Don't build interface drivers we don't have configs for. Make the interface drivers build.

Change the way we handle the prom buffer so that we can init the interface before constructing the driver.

5 files changed, 117 insertions, 73 deletions

diff --git a/src/drivers/ms5611/module.mk b/src/drivers/ms5611/module.mk
index 3c4b0f093..20f8aa173 100644
--- a/src/drivers/ms5611/module.mk
+++ b/src/drivers/ms5611/module.mk
@@ -37,4 +37,4 @@
 
 MODULE_COMMAND	= ms5611
 
-SRCS		= ms5611.cpp
+SRCS		= ms5611.cpp ms5611_spi.cpp ms5611_i2c.cpp
diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp
index b8c396f7b..9d9888a90 100644
--- a/src/drivers/ms5611/ms5611.cpp
+++ b/src/drivers/ms5611/ms5611.cpp
@@ -93,7 +93,7 @@ static const int ERROR = -1;
 class MS5611 : public device::CDev
 {
 public:
-	MS5611(device::Device *interface);
+	MS5611(device::Device *interface, ms5611::prom_u &prom_buf);
 	~MS5611();
 
 	virtual int		init();
@@ -109,7 +109,7 @@ public:
 protected:
 	Device			*_interface;
 
-	ms5611::prom_u		_prom;
+	ms5611::prom_s		_prom;
 
 	struct work_s		_work;
 	unsigned		_measure_ticks;
@@ -191,9 +191,10 @@ protected:
  */
 extern "C" __EXPORT int ms5611_main(int argc, char *argv[]);
 
-MS5611::MS5611(device::Device *interface) :
+MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf) :
 	CDev("MS5611", BARO_DEVICE_PATH),
 	_interface(interface),
+	_prom(prom_buf.s),
 	_measure_ticks(0),
 	_num_reports(0),
 	_next_report(0),
@@ -230,13 +231,11 @@ MS5611::~MS5611()
 int
 MS5611::init()
 {
+	int ret;
 
-	/* verify that the interface is ok */
-	unsigned arg = (unsigned)&_prom;
-	_interface->ioctl(IOCTL_SET_PROMBUFFER, arg);
-	int ret = _interface->init();
+	ret = CDev::init();
 	if (ret != OK) {
-		debug("interface init failed");
+		debug("CDev init failed");
 		goto out;
 	}
 
@@ -598,14 +597,14 @@ MS5611::collect()
 	if (_measure_phase == 0) {
 
 		/* temperature offset (in ADC units) */
-		int32_t dT = (int32_t)raw - ((int32_t)_prom.s.c5_reference_temp << 8);
+		int32_t dT = (int32_t)raw - ((int32_t)_prom.c5_reference_temp << 8);
 
 		/* absolute temperature in centidegrees - note intermediate value is outside 32-bit range */
-		_TEMP = 2000 + (int32_t)(((int64_t)dT * _prom.s.c6_temp_coeff_temp) >> 23);
+		_TEMP = 2000 + (int32_t)(((int64_t)dT * _prom.c6_temp_coeff_temp) >> 23);
 
 		/* base sensor scale/offset values */
-		_SENS = ((int64_t)_prom.s.c1_pressure_sens << 15) + (((int64_t)_prom.s.c3_temp_coeff_pres_sens * dT) >> 8);
-		_OFF  = ((int64_t)_prom.s.c2_pressure_offset << 16) + (((int64_t)_prom.s.c4_temp_coeff_pres_offset * dT) >> 7);
+		_SENS = ((int64_t)_prom.c1_pressure_sens << 15) + (((int64_t)_prom.c3_temp_coeff_pres_sens * dT) >> 8);
+		_OFF  = ((int64_t)_prom.c2_pressure_offset << 16) + (((int64_t)_prom.c4_temp_coeff_pres_offset * dT) >> 7);
 
 		/* temperature compensation */
 		if (_TEMP < 2000) {
@@ -711,14 +710,14 @@ MS5611::print_info()
 	printf("OFF:            %lld\n", _OFF);
 	printf("MSL pressure:   %10.4f\n", (double)(_msl_pressure / 100.f));
 
