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refactor mpu9250: use driver base class

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This commit is contained in:
Beat Küng 2020-03-13 15:02:39 +01:00 committed by Daniel Agar
parent 6ad5357d1a
commit 7626be0485
24 changed files with 139 additions and 279 deletions
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2
boards/bitcraze/crazyflie/init/rc.board_sensors
View File

@ -6,7 +6,7 @@
adc start
# Onboard I2C
mpu9250 -R 12 start
mpu9250 -I -R 12 start
# I2C bypass of mpu
lps25h -I start

2
boards/mro/x21-777/init/rc.board_sensors
View File

@ -16,7 +16,7 @@ mpu6000 -s -R 2 -T 20608 start
mpu6000 -s -R 2 -T 20602 start
# Internal SPI bus mpu9250 is rotated 90 deg yaw
mpu9250 -R 2 start
mpu9250 -s -R 2 start
# Possible external compasses
ist8310 -X start

2
boards/mro/x21/init/rc.board_sensors
View File

@ -18,7 +18,7 @@ mpu6000 -s -R 2 -T 20608 start
mpu6000 -s -R 2 -T 20602 start
# Internal SPI bus mpu9250 is rotated 90 deg yaw
mpu9250 -R 2 start
mpu9250 -s -R 2 start
# Internal SPI
ms5611 -s start

10
boards/px4/fmu-v2/init/rc.board_sensors
View File

@ -37,8 +37,8 @@ then
set BOARD_FMUV3 20
else
# Check for Pixhawk 2.1 cube
# external MPU9250 is rotated 180 degrees yaw
if mpu9250 -S -R 4 start
# (external) MPU9250 is rotated 180 degrees yaw
if mpu9250 -s -R 4 start
then
set BOARD_FMUV3 21
fi
@ -57,8 +57,8 @@ then
set BOARD_FMUV3 20
else
# Check for Pixhack 3.1
# external MPU9250 is rotated 180 degrees yaw
if mpu9250 -S -R 4 start
# (external) MPU9250 is rotated 180 degrees yaw
if mpu9250 -s -R 4 start
then
set BOARD_FMUV3 21
fi
@ -101,7 +101,7 @@ else
# V3 build hwtypecmp supports V2|V2M|V30
if ! ver hwtypecmp V2M
then
mpu9250 start
mpu9250 -s start
# else: On the PixhawkMini the mpu9250 has been disabled due to HW errata
fi

10
boards/px4/fmu-v3/init/rc.board_sensors
View File

@ -38,8 +38,8 @@ then
set BOARD_FMUV3 20
else
# Check for Pixhawk 2.1 cube
# external MPU9250 is rotated 180 degrees yaw
if mpu9250 -S -R 4 start
# (external) MPU9250 is rotated 180 degrees yaw
if mpu9250 -s -R 4 start
then
set BOARD_FMUV3 21
fi
@ -58,8 +58,8 @@ then
set BOARD_FMUV3 20
else
# Check for Pixhack 3.1
# external MPU9250 is rotated 180 degrees yaw
if mpu9250 -S -R 4 start
# (external) MPU9250 is rotated 180 degrees yaw
if mpu9250 -s -R 4 start
then
set BOARD_FMUV3 21
fi
@ -109,7 +109,7 @@ else
# V3 build hwtypecmp supports V2|V2M|V30
if ! ver hwtypecmp V2M
then
mpu9250 start
mpu9250 -s start
# else: On the PixhawkMini the mpu9250 has been disabled due to HW errata
fi

17
boards/px4/fmu-v4/init/rc.board_sensors
View File

@ -24,13 +24,6 @@ rm3100 start
# Internal SPI
ms5611 -s start
# For Teal One airframe
if param compare SYS_AUTOSTART 4250
then
mpu9250 -s -R 14 start
mpu9250 -t -R 14 start
fi
# hmc5883 internal SPI bus is rotated 90 deg yaw
if ! hmc5883 -T -S -R 2 start
then
@ -49,5 +42,11 @@ then
icm20608g -R 8 start
fi
# mpu9250 internal SPI bus mpu9250 is rotated 90 deg yaw
mpu9250 -R 2 start
# For Teal One airframe
if param compare SYS_AUTOSTART 4250
then
mpu9250 -s -R 14 start
else
# mpu9250 internal SPI bus mpu9250 is rotated 90 deg yaw
mpu9250 -s -R 2 start
fi

