mpu9250: split icm20948 support out into new separate driver

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -106,7 +106,7 @@ then
 fi
 
 # ICM20948 as external magnetometer on I2C (e.g. Here GPS)
-mpu9250 -X -M -R 6 start
+icm20948 -X -M -R 6 start
 
 # Check for flow sensor, launched as a background task to scan
 px4flow start &

boards/px4/fmu-v5/default.cmake

@@ -32,6 +32,7 @@ px4_add_board(
 		imu/bmi160
 		imu/mpu6000
 		imu/mpu9250
+		imu/icm20948
 		irlock
 		lights/blinkm
 		lights/oreoled

src/drivers/imu/CMakeLists.txt

@@ -38,6 +38,7 @@ add_subdirectory(bmi055)
 add_subdirectory(bmi160)
 add_subdirectory(fxas21002c)
 add_subdirectory(fxos8701cq)
+add_subdirectory(icm20948)
 add_subdirectory(l3gd20)
 add_subdirectory(lsm303d)
 add_subdirectory(mpu6000)

src/drivers/imu/icm20948/CMakeLists.txt

@@ -0,0 +1,48 @@
+############################################################################
+#
+#   Copyright (c) 2016 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
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__icm20948
+	MAIN icm20948
+	STACK_MAIN 1500
+	COMPILE_FLAGS
+	SRCS
+		icm20948.cpp
+		icm20948_i2c.cpp
+		icm20948_spi.cpp
+		main.cpp
+		accel.cpp
+		gyro.cpp
+		mag.cpp
+		mag_i2c.cpp
+	DEPENDS
+	)

src/drivers/imu/icm20948/accel.cpp

@@ -0,0 +1,147 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2016 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file gyro.cpp
+ *
+ * Driver for the Invensense mpu9250 connected via SPI.
+ *
+ * @author Andrew Tridgell
+ *
+ * based on the mpu6000 driver
+ */
+
+#include <px4_config.h>
+#include <ecl/geo/geo.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <stdio.h>
+
+#include <perf/perf_counter.h>
+
+#include <board_config.h>
+#include <drivers/drv_hrt.h>
+
+#include <drivers/device/spi.h>
+#include <drivers/device/ringbuffer.h>
+#include <drivers/device/integrator.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_gyro.h>
+#include <drivers/drv_mag.h>
+#include <mathlib/math/filter/LowPassFilter2p.hpp>
+#include <lib/conversion/rotation.h>
+
+#include "mag.h"
+#include "gyro.h"
+#include "icm20948.h"
+
+ICM20948_accel::ICM20948_accel(ICM20948 *parent, const char *path) :
+	CDev("ICM20948_accel", path),
+	_parent(parent)
+{
+}
+
+ICM20948_accel::~ICM20948_accel()
+{
+	if (_accel_class_instance != -1) {
+		unregister_class_devname(ACCEL_BASE_DEVICE_PATH, _accel_class_instance);
+	}
+}
+
+int
+ICM20948_accel::init()
+{
+	// do base class init
+	int ret = CDev::init();
+
+	/* if probe/setup failed, bail now */
+	if (ret != OK) {
+		DEVICE_DEBUG("accel init failed");
+		return ret;
+	}
+
+	_accel_class_instance = register_class_devname(ACCEL_BASE_DEVICE_PATH);
+
+	return ret;
+}
+
+void
+ICM20948_accel::parent_poll_notify()
+{
+	poll_notify(POLLIN);
+}
+
+int
+ICM20948_accel::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	/*
+	 * Repeated in ICM20948_mag::ioctl
+	 * Both accel and mag CDev could be unused in case of magnetometer only mode or MPU6500
+	 */
+
+	switch (cmd) {
+	case SENSORIOCRESET: {
+			return _parent->reset();
+		}
+
+	case SENSORIOCSPOLLRATE: {
+			switch (arg) {
+
+			/* zero would be bad */
+			case 0:
+				return -EINVAL;
+
+			case SENSOR_POLLRATE_DEFAULT:
+				return ioctl(filp, SENSORIOCSPOLLRATE, MPU9250_ACCEL_DEFAULT_RATE);
+
+			/* adjust to a legal polling interval in Hz */
+			default:
+				return _parent->_set_pollrate(arg);
+			}
+		}
+
+	case ACCELIOCSSCALE: {
+			struct accel_calibration_s *s = (struct accel_calibration_s *) arg;
+			memcpy(&_parent->_accel_scale, s, sizeof(_parent->_accel_scale));
+			return OK;
+		}
+
+	default:
+		return CDev::ioctl(filp, cmd, arg);
+	}
+}

src/drivers/imu/icm20948/accel.h

@@ -0,0 +1,63 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2016 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+class ICM20948;
+
+/**
+ * Helper class implementing the accel driver node.
+ */
+class ICM20948_accel : public device::CDev
+{
+public:
+	ICM20948_accel(ICM20948 *parent, const char *path);
+	~ICM20948_accel();
+
+	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
+
+	virtual int		init();
+
+protected:
+	friend class ICM20948;
+
+	void			parent_poll_notify();
+
+private:
+	ICM20948			*_parent;
+
+	orb_advert_t		_accel_topic{nullptr};
+	int			_accel_orb_class_instance{-1};
+	int			_accel_class_instance{-1};
+
+};

src/drivers/imu/icm20948/gyro.cpp

@@ -0,0 +1,112 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2016 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file gyro.cpp
+ *
+ * Driver for the Invensense icm20948 connected via SPI.
+ *
+ *
+ * based on the mpu9250 driver
+ */
+
+#include <px4_config.h>
+#include <lib/perf/perf_counter.h>
+#include <drivers/device/spi.h>
+#include <drivers/device/ringbuffer.h>
+#include <drivers/device/integrator.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_gyro.h>
+#include <drivers/drv_mag.h>
+#include <lib/mathlib/math/filter/LowPassFilter2p.hpp>
+#include <lib/conversion/rotation.h>
+
+#include "mag.h"
+#include "gyro.h"
+#include "icm20948.h"
+
+ICM20948_gyro::ICM20948_gyro(ICM20948 *parent, const char *path) :
+	CDev("ICM20948_gyro", path),
+	_parent(parent)
+{
+}
+
+ICM20948_gyro::~ICM20948_gyro()
+{
+	if (_gyro_class_instance != -1) {
+		unregister_class_devname(GYRO_BASE_DEVICE_PATH, _gyro_class_instance);
+	}
+}
+
+int
+ICM20948_gyro::init()
+{
+	// do base class init
+	int ret = CDev::init();
+
+	/* if probe/setup failed, bail now */
+	if (ret != OK) {
+		DEVICE_DEBUG("gyro init failed");
+		return ret;
+	}
+
+	_gyro_class_instance = register_class_devname(GYRO_BASE_DEVICE_PATH);
+
+	return ret;
+}
+
+void
+ICM20948_gyro::parent_poll_notify()
+{
+	poll_notify(POLLIN);
+}
+
+int
+ICM20948_gyro::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+	switch (cmd) {
+
+	/* these are shared with the accel side */
+	case SENSORIOCSPOLLRATE:
+	case SENSORIOCRESET:
+		return _parent->_accel->ioctl(filp, cmd, arg);
+
+	case GYROIOCSSCALE:
+		/* copy scale in */
+		memcpy(&_parent->_gyro_scale, (struct gyro_calibration_s *) arg, sizeof(_parent->_gyro_scale));
+		return OK;
+
+	default:
+		return CDev::ioctl(filp, cmd, arg);
+	}
+}

