diff --git a/src/drivers/imu/mpu9250/mag_i2c.cpp b/src/drivers/imu/mpu9250/mag_i2c.cpp
index a3c163ea4ab2ce1d04c77fa3f4d4cfb4158020fa..23a4ba8b74e0f83ede2e212e513a446b7ac026cd 100644
--- a/src/drivers/imu/mpu9250/mag_i2c.cpp
+++ b/src/drivers/imu/mpu9250/mag_i2c.cpp
@@ -37,20 +37,7 @@
* I2C interface for AK8963
*/
-/* XXX trim includes */
#include <px4_config.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <string.h>
-#include <assert.h>
-#include <debug.h>
-#include <errno.h>
-#include <unistd.h>
-
-#include <arch/board/board.h>
-
#include <drivers/device/i2c.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_device.h>
@@ -58,9 +45,6 @@
#include "mpu9250.h"
#include "mag.h"
-#include "board_config.h"
-
-
#ifdef USE_I2C
device::Device *AK8963_I2C_interface(int bus, bool external_bus);
@@ -69,19 +53,16 @@ class AK8963_I2C : public device::I2C
{
public:
AK8963_I2C(int bus);
- virtual ~AK8963_I2C() = default;
+ ~AK8963_I2C() override = default;
- virtual int read(unsigned address, void *data, unsigned count);
- virtual int write(unsigned address, void *data, unsigned count);
-
- virtual int ioctl(unsigned operation, unsigned &arg);
+ int read(unsigned address, void *data, unsigned count) override;
+ int write(unsigned address, void *data, unsigned count) override;
protected:
- virtual int probe();
+ int probe() override;
};
-
device::Device *
AK8963_I2C_interface(int bus, bool external_bus)
{
@@ -94,25 +75,6 @@ AK8963_I2C::AK8963_I2C(int bus) :
_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_MPU9250;
}
-int
-AK8963_I2C::ioctl(unsigned operation, unsigned &arg)
-{
- int ret;
-
- switch (operation) {
- case DEVIOCGDEVICEID:
- return CDev::ioctl(nullptr, operation, arg);
-
- case MPUIOCGIS_I2C:
- return 1;
-
- default:
- ret = -EINVAL;
- }
-
- return ret;
-}
-
int
AK8963_I2C::write(unsigned reg_speed, void *data, unsigned count)
{
@@ -134,7 +96,6 @@ AK8963_I2C::read(unsigned reg_speed, void *data, unsigned count)
return transfer(&cmd, 1, (uint8_t *)data, count);
}
-
int
AK8963_I2C::probe()
{
diff --git a/src/drivers/imu/mpu9250/mpu9250.cpp b/src/drivers/imu/mpu9250/mpu9250.cpp
index 25b88c015adf3811a4df100a05562868a3d3c4eb..bd48a61b18c5d4e7323e6104fc28b7e895fb8105 100644
--- a/src/drivers/imu/mpu9250/mpu9250.cpp
+++ b/src/drivers/imu/mpu9250/mpu9250.cpp
@@ -255,8 +255,7 @@ MPU9250::init()
{
#if defined(USE_I2C)
- unsigned dummy;
- use_i2c(_interface->ioctl(MPUIOCGIS_I2C, dummy));
+ use_i2c(_interface->get_device_bus_type() == Device::DeviceBusType_I2C);
#endif
/*
diff --git a/src/drivers/imu/mpu9250/mpu9250_i2c.cpp b/src/drivers/imu/mpu9250/mpu9250_i2c.cpp
index 0279d28a12d77b2ec217127cf302f3186e9d05b7..3893d74621afd502db66e04b1069bff8274cf907 100644
--- a/src/drivers/imu/mpu9250/mpu9250_i2c.cpp
+++ b/src/drivers/imu/mpu9250/mpu9250_i2c.cpp
@@ -37,28 +37,13 @@
* I2C interface for MPU9250
*/
-/* XXX trim includes */
#include <px4_config.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <string.h>
-#include <assert.h>
-#include <debug.h>
-#include <errno.h>
-#include <unistd.h>
-
-#include <arch/board/board.h>
-
#include <drivers/device/i2c.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_device.h>
#include "mpu9250.h"
-#include "board_config.h"
-
#ifdef USE_I2C
device::Device *MPU9250_I2C_interface(int bus, uint32_t address, bool external_bus);
@@ -67,15 +52,13 @@ class MPU9250_I2C : public device::I2C
{
public:
MPU9250_I2C(int bus, uint32_t address);
- virtual ~MPU9250_I2C() = default;
+ ~MPU9250_I2C() override = default;
- virtual int read(unsigned address, void *data, unsigned count);
- virtual int write(unsigned address, void *data, unsigned count);
-
- virtual int ioctl(unsigned operation, unsigned &arg);
