refactor mpu6000: use driver base class

boards/holybro/durandal-v1/init/rc.board_sensors

@@ -5,7 +5,7 @@
 adc start
 
 # Internal SPI bus ICM-20689
-mpu6000 -R 8 -z -T 20689 start
+mpu6000 -R 8 -s -T 20689 start
 
 # Internal SPI bus BMI088 accel
 bmi088 -A -R 10 start

boards/holybro/kakutef7/init/rc.board_sensors

@@ -8,7 +8,7 @@ adc start
 # The default IMU is an ICM20689, but there might also be an MPU6000
 if ! mpu6000 -R 12 -s start
 then
-	mpu6000 -R 12 -z -T 20689 start
+	mpu6000 -R 12 -s -T 20689 start
 fi
 
 # Internal Baro

boards/mro/x21-777/init/rc.board_sensors

@@ -10,10 +10,10 @@ hmc5883 -C -T -X start
 lis3mdl -X start
 
 # Internal SPI bus ICM-20608-G is rotated 90 deg yaw
-mpu6000 -R 2 -T 20608 start
+mpu6000 -s -R 2 -T 20608 start
 
 # Internal SPI bus ICM-20602-G is rotated 90 deg yaw
-mpu6000 -R 2 -T 20602 start
+mpu6000 -s -R 2 -T 20602 start
 
 # Internal SPI bus mpu9250 is rotated 90 deg yaw
 mpu9250 -R 2 start

boards/mro/x21/init/rc.board_sensors

@@ -12,10 +12,10 @@ ist8310 -X start
 qmc5883 -X start
 
 # Internal SPI bus ICM-20608-G is rotated 90 deg yaw
-mpu6000 -R 2 -T 20608 start
+mpu6000 -s -R 2 -T 20608 start
 
 # Internal SPI bus ICM-20602-G is rotated 90 deg yaw
-mpu6000 -R 2 -T 20602 start
+mpu6000 -s -R 2 -T 20602 start
 
 # Internal SPI bus mpu9250 is rotated 90 deg yaw
 mpu9250 -R 2 start

boards/nxp/fmurt1062-v1/init/rc.board_sensors

@@ -21,7 +21,7 @@ adc start
 mpu6000 -R 8 -s -T 20602 start
 
 # Internal SPI bus ICM-20689
-mpu6000 -R 8 -z -T 20689 start
+mpu6000 -R 8 -s -T 20689 start
 
 # Internal SPI bus BMI055 accel
 bmi055 -A -R 10 start

boards/px4/fmu-v2/init/rc.board_sensors

@@ -14,7 +14,7 @@ ist8310 -X start
 hmc5883 -C -T -I -R 4 start
 
 # Internal SPI bus ICM-20608-G
-mpu6000 -T 20608 start
+mpu6000 -s -T 20608 start
 
 # External SPI
 ms5611 -S start
@@ -28,8 +28,8 @@ set BOARD_FMUV3 0
 if ver hwtypecmp V30
 then
 	# Check for Pixhawk 2.0 cube
-	# external MPU6K is rotated 180 degrees yaw
+	# MPU6K is rotated 180 degrees yaw
-	if mpu6000 -S -R 4 start
+	if mpu6000 -s -R 4 start
 	then
 		set BOARD_FMUV3 20
 	else
@@ -48,8 +48,8 @@ then
 	# Pixhawk Mini doesn't have these sensors,
 	# so if they are found we know its a Pixhack
 
-	# external MPU6K is rotated 180 degrees yaw
+	# MPU6K is rotated 180 degrees yaw
-	if mpu6000 -S -R 4 start
+	if mpu6000 -s -R 4 start
 	then
 		set BOARD_FMUV3 20
 	else
@@ -79,7 +79,7 @@ then
 	if [ $BOARD_FMUV3 = 20 ]
 	then
 		# v2.0 internal MPU6000 is rotated 180 deg roll, 270 deg yaw
-		mpu6000 -R 14 start
+		mpu6000 -s -R 14 start
 