src/drivers/imu/icm20948/gyro.h

@@ -0,0 +1,62 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2016 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+class ICM20948;
+
+/**
+ * Helper class implementing the gyro driver node.
+ */
+class ICM20948_gyro : public device::CDev
+{
+public:
+	ICM20948_gyro(ICM20948 *parent, const char *path);
+	~ICM20948_gyro();
+
+	virtual int		ioctl(struct file *filp, int cmd, unsigned long arg);
+
+	virtual int		init();
+
+protected:
+	friend class ICM20948;
+
+	void			parent_poll_notify();
+
+private:
+	ICM20948			*_parent;
+
+	orb_advert_t		_gyro_topic{nullptr};
+	int			_gyro_orb_class_instance{-1};
+	int			_gyro_class_instance{-1};
+};

src/drivers/imu/icm20948/icm20948_i2c.cpp

@@ -0,0 +1,131 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file icm20948_i2c.cpp
+ *
+ * I2C interface for ICM20948
+ */
+
+#include <px4_config.h>
+#include <drivers/device/i2c.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_device.h>
+
+#include "icm20948.h"
+
+#ifdef USE_I2C
+
+device::Device *ICM20948_I2C_interface(int bus, uint32_t address, bool external_bus);
+
+class ICM20948_I2C : public device::I2C
+{
+public:
+	ICM20948_I2C(int bus, uint32_t address);
+	~ICM20948_I2C() override = default;
+
+	int	read(unsigned address, void *data, unsigned count) override;
+	int	write(unsigned address, void *data, unsigned count) override;
+
+protected:
+	virtual int	probe();
+
+private:
+
+};
+
+device::Device *
+ICM20948_I2C_interface(int bus, uint32_t address, bool external_bus)
+{
+	return new ICM20948_I2C(bus, address);
+}
+
+ICM20948_I2C::ICM20948_I2C(int bus, uint32_t address) :
+	I2C("ICM20948_I2C", nullptr, bus, address, 400000)
+{
+	_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU9250;
+}
+
+int
+ICM20948_I2C::write(unsigned reg_speed, void *data, unsigned count)
+{
+	uint8_t cmd[MPU_MAX_WRITE_BUFFER_SIZE];
+
+	if (sizeof(cmd) < (count + 1)) {
+		return -EIO;
+	}
+
+	cmd[0] = MPU9250_REG(reg_speed);
+	cmd[1] = *(uint8_t *)data;
+	return transfer(&cmd[0], count + 1, nullptr, 0);
+}
+
+int
+ICM20948_I2C::read(unsigned reg_speed, void *data, unsigned count)
+{
+	/* We want to avoid copying the data of MPUReport: So if the caller
+	 * supplies a buffer not MPUReport in size, it is assume to be a reg or
+	 * reg 16 read
+	 * Since MPUReport has a cmd at front, we must return the data
+	 * after that. Foe anthing else we must return it
+	 */
+	uint32_t offset = count < sizeof(MPUReport) ? 0 : offsetof(MPUReport, status);
+	uint8_t cmd = MPU9250_REG(reg_speed);
+	return transfer(&cmd, 1, &((uint8_t *)data)[offset], count);
+}
+
+int
+ICM20948_I2C::probe()
+{
+	uint8_t whoami = 0;
+	uint8_t register_select = REG_BANK(BANK0);  // register bank containing WHOAMI for ICM20948
+
+	// Try first for mpu9250/6500
+	read(MPUREG_WHOAMI, &whoami, 1);
+
+	/*
+	 * If it's not an MPU it must be an ICM
+	 * Make sure register bank 0 is selected - whoami is only present on bank 0, and that is
+	 * not sure e.g. if the device has rebooted without repowering the sensor
+	 */
+	write(ICMREG_20948_BANK_SEL, &register_select, 1);
+	read(ICMREG_20948_WHOAMI, &whoami, 1);
+
+	if (whoami == ICM_WHOAMI_20948) {
+		return PX4_OK;
+	}
+
+	return -ENODEV;
+}
+
+#endif /* USE_I2C */

src/drivers/imu/icm20948/icm20948_spi.cpp

@@ -0,0 +1,193 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2016 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mpu9250_spi.cpp
+ *
+ * Driver for the Invensense ICM20948 connected via SPI.
+ *
+ * @author Andrew Tridgell
+ * @author Pat Hickey
+ * @author David sidrane
+ */
+
+#include <px4_config.h>
+#include <drivers/device/spi.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_device.h>
+
+#include "icm20948.h"
+
+#define DIR_READ			0x80
+#define DIR_WRITE			0x00
+
+/*
+ * The ICM20948 can only handle high SPI bus speeds of 20Mhz on the sensor and
+ * interrupt status registers. All other registers have a maximum 1MHz
+ * SPI speed
+ *
+ * The Actual Value will be rounded down by the spi driver.
+ * for a 168Mhz CPU this will be 10.5 Mhz and for a 180 Mhz CPU
+ * it will be 11.250 Mhz
+ */
+#define MPU9250_LOW_SPI_BUS_SPEED	1000*1000
+#define MPU9250_HIGH_SPI_BUS_SPEED	20*1000*1000
+
+device::Device *ICM20948_SPI_interface(int bus, uint32_t cs, bool external_bus);
+
+class ICM20948_SPI : public device::SPI
+{
+public:
+	ICM20948_SPI(int bus, uint32_t device);
+	~ICM20948_SPI() override = default;
+
+	int	read(unsigned address, void *data, unsigned count) override;
+	int	write(unsigned address, void *data, unsigned count) override;
+
+protected:
+	int probe() override;
+
+private:
+
+	/* Helper to set the desired speed and isolate the register on return */
+	void set_bus_frequency(unsigned &reg_speed_reg_out);
+};
+
+device::Device *
+ICM20948_SPI_interface(int bus, uint32_t cs, bool external_bus)
+{
+	device::Device *interface = nullptr;
+
+	if (external_bus) {
+#if !(defined(PX4_SPI_BUS_EXT) && defined(PX4_SPIDEV_EXT_MPU))
+		errx(0, "External SPI not available");
+#endif
+	}
+
+	if (cs != SPIDEV_NONE(0)) {
+		interface = new ICM20948_SPI(bus, cs);
+	}
+
+	return interface;
+}
+
+ICM20948_SPI::ICM20948_SPI(int bus, uint32_t device) :
+	SPI("ICM20948", nullptr, bus, device, SPIDEV_MODE3, MPU9250_LOW_SPI_BUS_SPEED)
+{
+	_device_id.devid_s.devtype = DRV_ACC_DEVTYPE_MPU9250;
+}
+
+void
+ICM20948_SPI::set_bus_frequency(unsigned &reg_speed)
+{
+	/* Set the desired speed */
+	set_frequency(MPU9250_IS_HIGH_SPEED(reg_speed) ? MPU9250_HIGH_SPI_BUS_SPEED : MPU9250_LOW_SPI_BUS_SPEED);
+
+	/* Isoolate the register on return */
+	reg_speed = MPU9250_REG(reg_speed);
+}
+
+int
+ICM20948_SPI::write(unsigned reg_speed, void *data, unsigned count)
+{
+	uint8_t cmd[MPU_MAX_WRITE_BUFFER_SIZE];
+
+	if (sizeof(cmd) < (count + 1)) {
+		return -EIO;
+	}
+
+	/* Set the desired speed and isolate the register */
+
+	set_bus_frequency(reg_speed);
+
+	cmd[0] = reg_speed | DIR_WRITE;
+	cmd[1] = *(uint8_t *)data;
+
+	return transfer(&cmd[0], &cmd[0], count + 1);
+}
+
+int
+ICM20948_SPI::read(unsigned reg_speed, void *data, unsigned count)
+{
+	/* We want to avoid copying the data of MPUReport: So if the caller
+	 * supplies a buffer not MPUReport in size, it is assume to be a reg or reg 16 read
+	 * and we need to provied the buffer large enough for the callers data
+	 * and our command.
+	 */
+	uint8_t cmd[3] = {0, 0, 0};
+
+	uint8_t *pbuff  =  count < sizeof(MPUReport) ? cmd : (uint8_t *) data ;
+
+	if (count < sizeof(MPUReport))  {
+		/* add command */
+		count++;
+	}
+
+	set_bus_frequency(reg_speed);
+
+	/* Set command */
+	pbuff[0] = reg_speed | DIR_READ ;
+
+	/* Transfer the command and get the data */
+	int ret = transfer(pbuff, pbuff, count);
+
+	if (ret == OK && pbuff == &cmd[0]) {
+		/* Adjust the count back */
+		count--;
+
+		/* Return the data */
+		memcpy(data, &cmd[1], count);
+	}
+
+	return ret;
+}
+
+int
+ICM20948_SPI::probe()
+{
+	uint8_t whoami = 0;
+
+	int ret = read(MPUREG_WHOAMI, &whoami, 1);
+
+	if (ret != OK) {
+		return -EIO;
+	}
+
+	switch (whoami) {
+	default:
+		PX4_WARN("probe failed! %u", whoami);
+		ret = -EIO;
+	}
+
+	return ret;
+}

