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I2C/SPI require device type in constructor

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This commit is contained in:
Daniel Agar
2020-04-01 12:24:22 -04:00
committed by GitHub
parent 04bf9afd1b
commit 02f4ad61ec
128 changed files with 181 additions and 351 deletions
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src/drivers/imu/adis16448/ADIS16448.cpp
+1 -6
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@@ -39,18 +39,13 @@
ADIS16448::ADIS16448(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode) :
SPI("ADIS16448", nullptr, bus, device, spi_mode, bus_frequency),
SPI(DRV_IMU_DEVTYPE_ADIS16448, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_accel(get_device_id(), ORB_PRIO_MAX, rotation),
_px4_baro(get_device_id(), ORB_PRIO_MAX),
_px4_gyro(get_device_id(), ORB_PRIO_MAX, rotation),
_px4_mag(get_device_id(), ORB_PRIO_MAX, rotation)
{
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ADIS16448);
_px4_baro.set_device_type(DRV_IMU_DEVTYPE_ADIS16448);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ADIS16448);
_px4_mag.set_device_type(DRV_IMU_DEVTYPE_ADIS16448);
_px4_accel.set_scale(ADIS16448_ACCEL_SENSITIVITY);
_px4_gyro.set_scale(ADIS16448_GYRO_INITIAL_SENSITIVITY);
_px4_mag.set_scale(ADIS16448_MAG_SENSITIVITY);
src/drivers/imu/adis16477/ADIS16477.cpp
+3 -5
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@@ -55,12 +55,12 @@ using namespace time_literals;
ADIS16477::ADIS16477(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
SPI("ADIS16477", nullptr, bus, device, spi_mode, bus_frequency),
SPI(DRV_IMU_DEVTYPE_ADIS16477, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_accel(get_device_id(), ORB_PRIO_MAX, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_MAX, rotation),
_sample_perf(perf_alloc(PC_ELAPSED, "adis16477: read")),
_bad_transfers(perf_alloc(PC_COUNT, "adis16477: bad transfers")),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
_bad_transfers(perf_alloc(PC_COUNT, MODULE_NAME": bad transfers")),
_drdy_gpio(drdy_gpio)
{
#ifdef GPIO_SPI1_RESET_ADIS16477
@@ -68,10 +68,8 @@ ADIS16477::ADIS16477(I2CSPIBusOption bus_option, int bus, int32_t device, enum R
px4_arch_configgpio(GPIO_SPI1_RESET_ADIS16477);
#endif // GPIO_SPI1_RESET_ADIS16477
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ADIS16477);
_px4_accel.set_scale(1.25f * CONSTANTS_ONE_G / 1000.0f); // accel 1.25 mg/LSB
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ADIS16477);
_px4_gyro.set_scale(math::radians(0.025f)); // gyro 0.025 °/sec/LSB
}
src/drivers/imu/adis16497/ADIS16497.cpp
+3 -6
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@@ -72,21 +72,18 @@ using namespace time_literals;
ADIS16497::ADIS16497(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
SPI("ADIS16497", nullptr, bus, device, spi_mode, bus_frequency),
SPI(DRV_IMU_DEVTYPE_ADIS16497, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_accel(get_device_id(), ORB_PRIO_MAX, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_MAX, rotation),
_sample_perf(perf_alloc(PC_ELAPSED, "adis16497: read")),
_bad_transfers(perf_alloc(PC_COUNT, "adis16497: bad transfers")),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
_bad_transfers(perf_alloc(PC_COUNT, MODULE_NAME": bad transfers")),
_drdy_gpio(drdy_gpio)
{
#ifdef GPIO_SPI1_RESET_ADIS16497
// Configure hardware reset line
px4_arch_configgpio(GPIO_SPI1_RESET_ADIS16497);
#endif // GPIO_SPI1_RESET_ADIS16497
