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mpu9250 remove interface IOCTLs

sbg
Daniel Agar 6 years ago committed by Lorenz Meier
parent
e164281a2e
commit
b0caea9edc
4 changed files with 15 additions and 139 deletions
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  1. 47
      src/drivers/imu/mpu9250/mag_i2c.cpp
  2. 3
      src/drivers/imu/mpu9250/mpu9250.cpp
  3. 46
      src/drivers/imu/mpu9250/mpu9250_i2c.cpp
  4. 58
      src/drivers/imu/mpu9250/mpu9250_spi.cpp

47
src/drivers/imu/mpu9250/mag_i2c.cpp
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@ -37,20 +37,7 @@
* I2C interface for AK8963 * I2C interface for AK8963
*/ */
/* XXX trim includes */
#include <px4_config.h> #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/device/i2c.h>
#include <drivers/drv_accel.h> #include <drivers/drv_accel.h>
#include <drivers/drv_device.h> #include <drivers/drv_device.h>
@ -58,9 +45,6 @@
#include "mpu9250.h" #include "mpu9250.h"
#include "mag.h" #include "mag.h"
#include "board_config.h"
#ifdef USE_I2C #ifdef USE_I2C
device::Device *AK8963_I2C_interface(int bus, bool external_bus); device::Device *AK8963_I2C_interface(int bus, bool external_bus);
@ -69,19 +53,16 @@ class AK8963_I2C : public device::I2C
{ {
public: public:
AK8963_I2C(int bus); AK8963_I2C(int bus);
virtual ~AK8963_I2C() = default; ~AK8963_I2C() override = default;
virtual int read(unsigned address, void *data, unsigned count); int read(unsigned address, void *data, unsigned count) override;
virtual int write(unsigned address, void *data, unsigned count); int write(unsigned address, void *data, unsigned count) override;
virtual int ioctl(unsigned operation, unsigned &arg);
protected: protected:
virtual int probe(); int probe() override;
}; };
device::Device * device::Device *
AK8963_I2C_interface(int bus, bool external_bus) 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; _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 int
AK8963_I2C::write(unsigned reg_speed, void *data, unsigned count) 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); return transfer(&cmd, 1, (uint8_t *)data, count);
} }
int int
AK8963_I2C::probe() AK8963_I2C::probe()
{ {

3
src/drivers/imu/mpu9250/mpu9250.cpp
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@ -255,8 +255,7 @@ MPU9250::init()
{ {
#if defined(USE_I2C) #if defined(USE_I2C)
unsigned dummy; use_i2c(_interface->get_device_bus_type() == Device::DeviceBusType_I2C);
use_i2c(_interface->ioctl(MPUIOCGIS_I2C, dummy));
#endif #endif
/* /*

46
src/drivers/imu/mpu9250/mpu9250_i2c.cpp
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@ -37,28 +37,13 @@
* I2C interface for MPU9250 * I2C interface for MPU9250
*/ */
/* XXX trim includes */
#include <px4_config.h> #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/device/i2c.h>
#include <drivers/drv_accel.h> #include <drivers/drv_accel.h>
#include <drivers/drv_device.h> #include <drivers/drv_device.h>
#include "mpu9250.h" #include "mpu9250.h"
#include "board_config.h"
#ifdef USE_I2C #ifdef USE_I2C
device::Device *MPU9250_I2C_interface(int bus, uint32_t address, bool external_bus); device::Device *MPU9250_I2C_interface(int bus, uint32_t address, bool external_bus);
@ -67,15 +52,13 @@ class MPU9250_I2C : public device::I2C
{ {
public: public:
MPU9250_I2C(int bus, uint32_t address); MPU9250_I2C(int bus, uint32_t address);
virtual ~MPU9250_I2C() = default; ~MPU9250_I2C() override = default;
virtual int read(unsigned address, void *data, unsigned count); int read(unsigned address, void *data, unsigned count) override;
virtual int write(unsigned address, void *data, unsigned count); int write(unsigned address, void *data, unsigned count) override;
virtual int ioctl(unsigned operation, unsigned &arg);
protected: 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) : MPU9250_I2C::MPU9250_I2C(int bus, uint32_t address) :
I2C("MPU9250_I2C", nullptr, bus, address, 400000) I2C("MPU9250_I2C", nullptr, bus, address, 400000)
{ {
_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU9250; _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;
} }
int int

