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@ -31,234 +31,106 @@ |
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* |
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* |
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****************************************************************************/ |
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****************************************************************************/ |
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#include <px4_platform_common/px4_config.h> |
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#include <px4_platform_common/i2c_spi_buses.h> |
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#include <px4_platform_common/getopt.h> |
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#include <px4_platform_common/module.h> |
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#include "mpu9250.h" |
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#include "mpu9250.h" |
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enum class MPU9250_BUS { |
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void |
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ALL = 0, |
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MPU9250::print_usage() |
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I2C_INTERNAL, |
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I2C_EXTERNAL, |
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SPI_INTERNAL, |
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SPI_INTERNAL2, |
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SPI_EXTERNAL |
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}; |
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namespace mpu9250 |
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{ |
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{ |
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PRINT_MODULE_USAGE_NAME("mpu9250", "driver"); |
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// list of supported bus configurations
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PRINT_MODULE_USAGE_SUBCATEGORY("imu"); |
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struct mpu9250_bus_option { |
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PRINT_MODULE_USAGE_COMMAND("start"); |
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MPU9250_BUS busid; |
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PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true); |
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MPU9250_constructor interface_constructor; |
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PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true); |
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bool magpassthrough; |
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PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); |
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uint8_t busnum; |
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uint32_t address; |
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MPU9250 *dev; |
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} bus_options[] = { |
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#if defined(USE_I2C) |
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# if defined(PX4_I2C_BUS_ONBOARD) && defined(PX4_I2C_OBDEV_MPU9250) |
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{ MPU9250_BUS::I2C_INTERNAL, &MPU9250_I2C_interface, false, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_MPU9250, nullptr }, |
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# endif |
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# if defined(PX4_I2C_BUS_EXPANSION) && defined(PX4_I2C_OBDEV_MPU9250) |
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{ MPU9250_BUS::I2C_EXTERNAL, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_MPU9250, nullptr }, |
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# endif |
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# if defined(PX4_I2C_BUS_EXPANSION1) && defined(PX4_I2C_OBDEV_MPU9250) |
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{ MPU9250_BUS::I2C_EXTERNAL, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION1, PX4_I2C_OBDEV_MPU9250, nullptr }, |
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# endif |
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# if defined(PX4_I2C_BUS_EXPANSION2) && defined(PX4_I2C_OBDEV_MPU9250) |
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{ MPU9250_BUS::I2C_EXTERNAL, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION2, PX4_I2C_OBDEV_MPU9250, nullptr }, |
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# endif |
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#endif |
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#if defined(PX4_SPI_BUS_SENSORS) && defined(PX4_SPIDEV_MPU) |
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{ MPU9250_BUS::SPI_INTERNAL, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU, nullptr }, |
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#endif |
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#if defined(PX4_SPI_BUS_SENSORS) && defined(PX4_SPIDEV_MPU2) |
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{ MPU9250_BUS::SPI_INTERNAL2, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU2, nullptr }, |
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#endif |
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#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_MPU) |
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{ MPU9250_BUS::SPI_EXTERNAL, &MPU9250_SPI_interface, true, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_MPU, nullptr }, |
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#endif |
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}; |
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// find a bus structure for a busid
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static mpu9250_bus_option *find_bus(MPU9250_BUS busid) |
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{ |
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for (mpu9250_bus_option &bus_option : bus_options) { |
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if ((busid == MPU9250_BUS::ALL || |
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busid == bus_option.busid) && bus_option.dev != nullptr) { |
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return &bus_option; |
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} |
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} |
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return nullptr; |
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} |
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} |
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static bool start_bus(mpu9250_bus_option &bus, enum Rotation rotation) |
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I2CSPIDriverBase *MPU9250::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, |
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int runtime_instance) |
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{ |
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{ |
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device::Device *interface = bus.interface_constructor(bus.busnum, bus.address); |
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device::Device *interface = nullptr; |
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if ((interface == nullptr) || (interface->init() != PX4_OK)) { |
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PX4_WARN("no device on bus %u", (unsigned)bus.busid); |
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delete interface; |
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return false; |
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} |
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device::Device *mag_interface = nullptr; |
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device::Device *mag_interface = nullptr; |
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if (iterator.busType() == BOARD_I2C_BUS) { |
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#ifdef USE_I2C |
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#ifdef USE_I2C |
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interface = MPU9250_I2C_interface(iterator.bus(), PX4_I2C_OBDEV_MPU9250, cli.bus_frequency); |
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// For i2c interfaces, connect to the magnetomer directly
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// For i2c interfaces, connect to the magnetomer directly
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if ((bus.busid == MPU9250_BUS::I2C_INTERNAL) || (bus.busid == MPU9250_BUS::I2C_EXTERNAL)) { |
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mag_interface = AK8963_I2C_interface(iterator.bus(), cli.bus_frequency); |
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mag_interface = AK8963_I2C_interface(bus.busnum); |
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} |
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#endif // USE_I2C
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#endif // USE_I2C
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MPU9250 *dev = new MPU9250(interface, mag_interface, rotation); |
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} else if (iterator.busType() == BOARD_SPI_BUS) { |
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interface = MPU9250_SPI_interface(iterator.bus(), iterator.devid(), cli.bus_frequency, cli.spi_mode); |
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} |
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if (dev == nullptr) { |
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if (interface == nullptr) { |
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PX4_ERR("alloc failed"); |
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PX4_ERR("alloc failed"); |
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delete mag_interface; |
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delete mag_interface; |
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return false; |
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return nullptr; |
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} |
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} |
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if (dev->init() != PX4_OK) { |
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if (interface->init() != OK) { |
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PX4_ERR("driver start failed"); |
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delete interface; |
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delete dev; |
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delete mag_interface; |
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delete mag_interface; |
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return false; |
