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mpu6000: remove unnecessary CDev

This commit is contained in:
Daniel Agar 2019-11-23 17:52:53 -05:00
parent 76bdeca263
commit a69e6b92c9
3 changed files with 18 additions and 48 deletions
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14
src/drivers/imu/mpu6000/MPU6000.cpp
View File

@ -39,8 +39,7 @@
*/ */
constexpr uint8_t MPU6000::_checked_registers[MPU6000_NUM_CHECKED_REGISTERS]; constexpr uint8_t MPU6000::_checked_registers[MPU6000_NUM_CHECKED_REGISTERS];
MPU6000::MPU6000(device::Device *interface, const char *path, enum Rotation rotation, int device_type) : MPU6000::MPU6000(device::Device *interface, enum Rotation rotation, int device_type) :
CDev(path),
ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id())), ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id())),
_interface(interface), _interface(interface),
_device_type(device_type), _device_type(device_type),
@ -97,16 +96,7 @@ MPU6000::init()
/* if probe failed, bail now */ /* if probe failed, bail now */
if (ret != OK) { if (ret != OK) {
PX4_DEBUG("CDev init failed"); PX4_DEBUG("probe init failed");
return ret;
}
/* do init */
ret = CDev::init();
/* if init failed, bail now */
if (ret != OK) {
PX4_DEBUG("CDev init failed");
return ret; return ret;
} }

23
src/drivers/imu/mpu6000/MPU6000.hpp
View File

@ -98,25 +98,6 @@ enum MPU_DEVICE_TYPE {
#define DIR_READ 0x80 #define DIR_READ 0x80
#define DIR_WRITE 0x00 #define DIR_WRITE 0x00
#define MPU_DEVICE_PATH "/dev/mpu6000"
#define MPU_DEVICE_PATH1 "/dev/mpu6000_1"
#define MPU_DEVICE_PATH_EXT "/dev/mpu6000_ext"
#define MPU_DEVICE_PATH_EXT1 "/dev/mpu6000_ext1"
#define MPU_DEVICE_PATH_EXT2 "/dev/mpu6000_ext2"
#define ICM20602_DEVICE_PATH "/dev/icm20602"
#define ICM20602_DEVICE_PATH1 "/dev/icm20602_1"
#define ICM20602_DEVICE_PATH_EXT "/dev/icm20602_ext"
#define ICM20602_DEVICE_PATH_EXT1 "/dev/icm20602_ext1"
#define ICM20608_DEVICE_PATH "/dev/icm20608"
#define ICM20608_DEVICE_PATH1 "/dev/icm20608_1"
#define ICM20608_DEVICE_PATH_EXT "/dev/icm20608_ext"
#define ICM20608_DEVICE_PATH_EXT1 "/dev/icm20608_ext1"
#define ICM20689_DEVICE_PATH "/dev/icm20689"
// MPU 6000 registers // MPU 6000 registers
#define MPUREG_WHOAMI 0x75 #define MPUREG_WHOAMI 0x75
#define MPUREG_SMPLRT_DIV 0x19 #define MPUREG_SMPLRT_DIV 0x19
@ -301,10 +282,10 @@ enum MPU6000_BUS {
MPU6000_BUS_SPI_EXTERNAL2 MPU6000_BUS_SPI_EXTERNAL2
}; };
class MPU6000 : public cdev::CDev, public px4::ScheduledWorkItem class MPU6000 : public px4::ScheduledWorkItem
{ {
public: public:
MPU6000(device::Device *interface, const char *path, enum Rotation rotation, int device_type); MPU6000(device::Device *interface, enum Rotation rotation, int device_type);
virtual ~MPU6000(); virtual ~MPU6000();

