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mpu9250 fix hardfaults if attempting to start an already running driv…
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…er (#11190)

* removed bus options that were essentially duplicates, causing hardfaults if attempting to start an already running driver. Changed NULL to nullptr. Removed bus options that were unused
* removed condition from if statement that was unnecessary
* fixed style
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@dakejahl @dagar
dakejahl authored and dagar committed Jan 14, 2019
1 parent 4bc5909 commit 29f034c
Showing 1 changed file with 13 additions and 38 deletions.
51 changes: 13 additions & 38 deletions src/drivers/imu/mpu9250/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -91,29 +91,9 @@
#define MPU_DEVICE_PATH_GYRO_EXT2 "/dev/mpu9250_gyro_ext2"
#define MPU_DEVICE_PATH_MAG_EXT2 "/dev/mpu9250_mag_ext2"

#define MPU_DEVICE_PATH_MPU6500_ACCEL "/dev/mpu6500_accel"
#define MPU_DEVICE_PATH_MPU6500_GYRO "/dev/mpu6500_gyro"
#define MPU_DEVICE_PATH_MPU6500_MAG "/dev/mpu6500_mag"

#define MPU_DEVICE_PATH_MPU6500_ACCEL_1 "/dev/mpu6500_accel1"
#define MPU_DEVICE_PATH_MPU6500_GYRO_1 "/dev/mpu6500_gyro1"
#define MPU_DEVICE_PATH_MPU6500_MAG_1 "/dev/mpu6500_mag1"

#define MPU_DEVICE_PATH_MPU6500_ACCEL_EXT "/dev/mpu6500_accel_ext"
#define MPU_DEVICE_PATH_MPU6500_GYRO_EXT "/dev/mpu6500_gyro_ext"
#define MPU_DEVICE_PATH_MPU6500_MAG_EXT "/dev/mpu6500_mag_ext"

#define MPU_DEVICE_PATH_ICM_ACCEL_EXT "/dev/mpu9250_icm_accel_ext"
#define MPU_DEVICE_PATH_ICM_GYRO_EXT "/dev/mpu9250_icm_gyro_ext"
#define MPU_DEVICE_PATH_ICM_MAG_EXT "/dev/mpu9250_icm_mag_ext"

#define MPU_DEVICE_PATH_ICM_ACCEL_EXT1 "/dev/mpu9250_icm_accel_ext1"
#define MPU_DEVICE_PATH_ICM_GYRO_EXT1 "/dev/mpu9250_icm_gyro_ext1"
#define MPU_DEVICE_PATH_ICM_MAG_EXT1 "/dev/mpu9250_icm_mag_ext1"

#define MPU_DEVICE_PATH_ICM_ACCEL_EXT2 "/dev/mpu9250_icm_accel_ext2"
#define MPU_DEVICE_PATH_ICM_GYRO_EXT2 "/dev/mpu9250_icm_gyro_ext2"
#define MPU_DEVICE_PATH_ICM_MAG_EXT2 "/dev/mpu9250_icm_mag_ext2"
#define ICM_DEVICE_PATH_ACCEL_EXT "/dev/icm20948_accel_ext"
#define ICM_DEVICE_PATH_GYRO_EXT "/dev/icm20948_gyro_ext"
#define ICM_DEVICE_PATH_MAG_EXT "/dev/icm20948_mag_ext"

