PX4 · dagar · Jun 1, 2019
diff --git a/boards/aerotenna/ocpoc/src/board_config.h b/boards/aerotenna/ocpoc/src/board_config.h
@@ -56,5 +56,9 @@
 #define ADC_BATTERY_CURRENT_CHANNEL     ((uint8_t)(-1))
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL    11
 
+// SPI
+#define PX4_SPI_BUS_SENSORS		1
+#define PX4_SPIDEV_MPU			PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
+
 #include <system_config.h>
 #include <drivers/boards/common/board_common.h>
diff --git a/boards/aerotenna/ocpoc/ubuntu.cmake b/boards/aerotenna/ocpoc/ubuntu.cmake
@@ -16,6 +16,7 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		gps
 		#imu # all available imu drivers
+		imu/mpu9250
 		lights/rgbled
 		linux_pwm_out
 		linux_sbus
@@ -24,7 +25,6 @@ px4_add_board(
 		#telemetry # all available telemetry drivers
 
 	DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
-		mpu9250
 		ms5611
 		hmc5883
 

diff --git a/boards/atlflight/eagle/qurt-default.cmake b/boards/atlflight/eagle/qurt-default.cmake
@@ -46,12 +46,12 @@ px4_add_board(
 
 	DRIVERS
 		gps
+		imu/mpu9250
 		spektrum_rc
 		qshell/qurt
 		snapdragon_pwm_out
 
 	DF_DRIVERS
-		mpu9250
 		bmp280
 		hmc5883
 		trone

diff --git a/boards/atlflight/eagle/src/board_config.h b/boards/atlflight/eagle/src/board_config.h
@@ -56,5 +56,9 @@
 #define PX4_I2C_BUS_LED		3
 #define PX4_NUMBER_I2C_BUSES 3
 
+// SPI
+#define PX4_SPI_BUS_SENSORS	1
+#define PX4_SPIDEV_MPU		PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
+
 #include <system_config.h>
 #include <drivers/boards/common/board_common.h>
diff --git a/boards/atlflight/excelsior/qurt-default.cmake b/boards/atlflight/excelsior/qurt-default.cmake
@@ -46,12 +46,12 @@ px4_add_board(
 
 	DRIVERS
 		gps
+		imu/mpu9250
 		spektrum_rc
 		qshell/qurt
 		snapdragon_pwm_out
 
 	DF_DRIVERS
-		mpu9250
 		bmp280
 		hmc5883
 		trone

diff --git a/boards/beaglebone/blue/cross.cmake b/boards/beaglebone/blue/cross.cmake
@@ -16,6 +16,7 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		gps
 		#imu # all available imu drivers
+		imu/mpu9250
 		#magnetometer # all available magnetometer drivers
 		pwm_out_sim
 		#telemetry # all available telemetry drivers
@@ -24,7 +25,6 @@ px4_add_board(
 		linux_sbus
 
 	DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
-		mpu9250
 		bmp280
 
 	MODULES

diff --git a/boards/beaglebone/blue/native.cmake b/boards/beaglebone/blue/native.cmake
@@ -14,6 +14,7 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		gps
 		#imu # all available imu drivers
+		imu/mpu9250
 		#magnetometer # all available magnetometer drivers
 		pwm_out_sim
 		#telemetry # all available telemetry drivers
@@ -22,7 +23,6 @@ px4_add_board(
 		linux_sbus
 
 	DF_DRIVERS # NOTE: DriverFramework is migrating to intree PX4 drivers
-		mpu9250
 		bmp280
 
 	MODULES

diff --git a/boards/emlid/navio2/cross.cmake b/boards/emlid/navio2/cross.cmake
@@ -16,6 +16,7 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		gps
 		#imu # all available imu drivers
+		imu/mpu9250
 		#magnetometer # all available magnetometer drivers
 		pwm_out_sim
 		#telemetry # all available telemetry drivers
@@ -27,7 +28,6 @@ px4_add_board(
 		hmc5883
 		isl29501
 		lsm9ds1
-		mpu9250
 		ms5611
 		trone
 

diff --git a/boards/emlid/navio2/native.cmake b/boards/emlid/navio2/native.cmake
@@ -14,6 +14,7 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		gps
 		#imu # all available imu drivers
+		imu/mpu9250
 		#magnetometer # all available magnetometer drivers
 		pwm_out_sim
 		#telemetry # all available telemetry drivers
@@ -25,7 +26,6 @@ px4_add_board(
 		hmc5883
 		isl29501
 		lsm9ds1
-		mpu9250
 		ms5611
 		trone
 

diff --git a/boards/emlid/navio2/src/board_config.h b/boards/emlid/navio2/src/board_config.h
@@ -56,8 +56,12 @@
 /*
  * I2C busses
  */
-#define PX4_I2C_BUS_EXPANSION	1
-#define PX4_NUMBER_I2C_BUSES 1
+#define PX4_I2C_BUS_EXPANSION		1
+#define PX4_NUMBER_I2C_BUSES		1
+
+// SPI
+#define PX4_SPI_BUS_SENSORS		0
+#define PX4_SPIDEV_MPU			PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
 