29
src/drivers/imu/mpu6000/mpu6000_main.cpp
View File

@ -46,7 +46,6 @@ namespace mpu6000
struct mpu6000_bus_option { struct mpu6000_bus_option {
enum MPU6000_BUS busid; enum MPU6000_BUS busid;
MPU_DEVICE_TYPE device_type; MPU_DEVICE_TYPE device_type;
const char *devpath;
MPU6000_constructor interface_constructor; MPU6000_constructor interface_constructor;
uint8_t busnum; uint8_t busnum;
bool external; bool external;
@ -54,42 +53,42 @@ struct mpu6000_bus_option {
} bus_options[] = { } bus_options[] = {
#if defined (USE_I2C) #if defined (USE_I2C)
# if defined(PX4_I2C_BUS_ONBOARD) # if defined(PX4_I2C_BUS_ONBOARD)
{ MPU6000_BUS_I2C_INTERNAL, MPU_DEVICE_TYPE_MPU6000, MPU_DEVICE_PATH, &MPU6000_I2C_interface, PX4_I2C_BUS_ONBOARD, false, NULL }, { MPU6000_BUS_I2C_INTERNAL, MPU_DEVICE_TYPE_MPU6000, &MPU6000_I2C_interface, PX4_I2C_BUS_ONBOARD, false, NULL },
# endif # endif
# if defined(PX4_I2C_BUS_EXPANSION) # if defined(PX4_I2C_BUS_EXPANSION)
{ MPU6000_BUS_I2C_EXTERNAL, MPU_DEVICE_TYPE_MPU6000, MPU_DEVICE_PATH_EXT, &MPU6000_I2C_interface, PX4_I2C_BUS_EXPANSION, true, NULL }, { MPU6000_BUS_I2C_EXTERNAL, MPU_DEVICE_TYPE_MPU6000, &MPU6000_I2C_interface, PX4_I2C_BUS_EXPANSION, true, NULL },
# endif # endif
# if defined(PX4_I2C_BUS_EXPANSION1) # if defined(PX4_I2C_BUS_EXPANSION1)
{ MPU6000_BUS_I2C_EXTERNAL, MPU_DEVICE_TYPE_MPU6000, MPU_DEVICE_PATH_EXT1, &MPU6000_I2C_interface, PX4_I2C_BUS_EXPANSION1, true, NULL }, { MPU6000_BUS_I2C_EXTERNAL, MPU_DEVICE_TYPE_MPU6000, &MPU6000_I2C_interface, PX4_I2C_BUS_EXPANSION1, true, NULL },
# endif # endif
# if defined(PX4_I2C_BUS_EXPANSION2) # if defined(PX4_I2C_BUS_EXPANSION2)
{ MPU6000_BUS_I2C_EXTERNAL, MPU_DEVICE_TYPE_MPU6000, MPU_DEVICE_PATH_EXT2, &MPU6000_I2C_interface, PX4_I2C_BUS_EXPANSION2, true, NULL }, { MPU6000_BUS_I2C_EXTERNAL, MPU_DEVICE_TYPE_MPU6000, &MPU6000_I2C_interface, PX4_I2C_BUS_EXPANSION2, true, NULL },
# endif # endif
#endif #endif
#ifdef PX4_SPIDEV_MPU #ifdef PX4_SPIDEV_MPU
{ MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_TYPE_MPU6000, MPU_DEVICE_PATH, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL }, { MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_TYPE_MPU6000, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL },
#endif #endif
#if defined(PX4_SPI_BUS_EXT) #if defined(PX4_SPI_BUS_EXT)
{ MPU6000_BUS_SPI_EXTERNAL1, MPU_DEVICE_TYPE_MPU6000, MPU_DEVICE_PATH_EXT, &MPU6000_SPI_interface, PX4_SPI_BUS_EXT, true, NULL }, { MPU6000_BUS_SPI_EXTERNAL1, MPU_DEVICE_TYPE_MPU6000, &MPU6000_SPI_interface, PX4_SPI_BUS_EXT, true, NULL },
#endif #endif
#if defined(PX4_SPIDEV_ICM_20602) && defined(PX4_SPI_BUS_SENSORS) #if defined(PX4_SPIDEV_ICM_20602) && defined(PX4_SPI_BUS_SENSORS)
{ MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_TYPE_ICM20602, ICM20602_DEVICE_PATH, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL }, { MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_TYPE_ICM20602, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL },
#endif #endif
#if defined(PX4_SPIDEV_ICM_20602) && defined(PX4_SPI_BUS_SENSORS1) #if defined(PX4_SPIDEV_ICM_20602) && defined(PX4_SPI_BUS_SENSORS1)
{ MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_TYPE_ICM20602, ICM20602_DEVICE_PATH, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS1, false, NULL }, { MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_TYPE_ICM20602, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS1, false, NULL },
#endif #endif
#if defined(PX4_SPIDEV_ICM_20602) && defined(PX4_SPI_BUS_1) #if defined(PX4_SPIDEV_ICM_20602) && defined(PX4_SPI_BUS_1)
{ MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_TYPE_ICM20602, ICM20602_DEVICE_PATH, &MPU6000_SPI_interface, PX4_SPI_BUS_1, false, NULL }, { MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_TYPE_ICM20602, &MPU6000_SPI_interface, PX4_SPI_BUS_1, false, NULL },
#endif #endif
#ifdef PX4_SPIDEV_ICM_20608 #ifdef PX4_SPIDEV_ICM_20608
{ MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_TYPE_ICM20608, ICM20608_DEVICE_PATH, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL }, { MPU6000_BUS_SPI_INTERNAL1, MPU_DEVICE_TYPE_ICM20608, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL },
#endif #endif
#ifdef PX4_SPIDEV_ICM_20689 #ifdef PX4_SPIDEV_ICM_20689
{ MPU6000_BUS_SPI_INTERNAL2, MPU_DEVICE_TYPE_ICM20689, ICM20689_DEVICE_PATH, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL }, { MPU6000_BUS_SPI_INTERNAL2, MPU_DEVICE_TYPE_ICM20689, &MPU6000_SPI_interface, PX4_SPI_BUS_SENSORS, false, NULL },
#endif #endif
#if defined(PX4_SPI_BUS_EXTERNAL) #if defined(PX4_SPI_BUS_EXTERNAL)
{ MPU6000_BUS_SPI_EXTERNAL1, MPU_DEVICE_TYPE_MPU6000, MPU_DEVICE_PATH_EXT, &MPU6000_SPI_interface, PX4_SPI_BUS_EXTERNAL, true, NULL }, { MPU6000_BUS_SPI_EXTERNAL1, MPU_DEVICE_TYPE_MPU6000, &MPU6000_SPI_interface, PX4_SPI_BUS_EXTERNAL, true, NULL },
{ MPU6000_BUS_SPI_EXTERNAL2, MPU_DEVICE_TYPE_MPU6000, MPU_DEVICE_PATH_EXT1, &MPU6000_SPI_interface, PX4_SPI_BUS_EXTERNAL, true, NULL }, { MPU6000_BUS_SPI_EXTERNAL2, MPU_DEVICE_TYPE_MPU6000, &MPU6000_SPI_interface, PX4_SPI_BUS_EXTERNAL, true, NULL },
#endif #endif
}; };
@ -148,7 +147,7 @@ start_bus(struct mpu6000_bus_option &bus, enum Rotation rotation, int device_typ
return false; return false;
} }
bus.dev = new MPU6000(interface, bus.devpath, rotation, device_type); bus.dev = new MPU6000(interface, rotation, device_type);
if (bus.dev == nullptr) { if (bus.dev == nullptr) {
delete interface; delete interface;