src/drivers/imu/icm20948/mag.h

@@ -0,0 +1,194 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2016 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "drivers/device/ringbuffer.h"	// ringbuffer::RingBuffer
+#include "drivers/drv_mag.h"		// mag_calibration_s
+#include <perf/perf_counter.h>
+
+/* in 16-bit sampling mode the mag resolution is 1.5 milli Gauss per bit */
+
+#define MPU9250_MAG_RANGE_GA        1.5e-3f;
+
+/* we are using the continuous fixed sampling rate of 100Hz */
+
+#define MPU9250_AK8963_SAMPLE_RATE 100
+
+/* 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_HXL           0x03
+#define AK8963REG_ASAX          0x10
+#define AK8963REG_CNTL1         0x0A
+#define AK8963REG_CNTL2         0x0B
+
+#define AK8963_SINGLE_MEAS_MODE 0x01
+#define AK8963_CONTINUOUS_MODE1 0x02
+#define AK8963_CONTINUOUS_MODE2 0x06
+#define AK8963_POWERDOWN_MODE   0x00
+#define AK8963_SELFTEST_MODE    0x08
+#define AK8963_FUZE_MODE        0x0F
+#define AK8963_16BIT_ADC        0x10
+#define AK8963_14BIT_ADC        0x00
+#define AK8963_RESET            0x01
+#define AK8963_HOFL             0x08
+
+/* ak09916 deviating register addresses and bit definitions */
+
+#define AK09916_DEVICE_ID_A		0x48	// same as AK8963
+#define AK09916_DEVICE_ID_B		0x09	// additional ID byte ("INFO" on AK9063 without content specification.)
+
+#define AK09916REG_HXL        0x11
+#define AK09916REG_HXH        0x12
+#define AK09916REG_HYL        0x13
+#define AK09916REG_HYH        0x14
+#define AK09916REG_HZL        0x15
+#define AK09916REG_HZH        0x16
+#define AK09916REG_ST1        0x10
+#define AK09916REG_ST2        0x18
+#define AK09916REG_CNTL2          0x31
+#define AK09916REG_CNTL3          0x32
+
+
+#define AK09916_CNTL2_POWERDOWN_MODE            0x00
+#define AK09916_CNTL2_SINGLE_MODE               0x01 /* default */
+#define AK09916_CNTL2_CONTINOUS_MODE_10HZ       0x02
+#define AK09916_CNTL2_CONTINOUS_MODE_20HZ       0x04
+#define AK09916_CNTL2_CONTINOUS_MODE_50HZ       0x06
+#define AK09916_CNTL2_CONTINOUS_MODE_100HZ      0x08
+#define AK09916_CNTL2_SELFTEST_MODE             0x10
+#define AK09916_CNTL3_SRST                      0x01
+#define AK09916_ST1_DRDY                        0x01
+#define AK09916_ST1_DOR                         0x02
+
+
+class ICM20948;
+
+#pragma pack(push, 1)
+struct ak8963_regs {
+	uint8_t st1;
+	int16_t x;
+	int16_t y;
+	int16_t z;
+	uint8_t st2;
+};
+#pragma pack(pop)
+
+#pragma pack(push, 1)
+struct ak09916_regs {
+	uint8_t st1;
+	int16_t x;
+	int16_t y;
+	int16_t z;
+	uint8_t tmps;
+	uint8_t st2;
+};
+#pragma pack(pop)
+
+
+extern device::Device *AK8963_I2C_interface(int bus, bool external_bus);
+
+typedef device::Device *(*ICM20948_mag_constructor)(int, bool);
+
+
+/**
+ * Helper class implementing the magnetometer driver node.
+ */
+class ICM20948_mag : public device::CDev
+{
+public:
+	ICM20948_mag(ICM20948 *parent, device::Device *interface, const char *path);
+	~ICM20948_mag();
+
+	virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
+	virtual int init();
+
+	void set_passthrough(uint8_t reg, uint8_t size, uint8_t *out = NULL);
+	void passthrough_read(uint8_t reg, uint8_t *buf, uint8_t size);
+	void passthrough_write(uint8_t reg, uint8_t val);
+	void read_block(uint8_t reg, uint8_t *val, uint8_t count);
+
+	int ak8963_reset(void);
+	int ak8963_setup(void);
+	int ak8963_setup_master_i2c(void);
+	bool ak8963_check_id(uint8_t &id);
+	bool ak8963_read_adjustments(void);
+
+protected:
+	Device			*_interface;
+
+	friend class ICM20948;
+
+	/* Directly measure from the _interface if possible */
+	void measure();
+
+	/* Update the state with prefetched data (internally called by the regular measure() )*/
+	void _measure(struct ak8963_regs data);
+
+	uint8_t read_reg(unsigned reg);
+	void write_reg(unsigned reg, uint8_t value);
+
+	bool is_passthrough() { return _interface == nullptr; }
+
+private:
+	ICM20948 *_parent;
+	orb_advert_t _mag_topic;
+	int _mag_orb_class_instance;
+	int _mag_class_instance;
+	bool _mag_reading_data;
+	ringbuffer::RingBuffer *_mag_reports;
+	struct mag_calibration_s _mag_scale;
+	float _mag_range_scale;
+	perf_counter_t _mag_reads;
+	perf_counter_t _mag_errors;
+	perf_counter_t _mag_overruns;
+	perf_counter_t _mag_overflows;
+	perf_counter_t _mag_duplicates;
+	float _mag_asa_x;
+	float _mag_asa_y;
+	float _mag_asa_z;
+
+	bool check_duplicate(uint8_t *mag_data);
+
+	// keep last mag reading for duplicate detection
+	uint8_t			_last_mag_data[6];
+
+	/* do not allow to copy this class due to pointer data members */
+	ICM20948_mag(const ICM20948_mag &);
+	ICM20948_mag operator=(const ICM20948_mag &);
+};