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PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid()); |
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return nullptr; |
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} |
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} |
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bus.dev = dev; |
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MPU9250 *dev = new MPU9250(interface, mag_interface, cli.rotation, iterator.configuredBusOption(), iterator.bus()); |
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return true; |
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} |
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static int start(MPU9250_BUS busid, enum Rotation rotation) |
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{ |
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for (mpu9250_bus_option &bus_option : bus_options) { |
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if (bus_option.dev != nullptr) { |
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// this device is already started
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PX4_WARN("already started"); |
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continue; |
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} |
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if (busid != MPU9250_BUS::ALL && bus_option.busid != busid) { |
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// not the one that is asked for
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continue; |
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} |
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if (start_bus(bus_option, rotation)) { |
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return 0; |
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} |
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} |
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return -1; |
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} |
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static int stop(MPU9250_BUS busid) |
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{ |
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mpu9250_bus_option *bus = find_bus(busid); |
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if (bus != nullptr && bus->dev != nullptr) { |
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if (dev == nullptr) { |
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delete bus->dev; |
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delete interface; |
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bus->dev = nullptr; |
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delete mag_interface; |
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return nullptr; |
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} else { |
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PX4_WARN("driver not running"); |
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return -1; |
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} |
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} |
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return 0; |
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if (OK != dev->init()) { |
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} |
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delete dev; |
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return nullptr; |
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static int status(MPU9250_BUS busid) |
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{ |
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mpu9250_bus_option *bus = find_bus(busid); |
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if (bus != nullptr && bus->dev != nullptr) { |
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bus->dev->print_info(); |
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return 0; |
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} |
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} |
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PX4_WARN("driver not running"); |
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return dev; |
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return -1; |
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} |
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static int usage() |
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{ |
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PX4_INFO("missing command: try 'start', 'stop', 'status'"); |
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PX4_INFO("options:"); |
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PX4_INFO(" -X (i2c external bus)"); |
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PX4_INFO(" -I (i2c internal bus)"); |
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PX4_INFO(" -s (spi internal bus)"); |
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PX4_INFO(" -S (spi external bus)"); |
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PX4_INFO(" -t (spi internal bus, 2nd instance)"); |
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PX4_INFO(" -R rotation"); |
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return 0; |
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} |
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} |
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} // namespace
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extern "C" int |
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mpu9250_main(int argc, char *argv[]) |
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extern "C" int mpu9250_main(int argc, char *argv[]) |
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{ |
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{ |
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int myoptind = 1; |
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int ch; |
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int ch; |
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const char *myoptarg = nullptr; |
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using ThisDriver = MPU9250; |
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BusCLIArguments cli{true, true}; |
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MPU9250_BUS busid = MPU9250_BUS::ALL; |
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cli.default_spi_frequency = 1000 * 1000; // low speed bus frequency
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enum Rotation rotation = ROTATION_NONE; |
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cli.default_i2c_frequency = 400000; |
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while ((ch = px4_getopt(argc, argv, "XISstR:", &myoptind, &myoptarg)) != EOF) { |
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while ((ch = cli.getopt(argc, argv, "R:")) != EOF) { |
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switch (ch) { |
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switch (ch) { |
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case 'X': |
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busid = MPU9250_BUS::I2C_EXTERNAL; |
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break; |
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case 'I': |
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busid = MPU9250_BUS::I2C_INTERNAL; |
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break; |
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case 'S': |
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busid = MPU9250_BUS::SPI_EXTERNAL; |
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break; |
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case 's': |
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busid = MPU9250_BUS::SPI_INTERNAL; |
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break; |
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case 't': |
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busid = MPU9250_BUS::SPI_INTERNAL2; |
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break; |
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case 'R': |
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case 'R': |
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rotation = (enum Rotation)atoi(myoptarg); |
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cli.rotation = (enum Rotation)atoi(cli.optarg()); |
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break; |
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break; |
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default: |
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return mpu9250::usage(); |
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} |
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} |
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} |
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} |
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if (myoptind >= argc) { |
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const char *verb = cli.optarg(); |
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return mpu9250::usage(); |
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if (!verb) { |
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ThisDriver::print_usage(); |
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return -1; |
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} |
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} |
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const char *verb = argv[myoptind]; |
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BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_MPU9250); |
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if (!strcmp(verb, "start")) { |
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if (!strcmp(verb, "start")) { |
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return mpu9250::start(busid, rotation); |
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return ThisDriver::module_start(cli, iterator); |
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} |
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|
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} else if (!strcmp(verb, "stop")) { |
|
|
|
if (!strcmp(verb, "stop")) { |
|
|
|
return mpu9250::stop(busid); |
|
|
|
return ThisDriver::module_stop(iterator); |
|
|
|
|
|
|
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} |
|
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|
|
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} else if (!strcmp(verb, "status")) { |
|
|
|
if (!strcmp(verb, "status")) { |
|
|
|
return mpu9250::status(busid); |
|
|
|
return ThisDriver::module_status(iterator); |
|
|
|
} |
|
|
|
} |
|
|
|
|
|
|
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|
|
|
|
return mpu9250::usage(); |
|
|
|
ThisDriver::print_usage(); |
|
|
|
|
|
|
|
return -1; |
|
|
|
} |
|
|
|
} |
|
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Beat Küng
5 years ago
committed by
Daniel Agar