Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

mpu9250 allow a 2nd internal spi instance and remove px4fmu-v4 external #9386

Merged
merged 1 commit into from
May 4, 2018
Merged

mpu9250 allow a 2nd internal spi instance and remove px4fmu-v4 external #9386

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 1 addition & 2 deletions src/drivers/boards/px4fmu-v4/board_config.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -133,7 +133,6 @@
#define PX4_SPI_BUS_SENSORS 1
#define PX4_SPI_BUS_RAMTRON 2
#define PX4_SPI_BUS_BARO PX4_SPI_BUS_RAMTRON
#define PX4_SPI_BUS_EXT 1

/* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
#define PX4_SPIDEV_GYRO PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
Expand All @@ -148,7 +147,7 @@
#define PX4_SPIDEV_ICM_20602 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 11)
#define PX4_SPIDEV_BMI055_ACC PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 12)
#define PX4_SPIDEV_BMI055_GYR PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 13)
#define PX4_SPIDEV_EXT_MPU PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 14)
#define PX4_SPIDEV_MPU2 PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 14)

/* onboard MS5611 and FRAM are both on bus SPI2
* spi_dev_e:SPIDEV_FLASH has the value 2 and is used in the NuttX ramtron driver
Expand Down
4 changes: 1 addition & 3 deletions src/drivers/boards/px4fmu-v4/spi.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -121,7 +121,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool s
case PX4_SPIDEV_ICM_20602:
case PX4_SPIDEV_ICM_20608:
case PX4_SPIDEV_BMI055_ACC:
case PX4_SPIDEV_EXT_MPU:
case PX4_SPIDEV_MPU2:
/* Making sure the other peripherals are not selected */
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN2, 1);
px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN15, !selected);
Expand Down Expand Up @@ -237,6 +237,4 @@ __EXPORT void board_spi_reset(int ms)
stm32_configgpio(GPIO_SPI1_SCK);
stm32_configgpio(GPIO_SPI1_MISO);
stm32_configgpio(GPIO_SPI1_MOSI);


}
41 changes: 30 additions & 11 deletions src/drivers/imu/mpu9250/main.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -74,6 +74,11 @@
#define MPU_DEVICE_PATH_ACCEL "/dev/mpu9250_accel"
#define MPU_DEVICE_PATH_GYRO "/dev/mpu9250_gyro"
#define MPU_DEVICE_PATH_MAG "/dev/mpu9250_mag"

#define MPU_DEVICE_PATH_ACCEL_1 "/dev/mpu9250_accel1"
#define MPU_DEVICE_PATH_GYRO_1 "/dev/mpu9250_gyro1"
#define MPU_DEVICE_PATH_MAG_1 "/dev/mpu9250_mag1"

#define MPU_DEVICE_PATH_ACCEL_EXT "/dev/mpu9250_accel_ext"
#define MPU_DEVICE_PATH_GYRO_EXT "/dev/mpu9250_gyro_ext"
#define MPU_DEVICE_PATH_MAG_EXT "/dev/mpu9250_mag_ext"
Expand All @@ -87,6 +92,7 @@ enum MPU9250_BUS {
MPU9250_BUS_I2C_INTERNAL,
MPU9250_BUS_I2C_EXTERNAL,
MPU9250_BUS_SPI_INTERNAL,
MPU9250_BUS_SPI_INTERNAL2,
MPU9250_BUS_SPI_EXTERNAL
};

