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mpu6000: allow for two mpu6000 instances, one internal, one external

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split g_dev into g_dev_int and g_dev_ext
This commit is contained in:
Andrew Tridgell
2014-06-26 13:51:04 +10:00
committed by Lorenz Meier
parent ab90fe7832
commit 19dbbf17e8
1 changed files with 46 additions and 36 deletions
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src/drivers/mpu6000/mpu6000.cpp
+46 -36
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@@ -78,6 +78,8 @@
#define MPU_DEVICE_PATH_ACCEL "/dev/mpu6000_accel"
#define MPU_DEVICE_PATH_GYRO "/dev/mpu6000_gyro"
#define MPU_DEVICE_PATH_ACCEL_EXT "/dev/mpu6000_accel_ext"
#define MPU_DEVICE_PATH_GYRO_EXT "/dev/mpu6000_gyro_ext"
// MPU 6000 registers
#define MPUREG_WHOAMI 0x75
@@ -178,7 +180,7 @@ class MPU6000_gyro;
class MPU6000 : public device::SPI
{
public:
MPU6000(int bus, spi_dev_e device);
MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev_e device);
virtual ~MPU6000();
virtual int init();
@@ -346,7 +348,7 @@ private:
class MPU6000_gyro : public device::CDev
{
public:
MPU6000_gyro(MPU6000 *parent);
MPU6000_gyro(MPU6000 *parent, const char *path);
~MPU6000_gyro();
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
@@ -369,9 +371,9 @@ private:
/** driver 'main' command */
extern "C" { __EXPORT int mpu6000_main(int argc, char *argv[]); }
MPU6000::MPU6000(int bus, spi_dev_e device) :
SPI("MPU6000", MPU_DEVICE_PATH_ACCEL, bus, device, SPIDEV_MODE3, MPU6000_LOW_BUS_SPEED),
_gyro(new MPU6000_gyro(this)),
MPU6000::MPU6000(int bus, const char *path_accel, const char *path_gyro, spi_dev_e device) :
SPI("MPU6000", path_accel, bus, device, SPIDEV_MODE3, MPU6000_LOW_BUS_SPEED),
_gyro(new MPU6000_gyro(this, path_gyro)),
_product(0),
_call_interval(0),
_accel_reports(nullptr),
@@ -1357,8 +1359,8 @@ MPU6000::print_info()
_gyro_reports->print_info("gyro queue");
}
MPU6000_gyro::MPU6000_gyro(MPU6000 *parent) :
CDev("MPU6000_gyro", MPU_DEVICE_PATH_GYRO),
MPU6000_gyro::MPU6000_gyro(MPU6000 *parent, const char *path) :
CDev("MPU6000_gyro", path),
_parent(parent),
_gyro_topic(-1),
_gyro_class_instance(-1)
@@ -1414,12 +1416,13 @@ MPU6000_gyro::ioctl(struct file *filp, int cmd, unsigned long arg)
namespace mpu6000
{
MPU6000 *g_dev;
MPU6000 *g_dev_int; // on internal bus
MPU6000 *g_dev_ext; // on external bus
void start();
void test();
void reset();
void info();
void start(bool);
void test(bool);
void reset(bool);
void info(bool);
/**
* Start the driver.
