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Sensor drivers should run all the time, not just when their device is open.

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Disable this for the mpu6000 driver though, as it's currently busted in that regard.
This commit is contained in:
px4dev
2012-08-25 11:52:44 -07:00
parent 0dc0a0539d
commit 23d8b69e3d
3 changed files with 27 additions and 97 deletions
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apps/drivers/hmc5883/hmc5883.cpp
+7 -35
View File
@@ -126,9 +126,6 @@ public:
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
virtual int open_first(struct file *filp);
virtual int close_last(struct file *filp);
/**
* Diagnostics - print some basic information about the driver.
*/
@@ -277,7 +274,7 @@ HMC5883::HMC5883(int bus) :
_scale.z_scale = 1.0f / 1090.0f; /* default range scale from counts to gauss */
// work_cancel in the dtor will explode if we don't do this...
_work.worker = nullptr;
memset(&_work, 0, sizeof(_work));
}
HMC5883::~HMC5883()
@@ -296,44 +293,19 @@ HMC5883::init()
int ret = ERROR;
/* do I2C init (and probe) first */
ret = I2C::init();
if (ret != OK)
if (I2C::init() != OK)
goto out;
out:
return ret;
}
int
HMC5883::open_first(struct file *filp)
{
/* reset to manual-poll mode */
_measure_ticks = 0;
/* allocate basic report buffers */
_num_reports = 2;
_reports = new struct mag_report[_num_reports];
if (_reports == nullptr)
goto out;
_oldest_report = _next_report = 0;
return OK;
}
int
HMC5883::close_last(struct file *filp)
{
/* stop measurement */
stop();
/* free report buffers */
if (_reports != nullptr) {
delete[] _reports;
_num_reports = 0;
}
_measure_ticks = 0;
return OK;
ret = OK;
out:
return ret;
}
int
apps/drivers/mpu6000/mpu6000.cpp
+4 -23
View File
@@ -157,9 +157,6 @@ public:
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
virtual int open_first(struct file *filp);
virtual int close_last(struct file *filp);
/**
* Diagnostics - print some basic information about the driver.
*/
@@ -322,6 +319,7 @@ MPU6000::MPU6000(int bus, spi_dev_e device) :
memset(&_accel_report, 0, sizeof(_accel_report));
memset(&_gyro_report, 0, sizeof(_gyro_report));
memset(&_call, 0, sizeof(_call));
}
MPU6000::~MPU6000()
@@ -444,26 +442,6 @@ MPU6000::init()
return ret;
}
int
MPU6000::open_first(struct file *filp)
{
/* reset to manual-poll mode */
_call_interval = 0;
/* XXX set default sampling/acquisition parameters */
return OK;
}
int
MPU6000::close_last(struct file *filp)
{
/* stop measurement */
stop();
return OK;
}
int
MPU6000::probe()
{
@@ -911,12 +889,15 @@ start()
if (OK != g_dev->init())
goto fail;
#if 0 /* XXX don't do this for now - the auto-poller is børked */
/* set the poll rate to default, starts automatic data collection */
fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
if (fd < 0)
goto fail;
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
goto fail;
#endif
exit(0);
fail:
apps/drivers/ms5611/ms5611.cpp
+16 -39
View File
@@ -64,6 +64,12 @@
#include <drivers/drv_baro.h>
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
/**
* Calibration PROM as reported by the device.
*/
@@ -99,9 +105,6 @@ public:
virtual ssize_t read(struct file *filp, char *buffer, size_t buflen);
virtual int ioctl(struct file *filp, int cmd, unsigned long arg);
virtual int open_first(struct file *filp);
virtual int close_last(struct file *filp);
/**
* Diagnostics - print some basic information about the driver.
*/
@@ -259,7 +262,7 @@ MS5611::MS5611(int bus) :
_debug_enabled = true;
// work_cancel in the dtor will explode if we don't do this...
_work.worker = nullptr;
memset(&_work, 0, sizeof(_work));
}
MS5611::~MS5611()
@@ -275,43 +278,23 @@ MS5611::~MS5611()
int
MS5611::init()
{
int ret;
int ret = ERROR;
/* do I2C init (and probe) first */
ret = I2C::init();
return ret;
}
int
MS5611::open_first(struct file *filp)
{
/* reset to manual-poll mode */
_measure_ticks = 0;
if (I2C::init() != OK)
goto out;
/* allocate basic report buffers */
_num_reports = 2;
_reports = new struct baro_report[_num_reports];
if (_reports == nullptr)
goto out;
_oldest_report = _next_report = 0;
return OK;
}
int
MS5611::close_last(struct file *filp)
{
/* stop measurement */
stop();
/* free report buffers */
if (_reports != nullptr) {
delete[] _reports;
_num_reports = 0;
}
_measure_ticks = 0;
return OK;
ret = OK;
out:
return ret;
}
int
@@ -807,12 +790,6 @@ MS5611::print_info()
namespace ms5611
{
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
const int ERROR = -1;
MS5611 *g_dev;
void start();