mpu9250 misc cleanup (clang-tidy, posix fixes, header split)

cmake/configs/posix_sitl_default.cmake

@@ -10,6 +10,7 @@ set(config_module_list
 	drivers/batt_smbus
 	drivers/camera_trigger
 	drivers/gps
+	drivers/imu/mpu9250
 	drivers/linux_gpio
 	drivers/pwm_out_sim
 	drivers/vmount

src/drivers/imu/mpu9250/AK8963.h

@@ -0,0 +1,11 @@
+
+// ak8963 register address and bit definitions
+#define AK8963_I2C_ADDR         0x0C
+#define AK8963_DEVICE_ID        0x48
+#define AK8963REG_WIA           0x00
+#define AK8963REG_ST1           0x02
+#define AK8963REG_CNTL1_ADDR	0x0A
+#define AK8963REG_CNTL2_ADDR    0x0B
+#define AK8963_CONTINUOUS_16BIT 0x16
+#define AK8963_SELFTEST_MODE    0x08
+#define AK8963_RESET            0x01

src/drivers/imu/mpu9250/mpu9250.cpp

@@ -57,11 +57,10 @@ MPU9250::MPU9250(mpu9250::mpu9250_bus_option &bus, enum Rotation rotation) :
 	_fifo_maxed(perf_alloc(PC_COUNT, "mpu9250_fifo_maxed")),
 
 	_rotation(rotation)
-
 {
 	if (_interface->init() != OK) {
 		delete _interface;
-		warnx("No device on bus %u.", (unsigned)bus.busid);
+		PX4_ERR("No device on bus %u.", (unsigned)bus.busid);
 	}
 
 	probe();
@@ -70,8 +69,10 @@ MPU9250::MPU9250(mpu9250::mpu9250_bus_option &bus, enum Rotation rotation) :
 		_mag = new Mag(bus.mag_path, _interface, DRV_MAG_DEVTYPE_MPU9250);
 	}
 
+#ifdef CONFIG_FAT_DMAMEMORY
 	// Allocate 512 bytes for dma FIFO transfer.
 	_dma_data_buffer = (uint8_t *)fat_dma_alloc(_dma_buffer_size);
+#endif
 }
 
 MPU9250::~MPU9250()
@@ -84,7 +85,9 @@ MPU9250::~MPU9250()
 		delete _mag;
 	}
 
+#ifdef CONFIG_FAT_DMAMEMORY
 	fat_dma_free(_dma_data_buffer, _dma_buffer_size);
+#endif
 
 	hrt_cancel(&_hrt_call);
 	px4_sem_destroy(&_data_semaphore);
@@ -96,21 +99,19 @@ MPU9250::~MPU9250()
 
 mpu9250::mpu9250_bus_option &MPU9250::initialize_bus(mpu9250::MPU9250_BUS bus_id)
 {
-	uint8_t i = 0;
-
-	for (i = 0; i < NUM_BUS_OPTIONS; i++) {
+	for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) {
 		if (bus_id == mpu9250::g_bus_options[i].busid) {
 			return mpu9250::g_bus_options[i];
 		}
 	}
 
 	PX4_ERR("Could not find bus.");
-	return mpu9250::g_bus_options[i];
+	return mpu9250::g_bus_options[0];
 }
 
 MPU9250 *MPU9250::instantiate(int argc, char *argv[])
 {
-	int ch;
+	int ch = 0;
 	int myoptind = 1;
 	const char *myoptarg = nullptr;
 
@@ -159,7 +160,6 @@ MPU9250 *MPU9250::instantiate(int argc, char *argv[])
 	return mpu9250;
 }
 
-
 int MPU9250::task_spawn(int argc, char *argv[])
 {
 	int task_id = px4_task_spawn_cmd("mpu9250", SCHED_DEFAULT,
@@ -171,7 +171,6 @@ int MPU9250::task_spawn(int argc, char *argv[])
 
 int MPU9250::custom_command(int argc, char *argv[])
 {
-
 	return 0;
 }
 
@@ -262,8 +261,6 @@ void MPU9250::clean_reset()
 	write_reg(USER_CTRL_ADDR, USER_CTRL_FIFO_EN);
 }
 