Expand All @@ -109,21 +115,25 @@ struct mpu9250_bus_option {
MPU9250_constructor interface_constructor;
bool magpassthrough;
uint8_t busnum;
uint32_t address;
MPU9250 *dev;
} bus_options[] = {
#if defined (USE_I2C)
# if defined(PX4_I2C_BUS_ONBOARD)
{ MPU9250_BUS_I2C_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG, &MPU9250_I2C_interface, false, PX4_I2C_BUS_ONBOARD, NULL },
{ MPU9250_BUS_I2C_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG, &MPU9250_I2C_interface, false, PX4_I2C_BUS_ONBOARD, PX4_I2C_OBDEV_MPU9250, NULL },
# endif
# if defined(PX4_I2C_BUS_EXPANSION)
{ MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION, NULL },
{ MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION, PX4_I2C_OBDEV_MPU9250, NULL },
# endif
#endif
#ifdef PX4_SPIDEV_MPU
{ MPU9250_BUS_SPI_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, NULL },
{ MPU9250_BUS_SPI_INTERNAL, MPU_DEVICE_PATH_ACCEL, MPU_DEVICE_PATH_GYRO, MPU_DEVICE_PATH_MAG, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU, NULL },
#endif
#ifdef PX4_SPIDEV_MPU2
{ MPU9250_BUS_SPI_INTERNAL2, MPU_DEVICE_PATH_ACCEL_1, MPU_DEVICE_PATH_GYRO_1, MPU_DEVICE_PATH_MAG_1, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU2, NULL },
#endif
#if defined(PX4_SPI_BUS_EXT)
{ MPU9250_BUS_SPI_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT, &MPU9250_SPI_interface, true, PX4_SPI_BUS_EXT, NULL },
#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_MPU)
{ MPU9250_BUS_SPI_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT, MPU_DEVICE_PATH_GYRO_EXT, MPU_DEVICE_PATH_MAG_EXT, &MPU9250_SPI_interface, true, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_MPU, NULL },
#endif
};

Expand Down Expand Up @@ -169,7 +179,7 @@ start_bus(struct mpu9250_bus_option &bus, enum Rotation rotation, bool external)
return false;
}

device::Device *interface = bus.interface_constructor(bus.busnum, external);
device::Device *interface = bus.interface_constructor(bus.busnum, bus.address, external);

if (interface == nullptr) {
warnx("no device on bus %u", (unsigned)bus.busid);
Expand Down Expand Up @@ -453,10 +463,15 @@ testerror(enum MPU9250_BUS busid)
void
usage()
{
warnx("missing command: try 'start', 'info', 'test', 'stop',\n'reset', 'regdump', 'testerror'");
warnx("options:");
warnx(" -X (external bus)");
warnx(" -R rotation");
PX4_INFO("missing command: try 'start', 'info', 'test', 'stop',\n'reset', 'regdump', 'testerror'");
PX4_INFO("options:");
PX4_INFO(" -X (i2c external bus)");
PX4_INFO(" -I (i2c internal bus)");
PX4_INFO(" -s (spi internal bus)");
PX4_INFO(" -S (spi external bus)");
PX4_INFO(" -t (spi internal bus, 2nd instance)");
PX4_INFO(" -R rotation");

}

} // namespace
Expand All @@ -470,7 +485,7 @@ mpu9250_main(int argc, char *argv[])
enum Rotation rotation = ROTATION_NONE;

/* jump over start/off/etc and look at options first */
while ((ch = getopt(argc, argv, "XISsR:")) != EOF) {
while ((ch = getopt(argc, argv, "XISstR:")) != EOF) {
switch (ch) {
case 'X':
busid = MPU9250_BUS_I2C_EXTERNAL;
Expand All @@ -488,6 +503,10 @@ mpu9250_main(int argc, char *argv[])
busid = MPU9250_BUS_SPI_INTERNAL;
break;

case 't':
busid = MPU9250_BUS_SPI_INTERNAL2;
break;

case 'R':
rotation = (enum Rotation)atoi(optarg);
break;
Expand Down
9 changes: 3 additions & 6 deletions src/drivers/imu/mpu9250/mpu9250.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -231,14 +231,11 @@ struct MPUReport {
# define MPU9250_LOW_SPEED_OP(r) MPU9250_REG((r))

/* interface factories */
extern device::Device *MPU9250_SPI_interface(int bus, bool external_bus);
extern device::Device *MPU9250_I2C_interface(int bus, bool external_bus);
extern device::Device *MPU9250_SPI_interface(int bus, uint32_t cs, bool external_bus);
extern device::Device *MPU9250_I2C_interface(int bus, uint32_t address, bool external_bus);
extern int MPU9250_probe(device::Device *dev, int device_type);

typedef device::Device *(*MPU9250_constructor)(int, bool);



typedef device::Device *(*MPU9250_constructor)(int, uint32_t, bool);

class MPU9250_mag;
class MPU9250_gyro;
Expand Down
30 changes: 8 additions & 22 deletions src/drivers/imu/mpu9250/mpu9250_i2c.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -61,15 +61,14 @@