src/drivers/imu/icm20948/mag_i2c.cpp

@@ -0,0 +1,116 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mag_i2c.cpp
+ *
+ * I2C interface for AK8963
+ */
+
+#include <px4_config.h>
+#include <drivers/device/i2c.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_device.h>
+
+#include "icm20948.h"
+#include "mag.h"
+
+#ifdef USE_I2C
+
+device::Device *AK8963_I2C_interface(int bus, bool external_bus);
+
+class AK8963_I2C : public device::I2C
+{
+public:
+	AK8963_I2C(int bus);
+	~AK8963_I2C() override = default;
+
+	int	read(unsigned address, void *data, unsigned count) override;
+	int	write(unsigned address, void *data, unsigned count) override;
+
+protected:
+	int	probe() override;
+
+};
+
+device::Device *
+AK8963_I2C_interface(int bus, bool external_bus)
+{
+	return new AK8963_I2C(bus);
+}
+
+AK8963_I2C::AK8963_I2C(int bus) :
+	I2C("AK8963_I2C", nullptr, bus, AK8963_I2C_ADDR, 400000)
+{
+	_device_id.devid_s.devtype =  DRV_MAG_DEVTYPE_MPU9250;
+}
+
+int
+AK8963_I2C::write(unsigned reg_speed, void *data, unsigned count)
+{
+	uint8_t cmd[MPU_MAX_WRITE_BUFFER_SIZE];
+
+	if (sizeof(cmd) < (count + 1)) {
+		return -EIO;
+	}
+
+	cmd[0] = MPU9250_REG(reg_speed);
+	cmd[1] = *(uint8_t *)data;
+	return transfer(&cmd[0], count + 1, nullptr, 0);
+}
+
+int
+AK8963_I2C::read(unsigned reg_speed, void *data, unsigned count)
+{
+	uint8_t cmd = MPU9250_REG(reg_speed);
+	return transfer(&cmd, 1, (uint8_t *)data, count);
+}
+
+int
+AK8963_I2C::probe()
+{
+	uint8_t whoami = 0;
+	uint8_t expected = AK8963_DEVICE_ID;
+
+	if (PX4_OK != read(AK8963REG_WIA, &whoami, 1)) {
+		return -EIO;
+	}
+
+	if (whoami != expected) {
+		return -EIO;
+	}
+
+	return OK;
+}
+
+#endif

src/drivers/imu/icm20948/main.cpp

@@ -0,0 +1,429 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2016 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
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file main.cpp
+ *
+ * Driver for the Invensense icm20948 connected via I2C or SPI.
+ *
+ * based on the mpu9250 driver
+ */
+
+#include <px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdlib.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <stdio.h>
+#include <px4_getopt.h>
+
+#include <perf/perf_counter.h>
+#include <systemlib/err.h>
+#include <systemlib/conversions.h>
+
+#include <board_config.h>
+#include <drivers/drv_hrt.h>
+
+#include <drivers/device/spi.h>
+#include <drivers/device/ringbuffer.h>
+#include <drivers/device/integrator.h>
+#include <drivers/drv_accel.h>
+#include <drivers/drv_gyro.h>
+#include <drivers/drv_mag.h>
+#include <mathlib/math/filter/LowPassFilter2p.hpp>
+#include <lib/conversion/rotation.h>
+
+#include "icm20948.h"
+
+#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 icm20948_main(int argc, char *argv[]); }
+
+enum ICM20948_BUS {
+	ICM20948_BUS_ALL = 0,
+	ICM20948_BUS_I2C_INTERNAL,
+	ICM20948_BUS_I2C_EXTERNAL,
+//	ICM20948_BUS_SPI_INTERNAL,
+//	ICM20948_BUS_SPI_INTERNAL2,
+	ICM20948_BUS_SPI_EXTERNAL
+};
+
+/**
+ * Local functions in support of the shell command.
+ */
+namespace icm20948
+{
+
+/*
+  list of supported bus configurations
+ */
+
+struct icm20948_bus_option {
+	enum ICM20948_BUS busid;
+	const char *accelpath;
+	const char *gyropath;
+	const char *magpath;
+	ICM20948_constructor interface_constructor;
+	bool magpassthrough;
+	uint8_t busnum;
+	uint32_t address;
+	ICM20948	*dev;
+} bus_options[] = {
+#if defined (USE_I2C)
+
+#  if defined(PX4_I2C_BUS_EXPANSION)
+	{ ICM20948_BUS_I2C_EXTERNAL, ICM_DEVICE_PATH_ACCEL_EXT, ICM_DEVICE_PATH_GYRO_EXT, ICM_DEVICE_PATH_MAG_EXT, &ICM20948_I2C_interface, false, PX4_I2C_BUS_EXPANSION, PX4_I2C_EXT_ICM20948_1, nullptr },
+#endif
+
+#endif
+
+};
+
+#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
+
+
+void	start(enum ICM20948_BUS busid, enum Rotation rotation, bool external_bus, bool magnetometer_only);
+bool	start_bus(struct icm20948_bus_option &bus, enum Rotation rotation, bool external_bus, bool magnetometer_only);
+struct icm20948_bus_option &find_bus(enum ICM20948_BUS busid);
+void	stop(enum ICM20948_BUS busid);
+void	reset(enum ICM20948_BUS busid);
+void	info(enum ICM20948_BUS busid);
+void	usage();
+
+/**
+ * find a bus structure for a busid
+ */
+struct icm20948_bus_option &find_bus(enum ICM20948_BUS busid)
+{
+	for (uint8_t i = 0; i < NUM_BUS_OPTIONS; i++) {
+		if ((busid == ICM20948_BUS_ALL ||
+		     busid == bus_options[i].busid) && bus_options[i].dev != nullptr) {
+			return bus_options[i];
+		}
+	}
+
+	errx(1, "bus %u not started", (unsigned)busid);
+}
+
+/**
+ * start driver for a specific bus option
+ */
+bool
+start_bus(struct icm20948_bus_option &bus, enum Rotation rotation, bool external, bool magnetometer_only)
+{
+	int fd = -1;
+
+	PX4_INFO("Bus probed: %d", bus.busid);
+
+	if (bus.dev != nullptr) {
+		warnx("%s SPI not available", external ? "External" : "Internal");
+		return false;
+	}
+
+	device::Device *interface = bus.interface_constructor(bus.busnum, bus.address, external);
+
+	if (interface == nullptr) {
+		warnx("no device on bus %u", (unsigned)bus.busid);
+		return false;
+	}
+
+	if (interface->init() != OK) {
+		delete interface;
+		warnx("no device on bus %u", (unsigned)bus.busid);
+		return false;
+	}
+
+	device::Device *mag_interface = nullptr;
+
+#ifdef USE_I2C
+	/* For i2c interfaces, connect to the magnetomer directly */
+	bool is_i2c = bus.busid == ICM20948_BUS_I2C_INTERNAL || bus.busid == ICM20948_BUS_I2C_EXTERNAL;
+
+	if (is_i2c) {
+		mag_interface = AK8963_I2C_interface(bus.busnum, external);
+	}
+
+#endif
+
+	bus.dev = new ICM20948(interface, mag_interface, bus.accelpath, bus.gyropath, bus.magpath, rotation,
+			       magnetometer_only);
+
+	if (bus.dev == nullptr) {
+		delete interface;
+
+		if (mag_interface != nullptr) {
+			delete mag_interface;
+		}
+
+		return false;
+	}
+
+	if (OK != bus.dev->init()) {
+		goto fail;
+	}
+
+	/*
+	 * Set the poll rate to default, starts automatic data collection.
+	 * Doing this through the mag device for the time being - it's always there, even in magnetometer only mode.
+	 * Using accel device for MPU6500.
+	 */
+	fd = open(bus.magpath, O_RDONLY);
+
+	if (fd < 0) {
+		PX4_INFO("ioctl failed");
+		goto fail;
+	}
+
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+		goto fail;
+	}
+
+
+	close(fd);
+
+	return true;
+
+fail:
+
+	if (fd >= 0) {
+		close(fd);
+	}
+
+	if (bus.dev != nullptr) {
+		delete (bus.dev);
+		bus.dev = nullptr;
+	}
+
+	errx(1, "driver start failed");
+}
+
+/**
+ * Start the driver.
+ *
+ * This function only returns if the driver is up and running
+ * or failed to detect the sensor.
+ */
+void
+start(enum ICM20948_BUS busid, enum Rotation rotation, bool external, bool magnetometer_only)
+{
+
+	bool started = false;
+
+	for (unsigned i = 0; i < NUM_BUS_OPTIONS; i++) {
+		if (bus_options[i].dev != nullptr) {
+			// this device is already started
+			continue;
+		}
+
+		if (busid != ICM20948_BUS_ALL && bus_options[i].busid != busid) {
+			// not the one that is asked for
+			continue;
+		}
+
+		started |= start_bus(bus_options[i], rotation, external, magnetometer_only);
+
+		if (started) { break; }
+	}
+
+	exit(started ? 0 : 1);
+
+}
+
+void
+stop(enum ICM20948_BUS busid)
+{
+	struct icm20948_bus_option &bus = find_bus(busid);
+
+
+	if (bus.dev != nullptr) {
+		delete bus.dev;
+		bus.dev = nullptr;
+
+	} else {
+		/* warn, but not an error */
+		warnx("already stopped.");
+	}
+
+	exit(0);
+}
+
+/**
+ * Reset the driver.
+ */
+void
+reset(enum ICM20948_BUS busid)
+{
+	struct icm20948_bus_option &bus = find_bus(busid);
+	int fd = open(bus.accelpath, O_RDONLY);
+
+	if (fd < 0) {
+		err(1, "failed ");
+	}
+
+	if (ioctl(fd, SENSORIOCRESET, 0) < 0) {
+		err(1, "driver reset failed");
+	}
+
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+		err(1, "driver poll restart failed");
+	}
+
+	close(fd);
+
+	exit(0);
+}
+
+/**
+ * Print a little info about the driver.
+ */
+void
+info(enum ICM20948_BUS busid)
+{
+	struct icm20948_bus_option &bus = find_bus(busid);
+
+
+	if (bus.dev == nullptr) {
+		errx(1, "driver not running");
+	}
+
+	printf("state @ %p\n", bus.dev);
+	bus.dev->print_info();
+
+	exit(0);
+}
+
+void
+usage()
+{
+	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");
+	PX4_INFO("    -M only enable magnetometer, accel/gyro disabled - not av. on MPU6500");
+}
+
+} // namespace icm20948
+
+int
+icm20948_main(int argc, char *argv[])
+{
+	int myoptind = 1;
+	int ch;
+	const char *myoptarg = nullptr;
+
+	enum ICM20948_BUS busid = ICM20948_BUS_ALL;
+	enum Rotation rotation = ROTATION_NONE;
+	bool magnetometer_only = false;
+
+	while ((ch = px4_getopt(argc, argv, "XISstMR:", &myoptind, &myoptarg)) != EOF) {
+		switch (ch) {
+		case 'X':
+			busid = ICM20948_BUS_I2C_EXTERNAL;
+			break;
+
+//		case 'I':
+//			busid = ICM20948_BUS_I2C_INTERNAL;
+//			break;
+
+//		case 'S':
+//			busid = ICM20948_BUS_SPI_EXTERNAL;
+//			break;
+//
+//		case 's':
+//			busid = ICM20948_BUS_SPI_INTERNAL;
+//			break;
+//
+//		case 't':
+//			busid = ICM20948_BUS_SPI_INTERNAL2;
+//			break;
+
+		case 'R':
+			rotation = (enum Rotation)atoi(myoptarg);
+			break;
+
+		case 'M':
+			magnetometer_only = true;
+			break;
+
+		default:
+			icm20948::usage();
+			return 0;
+		}
+	}
+
+	if (myoptind >= argc) {
+		icm20948::usage();
+		return -1;
+	}
+
+	bool external = busid == ICM20948_BUS_I2C_EXTERNAL || busid == ICM20948_BUS_SPI_EXTERNAL;
+	const char *verb = argv[myoptind];
+
+	/*
+	 * Start/load the driver.
+	 */
+	if (!strcmp(verb, "start")) {
+		icm20948::start(busid, rotation, external, magnetometer_only);
+	}
+
+	if (!strcmp(verb, "stop")) {
+		icm20948::stop(busid);
+	}
+
+	/*
+	 * Reset the driver.
+	 */
+	if (!strcmp(verb, "reset")) {
+		icm20948::reset(busid);
+	}
+
+	/*
+	 * Print driver information.
+	 */
+	if (!strcmp(verb, "info")) {
+		icm20948::info(busid);
+	}
+
+	icm20948::usage();
+	return 0;
+}

src/drivers/imu/mpu9250/mag.cpp

@@ -118,9 +118,9 @@ MPU9250_mag::init()
 
 	/* if cdev init failed, bail now */
 	if (ret != OK) {
-		if (_parent->_whoami == MPU_WHOAMI_9250) { DEVICE_DEBUG("MPU9250 mag init failed"); }
+		if (_parent->_whoami == MPU_WHOAMI_9250) {
-
+			PX4_ERR("mag init failed");
-		else { DEVICE_DEBUG("ICM20948 mag init failed"); }
+		}
 
 		return ret;
 	}
@@ -165,22 +165,14 @@ bool MPU9250_mag::check_duplicate(uint8_t *mag_data)
 void
 MPU9250_mag::measure()
 {
-	uint8_t ret;
 	union raw_data_t {
 		struct ak8963_regs ak8963_data;
 		struct ak09916_regs ak09916_data;
 	} raw_data;
 
-	if (_parent->_whoami == MPU_WHOAMI_9250) {
+	uint8_t ret = _interface->read(AK8963REG_ST1, &raw_data, sizeof(struct ak8963_regs));
-		ret = _interface->read(AK8963REG_ST1, &raw_data, sizeof(struct ak8963_regs));
-
-	} else { // ICM20948 --> AK09916
-		ret = _interface->read(AK09916REG_ST1, &raw_data, sizeof(struct ak09916_regs));
-	}
 
 	if (ret == OK) {
-		if (_parent->_whoami == ICM_WHOAMI_20948) { raw_data.ak8963_data.st2 = raw_data.ak09916_data.st2; }
-
 		_measure(raw_data.ak8963_data);
 	}
 }
@@ -210,17 +202,8 @@ MPU9250_mag::_measure(struct ak8963_regs data)
 
 	mag_report	mrb;
 	mrb.timestamp = hrt_absolute_time();
-//	mrb.is_external = false;
 
-	// need a better check here. Using _parent->is_external() for mpu9250 also sets the
+	mrb.is_external = _parent->is_external();
-	// internal magnetometers connected to the "external" spi bus as external, at least
-	// on Pixhawk 2.1. For now assuming the ICM20948 is only used on Here GPS, hence external.
-	if (_parent->_whoami == ICM_WHOAMI_20948) {
-		mrb.is_external = _parent->is_external();
-
-	} else {
-		mrb.is_external = false;
-	}
 