 #include <system_config.h>
 #include <drivers/boards/common/board_common.h>
diff --git a/posix-configs/bbblue/px4.config b/posix-configs/bbblue/px4.config
@@ -22,10 +22,10 @@ param set SYS_AUTOSTART 4011
 # Note that the setting here applies to all PWM channels.
 # param set PWM_MIN 1120
 # param set PWM_MAX 1920
-# Not using DJI 430 LITE ESC anymore due to its hiccups: 
+# Not using DJI 430 LITE ESC anymore due to its hiccups:
 #    each random motor stop would cause a scary flip in the fly
 # Replacing with 4 BLHeli32 (Wraith32 V2) ESCs solved the main problem in BBBlue porting
- 
+
 # Broadcast heartbeats on local network. This allows a ground control station
 # to automatically find the drone on the local network.
 param set MAV_BROADCAST 1
@@ -53,7 +53,7 @@ dataman start
 
 df_bmp280_wrapper  start -D /dev/i2c-2
 
-df_mpu9250_wrapper start
+mpu9250 start
 # options:  -R rotation
 
 gps start -d /dev/ttyS2 -s -p ubx
@@ -73,7 +73,7 @@ mc_att_control start
 #fw_att_control start
 #fw_pos_control_l1 start
 
-mavlink start -n SoftAp -x -u 14556 -r 1000000 
+mavlink start -n SoftAp -x -u 14556 -r 1000000
 # -n name of wifi interface: SoftAp, wlan or your custom interface,
 # e.g., -n SoftAp . The default is wlan
 

diff --git a/posix-configs/bbblue/px4_fw.config b/posix-configs/bbblue/px4_fw.config
@@ -25,7 +25,7 @@ param set SYS_AUTOSTART 4011
 # Not using DJI 430 LITE ESC anymore due to its hiccups:
 #    each random motor stop would cause a scary flip in the fly
 # Replacing with 4 BLHeli32 (Wraith32 V2) ESCs solved the main problem in BBBlue porting
- 
+
 # Broadcast heartbeats on local network. This allows a ground control station
 # to automatically find the drone on the local network.
 param set MAV_BROADCAST 1
@@ -36,7 +36,7 @@ param set MAV_TYPE 2
 # Three possible main power battery sources for BBBlue:
 # 1. onboard 2S LiPo battery connector, which is connect to ADC channel 6
 # 2. onboard 9-18V DC Jack, which is connect to ADC channel 5. This is the board default.
-# 3. other power source (e.g., LiPo battery more than 4S/18V). 
+# 3. other power source (e.g., LiPo battery more than 4S/18V).
 #    Scale the voltage to below 1.8V and connect it to ADC channel # 0, 1, 2 or 3.
 param set BAT_ADC_CHANNEL 	5
 
@@ -53,7 +53,7 @@ dataman start
 
 df_bmp280_wrapper  start -D /dev/i2c-2
 
-df_mpu9250_wrapper start
+mpu9250 start
 # options:  -R rotation
 
 gps start -d /dev/ttyS2 -s -p ubx
@@ -73,8 +73,8 @@ ekf2 start
 fw_att_control start
 fw_pos_control_l1 start
 
-mavlink start -n SoftAp -x -u 14556 -r 1000000 
-# -n name of wifi interface: SoftAp, wlan or your custom interface, 
+mavlink start -n SoftAp -x -u 14556 -r 1000000
+# -n name of wifi interface: SoftAp, wlan or your custom interface,
 # e.g., -n wlan . The default on BBBlue is SoftAp
 
 sleep 1

diff --git a/posix-configs/eagle/200qx/px4.config b/posix-configs/eagle/200qx/px4.config
@@ -24,7 +24,7 @@ param set UART_ESC_MOTOR2 2
 param set UART_ESC_MOTOR3 1
 param set UART_ESC_MOTOR4 3
 sleep 1
-df_mpu9250_wrapper start
+mpu9250 start
 df_bmp280_wrapper start
 gps start -d /dev/tty-4
 sensors start