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ADIS16497);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ADIS16497);
}
ADIS16497::~ADIS16497()
src/drivers/imu/bma180/bma180.cpp
+1 -3
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@@ -220,7 +220,7 @@ private:
BMA180::BMA180(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode) :
SPI("BMA180", ACCEL_DEVICE_PATH, bus, device, spi_mode, bus_frequency),
SPI(DRV_ACC_DEVTYPE_BMA180, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_call_interval(0),
_reports(nullptr),
@@ -232,8 +232,6 @@ BMA180::BMA180(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotatio
_current_range(0),
_sample_perf(perf_alloc(PC_ELAPSED, "bma180_read"))
{
_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_BMA180;
// default scale factors
_accel_scale.x_offset = 0;
_accel_scale.x_scale = 1.0f;
src/drivers/imu/bmi055/BMI055.hpp
+1 -1
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@@ -53,7 +53,7 @@
class BMI055 : public device::SPI, public I2CSPIDriver<BMI055>
{
public:
BMI055(const char *name, const char *devname, I2CSPIBusOption bus_option, int bus, int type, uint32_t device,
BMI055(uint8_t devtype, const char *name, const char *devname, I2CSPIBusOption bus_option, int bus, uint32_t device,
enum spi_mode_e mode, uint32_t frequency, enum Rotation rotation);
virtual ~BMI055() = default;
src/drivers/imu/bmi055/BMI055_accel.cpp
+1 -3
View File
@@ -46,8 +46,7 @@ const uint8_t BMI055_accel::_checked_registers[BMI055_ACCEL_NUM_CHECKED_REGISTER
BMI055_accel::BMI055_accel(I2CSPIBusOption bus_option, int bus, const char *path_accel, uint32_t device,
enum Rotation rotation, int bus_frequency, spi_mode_e spi_mode) :
BMI055("bmi055_accel", path_accel, bus_option, bus, DRV_ACC_DEVTYPE_BMI055, device, spi_mode, bus_frequency,
rotation),
BMI055(DRV_ACC_DEVTYPE_BMI055, "bmi055_accel", path_accel, bus_option, bus, device, spi_mode, bus_frequency, rotation),
_px4_accel(get_device_id(), (external() ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, "bmi055_accel_read")),
_bad_transfers(perf_alloc(PC_COUNT, "bmi055_accel_bad_transfers")),
@@ -55,7 +54,6 @@ BMI055_accel::BMI055_accel(I2CSPIBusOption bus_option, int bus, const char *path
_duplicates(perf_alloc(PC_COUNT, "bmi055_accel_duplicates")),
_got_duplicate(false)
{
_px4_accel.set_device_type(DRV_ACC_DEVTYPE_BMI055);
}
BMI055_accel::~BMI055_accel()
src/drivers/imu/bmi055/BMI055_gyro.cpp
+1 -3
View File
@@ -51,14 +51,12 @@ const uint8_t BMI055_gyro::_checked_registers[BMI055_GYRO_NUM_CHECKED_REGISTERS]
BMI055_gyro::BMI055_gyro(I2CSPIBusOption bus_option, int bus, const char *path_gyro, uint32_t device,
enum Rotation rotation, int bus_frequency, spi_mode_e spi_mode) :
BMI055("bmi055_gyro", path_gyro, bus_option, bus, DRV_GYR_DEVTYPE_BMI055, device, spi_mode, bus_frequency,
rotation),
BMI055(DRV_GYR_DEVTYPE_BMI055, "bmi055_gyro", path_gyro, bus_option, bus, device, spi_mode, bus_frequency, rotation),
_px4_gyro(get_device_id(), (external() ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, "bmi055_gyro_read")),
_bad_transfers(perf_alloc(PC_COUNT, "bmi055_gyro_bad_transfers")),
_bad_registers(perf_alloc(PC_COUNT, "bmi055_gyro_bad_registers"))
{
_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_BMI055);
}
BMI055_gyro::~BMI055_gyro()
src/drivers/imu/bmi055/bmi055_main.cpp
+4 -5
View File
@@ -97,11 +97,10 @@ BMI055::custom_method(const BusCLIArguments &cli)
}
}
BMI055::BMI055(const char *name, const char *devname, I2CSPIBusOption bus_option, int bus, int type, uint32_t device,
enum spi_mode_e mode,