 	/*
 	 * Align axes - note the accel & gryo are also re-aligned so this
@@ -228,35 +211,17 @@ MPU9250_mag::_measure(struct ak8963_regs data)
 	 */
 	float xraw_f, yraw_f, zraw_f;
 
-	if (_parent->_whoami == ICM_WHOAMI_20948) {
+	mrb.x_raw =  data.x;
-		/*
+	mrb.y_raw = -data.y;
-		 * Keeping consistent with the accel and gyro axes of the ICM20948 here, just aligning the magnetometer to them.
+	mrb.z_raw = -data.z;
-		 */
-		mrb.x_raw = data.y;
-		mrb.y_raw = data.x;
-		mrb.z_raw = -data.z;
 
-		xraw_f = data.y;
+	xraw_f =  data.x;
-		yraw_f = data.x;
+	yraw_f = -data.y;
-		zraw_f = -data.z;
+	zraw_f = -data.z;
-
-	} else {
-		mrb.x_raw =  data.x;
-		mrb.y_raw = -data.y;
-		mrb.z_raw = -data.z;
-
-		xraw_f =  data.x;
-		yraw_f = -data.y;
-		zraw_f = -data.z;
-	}
 
 	/* apply user specified rotation */
 	rotate_3f(_parent->_rotation, xraw_f, yraw_f, zraw_f);
 
-	if (_parent->_whoami == ICM_WHOAMI_20948) {
-		rotate_3f(ROTATION_YAW_270, xraw_f, yraw_f, zraw_f); //offset between accel/gyro and mag on icm20948
-	}
-
 	mrb.x = ((xraw_f * _mag_range_scale * _mag_asa_x) - _mag_scale.x_offset) * _mag_scale.x_scale;
 	mrb.y = ((yraw_f * _mag_range_scale * _mag_asa_y) - _mag_scale.y_offset) * _mag_scale.y_scale;
 	mrb.z = ((zraw_f * _mag_range_scale * _mag_asa_z) - _mag_scale.z_offset) * _mag_scale.z_scale;
@@ -328,20 +293,19 @@ MPU9250_mag::set_passthrough(uint8_t reg, uint8_t size, uint8_t *out)
 {
 	uint8_t addr;
 
-	_parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_CTRL, ICMREG_20948_I2C_SLV0_CTRL),
+	_parent->write_reg(MPUREG_I2C_SLV0_CTRL, 0); // ensure slave r/w is disabled before changing the registers
-			   0); // ensure slave r/w is disabled before changing the registers
 
 	if (out) {
-		_parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_D0, ICMREG_20948_I2C_SLV0_DO), *out);
+		_parent->write_reg(MPUREG_I2C_SLV0_D0, *out);
 		addr = AK8963_I2C_ADDR;
 
 	} else {
 		addr = AK8963_I2C_ADDR | BIT_I2C_READ_FLAG;
 	}
 
-	_parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_ADDR, ICMREG_20948_I2C_SLV0_ADDR), addr);
+	_parent->write_reg(MPUREG_I2C_SLV0_ADDR, addr);
-	_parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_REG, ICMREG_20948_I2C_SLV0_REG),  reg);
+	_parent->write_reg(MPUREG_I2C_SLV0_REG,  reg);
-	_parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_CTRL, ICMREG_20948_I2C_SLV0_CTRL), size | BIT_I2C_SLV0_EN);
+	_parent->write_reg(MPUREG_I2C_SLV0_CTRL, size | BIT_I2C_SLV0_EN);
 }
 
 void
@@ -355,8 +319,8 @@ MPU9250_mag::passthrough_read(uint8_t reg, uint8_t *buf, uint8_t size)
 {
 	set_passthrough(reg, size);
 	px4_usleep(25 + 25 * size); // wait for the value to be read from slave
-	read_block(AK_MPU_OR_ICM(MPUREG_EXT_SENS_DATA_00, ICMREG_20948_EXT_SLV_SENS_DATA_00), buf, size);
+	read_block(MPUREG_EXT_SENS_DATA_00, buf, size);
-	_parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_CTRL, ICMREG_20948_I2C_SLV0_CTRL), 0); // disable new reads
+	_parent->write_reg(MPUREG_I2C_SLV0_CTRL, 0); // disable new reads
 }
 
 uint8_t
@@ -390,7 +354,7 @@ MPU9250_mag::passthrough_write(uint8_t reg, uint8_t val)
 {
 	set_passthrough(reg, 1, &val);
 	px4_usleep(50); // wait for the value to be written to slave
-	_parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_SLV0_CTRL, ICMREG_20948_I2C_SLV0_CTRL), 0); // disable new writes
+	_parent->write_reg(MPUREG_I2C_SLV0_CTRL, 0); // disable new writes
 }
 
 void
@@ -414,7 +378,7 @@ MPU9250_mag::ak8963_reset(void)
 	if (rv == OK) {
 
 		// Now reset the mag
-		write_reg(AK_MPU_OR_ICM(AK8963REG_CNTL2, AK09916REG_CNTL3), AK8963_RESET);
+		write_reg(AK8963REG_CNTL2, AK8963_RESET);
 		// Then re-initialize the bus/mag
 		rv = ak8963_setup();
 	}
@@ -467,15 +431,10 @@ MPU9250_mag::ak8963_setup_master_i2c(void)
 		if (_parent->_whoami == MPU_WHOAMI_9250) {
 			_parent->modify_checked_reg(MPUREG_USER_CTRL, 0, BIT_I2C_MST_EN);
 			_parent->write_reg(MPUREG_I2C_MST_CTRL, BIT_I2C_MST_P_NSR | BIT_I2C_MST_WAIT_FOR_ES | BITS_I2C_MST_CLOCK_400HZ);
-
-		} else { // ICM20948 -> AK09916
-			_parent->modify_checked_reg(ICMREG_20948_USER_CTRL, 0, BIT_I2C_MST_EN);
-			// WAIT_FOR_ES does not exist for ICM20948. Not sure how to replace this (or if that is needed)
-			_parent->write_reg(ICMREG_20948_I2C_MST_CTRL, BIT_I2C_MST_P_NSR | ICM_BITS_I2C_MST_CLOCK_400HZ);
 		}
 
 	} else {
-		_parent->modify_checked_reg(AK_MPU_OR_ICM(MPUREG_USER_CTRL, ICMREG_20948_USER_CTRL), BIT_I2C_MST_EN, 0);
+		_parent->modify_checked_reg(MPUREG_USER_CTRL, BIT_I2C_MST_EN, 0);
 	}
 
 	return OK;
@@ -488,7 +447,7 @@ MPU9250_mag::ak8963_setup(void)
 	do {
 
 		ak8963_setup_master_i2c();
-		write_reg(AK_MPU_OR_ICM(AK8963REG_CNTL2, AK09916REG_CNTL3), AK8963_RESET);
+		write_reg(AK8963REG_CNTL2, AK8963_RESET);
 
 		uint8_t id = 0;
 
@@ -498,42 +457,36 @@ MPU9250_mag::ak8963_setup(void)
 
 		retries--;
 		PX4_WARN("AK8963: bad id %d retries %d", id, retries);
-		_parent->modify_reg(AK_MPU_OR_ICM(MPUREG_USER_CTRL, ICMREG_20948_USER_CTRL), 0, BIT_I2C_MST_RST);
+		_parent->modify_reg(MPUREG_USER_CTRL, 0, BIT_I2C_MST_RST);
 		up_udelay(100);
 	} while (retries > 0);
 