diff --git a/posix-configs/eagle/210qc/px4.config b/posix-configs/eagle/210qc/px4.config
@@ -24,7 +24,7 @@ param set UART_ESC_MOTOR2 2
 param set UART_ESC_MOTOR3 1
 param set UART_ESC_MOTOR4 3
 sleep 1
-df_mpu9250_wrapper start
+mpu9250 start
 df_bmp280_wrapper start
 gps start -d /dev/tty-4
 sensors start

diff --git a/posix-configs/eagle/flight/px4.config b/posix-configs/eagle/flight/px4.config
@@ -6,7 +6,7 @@ gps start -d /dev/tty-4
 param set MAV_TYPE 2
 sleep 1
 df_hmc5883_wrapper start
-df_mpu9250_wrapper start_without_mag
+mpu9250 start
 df_bmp280_wrapper start
 df_trone_wrapper start
 #df_ltc2946_wrapper start # (currently not working on all boards...)

diff --git a/posix-configs/eagle/init/rcS b/posix-configs/eagle/init/rcS
@@ -174,7 +174,7 @@ else
 fi
 
 
-qshell df_mpu9250_wrapper start
+qshell mpu9250 start
 qshell df_bmp280_wrapper start
 qshell sensors start
 

diff --git a/posix-configs/excelsior/px4.config b/posix-configs/excelsior/px4.config
@@ -75,7 +75,7 @@ param set UART_ESC_MOTOR2 2
 param set UART_ESC_MOTOR3 1
 param set UART_ESC_MOTOR4 3
 sleep 1
-df_mpu9250_wrapper start
+mpu9250 start
 df_bmp280_wrapper start
 sensors start
 commander start

diff --git a/posix-configs/ocpoc/px4.config b/posix-configs/ocpoc/px4.config
@@ -15,7 +15,7 @@ param set MAV_BROADCAST 1
 param set MAV_TYPE 2
 param set MAV_SYS_ID 1
 
-df_mpu9250_wrapper start_without_mag -R 10
+mpu9250 start -R 10
 df_hmc5883_wrapper start -D /dev/i2c-4
 df_ms5611_wrapper start
 rgbled start -b 1

diff --git a/posix-configs/rpi/px4.config b/posix-configs/rpi/px4.config
@@ -17,8 +17,8 @@ param set BAT_V_DIV 10.9176300578
 param set BAT_CNT_V_CURR 0.001
 param set BAT_A_PER_V 15.391030303
 dataman start
-df_lsm9ds1_wrapper start -R 4
-#df_mpu9250_wrapper start -R 10
+#df_lsm9ds1_wrapper start -R 4
+mpu9250 start -R 10
 #df_hmc5883_wrapper start
 df_ms5611_wrapper start
 navio_rgbled start

diff --git a/posix-configs/rpi/px4_no_shield.config b/posix-configs/rpi/px4_no_shield.config
@@ -14,7 +14,7 @@ param set SYS_AUTOSTART 4001
 param set MAV_BROADCAST 1
 sleep 1
 param set MAV_TYPE 2
-df_mpu9250_wrapper start -R 10
+mpu9250 start -R 10
 df_ms5611_wrapper start
 gps start -d /dev/ttyACM0 -i uart -p ubx
 sensors start

diff --git a/src/drivers/imu/mpu9250/AK8963_I2C.cpp b/src/drivers/imu/mpu9250/AK8963_I2C.cpp
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2016-2019 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -44,9 +44,7 @@
 #include "mpu9250.h"
 #include "MPU9250_mag.h"
 
-#ifdef USE_I2C
-
-device::Device *AK8963_I2C_interface(int bus, bool external_bus);
+device::Device *AK8963_I2C_interface(int bus);
 
 class AK8963_I2C : public device::I2C
 {
@@ -63,7 +61,7 @@ class AK8963_I2C : public device::I2C
 };
 
 device::Device *
-AK8963_I2C_interface(int bus, bool external_bus)
+AK8963_I2C_interface(int bus)
 {
 	return new AK8963_I2C(bus);
 }
@@ -76,7 +74,7 @@ AK8963_I2C::AK8963_I2C(int bus) : I2C("AK8963_I2C", nullptr, bus, AK8963_I2C_ADD
 int
 AK8963_I2C::write(unsigned reg_speed, void *data, unsigned count)
 {
-	uint8_t cmd[MPU_MAX_WRITE_BUFFER_SIZE];
+	uint8_t cmd[2];
 
 	if (sizeof(cmd) < (count + 1)) {
 		return -EIO;
@@ -110,5 +108,3 @@ AK8963_I2C::probe()
 
 	return OK;
 }
-
-#endif
diff --git a/src/drivers/imu/mpu9250/CMakeLists.txt b/src/drivers/imu/mpu9250/CMakeLists.txt
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2016-2019 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions