WIP: adis16477 debug

src/drivers/imu/adis16477/ADIS16477.cpp

@@ -62,6 +62,8 @@ ADIS16477::ADIS16477(const I2CSPIDriverConfig &config) :
 	_bad_transfers(perf_alloc(PC_COUNT, MODULE_NAME": bad transfers")),
 	_drdy_gpio(config.drdy_gpio)
 {
+	_debug_enabled = true;
+
 #ifdef GPIO_SPI1_RESET_ADIS16477
 	// Configure hardware reset line
 	px4_arch_configgpio(GPIO_SPI1_RESET_ADIS16477);

src/drivers/imu/adis16477/CMakeLists.txt

@@ -35,6 +35,7 @@ px4_add_module(
 	MAIN adis16477
 	COMPILE_FLAGS
 		-Wno-cast-align # TODO: fix and enable
+		-DDEBUG_BUILD
 	SRCS
 		ADIS16477.cpp
 		adis16477_main.cpp

src/drivers/imu/invensense/mpu9250/InvenSense_MPU9250_registers.hpp

@@ -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

@@ -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")) {