-	/* No sensitivity adjustments available for AK09916/ICM20948 */
+	if (retries > 0) {
-	if (_parent->_whoami == MPU_WHOAMI_9250) {
+		retries = 10;
-		if (retries > 0) {
-			retries = 10;
 
-			while (!ak8963_read_adjustments() && retries) {
+		while (!ak8963_read_adjustments() && retries) {
-				retries--;
+			retries--;
-				PX4_ERR("AK8963: failed to read adjustment data. Retries %d", retries);
+			PX4_ERR("AK8963: failed to read adjustment data. Retries %d", retries);
 
-				_parent->modify_reg(AK_MPU_OR_ICM(MPUREG_USER_CTRL, ICMREG_20948_USER_CTRL), 0, BIT_I2C_MST_RST);
+			_parent->modify_reg(MPUREG_USER_CTRL, 0, BIT_I2C_MST_RST);
-				up_udelay(100);
+			up_udelay(100);
-				ak8963_setup_master_i2c();
+			ak8963_setup_master_i2c();
-				write_reg(AK_MPU_OR_ICM(AK8963REG_CNTL2, AK09916REG_CNTL3), AK8963_RESET);
+			write_reg(AK8963REG_CNTL2, AK8963_RESET);
-			}
 		}
 	}
 
 	if (retries == 0) {
 		PX4_ERR("AK8963: failed to initialize, disabled!");
-		_parent->modify_checked_reg(AK_MPU_OR_ICM(MPUREG_USER_CTRL, ICMREG_20948_USER_CTRL), BIT_I2C_MST_EN, 0);
+		_parent->modify_checked_reg(MPUREG_USER_CTRL, BIT_I2C_MST_EN, 0);
-		_parent->write_reg(AK_MPU_OR_ICM(MPUREG_I2C_MST_CTRL, ICMREG_20948_I2C_MST_CTRL), 0);
+		_parent->write_reg(MPUREG_I2C_MST_CTRL, 0);
 		return -EIO;
 	}
 
 	if (_parent->_whoami == MPU_WHOAMI_9250) {
 		write_reg(AK8963REG_CNTL1, AK8963_CONTINUOUS_MODE2 | AK8963_16BIT_ADC);
 
-	} else { // ICM20948 -> AK09916
-		write_reg(AK09916REG_CNTL2, AK09916_CNTL2_CONTINOUS_MODE_100HZ);
 	}
 
-
 	if (_interface == NULL) {
 
 		/* Configure mpu' I2c Master interface to read ak8963 data
@@ -541,11 +494,7 @@ MPU9250_mag::ak8963_setup(void)
 		 */
 		if (_parent->_whoami == MPU_WHOAMI_9250) {
 			set_passthrough(AK8963REG_ST1, sizeof(struct ak8963_regs));
-
-		} else { // ICM20948 -> AK09916
-			set_passthrough(AK09916REG_ST1, sizeof(struct ak09916_regs));
 		}
-
 	}
 
 	return OK;

src/drivers/imu/mpu9250/mag.h

@@ -96,11 +96,6 @@
 #define AK09916_ST1_DRDY                        0x01
 #define AK09916_ST1_DOR                         0x02
 
-
-#define AK_MPU_OR_ICM(m,i)					((_parent->_whoami == MPU_WHOAMI_9250) ? (m) : (i))
-
-
-
 class MPU9250;
 
 #pragma pack(push, 1)

src/drivers/imu/mpu9250/main.cpp

@@ -91,10 +91,6 @@
 #define MPU_DEVICE_PATH_GYRO_EXT2	"/dev/mpu9250_gyro_ext2"
 #define MPU_DEVICE_PATH_MAG_EXT2	"/dev/mpu9250_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[]); }
 
@@ -136,7 +132,6 @@ struct mpu9250_bus_option {
 #  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, nullptr },
 #  endif
-	{ 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, nullptr },

src/drivers/imu/mpu9250/mpu9250.h

@@ -183,7 +183,6 @@
 
 #define MPU_WHOAMI_9250             0x71
 #define MPU_WHOAMI_6500             0x70
-#define ICM_WHOAMI_20948            0xEA
 
 #define MPU9250_ACCEL_DEFAULT_RATE	1000
 #define MPU9250_ACCEL_MAX_OUTPUT_RATE			280
@@ -195,26 +194,6 @@
 
 #define MPU9250_DEFAULT_ONCHIP_FILTER_FREQ	92
 
-#define MPUIOCGIS_I2C	(unsigned)(DEVIOCGDEVICEID+100)
-
-
-
-// ICM20948 registers and data
-
-/*
- * ICM20948 I2C address LSB can be switched by the chip's AD0 pin, thus is device dependent.
- * Noting this down for now. Here GPS uses 0x69. To support a device implementing the second
- * address, probably an additional MPU_DEVICE_TYPE is the way to go.
- */
-#define PX4_I2C_EXT_ICM20948_0			0x68
-#define PX4_I2C_EXT_ICM20948_1			0x69
-
-/*
- * ICM20948 uses register banks. Register 127 (0x7F) is used to switch between 4 banks.
- * There's room in the upper address byte below the port speed setting to code in the
- * used bank. This is a bit more efficient, already in use for the speed setting and more
- * in one place than a solution with a lookup table for address/bank pairs.
- */
 
 #define BANK0	0x0000
 #define BANK1	0x0100
@@ -225,108 +204,6 @@
 #define REG_BANK(r) 			(((r) & BANK_REG_MASK)>>4)
 #define REG_ADDRESS(r)			((r) & ~BANK_REG_MASK)
 
