MindPX: Remove MPU6500 driver, use MPU9K driver instead

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -225,7 +225,7 @@ then
 	if bmi055 -A start
 	then
 	fi
-	
+
 	# Internal SPI bus BMI055_GYR
 	if bmi055 -G start
 	then
@@ -235,7 +235,7 @@ then
 	if bmm150 -R 2 start
 	then
 	fi
-	
+
 	# expansion i2c used for BMP280
 	if bmp280 -I start
 	then
@@ -287,7 +287,7 @@ then
 	then
 	fi
 
-	if mpu6500 -R 8 start
+	if mpu9250 -s -R 8 start
 	then
 	fi
 

ROMFS/px4fmu_test/init.d/rc.sensors

@@ -156,24 +156,25 @@ fi
 
 if ver hwcmp MINDPX_V2
 then
-	if mpu6500 start
-	then
-	fi
-
-	if lsm303d start
-	then
-	fi
-
-	if l3gd20 start
-	then
-	fi
-
 	# External I2C bus
 	if hmc5883 -C -T -X start
 	then
 	fi
 
-	if lis3mdl -R 2 start
+	# Internal I2C bus
+	if hmc5883 -C -T -I -R 12 start
+	then
+	fi
+
+	if mpu9250 -s -R 8 start
+	then
+	fi
+
+	if lsm303d -R 10 start
+	then
+	fi
+
+	if l3gd20 -R 14 start
 	then
 	fi
 fi

cmake/configs/nuttx_mindpx-v2_default.cmake

@@ -19,10 +19,7 @@ set(config_module_list
 	drivers/boards/mindpx-v2
 	drivers/rgbled
 	#drivers/rgbled_pwm
-	#drivers/mpu6000
-	#drivers/mpu6050
-	drivers/mpu6500
-	#drivers/mpu9250
+	drivers/mpu9250
 	drivers/lsm303d
 	drivers/l3gd20
 	drivers/hmc5883

src/drivers/mpu6500/CMakeLists.txt

@@ -1,43 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-px4_add_module(
-	MODULE drivers__mpu6500
-	MAIN mpu6500
-	STACK_MAIN 1200
-	COMPILE_FLAGS
-	SRCS
-		mpu6500.cpp
-	DEPENDS
-		platforms__common
-	)
-# vim: set noet ft=cmake fenc=utf-8 ff=unix :

src/drivers/mpu9250/mpu9250_spi.cpp

@@ -113,7 +113,7 @@ MPU9250_SPI_interface(int bus, bool external_bus)
 	device::Device *interface = nullptr;
 
 	if (external_bus) {
-#ifdef PX4_SPI_BUS_EXT
+#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_MPU)
 		cs = (spi_dev_e) PX4_SPIDEV_EXT_MPU;
 #else
 		errx(0, "External SPI not available");