-
-
 int MPU9250::probe()
 {
 	_whoami = read_reg(WHOAMI_ADDR);
@@ -281,7 +278,6 @@ int MPU9250::probe()
 	return PX4_ERROR;
 }
 
-
 int MPU9250::self_test()
 {
 	// if (perf_event_count(_sample_perf) == 0) {
@@ -295,7 +291,7 @@ int MPU9250::self_test()
 
 uint8_t MPU9250::read_reg(unsigned reg)
 {
-	uint8_t buf[2] = {0};
+	uint8_t buf[2] = {};
 
 	_interface->read(reg, buf, 2);
 
@@ -304,10 +300,7 @@ uint8_t MPU9250::read_reg(unsigned reg)
 
 void MPU9250::write_reg(unsigned reg, uint8_t value)
 {
-	uint8_t buf[2] = {0};
-
-	buf[0] = value;
-
+	uint8_t buf[2] = { value, 0 };
 	_interface->write(reg, buf, 2);
 }
 
@@ -367,13 +360,13 @@ void MPU9250::run()
 
 		unsigned samples = fifo_count / 12;
 
-		float accel_x = 0;
-		float accel_y = 0;
-		float accel_z = 0;
+		float accel_x = 0.0f;
+		float accel_y = 0.0f;
+		float accel_z = 0.0f;
 
-		float gyro_x = 0;
-		float gyro_y = 0;
-		float gyro_z = 0;
+		float gyro_x = 0.0f;
+		float gyro_y = 0.0f;
+		float gyro_z = 0.0f;
 
 		for (unsigned i = 0; i < samples; i++) {
 			accel_x += int16_t(_dma_data_buffer[_offset + 0 + i * 12] << 8 | _dma_data_buffer[_offset + 1 + i * 12]);
@@ -407,9 +400,9 @@ void MPU9250::run()
 
 				_interface->read(EXT_SENS_DATA_00, _dma_data_buffer, 8 + _offset);
 
-				float x 		= (uint16_t)(_dma_data_buffer[3] << 8 | _dma_data_buffer[2]);
-				float y 		= (uint16_t)(_dma_data_buffer[5] << 8 | _dma_data_buffer[4]);
-				float z 		= (uint16_t)(_dma_data_buffer[7] << 8 | _dma_data_buffer[6]);
+				float x = (uint16_t)(_dma_data_buffer[3] << 8 | _dma_data_buffer[2]);
+				float y = (uint16_t)(_dma_data_buffer[5] << 8 | _dma_data_buffer[4]);
+				float z = (uint16_t)(_dma_data_buffer[7] << 8 | _dma_data_buffer[6]);
 
 				// Now bring the mag into same reference frame as the accel and gyro.
 				int16_t temp = x;
@@ -426,18 +419,13 @@ void MPU9250::run()
 
 		perf_end(_cycle);
 	}
-
 }
 
-
-
 int MPU9250::print_status()
 {
-
 	return PX4_OK;
 }
 
-
 int MPU9250::print_usage()
 {
 	PRINT_MODULE_DESCRIPTION(

src/drivers/imu/mpu9250/mpu9250.h

@@ -34,19 +34,19 @@
 #pragma once
 
 #include <drivers/drv_hrt.h>
-#include <drivers/accelerometer/Accel.hpp>
-#include <drivers/gyroscope/Gyro.hpp>
-#include <drivers/magnetometer/Mag.hpp>
-
+#include <lib/drivers/accelerometer/Accel.hpp>
+#include <lib/drivers/gyroscope/Gyro.hpp>
+#include <lib/drivers/magnetometer/Mag.hpp>
 #include <ecl/geo/geo.h>
-
-#include <nuttx/fs/fat.h>
-
 #include <perf/perf_counter.h>
-
 #include <px4_module_multi.h>
 #include <px4_getopt.h>
 