2
boards/px4/fmu-v4pro/init/rc.board_sensors
View File

@ -14,7 +14,7 @@ icm20608g -R 8 start
icm20602 -s -R 8 start
# Internal SPI bus mpu9250
mpu9250 -R 2 start
mpu9250 -s -R 2 start
# Internal SPI bus
lis3mdl -R 0 start

6
boards/uvify/core/init/rc.board_sensors
View File

@ -18,7 +18,7 @@ then
rgbled_ncp5623c start -X -a 0x38
#mpu6000 -s -R 4 -T 20608 start
mpu9250 -R 4 start
mpu9250 -s -R 4 start
# Default GNSS with LIS3MDL magnetometer with external i2c.
lis3mdl -R 2 -X start
@ -27,7 +27,7 @@ fi
# Draco
if param compare SYS_AUTOSTART 4072
then
mpu9250 -R 2 start
mpu9250 -s -R 2 start
fi
# IFO
@ -39,6 +39,6 @@ then
# IFO rgb LED
pca9685 start
mpu9250 -R 2 start
mpu9250 -s -R 2 start
lis3mdl -R 2 -X start
fi

2
posix-configs/bbblue/px4.config
View File

@ -47,7 +47,7 @@ dataman start
bmp280 -I start
mpu9250 start
mpu9250 -I start
# options: -R rotation
gps start -d /dev/ttyS2 -s -p ubx

2
posix-configs/bbblue/px4_fw.config
View File

@ -47,7 +47,7 @@ dataman start
bmp280 -I start
mpu9250 start
mpu9250 -I start
# options: -R rotation
gps start -d /dev/ttyS2 -s -p ubx

2
posix-configs/eagle/200qx/px4.config
View File

@ -18,7 +18,7 @@ param set SENS_BOARD_ROT 0
sleep 1
mpu9250 start
mpu9250 -s start
bmp280 -I start
gps start -d /dev/tty-4
rc_update start

2
posix-configs/eagle/210qc/px4.config
View File

@ -18,7 +18,7 @@ param set ATT_W_MAG 0.00
param set SENS_BOARD_ROT 0
sleep 1
mpu9250 start
mpu9250 -s start
bmp280 -I start
gps start -d /dev/tty-4
rc_update start

2
posix-configs/excelsior/px4.config
View File

@ -17,7 +17,7 @@ param set MC_ROLLRATE_D 0.001
param set SENS_BOARD_ROT 4
sleep 1
mpu9250 start
mpu9250 -s start
bmp280 -I start
rc_update start
sensors start

2
posix-configs/ocpoc/px4.config
View File

@ -15,7 +15,7 @@ param set MAV_BROADCAST 1
param set MAV_TYPE 2
param set MAV_SYS_ID 1
mpu9250 -R 10 start
mpu9250 -s -R 10 start
hmc5883 -I start
ms5611 -s start

2
posix-configs/rpi/px4.config
View File

@ -17,7 +17,7 @@ param set MAV_TYPE 2
dataman start
mpu9250 -R 8 start
mpu9250 -s -R 8 start
lsm9ds1 -s -R 4 start
lsm9ds1_mag -s -R 4 start
ms5611 -X start

2
posix-configs/rpi/px4_fw.config
View File

@ -17,7 +17,7 @@ param set MAV_TYPE 1
dataman start
mpu9250 -R 8 start
mpu9250 -s -R 8 start
lsm9ds1 -s -R 4 start
lsm9ds1_mag -s -R 4 start
ms5611 -X start

2
posix-configs/rpi/px4_test.config
View File

@ -17,7 +17,7 @@ param set MAV_TYPE 2
dataman start
mpu9250 -R 8 start
mpu9250 -s -R 8 start
lsm9ds1 -s -R 4 start
lsm9ds1_mag -s -R 4 start
ms5611 -X start

