mpu9250 remove interface IOCTLs

src/drivers/imu/mpu9250/mag_i2c.cpp

@@ -37,20 +37,7 @@
  * I2C interface for AK8963
  */
 
-/* XXX trim includes */
 #include <px4_config.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <string.h>
-#include <assert.h>
-#include <debug.h>
-#include <errno.h>
-#include <unistd.h>
-
-#include <arch/board/board.h>
-
 #include <drivers/device/i2c.h>
 #include <drivers/drv_accel.h>
 #include <drivers/drv_device.h>
@@ -58,9 +45,6 @@
 #include "mpu9250.h"
 #include "mag.h"
 
-#include "board_config.h"
-
-
 #ifdef USE_I2C
 
 device::Device *AK8963_I2C_interface(int bus, bool external_bus);
@@ -69,19 +53,16 @@ class AK8963_I2C : public device::I2C
 {
 public:
 	AK8963_I2C(int bus);
-	virtual ~AK8963_I2C() = default;
+	~AK8963_I2C() override = default;
 
-	virtual int	read(unsigned address, void *data, unsigned count);
-	virtual int	write(unsigned address, void *data, unsigned count);
-
-	virtual int	ioctl(unsigned operation, unsigned &arg);
+	int	read(unsigned address, void *data, unsigned count) override;
+	int	write(unsigned address, void *data, unsigned count) override;
 
 protected:
-	virtual int	probe();
+	int	probe() override;
 
 };
 
-
 device::Device *
 AK8963_I2C_interface(int bus, bool external_bus)
 {
@@ -94,25 +75,6 @@ AK8963_I2C::AK8963_I2C(int bus) :
 	_device_id.devid_s.devtype =  DRV_MAG_DEVTYPE_MPU9250;
 }
 
-int
-AK8963_I2C::ioctl(unsigned operation, unsigned &arg)
-{
-	int ret;
-
-	switch (operation) {
-	case DEVIOCGDEVICEID:
-		return CDev::ioctl(nullptr, operation, arg);
-
-	case MPUIOCGIS_I2C:
-		return 1;
-
-	default:
-		ret = -EINVAL;
-	}
-
-	return ret;
-}
-
 int
 AK8963_I2C::write(unsigned reg_speed, void *data, unsigned count)
 {
@@ -134,7 +96,6 @@ AK8963_I2C::read(unsigned reg_speed, void *data, unsigned count)
 	return transfer(&cmd, 1, (uint8_t *)data, count);
 }
 
-
 int
 AK8963_I2C::probe()
 {

src/drivers/imu/mpu9250/mpu9250.cpp

@@ -255,8 +255,7 @@ MPU9250::init()
 {
 
 #if defined(USE_I2C)
-	unsigned dummy;
-	use_i2c(_interface->ioctl(MPUIOCGIS_I2C, dummy));
+	use_i2c(_interface->get_device_bus_type() == Device::DeviceBusType_I2C);
 #endif
 
 	/*

src/drivers/imu/mpu9250/mpu9250_i2c.cpp

@@ -37,28 +37,13 @@
  * I2C interface for MPU9250
  */
 
-/* XXX trim includes */
 #include <px4_config.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <string.h>
-#include <assert.h>
-#include <debug.h>
-#include <errno.h>
-#include <unistd.h>
-
-#include <arch/board/board.h>
-
 #include <drivers/device/i2c.h>
 #include <drivers/drv_accel.h>
 #include <drivers/drv_device.h>
 
 #include "mpu9250.h"
 
-#include "board_config.h"
-
 #ifdef USE_I2C
 
 device::Device *MPU9250_I2C_interface(int bus, uint32_t address, bool external_bus);
@@ -67,15 +52,13 @@ class MPU9250_I2C : public device::I2C
 {
 public:
 	MPU9250_I2C(int bus, uint32_t address);
-	virtual ~MPU9250_I2C() = default;
+	~MPU9250_I2C() override = default;
 
-	virtual int	read(unsigned address, void *data, unsigned count);
-	virtual int	write(unsigned address, void *data, unsigned count);
-
-	virtual int	ioctl(unsigned operation, unsigned &arg);
+	int	read(unsigned address, void *data, unsigned count) override;
+	int	write(unsigned address, void *data, unsigned count) override;
 
 protected:
-	virtual int	probe();
+	int	probe() override;
 
