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imu/invensense: minor cleanup

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- remove leftover Start()
 - remove "reset" from command line (stop + start is sufficient)
This commit is contained in:
Daniel Agar 2020-04-08 16:06:26 -04:00
parent 8338f4e543
commit 74e99faedf
17 changed files with 39 additions and 142 deletions
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10
src/drivers/imu/invensense/icm20602/ICM20602.hpp
View File

@ -69,13 +69,9 @@ public:
int init() override;
void print_status() override;
void Start();
bool Reset();
protected:
void custom_method(const BusCLIArguments &cli) override;
void exit_and_cleanup() override;
private:
void exit_and_cleanup() override;
// Sensor Configuration
static constexpr float FIFO_SAMPLE_DT{125.f};
static constexpr uint32_t SAMPLES_PER_TRANSFER{2}; // ensure at least 1 new accel sample per transfer
@ -100,6 +96,8 @@ private:
int probe() override;
bool Reset();
bool Configure();
void ConfigureAccel();
void ConfigureGyro();

13
src/drivers/imu/invensense/icm20602/icm20602_main.cpp
View File

@ -36,15 +36,13 @@
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
void
ICM20602::print_usage()
void ICM20602::print_usage()
{
PRINT_MODULE_USAGE_NAME("icm20602", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("imu");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
PRINT_MODULE_USAGE_COMMAND("reset");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
@ -67,11 +65,6 @@ I2CSPIDriverBase *ICM20602::instantiate(const BusCLIArguments &cli, const BusIns
return instance;
}
void ICM20602::custom_method(const BusCLIArguments &cli)
{
Reset();
}
extern "C" int icm20602_main(int argc, char *argv[])
{
int ch;
@ -108,10 +101,6 @@ extern "C" int icm20602_main(int argc, char *argv[])
return ThisDriver::module_status(iterator);
}
if (!strcmp(verb, "reset")) {
return ThisDriver::module_custom_method(cli, iterator);
}
ThisDriver::print_usage();
return -1;
}

10
src/drivers/imu/invensense/icm20608g/ICM20608G.hpp
View File

@ -69,13 +69,9 @@ public:
int init() override;
void print_status() override;
void Start();
bool Reset();
protected:
void custom_method(const BusCLIArguments &cli) override;
void exit_and_cleanup() override;
private:
void exit_and_cleanup() override;
// Sensor Configuration
static constexpr float FIFO_SAMPLE_DT{125.f};
static constexpr uint32_t SAMPLES_PER_TRANSFER{2}; // ensure at least 1 new accel sample per transfer
@ -102,6 +98,8 @@ private:
int probe() override;
bool Reset();
bool Configure();
void ConfigureAccel();
void ConfigureGyro();

13
src/drivers/imu/invensense/icm20608g/icm20608g_main.cpp
View File

@ -36,15 +36,13 @@
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
void
ICM20608G::print_usage()
void ICM20608G::print_usage()
{
PRINT_MODULE_USAGE_NAME("icm20608g", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("imu");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
PRINT_MODULE_USAGE_COMMAND("reset");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
@ -67,11 +65,6 @@ I2CSPIDriverBase *ICM20608G::instantiate(const BusCLIArguments &cli, const BusIn
return instance;
}
void ICM20608G::custom_method(const BusCLIArguments &cli)
{
Reset();
}
extern "C" int icm20608g_main(int argc, char *argv[])
{
int ch;
@ -108,10 +101,6 @@ extern "C" int icm20608g_main(int argc, char *argv[])
return ThisDriver::module_status(iterator);
}
if (!strcmp(verb, "reset")) {
return ThisDriver::module_custom_method(cli, iterator);
}
ThisDriver::print_usage();
return -1;
}

10
src/drivers/imu/invensense/icm20689/ICM20689.hpp
View File

@ -69,13 +69,9 @@ public:
int init() override;
void print_status() override;
void Start();
bool Reset();
protected:
void custom_method(const BusCLIArguments &cli) override;
void exit_and_cleanup() override;
private:
void exit_and_cleanup() override;
// Sensor Configuration
static constexpr float FIFO_SAMPLE_DT{125.f};
static constexpr uint32_t SAMPLES_PER_TRANSFER{2}; // ensure at least 1 new accel sample per transfer
@ -102,6 +98,8 @@ private:
int probe() override;
bool Reset();
bool Configure();
void ConfigureAccel();
void ConfigureGyro();