10
src/drivers/imu/mpu9250/AK8963_I2C.cpp
View File

@ -46,12 +46,12 @@
#ifdef USE_I2C
device::Device *AK8963_I2C_interface(int bus);
device::Device *AK8963_I2C_interface(int bus, int bus_frequency);
class AK8963_I2C : public device::I2C
{
public:
AK8963_I2C(int bus);
AK8963_I2C(int bus, int bus_frequency);
~AK8963_I2C() override = default;
int read(unsigned address, void *data, unsigned count) override;
@ -63,12 +63,12 @@ protected:
};
device::Device *
AK8963_I2C_interface(int bus)
AK8963_I2C_interface(int bus, int bus_frequency)
{
return new AK8963_I2C(bus);
return new AK8963_I2C(bus, bus_frequency);
}
AK8963_I2C::AK8963_I2C(int bus) : I2C("AK8963_I2C", nullptr, bus, AK8963_I2C_ADDR, 400000)
AK8963_I2C::AK8963_I2C(int bus, int bus_frequency) : I2C("AK8963_I2C", nullptr, bus, AK8963_I2C_ADDR, bus_frequency)
{
_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_MPU9250;
}

4
src/drivers/imu/mpu9250/MPU9250_mag.h
View File

@ -105,9 +105,7 @@ struct ak8963_regs {
};
#pragma pack(pop)
extern device::Device *AK8963_I2C_interface(int bus);
typedef device::Device *(*MPU9250_mag_constructor)(int, bool);
extern device::Device *AK8963_I2C_interface(int bus, int bus_frequency);
/**
* Helper class implementing the magnetometer driver node.

22
src/drivers/imu/mpu9250/mpu9250.cpp
View File

@ -70,8 +70,9 @@ const uint16_t MPU9250::_mpu9250_checked_registers[MPU9250_NUM_CHECKED_REGISTERS
MPUREG_INT_PIN_CFG
};
MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, enum Rotation rotation) :
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id())),
MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, enum Rotation rotation,
I2CSPIBusOption bus_option, int bus) :
I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus),
_interface(interface),
_px4_accel(_interface->get_device_id(), (_interface->external() ? ORB_PRIO_MAX : ORB_PRIO_HIGH), rotation),
_px4_gyro(_interface->get_device_id(), (_interface->external() ? ORB_PRIO_MAX : ORB_PRIO_HIGH), rotation),
@ -87,9 +88,6 @@ MPU9250::MPU9250(device::Device *interface, device::Device *mag_interface, enum
MPU9250::~MPU9250()
{
// make sure we are truly inactive
stop();
// delete the perf counter
perf_free(_sample_perf);
perf_free(_bad_registers);
@ -473,20 +471,11 @@ MPU9250::set_accel_range(unsigned max_g_in)
void
MPU9250::start()
{
/* make sure we are stopped first */
stop();
ScheduleOnInterval(_call_interval - MPU9250_TIMER_REDUCTION, 1000);
}
void
MPU9250::stop()
{
ScheduleClear();
}
void
MPU9250::Run()
MPU9250::RunImpl()
{
/* make another measurement */
measure();
@ -676,8 +665,9 @@ MPU9250::measure()
}
void
MPU9250::print_info()
MPU9250::print_status()
{
I2CSPIDriverBase::print_status();
perf_print_counter(_sample_perf);
perf_print_counter(_bad_registers);
perf_print_counter(_duplicates);