#ifdef USE_I2C

device::Device *MPU9250_I2C_interface(int bus, bool external_bus);
device::Device *MPU9250_I2C_interface(int bus, uint32_t address, bool external_bus);

class MPU9250_I2C : public device::I2C
{
public:
MPU9250_I2C(int bus);
virtual ~MPU9250_I2C();
MPU9250_I2C(int bus, uint32_t address);
virtual ~MPU9250_I2C() = default;

virtual int init();
virtual int read(unsigned address, void *data, unsigned count);
virtual int write(unsigned address, void *data, unsigned count);

Expand All @@ -80,34 +79,22 @@ class MPU9250_I2C : public device::I2C

};


device::Device *
MPU9250_I2C_interface(int bus, bool external_bus)
MPU9250_I2C_interface(int bus, uint32_t address, bool external_bus)
{
return new MPU9250_I2C(bus);
return new MPU9250_I2C(bus, address);
}

MPU9250_I2C::MPU9250_I2C(int bus) :
I2C("MPU9250_I2C", nullptr, bus, PX4_I2C_OBDEV_MPU9250, 400000)
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;
}

MPU9250_I2C::~MPU9250_I2C()
{
}

int
MPU9250_I2C::init()
{
/* this will call probe() */
return I2C::init();
}

int
MPU9250_I2C::ioctl(unsigned operation, unsigned &arg)
{
int ret;
int ret = PX4_ERROR;

switch (operation) {

Expand Down Expand Up @@ -155,7 +142,6 @@ MPU9250_I2C::read(unsigned reg_speed, void *data, unsigned count)
return transfer(&cmd, 1, &((uint8_t *)data)[offset], count);
}


int
MPU9250_I2C::probe()
{
Expand Down
47 changes: 4 additions & 43 deletions src/drivers/imu/mpu9250/mpu9250_spi.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -64,15 +64,6 @@
#define DIR_READ 0x80
#define DIR_WRITE 0x00


#if PX4_SPIDEV_MPU
#ifdef PX4_SPI_BUS_EXT
#define EXTERNAL_BUS PX4_SPI_BUS_EXT
#else
#define EXTERNAL_BUS 0
#endif


/*
* The MPU9250 can only handle high SPI bus speeds of 20Mhz on the sensor and
* interrupt status registers. All other registers have a maximum 1MHz
Expand All @@ -86,16 +77,15 @@
#define MPU9250_HIGH_SPI_BUS_SPEED 20*1000*1000


device::Device *MPU9250_SPI_interface(int bus, bool external_bus);
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();
virtual ~MPU9250_SPI() = default;

virtual int init();
virtual int read(unsigned address, void *data, unsigned count);
virtual int write(unsigned address, void *data, unsigned count);

Expand All @@ -111,24 +101,17 @@ class MPU9250_SPI : public device::SPI
};

device::Device *
MPU9250_SPI_interface(int bus, bool external_bus)
MPU9250_SPI_interface(int bus, uint32_t cs, bool external_bus)
{
uint32_t cs = SPIDEV_NONE(0);
device::Device *interface = nullptr;

if (external_bus) {
#if defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_MPU)
cs = PX4_SPIDEV_EXT_MPU;
#else
#if !(defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_MPU))
errx(0, "External SPI not available");
#endif

} else {
cs = PX4_SPIDEV_MPU;
}

if (cs != SPIDEV_NONE(0)) {

interface = new MPU9250_SPI(bus, cs);
}

Expand All @@ -141,25 +124,6 @@ MPU9250_SPI::MPU9250_SPI(int bus, uint32_t device) :
_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU9250;
}

MPU9250_SPI::~MPU9250_SPI()
{
}

int
MPU9250_SPI::init()
{
int ret;

ret = SPI::init();

if (ret != OK) {
DEVICE_DEBUG("SPI init failed");
return -EIO;
}

return OK;
}

int
MPU9250_SPI::ioctl(unsigned operation, unsigned &arg)
{
Expand Down Expand Up @@ -198,7 +162,6 @@ MPU9250_SPI::set_bus_frequency(unsigned &reg_speed)
reg_speed = MPU9250_REG(reg_speed);
}


int
MPU9250_SPI::write(unsigned reg_speed, void *data, unsigned count)
{
Expand Down Expand Up @@ -287,5 +250,3 @@ MPU9250_SPI::probe()

return ret;
}

#endif // PX4_SPIDEV_MPU