@@ -1428,30 +1431,33 @@ void
start(bool external_bus)
{
int fd;
MPU6000 **g_dev_ptr = external_bus?&g_dev_int:&g_dev_ext;
const char *path_accel = external_bus?MPU_DEVICE_PATH_ACCEL_EXT:MPU_DEVICE_PATH_ACCEL;
const char *path_gyro = external_bus?MPU_DEVICE_PATH_GYRO_EXT:MPU_DEVICE_PATH_GYRO;
if (g_dev != nullptr)
if (*g_dev_ptr != nullptr)
/* if already started, the still command succeeded */
errx(0, "already started");
/* create the driver */
if (external_bus) {
#ifdef PX4_SPI_BUS_EXT
g_dev = new MPU6000(PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_MPU);
*g_dev_ptr = new MPU6000(PX4_SPI_BUS_EXT, path_accel, path_gyro, (spi_dev_e)PX4_SPIDEV_EXT_MPU);
#else
errx(0, "External SPI not available");
#endif
} else {
g_dev = new MPU6000(PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_MPU);
*g_dev_ptr = new MPU6000(PX4_SPI_BUS_SENSORS, path_accel, path_gyro, (spi_dev_e)PX4_SPIDEV_MPU);
}
if (g_dev == nullptr)
if (*g_dev_ptr == nullptr)
goto fail;
if (OK != g_dev->init())
if (OK != (*g_dev_ptr)->init())
goto fail;
/* set the poll rate to default, starts automatic data collection */
fd = open(MPU_DEVICE_PATH_ACCEL, O_RDONLY);
fd = open(path_accel, O_RDONLY);
if (fd < 0)
goto fail;
@@ -1464,9 +1470,9 @@ start(bool external_bus)
exit(0);
fail:
if (g_dev != nullptr) {
delete g_dev;
g_dev = nullptr;
if (*g_dev_ptr != nullptr) {
delete (*g_dev_ptr);
*g_dev_ptr = nullptr;
}
errx(1, "driver start failed");
@@ -1478,24 +1484,26 @@ fail:
* and automatic modes.
*/
void
test()
test(bool external_bus)
{
const char *path_accel = external_bus?MPU_DEVICE_PATH_ACCEL_EXT:MPU_DEVICE_PATH_ACCEL;
const char *path_gyro = external_bus?MPU_DEVICE_PATH_GYRO_EXT:MPU_DEVICE_PATH_GYRO;
accel_report a_report;
gyro_report g_report;
ssize_t sz;
/* get the driver */
int fd = open(MPU_DEVICE_PATH_ACCEL, O_RDONLY);
int fd = open(path_accel, O_RDONLY);
if (fd < 0)
err(1, "%s open failed (try 'mpu6000 start' if the driver is not running)",
MPU_DEVICE_PATH_ACCEL);
path_accel);
/* get the driver */
int fd_gyro = open(MPU_DEVICE_PATH_GYRO, O_RDONLY);
int fd_gyro = open(path_gyro, O_RDONLY);
if (fd_gyro < 0)
err(1, "%s open failed", MPU_DEVICE_PATH_GYRO);
err(1, "%s open failed", path_gyro);
/* reset to manual polling */
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MANUAL) < 0)
@@ -1543,7 +1551,7 @@ test()
/* XXX add poll-rate tests here too */
reset();
reset(external_bus);
errx(0, "PASS");
}
@@ -1551,9 +1559,10 @@ test()
* Reset the driver.
*/
void
reset()
reset(bool external_bus)
{
int fd = open(MPU_DEVICE_PATH_ACCEL, O_RDONLY);
const char *path_accel = external_bus?MPU_DEVICE_PATH_ACCEL_EXT:MPU_DEVICE_PATH_ACCEL;
int fd = open(path_accel, O_RDONLY);
if (fd < 0)
err(1, "failed ");
@@ -1573,13 +1582,14 @@ reset()
* Print a little info about the driver.
*/
void
info()
info(bool external_bus)
{
if (g_dev == nullptr)
MPU6000 **g_dev_ptr = external_bus?&g_dev_int:&g_dev_ext;
if (*g_dev_ptr == nullptr)
errx(1, "driver not running");
printf("state @ %p\n", g_dev);
g_dev->print_info();
printf("state @ %p\n", *g_dev_ptr);
(*g_dev_ptr)->print_info();
exit(0);
}
@@ -1626,19 +1636,19 @@ mpu6000_main(int argc, char *argv[])
* Test the driver/device.
*/
if (!strcmp(verb, "test"))
mpu6000::test();
mpu6000::test(external_bus);
/*
* Reset the driver.
*/
if (!strcmp(verb, "reset"))
mpu6000::reset();
mpu6000::reset(external_bus);
/*
* Print driver information.
*/
if (!strcmp(verb, "info"))
mpu6000::info();
mpu6000::info(external_bus);
errx(1, "unrecognized command, try 'start', 'test', 'reset' or 'info'");
}