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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/mpu9250/mpu9250_spi.cpp
+5 -14
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
* Copyright (c) 2016-2019 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
@@ -59,7 +59,7 @@
#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, bool external_bus);
device::Device *MPU9250_SPI_interface(int bus, uint32_t cs);
class MPU9250_SPI : public device::SPI
{
@@ -80,19 +80,11 @@ private:
};
device::Device *
MPU9250_SPI_interface(int bus, uint32_t cs, bool external_bus)
MPU9250_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 MPU9250_SPI(bus, cs);
}
interface = new MPU9250_SPI(bus, cs);
return interface;
}
@@ -116,14 +108,13 @@ MPU9250_SPI::set_bus_frequency(unsigned &reg_speed)
int
MPU9250_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;