31
src/drivers/imu/mpu9250/mpu9250.h
View File

@ -37,13 +37,13 @@
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
#include <lib/ecl/geo/geo.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <px4_platform_common/i2c_spi_buses.h>
#include <lib/systemlib/conversions.h>
#include <lib/systemlib/px4_macros.h>
#include "MPU9250_mag.h"
#if defined(PX4_I2C_OBDEV_MPU9250) || defined(PX4_I2C_BUS_EXPANSION)
#if defined(PX4_I2C_OBDEV_MPU9250)
# define USE_I2C
#endif
@ -224,40 +224,42 @@ struct MPUReport {
static constexpr int16_t combine(uint8_t msb, uint8_t lsb) { return (msb << 8u) | lsb; }
/* interface factories */
extern device::Device *MPU9250_SPI_interface(int bus, uint32_t cs);
extern device::Device *MPU9250_I2C_interface(int bus, uint32_t address);
extern int MPU9250_probe(device::Device *dev);
typedef device::Device *(*MPU9250_constructor)(int, uint32_t);
extern device::Device *MPU9250_SPI_interface(int bus, uint32_t cs, int bus_frequency, spi_mode_e spi_mode);
extern device::Device *MPU9250_I2C_interface(int bus, uint32_t address, int bus_frequency);
class MPU9250_mag;
class MPU9250 : public px4::ScheduledWorkItem
class MPU9250 : public I2CSPIDriver<MPU9250>
{
public:
MPU9250(device::Device *interface, device::Device *mag_interface, enum Rotation rotation);
MPU9250(device::Device *interface, device::Device *mag_interface, enum Rotation rotation, I2CSPIBusOption bus_option,
int bus);
virtual ~MPU9250();
virtual int init();
static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance);
static void print_usage();
int init();
uint8_t get_whoami() { return _whoami; }
/**
* Diagnostics - print some basic information about the driver.
*/
void print_info();
void print_status() override;
void RunImpl();
protected:
device::Device *_interface;
uint8_t _whoami{0}; /** whoami result */
virtual int probe();
int probe();
friend class MPU9250_mag;
private:
void Run() override;
PX4Accelerometer _px4_accel;
PX4Gyroscope _px4_gyro;
@ -300,7 +302,6 @@ private:
bool _got_duplicate{false};
void start();
void stop();
int reset();
/**

10
src/drivers/imu/mpu9250/mpu9250_i2c.cpp
View File

@ -48,7 +48,7 @@ device::Device *MPU9250_I2C_interface(int bus, uint32_t address);
class MPU9250_I2C : public device::I2C
{
public:
MPU9250_I2C(int bus, uint32_t address);
MPU9250_I2C(int bus, uint32_t address, int bus_frequency);
~MPU9250_I2C() override = default;
int read(unsigned address, void *data, unsigned count) override;
@ -62,13 +62,13 @@ private:
};
device::Device *
MPU9250_I2C_interface(int bus, uint32_t address)
MPU9250_I2C_interface(int bus, uint32_t address, int bus_frequency)
{
return new MPU9250_I2C(bus, address);
return new MPU9250_I2C(bus, address, bus_frequency);
}
MPU9250_I2C::MPU9250_I2C(int bus, uint32_t address) :
I2C("MPU9250_I2C", nullptr, bus, address, 400000)
MPU9250_I2C::MPU9250_I2C(int bus, uint32_t address, int bus_frequency) :
I2C("MPU9250_I2C", nullptr, bus, address, bus_frequency)
{
set_device_type(DRV_IMU_DEVTYPE_MPU9250);
}

