From e164281a2eca2b429c907d4c1819b9a25c262a96 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Sun, 4 Nov 2018 20:36:32 -0500
Subject: [PATCH] mpu6000 remove interface IOCTLs
---
src/drivers/imu/mpu6000/mpu6000.cpp | 10 +---
src/drivers/imu/mpu6000/mpu6000.h | 8 ---
src/drivers/imu/mpu6000/mpu6000_i2c.cpp | 45 ++------------
src/drivers/imu/mpu6000/mpu6000_spi.cpp | 79 +++----------------------
4 files changed, 13 insertions(+), 129 deletions(-)
diff --git a/src/drivers/imu/mpu6000/mpu6000.cpp b/src/drivers/imu/mpu6000/mpu6000.cpp
index 58d027c2f9..3c1eda6246 100644
--- a/src/drivers/imu/mpu6000/mpu6000.cpp
+++ b/src/drivers/imu/mpu6000/mpu6000.cpp
@@ -133,6 +133,7 @@ class MPU6000 : public device::CDev
public:
MPU6000(device::Device *interface, const char *path_accel, const char *path_gyro, enum Rotation rotation,
int device_type);
+
virtual ~MPU6000();
virtual int init();
@@ -605,17 +606,13 @@ MPU6000::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
-
/* probe again to get our settings that are based on the device type */
-
int ret = probe();
/* if probe failed, bail now */
-
if (ret != OK) {
DEVICE_DEBUG("CDev init failed");
@@ -1380,7 +1377,6 @@ MPU6000::read_reg16(unsigned reg)
uint8_t buf[2];
// general register transfer at low clock speed
-
_interface->read(MPU6000_LOW_SPEED_OP(reg), &buf, arraySize(buf));
return (uint16_t)(buf[0] << 8) | buf[1];
}
@@ -1389,7 +1385,6 @@ int
MPU6000::write_reg(unsigned reg, uint8_t value)
{
// general register transfer at low clock speed
-
return _interface->write(MPU6000_LOW_SPEED_OP(reg), &value, 1);
}
@@ -1495,7 +1490,6 @@ MPU6000::start()
void
MPU6000::stop()
{
-
if (!is_i2c()) {
hrt_cancel(&_call);
diff --git a/src/drivers/imu/mpu6000/mpu6000.h b/src/drivers/imu/mpu6000/mpu6000.h
index 0b5855e0d2..55e7c873ae 100644
--- a/src/drivers/imu/mpu6000/mpu6000.h
+++ b/src/drivers/imu/mpu6000/mpu6000.h
@@ -214,14 +214,6 @@
#define MPU6000_DEFAULT_ONCHIP_FILTER_FREQ 98
-#ifdef PX4_SPI_BUS_EXT
-#define EXTERNAL_BUS PX4_SPI_BUS_EXT
-#else
-#define EXTERNAL_BUS 0
-#endif
-
-#define MPUIOCGIS_I2C (unsigned)(DEVIOCGDEVICEID+100)
-
#pragma pack(push, 1)
/**
* Report conversation within the MPU6000, including command byte and
diff --git a/src/drivers/imu/mpu6000/mpu6000_i2c.cpp b/src/drivers/imu/mpu6000/mpu6000_i2c.cpp
index cfb1b8870d..b9282e707f 100644
--- a/src/drivers/imu/mpu6000/mpu6000_i2c.cpp
+++ b/src/drivers/imu/mpu6000/mpu6000_i2c.cpp
@@ -37,28 +37,13 @@
* I2C interface for MPU6000 /MPU6050
*/
-/* 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 "mpu6000.h"
-#include "board_config.h"
-
#ifdef USE_I2C
device::Device *MPU6000_I2C_interface(int bus, int device_type, bool external_bus);
@@ -67,15 +52,13 @@ class MPU6000_I2C : public device::I2C
{
public:
MPU6000_I2C(int bus, int device_type);
- virtual ~MPU6000_I2C() = default;
+ ~MPU6000_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;
private:
int _device_type;
@@ -96,25 +79,6 @@ MPU6000_I2C::MPU6000_I2C(int bus, int device_type) :
_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU6000;
}
-int
-MPU6000_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
MPU6000_I2C::write(unsigned reg_speed, void *data, unsigned count)
{
@@ -144,7 +108,6 @@ MPU6000_I2C::read(unsigned reg_speed, void *data, unsigned count)
return ret == OK ? count : ret;
}
-
int
MPU6000_I2C::probe()
{
diff --git a/src/drivers/imu/mpu6000/mpu6000_spi.cpp b/src/drivers/imu/mpu6000/mpu6000_spi.cpp
index 1a8e21229a..4da53a987b 100644
--- a/src/drivers/imu/mpu6000/mpu6000_spi.cpp
+++ b/src/drivers/imu/mpu6000/mpu6000_spi.cpp
@@ -42,34 +42,18 @@
*/
#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 "mpu6000.h"
-#include <board_config.h>
+
+#include <string.h>
#define DIR_READ 0x80
#define DIR_WRITE 0x00
#if defined(PX4_SPIDEV_MPU) || defined(PX4_SPIDEV_ICM_20602) || defined(PX4_SPIDEV_ICM_20689)
-# ifdef PX4_SPI_BUS_EXT
-# define EXTERNAL_BUS PX4_SPI_BUS_EXT
-# else
-# define EXTERNAL_BUS 0
-# endif
/* The MPU6000 can only handle high SPI bus speeds of 20Mhz on the sensor and
* interrupt status registers. All other registers have a maximum 1MHz
@@ -101,15 +85,13 @@ class MPU6000_SPI : public device::SPI
{
public:
MPU6000_SPI(int bus, uint32_t device, int device_type);
- virtual ~MPU6000_SPI() = default;
+ ~MPU6000_SPI() override = default;
- virtual int init();
- 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:
@@ -199,7 +181,6 @@ MPU6000_SPI_interface(int bus, int device_type, bool external_bus)
}
if (cs != SPIDEV_NONE(0)) {
-
interface = new MPU6000_SPI(bus, cs, device_type);
}
@@ -210,57 +191,19 @@ MPU6000_SPI::MPU6000_SPI(int bus, uint32_t device, int device_type) :
SPI("MPU6000", nullptr, bus, device, SPIDEV_MODE3, MPU6000_LOW_SPI_BUS_SPEED),
_device_type(device_type)
{
- _device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU6000;
-}
-
-int
-MPU6000_SPI::init()
-{
- int ret;
-
- ret = SPI::init();
-
- if (ret != OK) {
- DEVICE_DEBUG("SPI init failed");
- return -EIO;
- }
-
- return OK;
-}
-
-int
-MPU6000_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_MPU6000;
}
void
MPU6000_SPI::set_bus_frequency(unsigned ®_speed)
{
/* Set the desired speed */
-
set_frequency(MPU6000_IS_HIGH_SPEED(reg_speed) ? _max_frequency : MPU6000_LOW_SPI_BUS_SPEED);
/* Isolate the register on return */
-
reg_speed = MPU6000_REG(reg_speed);
}
-
int
MPU6000_SPI::write(unsigned reg_speed, void *data, unsigned count)
{
@@ -271,7 +214,6 @@ MPU6000_SPI::write(unsigned reg_speed, void *data, unsigned count)
}
/* Set the desired speed and isolate the register */
-
set_bus_frequency(reg_speed);
cmd[0] = reg_speed | DIR_WRITE;
@@ -292,32 +234,25 @@ MPU6000_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);
}
--
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