 		# v2.0 Has internal hmc5883 on SPI1
 		hmc5883 -C -T -S -R 8 start
@@ -94,7 +94,7 @@ then
 else
 	# $BOARD_FMUV3 = 0 -> FMUv2
 
-	mpu6000 start
+	mpu6000 -s start
 
 	# As we will use the external mag and the ICM-20608-G
 	# V2 build hwtypecmp is always false

boards/px4/fmu-v3/init/rc.board_sensors

@@ -15,7 +15,7 @@ qmc5883 -X start
 hmc5883 -C -T -I -R 4 start
 
 # Internal SPI bus ICM-20608-G
-mpu6000 -T 20608 start
+mpu6000 -s -T 20608 start
 
 # External SPI
 ms5611 -S start
@@ -29,8 +29,8 @@ set BOARD_FMUV3 0
 if ver hwtypecmp V30
 then
 	# Check for Pixhawk 2.0 cube
-	# external MPU6K is rotated 180 degrees yaw
+	# MPU6K is rotated 180 degrees yaw
-	if mpu6000 -S -R 4 start
+	if mpu6000 -s -R 4 start
 	then
 		set BOARD_FMUV3 20
 	else
@@ -49,8 +49,8 @@ then
 	# Pixhawk Mini doesn't have these sensors,
 	# so if they are found we know its a Pixhack
 
-	# external MPU6K is rotated 180 degrees yaw
+	# MPU6K is rotated 180 degrees yaw
-	if mpu6000 -S -R 4 start
+	if mpu6000 -s -R 4 start
 	then
 		set BOARD_FMUV3 20
 	else
@@ -87,7 +87,7 @@ then
 	if [ $BOARD_FMUV3 = 20 ]
 	then
 		# v2.0 internal MPU6000 is rotated 180 deg roll, 270 deg yaw
-		mpu6000 -R 14 start
+		mpu6000 -s -R 14 start
 
 		# v2.0 Has internal hmc5883 on SPI1
 		hmc5883 -C -T -S -R 8 start
@@ -102,7 +102,7 @@ then
 else
 	# $BOARD_FMUV3 = 0 -> FMUv2
 
-	mpu6000 start
+	mpu6000 -s start
 
 	# As we will use the external mag and the ICM-20608-G
 	# V2 build hwtypecmp is always false

boards/px4/fmu-v5/init/rc.board_sensors

@@ -10,7 +10,7 @@ mpu6000 -R 8 -s -T 20602 start
 #icm20602 -R 6 start
 
 # Internal SPI bus ICM-20689
-mpu6000 -R 8 -z -T 20689 start
+mpu6000 -R 8 -s -T 20689 start
 #icm20689 -R 6 start
 
 # new sensor drivers (in testing)

boards/uvify/core/init/rc.board_sensors

@@ -14,7 +14,7 @@ then
 	# GPS LED
 	rgbled_ncp5623c start -a 0x38
 
-	#mpu6000 -R 4 -T 20608 start
+	#mpu6000 -s -R 4 -T 20608 start
 	mpu9250 -R 4 start
 
 	# Default GNSS with LIS3MDL magnetometer with external i2c.

src/drivers/imu/mpu6000/MPU6000.cpp

@@ -39,8 +39,9 @@
  */
 constexpr uint8_t MPU6000::_checked_registers[MPU6000_NUM_CHECKED_REGISTERS];
 
-MPU6000::MPU6000(device::Device *interface, enum Rotation rotation, int device_type) :
+MPU6000::MPU6000(device::Device *interface, enum Rotation rotation, int device_type, I2CSPIBusOption bus_option,
-	ScheduledWorkItem(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id())),
+		 int bus) :
+	I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(interface->get_device_id()), bus_option, bus, 0, device_type),
 	_interface(interface),
 	_device_type(device_type),
 	_px4_accel(_interface->get_device_id(), (_interface->external() ? ORB_PRIO_MAX : ORB_PRIO_HIGH), rotation),
@@ -77,10 +78,6 @@ MPU6000::MPU6000(device::Device *interface, enum Rotation rotation, int device_t
 