260
src/drivers/imu/mpu9250/mpu9250_main.cpp
View File

@ -31,234 +31,106 @@
*
****************************************************************************/
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/i2c_spi_buses.h>
#include <px4_platform_common/module.h>
#include "mpu9250.h"
enum class MPU9250_BUS {
ALL = 0,
I2C_INTERNAL,
I2C_EXTERNAL,
SPI_INTERNAL,
SPI_INTERNAL2,
SPI_EXTERNAL
};
namespace mpu9250
void
MPU9250::print_usage()
{
// list of supported bus configurations
struct mpu9250_bus_option {
MPU9250_BUS busid;
MPU9250_constructor interface_constructor;
bool magpassthrough;
uint8_t busnum;
uint32_t address;
MPU9250 *dev;
} bus_options[] = {
#if defined(USE_I2C)
# if defined(PX4_I2C_BUS_ONBOARD) && defined(PX4_I2C_OBDEV_MPU9250)
{ MPU9250_BUS::I2C_INTERNAL, &MPU9250_I2C_interface, false, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_MPU9250, nullptr },
# endif
# if defined(PX4_I2C_BUS_EXPANSION) && defined(PX4_I2C_OBDEV_MPU9250)
{ MPU9250_BUS::I2C_EXTERNAL, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_MPU9250, nullptr },
# endif
# if defined(PX4_I2C_BUS_EXPANSION1) && defined(PX4_I2C_OBDEV_MPU9250)
{ MPU9250_BUS::I2C_EXTERNAL, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION1, PX4_I2C_OBDEV_MPU9250, nullptr },
# endif
# if defined(PX4_I2C_BUS_EXPANSION2) && defined(PX4_I2C_OBDEV_MPU9250)
{ MPU9250_BUS::I2C_EXTERNAL, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION2, PX4_I2C_OBDEV_MPU9250, nullptr },
# endif
#endif
#if defined(PX4_SPI_BUS_SENSORS) && defined(PX4_SPIDEV_MPU)
{ MPU9250_BUS::SPI_INTERNAL, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU, nullptr },
#endif
#if defined(PX4_SPI_BUS_SENSORS) && defined(PX4_SPIDEV_MPU2)
{ MPU9250_BUS::SPI_INTERNAL2, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU2, nullptr },
#endif
#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_MPU)
{ MPU9250_BUS::SPI_EXTERNAL, &MPU9250_SPI_interface, true, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_MPU, nullptr },
#endif
};
// find a bus structure for a busid
static mpu9250_bus_option *find_bus(MPU9250_BUS busid)
{
for (mpu9250_bus_option &bus_option : bus_options) {
if ((busid == MPU9250_BUS::ALL ||
busid == bus_option.busid) && bus_option.dev != nullptr) {
return &bus_option;
}
}
return nullptr;
PRINT_MODULE_USAGE_NAME("mpu9250", "driver");
PRINT_MODULE_USAGE_SUBCATEGORY("imu");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
static bool start_bus(mpu9250_bus_option &bus, enum Rotation rotation)
I2CSPIDriverBase *MPU9250::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
int runtime_instance)
{
device::Device *interface = bus.interface_constructor(bus.busnum, bus.address);
if ((interface == nullptr) || (interface->init() != PX4_OK)) {
PX4_WARN("no device on bus %u", (unsigned)bus.busid);
delete interface;
return false;
}
device::Device *interface = nullptr;
device::Device *mag_interface = nullptr;
if (iterator.busType() == BOARD_I2C_BUS) {
#ifdef USE_I2C
// For i2c interfaces, connect to the magnetomer directly
if ((bus.busid == MPU9250_BUS::I2C_INTERNAL) || (bus.busid == MPU9250_BUS::I2C_EXTERNAL)) {
mag_interface = AK8963_I2C_interface(bus.busnum);
}
interface = MPU9250_I2C_interface(iterator.bus(), PX4_I2C_OBDEV_MPU9250, cli.bus_frequency);
// For i2c interfaces, connect to the magnetomer directly
mag_interface = AK8963_I2C_interface(iterator.bus(), cli.bus_frequency);
#endif // USE_I2C
MPU9250 *dev = new MPU9250(interface, mag_interface, rotation);
} else if (iterator.busType() == BOARD_SPI_BUS) {
interface = MPU9250_SPI_interface(iterator.bus(), iterator.devid(), cli.bus_frequency, cli.spi_mode);
}
if (dev == nullptr) {
if (interface == nullptr) {
PX4_ERR("alloc failed");
delete mag_interface;
return false;
return nullptr;
}
if (dev->init() != PX4_OK) {
PX4_ERR("driver start failed");
delete dev;
if (interface->init() != OK) {
delete interface;
delete mag_interface;
return false;
PX4_DEBUG("no device on bus %i (devid 0x%x)", iterator.bus(), iterator.devid());
return nullptr;
}
bus.dev = dev;
MPU9250 *dev = new MPU9250(interface, mag_interface, cli.rotation, iterator.configuredBusOption(), iterator.bus());