+ int read(unsigned address, void *data, unsigned count) override;
+ int write(unsigned address, void *data, unsigned count) override;
protected:
- virtual int probe();
+ int probe() override;
};
@@ -88,26 +71,7 @@ MPU9250_I2C_interface(int bus, uint32_t address, bool external_bus)
MPU9250_I2C::MPU9250_I2C(int bus, uint32_t address) :
I2C("MPU9250_I2C", nullptr, bus, address, 400000)
{
- _device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU9250;
-}
-
-int
-MPU9250_I2C::ioctl(unsigned operation, unsigned &arg)
-{
- int ret = PX4_ERROR;
-
- switch (operation) {
- case DEVIOCGDEVICEID:
- return CDev::ioctl(nullptr, operation, arg);
-
- case MPUIOCGIS_I2C:
- return 1;
-
- default:
- ret = -EINVAL;
- }
-
- return ret;
+ _device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU9250;
}
int
diff --git a/src/drivers/imu/mpu9250/mpu9250_spi.cpp b/src/drivers/imu/mpu9250/mpu9250_spi.cpp
index de623263449a2c7046ab05abd7b39d78e36a76e0..c02d6f2dc4c69b5789741546ea7dcc3253b521b4 100644
--- a/src/drivers/imu/mpu9250/mpu9250_spi.cpp
+++ b/src/drivers/imu/mpu9250/mpu9250_spi.cpp
@@ -42,24 +42,11 @@
*/
#include <px4_config.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <string.h>
-#include <assert.h>
-#include <debug.h>
-#include <errno.h>
-#include <unistd.h>
-
-#include <arch/board/board.h>
-
#include <drivers/device/spi.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_device.h>
#include "mpu9250.h"
-#include <board_config.h>
#define DIR_READ 0x80
#define DIR_WRITE 0x00
@@ -76,27 +63,23 @@
#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);
-
class MPU9250_SPI : public device::SPI
{
public:
MPU9250_SPI(int bus, uint32_t device);
- virtual ~MPU9250_SPI() = default;
+ ~MPU9250_SPI() override = default;
- virtual int read(unsigned address, void *data, unsigned count);
- virtual int write(unsigned address, void *data, unsigned count);
+ int read(unsigned address, void *data, unsigned count) override;
+ int write(unsigned address, void *data, unsigned count) override;
- virtual int ioctl(unsigned operation, unsigned &arg);
protected:
- virtual int probe();
+ int probe() override;
private:
/* Helper to set the desired speed and isolate the register on return */
-
void set_bus_frequency(unsigned ®_speed_reg_out);
};
@@ -121,38 +104,16 @@ MPU9250_SPI_interface(int bus, uint32_t cs, bool external_bus)
MPU9250_SPI::MPU9250_SPI(int bus, uint32_t device) :
SPI("MPU9250", nullptr, bus, device, SPIDEV_MODE3, MPU9250_LOW_SPI_BUS_SPEED)
{
- _device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU9250;
-}
-
-int
-MPU9250_SPI::ioctl(unsigned operation, unsigned &arg)
-{
- int ret;
-
- switch (operation) {
- case DEVIOCGDEVICEID:
- return CDev::ioctl(nullptr, operation, arg);
-
- case MPUIOCGIS_I2C:
- return 0;
-
- default: {
- ret = -EINVAL;
- }
- }
-
- return ret;
+ _device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU9250;
}
void
MPU9250_SPI::set_bus_frequency(unsigned ®_speed)
{
/* Set the desired speed */
-
set_frequency(MPU9250_IS_HIGH_SPEED(reg_speed) ? MPU9250_HIGH_SPI_BUS_SPEED : MPU9250_LOW_SPI_BUS_SPEED);
/* Isoolate the register on return */
-
reg_speed = MPU9250_REG(reg_speed);
}
@@ -187,34 +148,25 @@ MPU9250_SPI::read(unsigned reg_speed, void *data, unsigned count)
uint8_t *pbuff = count < sizeof(MPUReport) ? cmd : (uint8_t *) data ;
-
if (count < sizeof(MPUReport)) {
-
/* add command */
-
count++;
}
set_bus_frequency(reg_speed);
/* Set command */
-
pbuff[0] = reg_speed | DIR_READ ;
/* Transfer the command and get the data */
-
int ret = transfer(pbuff, pbuff, count);
if (ret == OK && pbuff == &cmd[0]) {
-
/* Adjust the count back */
-
count--;
/* Return the data */
-
memcpy(data, &cmd[1], count);
-
}
return ret;