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mpu6000: add & check for the device_type on driver startup

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Fixes the following case: a board that has several bus_options enabled,
and wants to start a specific device (eg mpu6000 -T 20608 start). In that
case the given device_type is never actually checked, and since the start
routine iterates over all bus_options, several can match, and thus start
multiple instances of the driver (note that the whoami check is performed
against the value provided with -T and thus the check will pass).

This happens on Pixracer (PX4_SPIDEV_MPU and PX4_SPIDEV_ICM_20608 are both
set).
This commit is contained in:
Beat Küng 2017-01-31 09:27:26 +01:00 committed by Lorenz Meier
parent 7c47991504
commit f746141afe
1 changed files with 15 additions and 9 deletions
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24
src/drivers/mpu6000/mpu6000.cpp
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@ -2253,6 +2253,7 @@ namespace mpu6000
struct mpu6000_bus_option {
enum MPU6000_BUS busid;
MPU_DEVICE_TYPE device_type;
const char *accelpath;
const char *gyropath;
MPU6000_constructor interface_constructor;
@ -2262,30 +2263,30 @@ struct mpu6000_bus_option {
} bus_options[] = {
#if defined (USE_I2C)
# if defined(PX4_I2C_BUS_ONBOARD)
{ MPU6000_BUS_I2C_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, &MPU6000_I2C_interface, PX4_I2C_BUS_ONBOARD, false, NULL },
{ MPU6000_BUS_I2C_INTERNAL, MPU_DEVICE_TYPE_MPU6000, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, &MPU6000_I2C_interface, PX4_I2C_BUS_ONBOARD, false, NULL },
# endif
# if defined(PX4_I2C_BUS_EXPANSION)
{ MPU6000_BUS_I2C_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, &MPU6000_I2C_interface, PX4_I2C_BUS_EXPANSION, true, NULL },
{ MPU6000_BUS_I2C_EXTERNAL, MPU_DEVICE_TYPE_MPU6000, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, &MPU6000_I2C_interface, PX4_I2C_BUS_EXPANSION, true, NULL },
# endif
#endif
#ifdef PX4_SPIDEV_MPU
{ MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL },
{ MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_TYPE_MPU6000, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL },
#endif
#if defined(PX4_SPI_BUS_EXT)
{ MPU6000_BUS_SPI_EXTERNAL1, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, &MPU6000_SPI_interface, PX4_SPI_BUS_EXT, true, NULL },
{ MPU6000_BUS_SPI_EXTERNAL1, MPU_DEVICE_TYPE_MPU6000, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, &MPU6000_SPI_interface, PX4_SPI_BUS_EXT, true, NULL },
#endif
#ifdef PX4_SPIDEV_ICM_20602
{ MPU6000_BUS_SPI_INTERNAL1, ICM20602_DEVICE_PATH_ACCEL, ICM20602_DEVICE_PATH_GYRO, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL },
{ MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_TYPE_ICM20602, ICM20602_DEVICE_PATH_ACCEL, ICM20602_DEVICE_PATH_GYRO, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL },
#endif
#ifdef PX4_SPIDEV_ICM_20608
{ MPU6000_BUS_SPI_INTERNAL1, ICM20608_DEVICE_PATH_ACCEL, ICM20608_DEVICE_PATH_GYRO, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL },
{ MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_TYPE_ICM20608, ICM20608_DEVICE_PATH_ACCEL, ICM20608_DEVICE_PATH_GYRO, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL },
#endif
#ifdef PX4_SPIDEV_ICM_20689
{ MPU6000_BUS_SPI_INTERNAL2, ICM20689_DEVICE_PATH_ACCEL, ICM20689_DEVICE_PATH_GYRO, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL },
{ MPU6000_BUS_SPI_INTERNAL2, MPU_DEVICE_TYPE_ICM20689, ICM20689_DEVICE_PATH_ACCEL, ICM20689_DEVICE_PATH_GYRO, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL },
#endif
#if defined(PX4_SPI_BUS_EXTERNAL)
{ MPU6000_BUS_SPI_EXTERNAL1, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, &MPU6000_SPI_interface, PX4_SPI_BUS_EXTERNAL, true, NULL },
{ MPU6000_BUS_SPI_EXTERNAL2, MPU_DEVICE_PATH_ACCEL_EXT1, MPU_DEVICE_PATH_GYRO_EXT1, &MPU6000_SPI_interface, PX4_SPI_BUS_EXTERNAL, true, NULL },
{ MPU6000_BUS_SPI_EXTERNAL1, MPU_DEVICE_TYPE_MPU6000, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, &MPU6000_SPI_interface, PX4_SPI_BUS_EXTERNAL, true, NULL },
{ MPU6000_BUS_SPI_EXTERNAL2, MPU_DEVICE_TYPE_MPU6000, MPU_DEVICE_PATH_ACCEL_EXT1, MPU_DEVICE_PATH_GYRO_EXT1, &MPU6000_SPI_interface, PX4_SPI_BUS_EXTERNAL, true, NULL },
#endif
};
@ -2413,6 +2414,11 @@ start(enum MPU6000_BUS busid, enum Rotation rotation, int range, int device_type
continue;
}
if (bus_options[i].device_type != device_type) {
// not the one that is asked for
continue;
}
started |= start_bus(bus_options[i], rotation, range, device_type);
}