return true;
if (dev == nullptr) {
delete interface;
delete mag_interface;
return nullptr;
}
if (OK != dev->init()) {
delete dev;
return nullptr;
}
return dev;
}
static int start(MPU9250_BUS busid, enum Rotation rotation)
extern "C" int
mpu9250_main(int argc, char *argv[])
{
for (mpu9250_bus_option &bus_option : bus_options) {
if (bus_option.dev != nullptr) {
// this device is already started
PX4_WARN("already started");
continue;
}
int ch;
using ThisDriver = MPU9250;
BusCLIArguments cli{true, true};
cli.default_spi_frequency = 1000 * 1000; // low speed bus frequency
cli.default_i2c_frequency = 400000;
if (busid != MPU9250_BUS::ALL && bus_option.busid != busid) {
// not the one that is asked for
continue;
}
if (start_bus(bus_option, rotation)) {
return 0;
while ((ch = cli.getopt(argc, argv, "R:")) != EOF) {
switch (ch) {
case 'R':
cli.rotation = (enum Rotation)atoi(cli.optarg());
break;
}
}
return -1;
}
const char *verb = cli.optarg();
static int stop(MPU9250_BUS busid)
{
mpu9250_bus_option *bus = find_bus(busid);
if (bus != nullptr && bus->dev != nullptr) {
delete bus->dev;
bus->dev = nullptr;
} else {
PX4_WARN("driver not running");
if (!verb) {
ThisDriver::print_usage();
return -1;
}
return 0;
}
static int status(MPU9250_BUS busid)
{
mpu9250_bus_option *bus = find_bus(busid);
if (bus != nullptr && bus->dev != nullptr) {
bus->dev->print_info();
return 0;
}
PX4_WARN("driver not running");
return -1;
}
static int usage()
{
PX4_INFO("missing command: try 'start', 'stop', 'status'");
PX4_INFO("options:");
PX4_INFO(" -X (i2c external bus)");
PX4_INFO(" -I (i2c internal bus)");
PX4_INFO(" -s (spi internal bus)");
PX4_INFO(" -S (spi external bus)");
PX4_INFO(" -t (spi internal bus, 2nd instance)");
PX4_INFO(" -R rotation");
return 0;
}
} // namespace
extern "C" int mpu9250_main(int argc, char *argv[])
{
int myoptind = 1;
int ch;
const char *myoptarg = nullptr;
MPU9250_BUS busid = MPU9250_BUS::ALL;
enum Rotation rotation = ROTATION_NONE;
while ((ch = px4_getopt(argc, argv, "XISstR:", &myoptind, &myoptarg)) != EOF) {
switch (ch) {
case 'X':
busid = MPU9250_BUS::I2C_EXTERNAL;
break;
case 'I':
busid = MPU9250_BUS::I2C_INTERNAL;
break;
case 'S':
busid = MPU9250_BUS::SPI_EXTERNAL;
break;
case 's':
busid = MPU9250_BUS::SPI_INTERNAL;
break;
case 't':
busid = MPU9250_BUS::SPI_INTERNAL2;
break;
case 'R':
rotation = (enum Rotation)atoi(myoptarg);
break;
default:
return mpu9250::usage();
}
}
if (myoptind >= argc) {
return mpu9250::usage();
}
const char *verb = argv[myoptind];
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_MPU9250);
if (!strcmp(verb, "start")) {
return mpu9250::start(busid, rotation);
} else if (!strcmp(verb, "stop")) {
return mpu9250::stop(busid);
} else if (!strcmp(verb, "status")) {
return mpu9250::status(busid);
return ThisDriver::module_start(cli, iterator);
}
return mpu9250::usage();
if (!strcmp(verb, "stop")) {
return ThisDriver::module_stop(iterator);
}
if (!strcmp(verb, "status")) {
return ThisDriver::module_status(iterator);
}
ThisDriver::print_usage();
return -1;
}

12
src/drivers/imu/mpu9250/mpu9250_spi.cpp
View File

@ -59,12 +59,12 @@
#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);
device::Device *MPU9250_SPI_interface(int bus, uint32_t cs, int bus_frequency, spi_mode_e spi_mode);
class MPU9250_SPI : public device::SPI
{
public:
MPU9250_SPI(int bus, uint32_t device);
MPU9250_SPI(int bus, uint32_t device, int bus_frequency, spi_mode_e spi_mode);
~MPU9250_SPI() override = default;
int read(unsigned address, void *data, unsigned count) override;
@ -80,13 +80,13 @@ private:
};
device::Device *
MPU9250_SPI_interface(int bus, uint32_t cs)
MPU9250_SPI_interface(int bus, uint32_t cs, int bus_frequency, spi_mode_e spi_mode)
{
return new MPU9250_SPI(bus, cs);
return new MPU9250_SPI(bus, cs, bus_frequency, spi_mode);
}
MPU9250_SPI::MPU9250_SPI(int bus, uint32_t device) :
SPI("MPU9250", nullptr, bus, device, SPIDEV_MODE3, MPU9250_LOW_SPI_BUS_SPEED)
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)
{
set_device_type(DRV_IMU_DEVTYPE_MPU9250);
}