13
src/drivers/imu/invensense/icm20689/icm20689_main.cpp
View File

@ -36,15 +36,13 @@
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
void
ICM20689::print_usage()
void ICM20689::print_usage()
{
PRINT_MODULE_USAGE_NAME("icm20689", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("imu");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
PRINT_MODULE_USAGE_COMMAND("reset");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
@ -67,11 +65,6 @@ I2CSPIDriverBase *ICM20689::instantiate(const BusCLIArguments &cli, const BusIns
return instance;
}
void ICM20689::custom_method(const BusCLIArguments &cli)
{
Reset();
}
extern "C" int icm20689_main(int argc, char *argv[])
{
int ch;
@ -108,10 +101,6 @@ extern "C" int icm20689_main(int argc, char *argv[])
return ThisDriver::module_status(iterator);
}
if (!strcmp(verb, "reset")) {
return ThisDriver::module_custom_method(cli, iterator);
}
ThisDriver::print_usage();
return -1;
}

10
src/drivers/imu/invensense/icm40609d/ICM40609D.hpp
View File

@ -69,13 +69,9 @@ public:
int init() override;
void print_status() override;
void Start();
bool Reset();
protected:
void custom_method(const BusCLIArguments &cli) override;
void exit_and_cleanup() override;
private:
void exit_and_cleanup() override;
// Sensor Configuration
static constexpr float FIFO_SAMPLE_DT{125.f};
static constexpr uint32_t SAMPLES_PER_TRANSFER{1}; // ensure at least 1 new accel sample per transfer
@ -103,6 +99,8 @@ private:
int probe() override;
bool Reset();
bool Configure();
void ConfigureAccel();
void ConfigureGyro();

10
src/drivers/imu/invensense/icm40609d/icm40609d_main.cpp
View File

@ -43,7 +43,6 @@ void ICM40609D::print_usage()
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
PRINT_MODULE_USAGE_COMMAND("reset");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
@ -66,11 +65,6 @@ I2CSPIDriverBase *ICM40609D::instantiate(const BusCLIArguments &cli, const BusIn
return instance;
}
void ICM40609D::custom_method(const BusCLIArguments &cli)
{
Reset();
}
extern "C" int icm40609d_main(int argc, char *argv[])
{
int ch;
@ -107,10 +101,6 @@ extern "C" int icm40609d_main(int argc, char *argv[])
return ThisDriver::module_status(iterator);
}
if (!strcmp(verb, "reset")) {
return ThisDriver::module_custom_method(cli, iterator);
}
ThisDriver::print_usage();
return -1;
}

10
src/drivers/imu/invensense/icm42688p/ICM42688P.hpp
View File

@ -69,13 +69,9 @@ public:
int init() override;
void print_status() override;
void Start();
bool Reset();
protected:
void custom_method(const BusCLIArguments &cli) override;
void exit_and_cleanup() override;
private:
void exit_and_cleanup() override;
// Sensor Configuration
static constexpr float FIFO_SAMPLE_DT{125.f};
static constexpr uint32_t SAMPLES_PER_TRANSFER{1}; // ensure at least 1 new accel sample per transfer
@ -103,6 +99,8 @@ private:
int probe() override;
bool Reset();
bool Configure();
void ConfigureAccel();
void ConfigureGyro();

10
src/drivers/imu/invensense/icm42688p/icm42688p_main.cpp
View File

@ -43,7 +43,6 @@ void ICM42688P::print_usage()
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
PRINT_MODULE_USAGE_COMMAND("reset");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
@ -66,11 +65,6 @@ I2CSPIDriverBase *ICM42688P::instantiate(const BusCLIArguments &cli, const BusIn
return instance;
}
void ICM42688P::custom_method(const BusCLIArguments &cli)
{
Reset();
}
extern "C" int icm42688p_main(int argc, char *argv[])
{
int ch;
@ -107,10 +101,6 @@ extern "C" int icm42688p_main(int argc, char *argv[])
return ThisDriver::module_status(iterator);
}
if (!strcmp(verb, "reset")) {
return ThisDriver::module_custom_method(cli, iterator);
}
ThisDriver::print_usage();
return -1;
}

10
src/drivers/imu/invensense/mpu6000/MPU6000.hpp
View File

@ -69,13 +69,9 @@ public:
int init() override;
void print_status() override;
void Start();
bool Reset();
protected:
void custom_method(const BusCLIArguments &cli) override;
void exit_and_cleanup() override;
private:
void exit_and_cleanup() override;
// Sensor Configuration
static constexpr float FIFO_SAMPLE_DT{125.f};
static constexpr uint32_t SAMPLES_PER_TRANSFER{8}; // ensure at least 1 new accel sample per transfer
@ -100,6 +96,8 @@ private:
int probe() override;
bool Reset();
bool Configure();
void ConfigureAccel();
void ConfigureGyro();