uint32_t frequency, enum Rotation rotation):
SPI(name, devname, bus, device, mode, frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, type),
BMI055::BMI055(uint8_t devtype, const char *name, const char *devname, I2CSPIBusOption bus_option, int bus,
uint32_t device, enum spi_mode_e mode, uint32_t frequency, enum Rotation rotation):
SPI(devtype, name, bus, device, mode, frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, devtype),
_whoami(0),
_register_wait(0),
_reset_wait(0),
src/drivers/imu/bmi088/BMI088.hpp
+1 -1
View File
@@ -53,7 +53,7 @@
class BMI088 : public device::SPI, public I2CSPIDriver<BMI088>
{
public:
BMI088(const char *name, const char *devname, I2CSPIBusOption bus_option, int bus, int type, uint32_t device,
BMI088(const char *name, const char *devname, I2CSPIBusOption bus_option, int bus, uint8_t type, uint32_t device,
enum spi_mode_e mode, uint32_t frequency, enum Rotation rotation);
virtual ~BMI088() = default;
src/drivers/imu/bmi088/BMI088_accel.cpp
-1
View File
@@ -63,7 +63,6 @@ BMI088_accel::BMI088_accel(I2CSPIBusOption bus_option, int bus, const char *path
_duplicates(perf_alloc(PC_COUNT, "bmi088_accel_duplicates")),
_got_duplicate(false)
{
_px4_accel.set_device_type(DRV_ACC_DEVTYPE_BMI088);
}
BMI088_accel::~BMI088_accel()
src/drivers/imu/bmi088/BMI088_gyro.cpp
-1
View File
@@ -65,7 +65,6 @@ BMI088_gyro::BMI088_gyro(I2CSPIBusOption bus_option, int bus, const char *path_g
_bad_transfers(perf_alloc(PC_COUNT, "bmi088_gyro_bad_transfers")),
_bad_registers(perf_alloc(PC_COUNT, "bmi088_gyro_bad_registers"))
{
_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_BMI088);
}
BMI088_gyro::~BMI088_gyro()
src/drivers/imu/bmi088/bmi088_main.cpp
+3 -2
View File
@@ -96,10 +96,11 @@ BMI088::custom_method(const BusCLIArguments &cli)
}
}
BMI088::BMI088(const char *name, const char *devname, I2CSPIBusOption bus_option, int bus, int type, uint32_t device,
BMI088::BMI088(const char *name, const char *devname, I2CSPIBusOption bus_option, int bus, uint8_t type,
uint32_t device,
enum spi_mode_e mode,
uint32_t frequency, enum Rotation rotation):
SPI(name, devname, bus, device, mode, frequency),
SPI(type, MODULE_NAME, bus, device, mode, frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus, type),
_whoami(0),
_register_wait(0),
src/drivers/imu/bmi160/bmi160.cpp
+1 -3
View File
@@ -51,7 +51,7 @@ const uint8_t BMI160::_checked_registers[BMI160_NUM_CHECKED_REGISTERS] = { BM
BMI160::BMI160(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode) :
SPI("BMI160", nullptr, bus, device, spi_mode, bus_frequency),
SPI(DRV_IMU_DEVTYPE_BMI160, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_accel(get_device_id(), (external() ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1), rotation),
_px4_gyro(get_device_id(), (external() ? ORB_PRIO_MAX - 1 : ORB_PRIO_HIGH - 1), rotation),
@@ -64,8 +64,6 @@ BMI160::BMI160(I2CSPIBusOption bus_option, int bus, int32_t device, enum Rotatio
_reset_retries(perf_alloc(PC_COUNT, "bmi160_reset_retries")),
_duplicates(perf_alloc(PC_COUNT, "bmi160_duplicates"))
{
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_BMI160);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_BMI160);
}
BMI160::~BMI160()
src/drivers/imu/fxas21002c/FXAS21002C.cpp
+1 -2
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@@ -188,7 +188,7 @@ using namespace time_literals;
FXAS21002C::FXAS21002C(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode) :
SPI("FXAS21002C", nullptr, bus, device, spi_mode, bus_frequency),