 MPU6000::~MPU6000()
 {
-	/* make sure we are truly inactive */
-	stop();
-
-	/* delete the perf counter */
 	perf_free(_sample_perf);
 	perf_free(_bad_transfers);
 	perf_free(_bad_registers);
@@ -379,7 +376,7 @@ MPU6000::_set_icm_acc_dlpf_filter(uint16_t frequency_hz)
   about 200ms and will return OK if the current values are within 14%
   of the expected values (as per datasheet)
  */
-int
+void
 MPU6000::factory_self_test()
 {
 	_in_factory_test = true;
@@ -515,7 +512,6 @@ MPU6000::factory_self_test()
 		::printf("PASSED\n");
 	}
 
-	return ret;
 }
 #endif
 
@@ -710,7 +706,7 @@ MPU6000::check_registers(void)
 	_checked_next = (_checked_next + 1) % MPU6000_NUM_CHECKED_REGISTERS;
 }
 
-void MPU6000::Run()
+void MPU6000::RunImpl()
 {
 	if (_in_factory_test) {
 		// don't publish any data while in factory test mode
@@ -873,8 +869,10 @@ void MPU6000::Run()
 }
 
 void
-MPU6000::print_info()
+MPU6000::print_status()
 {
+	I2CSPIDriverBase::print_status();
+	PX4_INFO("Device type: %i", _device_type);
 	perf_print_counter(_sample_perf);
 	perf_print_counter(_bad_transfers);
 	perf_print_counter(_bad_registers);

src/drivers/imu/mpu6000/MPU6000.hpp

@@ -63,6 +63,7 @@
 #include <lib/ecl/geo/geo.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/getopt.h>
+#include <px4_platform_common/i2c_spi_buses.h>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
 #include <systemlib/conversions.h>
 #include <systemlib/px4_macros.h>
@@ -263,48 +264,36 @@ struct MPUReport {
 #  define MPU6000_LOW_SPEED_OP(r)			MPU6000_REG((r))
 
 /* interface factories */
-extern device::Device *MPU6000_SPI_interface(int bus, int device_type, bool external_bus);
+extern device::Device *MPU6000_SPI_interface(int bus, uint32_t devid, int device_type, bool external_bus,
-extern device::Device *MPU6000_I2C_interface(int bus, int device_type, bool external_bus);
+		int bus_frequency, spi_mode_e spi_mode);
+extern device::Device *MPU6000_I2C_interface(int bus, uint32_t devid, int device_type, bool external_bus,
+		int bus_frequency);
 extern int MPU6000_probe(device::Device *dev, int device_type);
 
-typedef device::Device *(*MPU6000_constructor)(int, int, bool);
-
 
 #define MPU6000_TIMER_REDUCTION				200
 
-enum MPU6000_BUS {
-	MPU6000_BUS_ALL = 0,
-	MPU6000_BUS_I2C_INTERNAL,
-	MPU6000_BUS_I2C_EXTERNAL,
-	MPU6000_BUS_SPI_INTERNAL1,
-	MPU6000_BUS_SPI_INTERNAL2,
-	MPU6000_BUS_SPI_EXTERNAL1,
-	MPU6000_BUS_SPI_EXTERNAL2
-};
 
-class MPU6000 : public px4::ScheduledWorkItem
+class MPU6000 : public I2CSPIDriver<MPU6000>
 {
 public:
-	MPU6000(device::Device *interface, enum Rotation rotation, int device_type);
+	MPU6000(device::Device *interface, enum Rotation rotation, int device_type, I2CSPIBusOption bus_option, int bus);
+
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
 
 	virtual ~MPU6000();
 
-	virtual int		init();
+	int		init();
-
-	/**
-	 * Diagnostics - print some basic information about the driver.
-	 */
-	void			print_info();
 
 	void			print_registers();
 
