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mpu9250: try all I2C addresses if not manually specified

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This commit is contained in:
Daniel Agar
2022-08-09 10:05:33 -04:00
parent d4b77a6172
commit 7f2fea1cca
2 changed files with 18 additions and 4 deletions
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src/drivers/imu/invensense/mpu9250/InvenSense_MPU9250_registers.hpp
+1 -1
View File
@@ -54,7 +54,7 @@ static constexpr uint8_t Bit5 = (1 << 5);
static constexpr uint8_t Bit6 = (1 << 6);
static constexpr uint8_t Bit7 = (1 << 7);
static constexpr uint32_t I2C_ADDRESS_DEFAULT = 0x69; // 0b110100X
static constexpr uint8_t I2C_ADDRESSES[] {0b110'1000, 0b110'1001}; // 0b110'100x (0x68 or 0x69)
static constexpr uint32_t I2C_SPEED = 400 * 1000;
static constexpr uint32_t SPI_SPEED = 1 * 1000 * 1000;
src/drivers/imu/invensense/mpu9250/mpu9250_i2c_main.cpp
+17 -3
View File
@@ -42,7 +42,7 @@ void MPU9250_I2C::print_usage()
PRINT_MODULE_USAGE_SUBCATEGORY("imu");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x39);
PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x68);
PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
@@ -53,7 +53,7 @@ extern "C" int mpu9250_i2c_main(int argc, char *argv[])
using ThisDriver = MPU9250_I2C;
BusCLIArguments cli{true, false};
cli.default_i2c_frequency = I2C_SPEED;
cli.i2c_address = I2C_ADDRESS_DEFAULT;
cli.i2c_address = 0;
while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
switch (ch) {
@@ -73,7 +73,21 @@ extern "C" int mpu9250_i2c_main(int argc, char *argv[])
BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_MPU9250);
if (!strcmp(verb, "start")) {
return ThisDriver::module_start(cli, iterator);
if (cli.i2c_address != 0) {
return ThisDriver::module_start(cli, iterator);
} else {
// otherwise try all I2C addresses
for (auto &i2c_address : I2C_ADDRESSES) {
cli.i2c_address = i2c_address;
if (ThisDriver::module_start(cli, iterator) == PX4_OK) {
return PX4_OK;
}
}
return PX4_ERROR;
}
}
if (!strcmp(verb, "stop")) {