+#include "AK8963.h"
+
+#ifdef CONFIG_FAT_DMAMEMORY
+#include <nuttx/fs/fat.h>
+#endif
 
 // MPU9250 registers
 #define WHOAMI_ADDR					0x75
@@ -121,19 +121,6 @@
 
 #define EXT_SENS_DATA_00			0x49
 
-
-// ak8963 register address and bit definitions
-#define AK8963_I2C_ADDR         0x0C
-#define AK8963_DEVICE_ID        0x48
-#define AK8963REG_WIA           0x00
-#define AK8963REG_ST1           0x02
-#define AK8963REG_CNTL1_ADDR	0x0A
-#define AK8963REG_CNTL2_ADDR    0x0B
-#define AK8963_CONTINUOUS_16BIT 0x16
-#define AK8963_SELFTEST_MODE    0x08
-#define AK8963_RESET            0x01
-
-
 #define ACCEL_SAMPLE_RATE	1000
 #define ACCEL_FILTER_FREQ 30
 #define ACCEL_FS_RANGE_M_S2	32.0f * CONSTANTS_ONE_G
@@ -147,6 +134,7 @@
 #define MAG_FS_RANGE_UT 9600.0f
 
 
+
 #define MPU_DEVICE_PATH_ACCEL		"/dev/mpu9250_accel"
 #define MPU_DEVICE_PATH_GYRO		"/dev/mpu9250_gyro"
 #define MPU_DEVICE_PATH_MAG			"/dev/mpu9250_mag"
@@ -261,7 +249,7 @@ class MPU9250 : public ModuleBaseMulti<MPU9250>
 	void init();
 
 	/** @brief Starts the driver and kicks off the main loop. */
-	void run();
+	void run() override;
 
 	/**
 	 * @brief Prints the status of the driver.
@@ -275,7 +263,6 @@ class MPU9250 : public ModuleBaseMulti<MPU9250>
 	 */
 	int	probe();
 
-
 private:
 
 	device::Device *_interface = nullptr;
@@ -289,15 +276,15 @@ class MPU9250 : public ModuleBaseMulti<MPU9250>
 
 	uint8_t	_whoami = 0;
 
-	struct hrt_call _hrt_call;
+	struct hrt_call _hrt_call {};
 
 	perf_counter_t		_spi_transfer;
 	perf_counter_t		_cycle;
 	perf_counter_t		_fifo_maxed;
 
 	unsigned _offset = 1;
 
-	uint8_t	*_dma_data_buffer;
+	uint8_t	*_dma_data_buffer{nullptr};
 
 	static constexpr unsigned _dma_buffer_size = 544; // 32B block size
 
@@ -312,15 +299,13 @@ class MPU9250 : public ModuleBaseMulti<MPU9250>
 	 */
 	uint8_t			read_reg(unsigned reg);
 
-
 	/**
 	 * @brief 		Write a register.
 	 * @param		The register to write.
 	 * @param		The value to write.
 	 */
 	void			write_reg(unsigned reg, uint8_t value);
 
-
 	/**
 	 * @brief 		Measurement self test
 	 * @return 		PX4_OK on success, PX4_ERROR on failure

src/drivers/imu/mpu9250/mpu9250_i2c.cpp

@@ -56,15 +56,13 @@ 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;
 
 };
 
@@ -77,33 +75,12 @@ MPU9250_I2C_interface(int bus, uint32_t address)
 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 ACCELIOCGEXTERNAL:
-		return external();
-
-	case DEVIOCGDEVICEID:
-		return CDev::ioctl(nullptr, operation, arg);
-
-	default:
-		ret = -EINVAL;
-	}
-
-	return ret;
 }
 
 int
 MPU9250_I2C::write(unsigned reg_speed, void *data, unsigned count)
 {
-	uint8_t cmd[2];
+	uint8_t cmd[2] {};
 
 	PX4_INFO("what am i doing here");