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Commit e164281a authored by Daniel Agar's avatar Daniel Agar Committed by Lorenz Meier
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mpu6000 remove interface IOCTLs

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src/drivers/imu/mpu6000/mpu6000.cpp
+ 2
− 8
View file @ e164281a
......@@ -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);
......
src/drivers/imu/mpu6000/mpu6000.h
+ 0
− 8
View file @ e164281a
......@@ -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
......
src/drivers/imu/mpu6000/mpu6000_i2c.cpp
+ 4
− 41
View file @ e164281a
......@@ -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()
{
......
src/drivers/imu/mpu6000/mpu6000_spi.cpp
+ 7
− 72
View file @ e164281a
......@@ -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 &reg_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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