 {
-	int ret;
+	int ret = PX4_ERROR;
 
 	switch (operation) {
 
@@ -155,7 +142,6 @@ MPU9250_I2C::read(unsigned reg_speed, void *data, unsigned count)
 	return transfer(&cmd, 1, &((uint8_t *)data)[offset], count);
 }
 
-
 int
 MPU9250_I2C::probe()
 {

src/drivers/imu/mpu9250/mpu9250_spi.cpp

@@ -64,15 +64,6 @@
 #define DIR_READ			0x80
 #define DIR_WRITE			0x00
 
-
-#if PX4_SPIDEV_MPU
-#ifdef PX4_SPI_BUS_EXT
-#define EXTERNAL_BUS PX4_SPI_BUS_EXT
-#else
-#define EXTERNAL_BUS 0
-#endif
-
-
 /*
  * The MPU9250 can only handle high SPI bus speeds of 20Mhz on the sensor and
  * interrupt status registers. All other registers have a maximum 1MHz
@@ -86,16 +77,15 @@
 #define MPU9250_HIGH_SPI_BUS_SPEED	20*1000*1000
 
 
-device::Device *MPU9250_SPI_interface(int bus, bool external_bus);
+device::Device *MPU9250_SPI_interface(int bus, uint32_t cs, bool external_bus);
 
 
 class MPU9250_SPI : public device::SPI
 {
 public:
 	MPU9250_SPI(int bus, uint32_t device);
-	virtual ~MPU9250_SPI();
+	virtual ~MPU9250_SPI() = default;
 
-	virtual int	init();
 	virtual int	read(unsigned address, void *data, unsigned count);
 	virtual int	write(unsigned address, void *data, unsigned count);
 
@@ -111,24 +101,17 @@ private:
 };
 
 device::Device *
-MPU9250_SPI_interface(int bus, bool external_bus)
+MPU9250_SPI_interface(int bus, uint32_t cs, 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
+#if !(defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_MPU))
 		errx(0, "External SPI not available");
 #endif
-
-	} else {
-		cs =  PX4_SPIDEV_MPU;
 	}
 
 	if (cs != SPIDEV_NONE(0)) {
-
 		interface = new MPU9250_SPI(bus, cs);
 	}
 
@@ -141,25 +124,6 @@ MPU9250_SPI::MPU9250_SPI(int bus, uint32_t device) :
 	_device_id.devid_s.devtype =  DRV_ACC_DEVTYPE_MPU9250;
 }
 
-MPU9250_SPI::~MPU9250_SPI()
-{
-}
-
-int
-MPU9250_SPI::init()
-{
-	int ret;
-
-	ret = SPI::init();
-
-	if (ret != OK) {
-		DEVICE_DEBUG("SPI init failed");
-		return -EIO;
-	}
-
-	return OK;
-}
-
 int
 MPU9250_SPI::ioctl(unsigned operation, unsigned &arg)
 {
@@ -198,7 +162,6 @@ MPU9250_SPI::set_bus_frequency(unsigned &reg_speed)
 	reg_speed = MPU9250_REG(reg_speed);
 }
 
-
 int
 MPU9250_SPI::write(unsigned reg_speed, void *data, unsigned count)
 {
@@ -287,5 +250,3 @@ MPU9250_SPI::probe()
 
 	return ret;
 }
-
-#endif // PX4_SPIDEV_MPU