SPI(DRV_GYR_DEVTYPE_FXAS2100C, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_gyro(get_device_id(), (external() ? ORB_PRIO_VERY_HIGH : ORB_PRIO_DEFAULT), rotation),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
@@ -196,7 +196,6 @@ FXAS21002C::FXAS21002C(I2CSPIBusOption bus_option, int bus, uint32_t device, enu
_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad register")),
_duplicates(perf_alloc(PC_COUNT, MODULE_NAME": duplicate reading"))
{
_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_FXAS2100C);
}
FXAS21002C::~FXAS21002C()
src/drivers/imu/fxos8701cq/FXOS8701CQ.cpp
+1 -6
View File
@@ -55,7 +55,7 @@ const uint8_t FXOS8701CQ::_checked_registers[FXOS8701C_NUM_CHECKED_REGISTERS] =
FXOS8701CQ::FXOS8701CQ(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode) :
SPI("FXOS8701CQ", nullptr, bus, device, spi_mode, bus_frequency),
SPI(DRV_ACC_DEVTYPE_FXOS8701C, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_accel(get_device_id(), ORB_PRIO_LOW, rotation),
#if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)
@@ -66,12 +66,7 @@ FXOS8701CQ::FXOS8701CQ(I2CSPIBusOption bus_option, int bus, uint32_t device, enu
_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad reg")),
_accel_duplicates(perf_alloc(PC_COUNT, MODULE_NAME": acc dupe"))
{
set_device_type(DRV_ACC_DEVTYPE_FXOS8701C);
_px4_accel.set_device_type(DRV_ACC_DEVTYPE_FXOS8701C);
#if !defined(BOARD_HAS_NOISY_FXOS8700_MAG)
_px4_mag.set_device_type(DRV_ACC_DEVTYPE_FXOS8701C);
_px4_mag.set_scale(0.001f);
#endif
}
src/drivers/imu/icm20948/ICM20948_mag.cpp
+4 -3
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@@ -56,11 +56,12 @@ ICM20948_mag::ICM20948_mag(ICM20948 *parent, device::Device *interface, enum Rot
_px4_mag(parent->_interface->get_device_id(), (parent->_interface->external() ? ORB_PRIO_MAX : ORB_PRIO_HIGH),
rotation),
_parent(parent),
_mag_overruns(perf_alloc(PC_COUNT, MODULE_NAME": mag_overruns")),
_mag_overflows(perf_alloc(PC_COUNT, MODULE_NAME": mag_overflows")),
_mag_errors(perf_alloc(PC_COUNT, MODULE_NAME": mag_errors"))
_mag_overruns(perf_alloc(PC_COUNT, MODULE_NAME": mag overruns")),
_mag_overflows(perf_alloc(PC_COUNT, MODULE_NAME": mag overflows")),
_mag_errors(perf_alloc(PC_COUNT, MODULE_NAME": mag errors"))
{
_px4_mag.set_device_type(DRV_MAG_DEVTYPE_AK09916);
_px4_mag.set_external(_parent->is_external());
_px4_mag.set_scale(ICM20948_MAG_RANGE_GA);
}
src/drivers/imu/icm20948/icm20948.cpp
-2
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@@ -102,8 +102,6 @@ ICM20948::ICM20948(device::Device *interface, device::Device *mag_interface, enu
_good_transfers(perf_alloc(PC_COUNT, MODULE_NAME": good_trans")),
_duplicates(perf_alloc(PC_COUNT, MODULE_NAME": dupe"))
{
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM20948);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM20948);
}
ICM20948::~ICM20948()
src/drivers/imu/icm20948/icm20948_i2c.cpp
+1 -2
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@@ -68,9 +68,8 @@ ICM20948_I2C_interface(int bus, uint32_t address, int bus_frequency)
}
ICM20948_I2C::ICM20948_I2C(int bus, uint32_t address, int bus_frequency) :
I2C("ICM20948_I2C", nullptr, bus, address, bus_frequency)
I2C(DRV_IMU_DEVTYPE_ICM20948, MODULE_NAME, bus, address, bus_frequency)
{
_device_id.devid_s.devtype = DRV_IMU_DEVTYPE_ICM20948;
}
int
src/drivers/imu/icm20948/icm20948_spi.cpp
+1 -2
View File
@@ -86,9 +86,8 @@ ICM20948_SPI_interface(int bus, uint32_t devid, int bus_frequency, spi_mode_e sp
}