58
src/drivers/imu/mpu9250/mpu9250_spi.cpp
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@ -42,24 +42,11 @@
*/ */
#include <px4_config.h> #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/device/spi.h>
#include <drivers/drv_accel.h> #include <drivers/drv_accel.h>
#include <drivers/drv_device.h> #include <drivers/drv_device.h>
#include "mpu9250.h" #include "mpu9250.h"
#include <board_config.h>
#define DIR_READ 0x80 #define DIR_READ 0x80
#define DIR_WRITE 0x00 #define DIR_WRITE 0x00
@ -76,27 +63,23 @@
#define MPU9250_LOW_SPI_BUS_SPEED 1000*1000 #define MPU9250_LOW_SPI_BUS_SPEED 1000*1000
#define MPU9250_HIGH_SPI_BUS_SPEED 20*1000*1000 #define MPU9250_HIGH_SPI_BUS_SPEED 20*1000*1000
device::Device *MPU9250_SPI_interface(int bus, uint32_t cs, bool external_bus); device::Device *MPU9250_SPI_interface(int bus, uint32_t cs, bool external_bus);
class MPU9250_SPI : public device::SPI class MPU9250_SPI : public device::SPI
{ {
public: public:
MPU9250_SPI(int bus, uint32_t device); MPU9250_SPI(int bus, uint32_t device);
virtual ~MPU9250_SPI() = default; ~MPU9250_SPI() override = default;
virtual int read(unsigned address, void *data, unsigned count); int read(unsigned address, void *data, unsigned count) override;
virtual int write(unsigned address, void *data, unsigned count); int write(unsigned address, void *data, unsigned count) override;
virtual int ioctl(unsigned operation, unsigned &arg);
protected: protected:
virtual int probe(); int probe() override;
private: private:
/* Helper to set the desired speed and isolate the register on return */ /* Helper to set the desired speed and isolate the register on return */
void set_bus_frequency(unsigned &reg_speed_reg_out); 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) : MPU9250_SPI::MPU9250_SPI(int bus, uint32_t device) :
SPI("MPU9250", nullptr, bus, device, SPIDEV_MODE3, MPU9250_LOW_SPI_BUS_SPEED) SPI("MPU9250", nullptr, bus, device, SPIDEV_MODE3, MPU9250_LOW_SPI_BUS_SPEED)
{ {
_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU9250; _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;
} }
void void
MPU9250_SPI::set_bus_frequency(unsigned &reg_speed) MPU9250_SPI::set_bus_frequency(unsigned &reg_speed)
{ {
/* Set the desired speed */ /* Set the desired speed */
set_frequency(MPU9250_IS_HIGH_SPEED(reg_speed) ? MPU9250_HIGH_SPI_BUS_SPEED : MPU9250_LOW_SPI_BUS_SPEED); set_frequency(MPU9250_IS_HIGH_SPEED(reg_speed) ? MPU9250_HIGH_SPI_BUS_SPEED : MPU9250_LOW_SPI_BUS_SPEED);
/* Isoolate the register on return */ /* Isoolate the register on return */
reg_speed = MPU9250_REG(reg_speed); 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 ; uint8_t *pbuff = count < sizeof(MPUReport) ? cmd : (uint8_t *) data ;
if (count < sizeof(MPUReport)) { if (count < sizeof(MPUReport)) {
/* add command */ /* add command */
count++; count++;
} }
set_bus_frequency(reg_speed); set_bus_frequency(reg_speed);
/* Set command */ /* Set command */
pbuff[0] = reg_speed | DIR_READ ; pbuff[0] = reg_speed | DIR_READ ;
/* Transfer the command and get the data */ /* Transfer the command and get the data */
int ret = transfer(pbuff, pbuff, count); int ret = transfer(pbuff, pbuff, count);
if (ret == OK && pbuff == &cmd[0]) { if (ret == OK && pbuff == &cmd[0]) {
/* Adjust the count back */ /* Adjust the count back */
count--; count--;
/* Return the data */ /* Return the data */
memcpy(data, &cmd[1], count); memcpy(data, &cmd[1], count);
} }
return ret; return ret;

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