-#define ICMREG_20948_BANK_SEL 0x7F
-
-#define	ICMREG_20948_WHOAMI					(0x00 | BANK0)
-#define ICMREG_20948_USER_CTRL				(0x03 | BANK0)
-#define ICMREG_20948_PWR_MGMT_1				(0x06 | BANK0)
-#define ICMREG_20948_PWR_MGMT_2				(0x07 | BANK0)
-#define ICMREG_20948_INT_PIN_CFG			(0x0F | BANK0)
-#define ICMREG_20948_INT_ENABLE				(0x10 | BANK0)
-#define ICMREG_20948_INT_ENABLE_1			(0x11 | BANK0)
-#define ICMREG_20948_ACCEL_XOUT_H			(0x2D | BANK0)
-#define ICMREG_20948_INT_ENABLE_2			(0x12 | BANK0)
-#define ICMREG_20948_INT_ENABLE_3			(0x13 | BANK0)
-#define ICMREG_20948_EXT_SLV_SENS_DATA_00	(0x3B | BANK0)
-#define ICMREG_20948_GYRO_SMPLRT_DIV		(0x00 | BANK2)
-#define ICMREG_20948_GYRO_CONFIG_1			(0x01 | BANK2)
-#define ICMREG_20948_GYRO_CONFIG_2			(0x02 | BANK2)
-#define ICMREG_20948_ACCEL_SMPLRT_DIV_1		(0x10 | BANK2)
-#define ICMREG_20948_ACCEL_SMPLRT_DIV_2		(0x11 | BANK2)
-#define ICMREG_20948_ACCEL_CONFIG			(0x14 | BANK2)
-#define ICMREG_20948_ACCEL_CONFIG_2			(0x15 | BANK2)
-#define ICMREG_20948_I2C_MST_CTRL			(0x01 | BANK3)
-#define ICMREG_20948_I2C_SLV0_ADDR			(0x03 | BANK3)
-#define ICMREG_20948_I2C_SLV0_REG			(0x04 | BANK3)
-#define ICMREG_20948_I2C_SLV0_CTRL			(0x05 | BANK3)
-#define ICMREG_20948_I2C_SLV0_DO			(0x06 | BANK3)
-
-
-
-/*
-* ICM20948 register bits
-* Most of the regiser set values from MPU9250 have the same
-* meaning on ICM20948. The exceptions and values not already
-* defined for MPU9250 are defined below
-*/
-#define ICM_BIT_PWR_MGMT_1_ENABLE       	0x00
-#define ICM_BIT_USER_CTRL_I2C_MST_DISABLE   0x00
-
-#define ICM_BITS_GYRO_DLPF_CFG_197HZ		0x01
-#define ICM_BITS_GYRO_DLPF_CFG_151HZ		0x09
-#define ICM_BITS_GYRO_DLPF_CFG_119HZ		0x11
-#define ICM_BITS_GYRO_DLPF_CFG_51HZ			0x19
-#define ICM_BITS_GYRO_DLPF_CFG_23HZ			0x21
-#define ICM_BITS_GYRO_DLPF_CFG_11HZ			0x29
-#define ICM_BITS_GYRO_DLPF_CFG_5HZ			0x31
-#define ICM_BITS_GYRO_DLPF_CFG_361HZ		0x39
-#define ICM_BITS_GYRO_DLPF_CFG_MASK			0x39
-
-#define ICM_BITS_GYRO_FS_SEL_250DPS			0x00
-#define ICM_BITS_GYRO_FS_SEL_500DPS			0x02
-#define ICM_BITS_GYRO_FS_SEL_1000DPS		0x04
-#define ICM_BITS_GYRO_FS_SEL_2000DPS		0x06
-#define ICM_BITS_GYRO_FS_SEL_MASK			0x06
-
-#define ICM_BITS_ACCEL_DLPF_CFG_246HZ		0x09
-#define ICM_BITS_ACCEL_DLPF_CFG_111HZ		0x11
-#define ICM_BITS_ACCEL_DLPF_CFG_50HZ		0x19
-#define ICM_BITS_ACCEL_DLPF_CFG_23HZ		0x21
-#define ICM_BITS_ACCEL_DLPF_CFG_11HZ		0x29
-#define ICM_BITS_ACCEL_DLPF_CFG_5HZ			0x31
-#define ICM_BITS_ACCEL_DLPF_CFG_473HZ		0x39
-#define ICM_BITS_ACCEL_DLPF_CFG_MASK		0x39
-
-#define ICM_BITS_ACCEL_FS_SEL_250DPS		0x00
-#define ICM_BITS_ACCEL_FS_SEL_500DPS		0x02
-#define ICM_BITS_ACCEL_FS_SEL_1000DPS		0x04
-#define ICM_BITS_ACCEL_FS_SEL_2000DPS		0x06
-#define ICM_BITS_ACCEL_FS_SEL_MASK			0x06
-
-#define ICM_BITS_DEC3_CFG_4					0x00
-#define ICM_BITS_DEC3_CFG_8					0x01
-#define ICM_BITS_DEC3_CFG_16				0x10
-#define ICM_BITS_DEC3_CFG_32				0x11
-#define ICM_BITS_DEC3_CFG_MASK				0x11
-
-#define ICM_BITS_I2C_MST_CLOCK_370KHZ    	0x00
-#define ICM_BITS_I2C_MST_CLOCK_400HZ    	0x07	// recommended by datasheet for 400kHz target clock
-
-
-
-#define MPU_OR_ICM(m,i)					((_whoami==ICM_WHOAMI_20948) ? i : m)
-
-
-#pragma pack(push, 1)
-/**
- * Report conversation within the mpu, including command byte and
- * interrupt status.
- */
-struct ICMReport {
-	uint8_t		accel_x[2];
-	uint8_t		accel_y[2];
-	uint8_t		accel_z[2];
-	uint8_t		gyro_x[2];
-	uint8_t		gyro_y[2];
-	uint8_t		gyro_z[2];
-	uint8_t		temp[2];
-	struct ak8963_regs mag;
-};
-#pragma pack(pop)
-
-
-
-
 #pragma pack(push, 1)
 /**
  * Report conversation within the mpu, including command byte and
@@ -438,8 +315,6 @@ private:
 	float			_gyro_range_rad_s;
 
 	unsigned		_dlpf_freq;
-	unsigned		_dlpf_freq_icm_gyro;
-	unsigned		_dlpf_freq_icm_accel;
 
 	unsigned		_sample_rate;
 	perf_counter_t		_accel_reads;
@@ -474,15 +349,13 @@ private:
 #define MAX(X,Y) ((X) > (Y) ? (X) : (Y))
 #endif
 
-#define MPU9250_NUM_CHECKED_REGISTERS 11
+	static constexpr int MPU9250_NUM_CHECKED_REGISTERS{11};
 	static const uint16_t	_mpu9250_checked_registers[MPU9250_NUM_CHECKED_REGISTERS];
-#define ICM20948_NUM_CHECKED_REGISTERS 15
-	static const uint16_t	_icm20948_checked_registers[ICM20948_NUM_CHECKED_REGISTERS];
 
 	const uint16_t			*_checked_registers;
 
-	uint8_t					_checked_values[MAX(MPU9250_NUM_CHECKED_REGISTERS, ICM20948_NUM_CHECKED_REGISTERS)];
+	uint8_t					_checked_values[MPU9250_NUM_CHECKED_REGISTERS];
-	uint8_t					_checked_bad[MAX(MPU9250_NUM_CHECKED_REGISTERS, ICM20948_NUM_CHECKED_REGISTERS)];
+	uint8_t					_checked_bad[MPU9250_NUM_CHECKED_REGISTERS];
 	unsigned				_checked_next;
 	unsigned				_num_checked_registers;
 
@@ -570,18 +443,6 @@ private:
 	 */
 	void			measure();
 
-	/**
-	 * Select a register bank in ICM20948
-	 *
-	 * Only actually switches if the remembered bank is different from the
-	 * requested one
-	 *
-	 * @param		The index of the register bank to switch to (0-3)
-	 * @return		Error code
-	 */
-	int				select_register_bank(uint8_t bank);
-
-
 	/**
 	 * Read a register from the mpu
 	 *

src/drivers/imu/mpu9250/mpu9250_i2c.cpp

@@ -108,26 +108,12 @@ int
 MPU9250_I2C::probe()
 {
 	uint8_t whoami = 0;
-	uint8_t register_select = REG_BANK(BANK0);  // register bank containing WHOAMI for ICM20948
 
 	// Try first for mpu9250/6500
 	read(MPUREG_WHOAMI, &whoami, 1);
 
 	if (whoami == MPU_WHOAMI_9250 || whoami == MPU_WHOAMI_6500) {
 		return PX4_OK;
-
-	} else {
-		/*
-		 * If it's not an MPU it must be an ICM
-		 * Make sure register bank 0 is selected - whoami is only present on bank 0, and that is
-		 * not sure e.g. if the device has rebooted without repowering the sensor
-		 */
-		write(ICMREG_20948_BANK_SEL, &register_select, 1);
-		read(ICMREG_20948_WHOAMI, &whoami, 1);
-
-		if (whoami == ICM_WHOAMI_20948) {
-			return PX4_OK;
-		}
 	}
 
 	return -ENODEV;