ICM20948_SPI::ICM20948_SPI(int bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode) :
SPI("ICM20948", nullptr, bus, device, spi_mode, bus_frequency)
SPI(DRV_IMU_DEVTYPE_ICM20948, MODULE_NAME, bus, device, spi_mode, bus_frequency)
{
_device_id.devid_s.devtype = DRV_IMU_DEVTYPE_ICM20948;
}
void
src/drivers/imu/icm20948/mag_i2c.cpp
+1 -2
View File
@@ -65,9 +65,8 @@ AK09916_I2C_interface(int bus, int bus_frequency)
}
AK09916_I2C::AK09916_I2C(int bus, int bus_frequency) :
I2C("AK09916_I2C", nullptr, bus, AK09916_I2C_ADDR, bus_frequency)
I2C(DRV_IMU_DEVTYPE_ICM20948, "AK09916_I2C", bus, AK09916_I2C_ADDR, bus_frequency)
{
_device_id.devid_s.devtype = DRV_IMU_DEVTYPE_ICM20948;
}
int
src/drivers/imu/invensense/icm20602/ICM20602.cpp
+1 -6
View File
@@ -42,17 +42,12 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
ICM20602::ICM20602(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
SPI(MODULE_NAME, nullptr, bus, device, spi_mode, bus_frequency),
SPI(DRV_IMU_DEVTYPE_ICM20602, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
{
set_device_type(DRV_IMU_DEVTYPE_ICM20602);
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM20602);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM20602);
ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
}
src/drivers/imu/invensense/icm20608g/ICM20608G.cpp
+1 -6
View File
@@ -42,17 +42,12 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
ICM20608G::ICM20608G(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
SPI(MODULE_NAME, nullptr, bus, device, spi_mode, bus_frequency),
SPI(DRV_IMU_DEVTYPE_ICM20608G, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
{
set_device_type(DRV_IMU_DEVTYPE_ICM20608G);
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM20608G);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM20608G);
ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
}
src/drivers/imu/invensense/icm20689/ICM20689.cpp
+1 -6
View File
@@ -42,17 +42,12 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
ICM20689::ICM20689(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
SPI(MODULE_NAME, nullptr, bus, device, spi_mode, bus_frequency),
SPI(DRV_IMU_DEVTYPE_ICM20689, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
{
set_device_type(DRV_IMU_DEVTYPE_ICM20689);
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM20689);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM20689);
ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
}
src/drivers/imu/invensense/icm40609d/ICM40609D.cpp
+1 -6
View File
@@ -42,17 +42,12 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
ICM40609D::ICM40609D(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
SPI(MODULE_NAME, nullptr, bus, device, spi_mode, bus_frequency),
SPI(DRV_IMU_DEVTYPE_ICM40609D, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
{
set_device_type(DRV_IMU_DEVTYPE_ICM40609D);
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM40609D);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM40609D);
ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
}
src/drivers/imu/invensense/icm42688p/ICM42688P.cpp
+1 -6
View File
@@ -42,17 +42,12 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
ICM42688P::ICM42688P(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
SPI(MODULE_NAME, nullptr, bus, device, spi_mode, bus_frequency),
SPI(DRV_IMU_DEVTYPE_ICM42688P, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
{
set_device_type(DRV_IMU_DEVTYPE_ICM42688P);
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM42688P);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM42688P);
ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
}
src/drivers/imu/invensense/mpu6000/MPU6000.cpp
+1 -6
View File
@@ -42,17 +42,12 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
MPU6000::MPU6000(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
SPI(MODULE_NAME, nullptr, bus, device, spi_mode, bus_frequency),
SPI(DRV_IMU_DEVTYPE_MPU6000, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
{
set_device_type(DRV_IMU_DEVTYPE_MPU6000);
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_MPU6000);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_MPU6000);
ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
}
src/drivers/imu/invensense/mpu6500/MPU6500.cpp
+1 -6
View File
@@ -42,17 +42,12 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
MPU6500::MPU6500(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
SPI(MODULE_NAME, nullptr, bus, device, spi_mode, bus_frequency),
SPI(DRV_IMU_DEVTYPE_MPU6500, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
{
set_device_type(DRV_IMU_DEVTYPE_MPU6500);
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_MPU6500);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_MPU6500);
ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
}
src/drivers/imu/invensense/mpu9250/MPU9250.cpp
+1 -6
View File
@@ -44,17 +44,12 @@ static constexpr int16_t combine(uint8_t msb, uint8_t lsb)
MPU9250::MPU9250(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio, bool enable_magnetometer) :
SPI(MODULE_NAME, nullptr, bus, device, spi_mode, bus_frequency),
SPI(DRV_IMU_DEVTYPE_MPU9250, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_HIGH, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_HIGH, rotation)
{
set_device_type(DRV_IMU_DEVTYPE_MPU9250);
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_MPU9250);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_MPU9250);
ConfigureSampleRate(_px4_gyro.get_max_rate_hz());
if (enable_magnetometer) {
src/drivers/imu/l3gd20/L3GD20.cpp
+1 -2
View File
@@ -37,7 +37,7 @@ constexpr uint8_t L3GD20::_checked_registers[];
L3GD20::L3GD20(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode) :
SPI("L3GD20", nullptr, bus, device, spi_mode, bus_frequency),
SPI(DRV_GYR_DEVTYPE_L3GD20, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation),
_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": read")),
@@ -45,7 +45,6 @@ L3GD20::L3GD20(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotati
_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad_reg")),
_duplicates(perf_alloc(PC_COUNT, MODULE_NAME": dupe"))
{
_px4_gyro.set_device_type(DRV_GYR_DEVTYPE_L3GD20);
}
L3GD20::~L3GD20()
src/drivers/imu/lsm303d/LSM303D.cpp
+1 -3
View File
@@ -55,7 +55,7 @@ static constexpr uint8_t _checked_registers[] = {
LSM303D::LSM303D(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode) :
SPI("LSM303D", nullptr, bus, device, spi_mode, bus_frequency),
SPI(DRV_IMU_DEVTYPE_LSM303D, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_accel(get_device_id(), ORB_PRIO_DEFAULT, rotation),
_px4_mag(get_device_id(), ORB_PRIO_LOW, rotation),
@@ -65,8 +65,6 @@ LSM303D::LSM303D(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rota
_bad_values(perf_alloc(PC_COUNT, "lsm303d: bad_val")),
_accel_duplicates(perf_alloc(PC_COUNT, "lsm303d: acc_dupe"))
{
_px4_accel.set_device_type(DRV_ACC_DEVTYPE_LSM303D);
_px4_mag.set_device_type(DRV_MAG_DEVTYPE_LSM303D);
_px4_mag.set_external(external());
}
src/drivers/imu/lsm303d/lsm303d_main.cpp
+1 -1
View File