/** driver 'main' command */
extern "C" { __EXPORT int mpu9250_main(int argc, char *argv[]); }
Expand Down Expand Up @@ -150,34 +130,29 @@ struct mpu9250_bus_option {
} bus_options[] = {
#if defined (USE_I2C)
# if defined(PX4_I2C_BUS_ONBOARD) && defined(PX4_I2C_OBDEV_MPU9250)
{ 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 },
{ 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 },
{ 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, nullptr },
# endif
# if defined(PX4_I2C_BUS_EXPANSION)
# if defined(PX4_I2C_OBDEV_MPU9250)
{ 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 },
{ 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 },
{ 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, nullptr },
# endif
{ MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_PATH_ICM_ACCEL_EXT, MPU_DEVICE_PATH_ICM_GYRO_EXT, MPU_DEVICE_PATH_ICM_MAG_EXT, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION, PX4_I2C_EXT_ICM20948_1, NULL },
{ MPU9250_BUS_I2C_EXTERNAL, ICM_DEVICE_PATH_ACCEL_EXT, ICM_DEVICE_PATH_GYRO_EXT, ICM_DEVICE_PATH_MAG_EXT, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION, PX4_I2C_EXT_ICM20948_1, nullptr },
#endif
# if defined(PX4_I2C_BUS_EXPANSION1) && defined(PX4_I2C_OBDEV_MPU9250)
{ MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT1, MPU_DEVICE_PATH_GYRO_EXT1, MPU_DEVICE_PATH_MAG_EXT1, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION1, PX4_I2C_OBDEV_MPU9250, NULL },
{ MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT1, MPU_DEVICE_PATH_GYRO_EXT1, MPU_DEVICE_PATH_MAG_EXT1, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION1, PX4_I2C_OBDEV_MPU9250, nullptr },
# endif
# if defined(PX4_I2C_BUS_EXPANSION2) && defined(PX4_I2C_OBDEV_MPU9250)
{ MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT2, MPU_DEVICE_PATH_GYRO_EXT2, MPU_DEVICE_PATH_MAG_EXT2, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION2, PX4_I2C_OBDEV_MPU9250, NULL },
{ MPU9250_BUS_I2C_EXTERNAL, MPU_DEVICE_PATH_ACCEL_EXT2, MPU_DEVICE_PATH_GYRO_EXT2, MPU_DEVICE_PATH_MAG_EXT2, &MPU9250_I2C_interface, false, PX4_I2C_BUS_EXPANSION2, PX4_I2C_OBDEV_MPU9250, nullptr },
# 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, PX4_SPIDEV_MPU, NULL },
{ MPU9250_BUS_SPI_INTERNAL, MPU_DEVICE_PATH_MPU6500_ACCEL, MPU_DEVICE_PATH_MPU6500_GYRO, MPU_DEVICE_PATH_MPU6500_MAG, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU, 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, nullptr },
#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 },
{ MPU9250_BUS_SPI_INTERNAL2, MPU_DEVICE_PATH_MPU6500_ACCEL_1, MPU_DEVICE_PATH_MPU6500_GYRO_1, MPU_DEVICE_PATH_MPU6500_MAG_1, &MPU9250_SPI_interface, true, PX4_SPI_BUS_SENSORS, PX4_SPIDEV_MPU2, NULL },
{ 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, nullptr },
#endif
#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 },
{ MPU9250_BUS_SPI_EXTERNAL, MPU_DEVICE_PATH_MPU6500_ACCEL_EXT, MPU_DEVICE_PATH_MPU6500_GYRO_EXT, MPU_DEVICE_PATH_MPU6500_MAG_EXT, &MPU9250_SPI_interface, true, PX4_SPI_BUS_EXT, PX4_SPIDEV_EXT_MPU, NULL },
{ 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, nullptr },
#endif
};

Expand All @@ -199,7 +174,7 @@ struct mpu9250_bus_option &find_bus(enum MPU9250_BUS busid)
{
for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) {
if ((busid == MPU9250_BUS_ALL ||
busid == bus_options[i].busid) && bus_options[i].dev != NULL) {
busid == bus_options[i].busid) && bus_options[i].dev != nullptr) {
return bus_options[i];
}
}
Expand Down Expand Up @@ -317,7 +292,7 @@ start(enum MPU9250_BUS busid, enum Rotation rotation, bool external, bool magnet
bool started = false;

for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
if (busid == MPU9250_BUS_ALL && bus_options[i].dev != NULL) {
if (bus_options[i].dev != nullptr) {
// this device is already started
continue;
}
Expand Down

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