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mpu9250: start building "NuttX" driver for Linux and QuRT

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This commit is contained in:
Daniel Agar
2019-11-13 09:21:02 -05:00
parent 6bd4273b9c
commit c5520cbaca
36 changed files with 1159 additions and 869 deletions
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src/drivers/imu/icm20948/icm20948_spi.cpp
+17 -23
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
* Copyright (c) 2019 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
@@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file mpu9250_spi.cpp
* @file icm20948_spi.cpp
*
* Driver for the Invensense ICM20948 connected via SPI.
*
@@ -42,7 +42,6 @@
*/
#include <drivers/device/spi.h>
#include "icm20948.h"
#define DIR_READ 0x80
@@ -57,10 +56,10 @@
* for a 168Mhz CPU this will be 10.5 Mhz and for a 180 Mhz CPU
* it will be 11.250 Mhz
*/
#define MPU9250_LOW_SPI_BUS_SPEED 1000*1000
#define MPU9250_HIGH_SPI_BUS_SPEED 20*1000*1000
#define ICM20948_LOW_SPI_BUS_SPEED 1000*1000
#define ICM20948_HIGH_SPI_BUS_SPEED 20*1000*1000
device::Device *ICM20948_SPI_interface(int bus, uint32_t cs, bool external_bus);
device::Device *ICM20948_SPI_interface(int bus, uint32_t cs);
class ICM20948_SPI : public device::SPI
{
@@ -81,50 +80,41 @@ private:
};
device::Device *
ICM20948_SPI_interface(int bus, uint32_t cs, bool external_bus)
ICM20948_SPI_interface(int bus, uint32_t cs)
{
device::Device *interface = nullptr;
if (external_bus) {
#if !(defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_MPU))
errx(0, "External SPI not available");
#endif
}
if (cs != SPIDEV_NONE(0)) {
interface = new ICM20948_SPI(bus, cs);
}
interface = new ICM20948_SPI(bus, cs);
return interface;
}
ICM20948_SPI::ICM20948_SPI(int bus, uint32_t device) :
SPI("ICM20948", nullptr, bus, device, SPIDEV_MODE3, MPU9250_LOW_SPI_BUS_SPEED)
SPI("ICM20948", nullptr, bus, device, SPIDEV_MODE3, ICM20948_LOW_SPI_BUS_SPEED)
{
_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU9250;
_device_id.devid_s.devtype = DRV_DEVTYPE_ICM20948;
}
void
ICM20948_SPI::set_bus_frequency(unsigned &reg_speed)
{
/* Set the desired speed */
set_frequency(MPU9250_IS_HIGH_SPEED(reg_speed) ? MPU9250_HIGH_SPI_BUS_SPEED : MPU9250_LOW_SPI_BUS_SPEED);
set_frequency(ICM20948_IS_HIGH_SPEED(reg_speed) ? ICM20948_HIGH_SPI_BUS_SPEED : ICM20948_LOW_SPI_BUS_SPEED);
/* Isoolate the register on return */
reg_speed = MPU9250_REG(reg_speed);
reg_speed = ICM20948_REG(reg_speed);
}
int
ICM20948_SPI::write(unsigned reg_speed, void *data, unsigned count)
{
uint8_t cmd[MPU_MAX_WRITE_BUFFER_SIZE];
uint8_t cmd[2] {};
if (sizeof(cmd) < (count + 1)) {
return -EIO;
}
/* Set the desired speed and isolate the register */
set_bus_frequency(reg_speed);
cmd[0] = reg_speed | DIR_WRITE;
@@ -141,7 +131,7 @@ ICM20948_SPI::read(unsigned reg_speed, void *data, unsigned count)
* and we need to provied the buffer large enough for the callers data
* and our command.
*/
uint8_t cmd[3] = {0, 0, 0};
uint8_t cmd[3] {};
uint8_t *pbuff = count < sizeof(MPUReport) ? cmd : (uint8_t *) data ;
@@ -181,6 +171,10 @@ ICM20948_SPI::probe()
}
switch (whoami) {
case ICM_WHOAMI_20948:
ret = 0;
break;
default:
PX4_WARN("probe failed! %u", whoami);
ret = -EIO;