@@ -93,7 +93,7 @@ extern "C" int lsm303d_main(int argc, char *argv[])
return -1;
}
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_ACC_DEVTYPE_LSM303D);
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_LSM303D);
if (!strcmp(verb, "start")) {
return ThisDriver::module_start(cli, iterator);
src/drivers/imu/mpu6000/MPU6000.cpp
+4
View File
@@ -55,21 +55,25 @@ MPU6000::MPU6000(device::Device *interface, enum Rotation rotation, int device_t
switch (_device_type) {
default:
case MPU_DEVICE_TYPE_MPU6000:
_interface->set_device_type(DRV_IMU_DEVTYPE_MPU6000);
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_MPU6000);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_MPU6000);
break;
case MPU_DEVICE_TYPE_ICM20602:
_interface->set_device_type(DRV_IMU_DEVTYPE_ICM20602);
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM20602);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM20602);
break;
case MPU_DEVICE_TYPE_ICM20608:
_interface->set_device_type(DRV_IMU_DEVTYPE_ICM20608G);
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM20608G);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM20608G);
break;
case MPU_DEVICE_TYPE_ICM20689:
_interface->set_device_type(DRV_IMU_DEVTYPE_ICM20689);
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ICM20689);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ICM20689);
break;
src/drivers/imu/mpu6000/MPU6000_I2C.cpp
+1 -1
View File
@@ -70,7 +70,7 @@ MPU6000_I2C_interface(int bus, uint32_t devid, int device_type, bool external_bu
}
MPU6000_I2C::MPU6000_I2C(int bus, int device_type, int bus_frequency) :
I2C("MPU6000_I2C", nullptr, bus, PX4_I2C_MPU6050_ADDR, bus_frequency),
I2C(DRV_IMU_DEVTYPE_MPU6000, MODULE_NAME, bus, PX4_I2C_MPU6050_ADDR, bus_frequency)
_device_type(device_type)
{
}
src/drivers/imu/mpu6000/MPU6000_SPI.cpp
+1 -1
View File
@@ -105,7 +105,7 @@ MPU6000_SPI_interface(int bus, uint32_t devid, int device_type, bool external_bu
}
MPU6000_SPI::MPU6000_SPI(int bus, uint32_t device, int device_type, int bus_frequency, spi_mode_e spi_mode) :
SPI("MPU6000", nullptr, bus, device, spi_mode, bus_frequency),
SPI(DRV_IMU_DEVTYPE_MPU6000, MODULE_NAME, bus, device, spi_mode, bus_frequency),
_device_type(device_type)
{
}
src/drivers/imu/mpu9250/AK8963_I2C.cpp
+2 -2
View File
@@ -68,9 +68,9 @@ AK8963_I2C_interface(int bus, int bus_frequency)
return new AK8963_I2C(bus, bus_frequency);
}
AK8963_I2C::AK8963_I2C(int bus, int bus_frequency) : I2C("AK8963_I2C", nullptr, bus, AK8963_I2C_ADDR, bus_frequency)
AK8963_I2C::AK8963_I2C(int bus, int bus_frequency) :
I2C(DRV_MAG_DEVTYPE_AK8963, "AK8963_I2C", bus, AK8963_I2C_ADDR, bus_frequency)
{
_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_AK8963;
}
int
src/drivers/imu/mpu9250/MPU9250_mag.cpp
+4 -4
View File
@@ -56,11 +56,12 @@ MPU9250_mag::MPU9250_mag(MPU9250 *parent, device::Device *interface, enum Rotati
_px4_mag(parent->_interface->get_device_id(), (parent->_interface->external() ? ORB_PRIO_MAX : ORB_PRIO_HIGH),
rotation),
_parent(parent),
_mag_overruns(perf_alloc(PC_COUNT, MODULE_NAME": mag_overruns")),
_mag_overflows(perf_alloc(PC_COUNT, MODULE_NAME": mag_overflows")),
_mag_errors(perf_alloc(PC_COUNT, MODULE_NAME": mag_errors"))
_mag_overruns(perf_alloc(PC_COUNT, MODULE_NAME": mag overruns")),
_mag_overflows(perf_alloc(PC_COUNT, MODULE_NAME": mag overflows")),
_mag_errors(perf_alloc(PC_COUNT, MODULE_NAME": mag errors"))
{
_px4_mag.set_device_type(DRV_MAG_DEVTYPE_AK8963);
_px4_mag.set_external(_parent->is_external());
_px4_mag.set_scale(MPU9250_MAG_RANGE_GA);