 #ifndef CONSTRAINED_FLASH
 	/**
 	 * Test behaviour against factory offsets
-	 *
-	 * @return 0 on success, 1 on failure
 	 */
-	int 			factory_self_test();
+	void 			factory_self_test();
 #endif
 
 	// deliberately cause a sensor error
@@ -322,15 +311,19 @@ public:
 	 */
 	int			reset();
 
+	void RunImpl();
+
 protected:
 	device::Device			*_interface;
 
-	virtual int		probe();
+	int probe();
+
+	void print_status() override;
+
+	void custom_method(const BusCLIArguments &cli) override;
 
 private:
 
-	void Run() override;
-
 	int 			_device_type;
 	uint8_t			_product{0};	/** product code */
 

src/drivers/imu/mpu6000/MPU6000_I2C.cpp

@@ -41,14 +41,14 @@
 
 #include "MPU6000.hpp"
 
-#ifdef USE_I2C
+#ifdef PX4_I2C_MPU6050_ADDR
 
-device::Device *MPU6000_I2C_interface(int bus, int device_type, bool external_bus);
+device::Device *MPU6000_I2C_interface(int bus, uint32_t devid, int device_type, bool external_bus, int bus_frequency);
 
 class MPU6000_I2C : public device::I2C
 {
 public:
-	MPU6000_I2C(int bus, int device_type);
+	MPU6000_I2C(int bus, int device_type, int bus_frequency);
 	~MPU6000_I2C() override = default;
 
 	int	read(unsigned address, void *data, unsigned count) override;
@@ -64,13 +64,13 @@ private:
 
 
 device::Device *
-MPU6000_I2C_interface(int bus, int device_type, bool external_bus)
+MPU6000_I2C_interface(int bus, uint32_t devid, int device_type, bool external_bus, int bus_frequency)
 {
-	return new MPU6000_I2C(bus, device_type);
+	return new MPU6000_I2C(bus, device_type, bus_frequency);
 }
 
-MPU6000_I2C::MPU6000_I2C(int bus, int device_type) :
+MPU6000_I2C::MPU6000_I2C(int bus, int device_type, int bus_frequency) :
-	I2C("MPU6000_I2C", nullptr, bus, PX4_I2C_MPU6050_ADDR, 400000),
+	I2C("MPU6000_I2C", nullptr, bus, PX4_I2C_MPU6050_ADDR, bus_frequency),
 	_device_type(device_type)
 {
 }
@@ -112,4 +112,12 @@ MPU6000_I2C::probe()
 	return (read(MPUREG_WHOAMI, &whoami, 1) > 0 && (whoami == expected)) ? 0 : -EIO;
 
 }
+#else
+
+device::Device *
+MPU6000_I2C_interface(int bus, uint32_t devid, int device_type, bool external_bus, int bus_frequency)
+{
+	return nullptr;
+}
+
 #endif /* USE_I2C */

src/drivers/imu/mpu6000/MPU6000_SPI.cpp

@@ -48,7 +48,6 @@
 #define DIR_READ			0x80
 #define DIR_WRITE			0x00
 
-#if defined(PX4_SPIDEV_MPU) || defined(PX4_SPIDEV_ICM_20602) || defined(PX4_SPIDEV_ICM_20689)
 
 /* The MPU6000 can only handle high SPI bus speeds of 20Mhz on the sensor and
 * interrupt status registers. All other registers have a maximum 1MHz
@@ -73,13 +72,14 @@
 #define UNKNOWN_HIGH_SPI_BUS_SPEED   8*1000*1000 // Use the minimum
 