15
src/drivers/imu/invensense/mpu6000/mpu6000_main.cpp
View File

@ -36,15 +36,13 @@
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
void
MPU6000::print_usage()
void MPU6000::print_usage()
{
PRINT_MODULE_USAGE_NAME("mpu6000", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("imu");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
PRINT_MODULE_USAGE_COMMAND("reset");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
@ -67,17 +65,12 @@ I2CSPIDriverBase *MPU6000::instantiate(const BusCLIArguments &cli, const BusInst
return instance;
}
void MPU6000::custom_method(const BusCLIArguments &cli)
{
Reset();
}
extern "C" int mpu6000_main(int argc, char *argv[])
{
int ch;
using ThisDriver = MPU6000;
BusCLIArguments cli{false, true};
cli.default_spi_frequency = InvenSense_MPU6000::SPI_SPEED;
cli.default_spi_frequency = SPI_SPEED;
while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
switch (ch) {
@ -108,10 +101,6 @@ extern "C" int mpu6000_main(int argc, char *argv[])
return ThisDriver::module_status(iterator);
}
if (!strcmp(verb, "reset")) {
return ThisDriver::module_custom_method(cli, iterator);
}
ThisDriver::print_usage();
return -1;
}

10
src/drivers/imu/invensense/mpu6500/MPU6500.hpp
View File

@ -69,13 +69,9 @@ public:
int init() override;
void print_status() override;
void Start();
bool Reset();
protected:
void custom_method(const BusCLIArguments &cli) override;
void exit_and_cleanup() override;
private:
void exit_and_cleanup() override;
// Sensor Configuration
static constexpr float FIFO_SAMPLE_DT{125.f};
static constexpr uint32_t SAMPLES_PER_TRANSFER{2}; // ensure at least 1 new accel sample per transfer
@ -100,6 +96,8 @@ private:
int probe() override;
bool Reset();
bool Configure();
void ConfigureAccel();
void ConfigureGyro();

13
src/drivers/imu/invensense/mpu6500/mpu6500_main.cpp
View File

@ -36,15 +36,13 @@
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
void
MPU6500::print_usage()
void MPU6500::print_usage()
{
PRINT_MODULE_USAGE_NAME("mpu9520", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("imu");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
PRINT_MODULE_USAGE_COMMAND("reset");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
@ -67,11 +65,6 @@ I2CSPIDriverBase *MPU6500::instantiate(const BusCLIArguments &cli, const BusInst
return instance;
}
void MPU6500::custom_method(const BusCLIArguments &cli)
{
Reset();
}
extern "C" int mpu6500_main(int argc, char *argv[])
{
int ch;
@ -108,10 +101,6 @@ extern "C" int mpu6500_main(int argc, char *argv[])
return ThisDriver::module_status(iterator);
}
if (!strcmp(verb, "reset")) {
return ThisDriver::module_custom_method(cli, iterator);
}
ThisDriver::print_usage();
return -1;
}

10
src/drivers/imu/invensense/mpu9250/MPU9250.hpp
View File

@ -71,13 +71,9 @@ public:
int init() override;
void print_status() override;
void Start();
bool Reset();
protected:
void custom_method(const BusCLIArguments &cli) override;
void exit_and_cleanup() override;
private:
void exit_and_cleanup() override;
// Sensor Configuration
static constexpr float FIFO_SAMPLE_DT{125.f};
static constexpr uint32_t SAMPLES_PER_TRANSFER{2}; // ensure at least 1 new accel sample per transfer
@ -102,6 +98,8 @@ private:
int probe() override;
bool Reset();
bool Configure();
void ConfigureAccel();
void ConfigureGyro();

1
src/drivers/imu/invensense/mpu9250/MPU9250_AK8963.hpp
View File

@ -61,7 +61,6 @@ public:
~MPU9250_AK8963() override;
bool Init();
void Start();
void Stop();
bool Reset();
void PrintInfo();

13
src/drivers/imu/invensense/mpu9250/mpu9250_main.cpp
View File

@ -36,8 +36,7 @@
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
void
MPU9250::print_usage()
void MPU9250::print_usage()
{
PRINT_MODULE_USAGE_NAME("mpu9520", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("imu");
@ -45,7 +44,6 @@ MPU9250::print_usage()
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true);
PRINT_MODULE_USAGE_PARAM_FLAG('M', "Enable Magnetometer (AK8963)", true);
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
PRINT_MODULE_USAGE_COMMAND("reset");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
@ -69,11 +67,6 @@ I2CSPIDriverBase *MPU9250::instantiate(const BusCLIArguments &cli, const BusInst
return instance;
}
void MPU9250::custom_method(const BusCLIArguments &cli)
{
Reset();
}
extern "C" int mpu9250_main(int argc, char *argv[])
{
int ch;
@ -114,10 +107,6 @@ extern "C" int mpu9250_main(int argc, char *argv[])
return ThisDriver::module_status(iterator);
}
if (!strcmp(verb, "reset")) {
return ThisDriver::module_custom_method(cli, iterator);
}
ThisDriver::print_usage();
return -1;
}