}
@@ -138,7 +139,6 @@ bool MPU9250_mag::_measure(const hrt_abstime &timestamp_sample, const ak8963_reg
return false;
}
_px4_mag.set_external(_parent->is_external());
_px4_mag.set_temperature(_parent->_last_temperature);
/*
src/drivers/imu/mpu9250/mpu9250.cpp
-2
View File
@@ -82,8 +82,6 @@ MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, enum
_bad_registers(perf_alloc(PC_COUNT, MODULE_NAME": bad_reg")),
_duplicates(perf_alloc(PC_COUNT, MODULE_NAME": dupe"))
{
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_MPU9250);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_MPU9250);
}
MPU9250::~MPU9250()
src/drivers/imu/mpu9250/mpu9250_i2c.cpp
+1 -2
View File
@@ -68,9 +68,8 @@ MPU9250_I2C_interface(int bus, uint32_t address, int bus_frequency)
}
MPU9250_I2C::MPU9250_I2C(int bus, uint32_t address, int bus_frequency) :
I2C("MPU9250_I2C", nullptr, bus, address, bus_frequency)
I2C(DRV_IMU_DEVTYPE_MPU9250, MODULE_NAME, bus, address, bus_frequency)
{
set_device_type(DRV_IMU_DEVTYPE_MPU9250);
}
int
src/drivers/imu/mpu9250/mpu9250_spi.cpp
+1 -2
View File
@@ -86,9 +86,8 @@ MPU9250_SPI_interface(int bus, uint32_t cs, int bus_frequency, spi_mode_e spi_mo
}
MPU9250_SPI::MPU9250_SPI(int bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode) :
SPI("MPU9250", nullptr, bus, device, spi_mode, bus_frequency)
SPI(DRV_IMU_DEVTYPE_MPU9250, MODULE_NAME, bus, device, spi_mode, bus_frequency)
{
set_device_type(DRV_IMU_DEVTYPE_MPU9250);
}
void
src/drivers/imu/st/ism330dlc/ISM330DLC.cpp
+1 -5
View File
@@ -41,16 +41,12 @@ static constexpr uint32_t FIFO_INTERVAL{1000}; // 1000 us / 1000 Hz interval
ISM330DLC::ISM330DLC(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio) :
SPI(MODULE_NAME, nullptr, bus, device, spi_mode, bus_frequency),
SPI(DRV_IMU_DEVTYPE_ST_ISM330DLC, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_drdy_gpio(drdy_gpio),
_px4_accel(get_device_id(), ORB_PRIO_DEFAULT, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation)
{
set_device_type(DRV_IMU_DEVTYPE_ST_ISM330DLC);
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ST_ISM330DLC);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ST_ISM330DLC);
_px4_accel.set_update_rate(1000000 / FIFO_INTERVAL);
_px4_gyro.set_update_rate(1000000 / FIFO_INTERVAL);
}
src/drivers/imu/st/lsm9ds1/LSM9DS1.cpp
+1 -5
View File
@@ -40,15 +40,11 @@ static constexpr int16_t combine(uint8_t lsb, uint8_t msb) { return (msb << 8u)
LSM9DS1::LSM9DS1(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency,
spi_mode_e spi_mode) :
SPI(MODULE_NAME, nullptr, bus, device, spi_mode, bus_frequency),
SPI(DRV_IMU_DEVTYPE_ST_LSM9DS1_AG, MODULE_NAME, bus, device, spi_mode, bus_frequency),
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus),
_px4_accel(get_device_id(), ORB_PRIO_DEFAULT, rotation),
_px4_gyro(get_device_id(), ORB_PRIO_DEFAULT, rotation)
{
set_device_type(DRV_IMU_DEVTYPE_ST_LSM9DS1_AG);
_px4_accel.set_device_type(DRV_IMU_DEVTYPE_ST_LSM9DS1_AG);
_px4_gyro.set_device_type(DRV_IMU_DEVTYPE_ST_LSM9DS1_AG);
_px4_accel.set_update_rate(1000000 / _fifo_interval);
_px4_gyro.set_update_rate(1000000 / _fifo_interval);
}
src/drivers/imu/st/lsm9ds1/lsm9ds1_main.cpp
+1 -2
View File
@@ -88,8 +88,7 @@ extern "C" __EXPORT int lsm9ds1_main(int argc, char *argv[])
return -1;
}
BusInstanceIterator iterator(MODULE_NAME, cli,
DRV_IMU_DEVTYPE_ST_LSM9DS1_AG);
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_ST_LSM9DS1_AG);
if (!strcmp(verb, "start")) {
return ThisDriver::module_start(cli, iterator);