 
-device::Device *MPU6000_SPI_interface(int bus, int device_type, bool external_bus);
+device::Device *MPU6000_SPI_interface(int bus, uint32_t devid, int device_type, bool external_bus, int bus_frequency,
+				      spi_mode_e spi_mode);
 
 
 class MPU6000_SPI : public device::SPI
 {
 public:
-	MPU6000_SPI(int bus, uint32_t device, int device_type);
+	MPU6000_SPI(int bus, uint32_t device, int device_type, int bus_frequency, spi_mode_e spi_mode);
 	~MPU6000_SPI() override = default;
 
 	int	read(unsigned address, void *data, unsigned count) override;
@@ -98,90 +98,14 @@ private:
 };
 
 device::Device *
-MPU6000_SPI_interface(int bus, int device_type, bool external_bus)
+MPU6000_SPI_interface(int bus, uint32_t devid, int device_type, bool external_bus, int bus_frequency,
+		      spi_mode_e spi_mode)
 {
-	int cs = SPIDEV_NONE(0);
+	return new MPU6000_SPI(bus, devid, device_type, bus_frequency, spi_mode);
-	device::Device *interface = nullptr;
-
-	if (external_bus) {
-
-#if defined(PX4_SPI_BUS_EXT) || defined(PX4_SPI_BUS_EXTERNAL)
-
-		switch (device_type) {
-
-		case MPU_DEVICE_TYPE_MPU6000:
-#  if defined(PX4_SPIDEV_EXT_MPU)
-			cs  = PX4_SPIDEV_EXT_MPU;
-# endif
-			break;
-
-		case MPU_DEVICE_TYPE_ICM20602:
-#  if defined(PX4_SPIDEV_ICM_20602_EXT)
-			cs = PX4_SPIDEV_ICM_20602_EXT;
-#  endif
-			break;
-
-		case MPU_DEVICE_TYPE_ICM20608:
-#  if defined(PX4_SPIDEV_EXT_ICM)
-			cs = PX4_SPIDEV_EXT_ICM;
-#  elif defined(PX4_SPIDEV_ICM_20608_EXT)
-			cs = PX4_SPIDEV_ICM_20608_EXT;
-#  endif
-			break;
-
-		case MPU_DEVICE_TYPE_ICM20689:
-#  if defined(PX4_SPIDEV_ICM_20689_EXT)
-			cs = PX4_SPIDEV_ICM_20689_EXT;
-#  endif
-			break;
-
-		default:
-			break;
-		}
-
-#endif
-
-	} else {
-
-		switch (device_type) {
-
-		case MPU_DEVICE_TYPE_MPU6000:
-#if defined(PX4_SPIDEV_MPU)
-			cs = PX4_SPIDEV_MPU;
-#endif
-			break;
-
-		case MPU_DEVICE_TYPE_ICM20602:
-#if defined(PX4_SPIDEV_ICM_20602)
-			cs = PX4_SPIDEV_ICM_20602;
-#endif
-			break;
-
-		case MPU_DEVICE_TYPE_ICM20608:
-#if defined(PX4_SPIDEV_ICM_20608)
-			cs = PX4_SPIDEV_ICM_20608;
-#endif
-			break;
-
-		case MPU_DEVICE_TYPE_ICM20689:
-#  if defined(PX4_SPIDEV_ICM_20689)
-			cs = PX4_SPIDEV_ICM_20689;
-#  endif
-
-		default:
-			break;
-		}
-	}
-
-	if (cs != SPIDEV_NONE(0)) {
-		interface = new MPU6000_SPI(bus,  cs, device_type);
-	}
-
-	return interface;
 }
 
-MPU6000_SPI::MPU6000_SPI(int bus, uint32_t device, int device_type) :
+MPU6000_SPI::MPU6000_SPI(int bus, uint32_t device, int device_type, int bus_frequency, spi_mode_e spi_mode) :
-	SPI("MPU6000", nullptr, bus, device, SPIDEV_MODE3, MPU6000_LOW_SPI_BUS_SPEED),
+	SPI("MPU6000", nullptr, bus, device, spi_mode, bus_frequency),
 	_device_type(device_type)
 {
 }
@@ -285,4 +209,3 @@ MPU6000_SPI::probe()
 	return (read(MPUREG_WHOAMI, &whoami, 1) > 0 && (whoami == expected)) ? 0 : -EIO;
 }
 
-#endif // PX4_SPIDEV_MPU