 };
 
@@ -88,26 +71,7 @@ MPU9250_I2C_interface(int bus, uint32_t address, bool external_bus)
 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;
-}
-
-int
-MPU9250_I2C::ioctl(unsigned operation, unsigned &arg)
-{
-	int ret = PX4_ERROR;
-
-	switch (operation) {
-	case DEVIOCGDEVICEID:
-		return CDev::ioctl(nullptr, operation, arg);
-
-	case MPUIOCGIS_I2C:
-		return 1;
-
-	default:
-		ret = -EINVAL;
-	}
-
-	return ret;
+	_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU9250;
 }
 
 int

src/drivers/imu/mpu9250/mpu9250_spi.cpp

@@ -42,24 +42,11 @@
  */
 
 #include <px4_config.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <string.h>
-#include <assert.h>
-#include <debug.h>
-#include <errno.h>
-#include <unistd.h>
-
-#include <arch/board/board.h>
-
 #include <drivers/device/spi.h>
 #include <drivers/drv_accel.h>
 #include <drivers/drv_device.h>
 
 #include "mpu9250.h"
-#include <board_config.h>
 
 #define DIR_READ			0x80
 #define DIR_WRITE			0x00
@@ -76,27 +63,23 @@
 #define MPU9250_LOW_SPI_BUS_SPEED	1000*1000
 #define MPU9250_HIGH_SPI_BUS_SPEED	20*1000*1000
 
-
 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() = default;
+	~MPU9250_SPI() override = default;
 
-	virtual int	read(unsigned address, void *data, unsigned count);
-	virtual int	write(unsigned address, void *data, unsigned count);
+	int	read(unsigned address, void *data, unsigned count) override;
+	int	write(unsigned address, void *data, unsigned count) override;
 
-	virtual int	ioctl(unsigned operation, unsigned &arg);
 protected:
-	virtual int probe();
+	int probe() override;
 
 private:
 
 	/* Helper to set the desired speed and isolate the register on return */
-
 	void set_bus_frequency(unsigned &reg_speed_reg_out);
 };
 
@@ -121,38 +104,16 @@ MPU9250_SPI_interface(int bus, uint32_t cs, bool external_bus)
 MPU9250_SPI::MPU9250_SPI(int bus, uint32_t device) :
 	SPI("MPU9250", nullptr, bus, device, SPIDEV_MODE3, MPU9250_LOW_SPI_BUS_SPEED)
 {
-	_device_id.devid_s.devtype =  DRV_ACC_DEVTYPE_MPU9250;
-}
-
-int
-MPU9250_SPI::ioctl(unsigned operation, unsigned &arg)
-{
-	int ret;
-
-	switch (operation) {
-	case DEVIOCGDEVICEID:
-		return CDev::ioctl(nullptr, operation, arg);
-
-	case MPUIOCGIS_I2C:
-		return 0;
-
-	default: {
-			ret = -EINVAL;
-		}
-	}
-
-	return ret;
+	_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU9250;
 }
 
 void
 MPU9250_SPI::set_bus_frequency(unsigned &reg_speed)
 {
 	/* Set the desired speed */
-
 	set_frequency(MPU9250_IS_HIGH_SPEED(reg_speed) ? MPU9250_HIGH_SPI_BUS_SPEED : MPU9250_LOW_SPI_BUS_SPEED);
 
 	/* Isoolate the register on return */
-
 	reg_speed = MPU9250_REG(reg_speed);
 }
 
@@ -187,34 +148,25 @@ MPU9250_SPI::read(unsigned reg_speed, void *data, unsigned count)
 
 	uint8_t *pbuff  =  count < sizeof(MPUReport) ? cmd : (uint8_t *) data ;
 
-
 	if (count < sizeof(MPUReport))  {
-
 		/* add command */
-
 		count++;
 	}
 
 	set_bus_frequency(reg_speed);
 
 	/* Set command */
-
 	pbuff[0] = reg_speed | DIR_READ ;
 
 	/* Transfer the command and get the data */
-
 	int ret = transfer(pbuff, pbuff, count);
 
 	if (ret == OK && pbuff == &cmd[0]) {
-
 		/* Adjust the count back */
-
 		count--;
 
 		/* Return the data */
-
 		memcpy(data, &cmd[1], count);
-
 	}
 
 	return ret;