-	printf("factory_setup             %u\n", _prom.s.factory_setup);
-	printf("c1_pressure_sens          %u\n", _prom.s.c1_pressure_sens);
-	printf("c2_pressure_offset        %u\n", _prom.s.c2_pressure_offset);
-	printf("c3_temp_coeff_pres_sens   %u\n", _prom.s.c3_temp_coeff_pres_sens);
-	printf("c4_temp_coeff_pres_offset %u\n", _prom.s.c4_temp_coeff_pres_offset);
-	printf("c5_reference_temp         %u\n", _prom.s.c5_reference_temp);
-	printf("c6_temp_coeff_temp        %u\n", _prom.s.c6_temp_coeff_temp);
-	printf("serial_and_crc            %u\n", _prom.s.serial_and_crc);
+	printf("factory_setup             %u\n", _prom.factory_setup);
+	printf("c1_pressure_sens          %u\n", _prom.c1_pressure_sens);
+	printf("c2_pressure_offset        %u\n", _prom.c2_pressure_offset);
+	printf("c3_temp_coeff_pres_sens   %u\n", _prom.c3_temp_coeff_pres_sens);
+	printf("c4_temp_coeff_pres_offset %u\n", _prom.c4_temp_coeff_pres_offset);
+	printf("c5_reference_temp         %u\n", _prom.c5_reference_temp);
+	printf("c6_temp_coeff_temp        %u\n", _prom.c6_temp_coeff_temp);
+	printf("serial_and_crc            %u\n", _prom.serial_and_crc);
 }
 
 /**
@@ -789,6 +788,7 @@ void
 start()
 {
 	int fd;
+	prom_u prom_buf;
 
 	if (g_dev != nullptr)
 		errx(1, "already started");
@@ -797,14 +797,19 @@ start()
 
 	/* create the driver, try SPI first, fall back to I2C if unsuccessful */
 	if (MS5611_spi_interface != nullptr)
-		interface = MS5611_spi_interface();
+		interface = MS5611_spi_interface(prom_buf);
 	if (interface == nullptr && (MS5611_i2c_interface != nullptr))
-		interface = MS5611_i2c_interface();
+		interface = MS5611_i2c_interface(prom_buf);
 
 	if (interface == nullptr)
 		errx(1, "failed to allocate an interface");
 
-	g_dev = new MS5611(interface);
+	if (interface->init() != OK) {
+		delete interface;
+		errx(1, "interface init failed");
+	}
+
+	g_dev = new MS5611(interface, prom_buf);
 	if (g_dev == nullptr) {
 		delete interface;
 		errx(1, "failed to allocate driver");
@@ -814,10 +819,14 @@ start()
 
 	/* set the poll rate to default, starts automatic data collection */
 	fd = open(BARO_DEVICE_PATH, O_RDONLY);
-	if (fd < 0)
+	if (fd < 0) {
+		warnx("can't open baro device");
 		goto fail;
-	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0)
+	}
+	if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
+		warnx("failed setting default poll rate");
 		goto fail;
+	}
 
 	exit(0);
 
diff --git a/src/drivers/ms5611/ms5611.h b/src/drivers/ms5611/ms5611.h
index 872011dc9..76fb84de8 100644
--- a/src/drivers/ms5611/ms5611.h
+++ b/src/drivers/ms5611/ms5611.h
@@ -45,15 +45,9 @@
 #define ADDR_PROM_C1			0xA2	/* address of 6x 2 bytes calibration data */
 
 /* interface ioctls */
-#define IOCTL_SET_PROMBUFFER		1
 #define IOCTL_RESET			2
 #define IOCTL_MEASURE			3
 
-
-/* interface factories */
-extern device::Device *MS5611_spi_interface() weak_function;
-extern device::Device *MS5611_i2c_interface() weak_function;
-
 namespace ms5611
 {
 
@@ -84,3 +78,8 @@ union prom_u {
 extern bool crc4(uint16_t *n_prom);
 
 } /* namespace */
+
+/* interface factories */
+extern device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf) weak_function;
+extern device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf) weak_function;
+
diff --git a/src/drivers/ms5611/ms5611_i2c.cpp b/src/drivers/ms5611/ms5611_i2c.cpp
index 7f5667c28..06867cc9d 100644
--- a/src/drivers/ms5611/ms5611_i2c.cpp
+++ b/src/drivers/ms5611/ms5611_i2c.cpp
@@ -37,6 +37,25 @@
   * I2C interface for MS5611
   */
 
+/* XXX trim includes */
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <assert.h>
+#include <debug.h>
+#include <errno.h>
+#include <unistd.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/device/i2c.h>
+
+#include "ms5611.h"
+
+#ifdef PX4_I2C_OBDEV_MS5611
+
 #ifndef PX4_I2C_BUS_ONBOARD
 	#define MS5611_BUS		1
 #else
@@ -48,12 +67,12 @@
 
 
 
-device::Device *MS5611_i2c_interface();
+device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf);
 
-class MS5611_I2C : device::I2C
+class MS5611_I2C : public device::I2C
 {
 public:
-	MS5611_I2C(int bus);
+	MS5611_I2C(int bus, ms5611::prom_u &prom_buf);
 	virtual ~MS5611_I2C();
 
 	virtual int	init();
@@ -64,7 +83,7 @@ protected:
 	virtual int	probe();
 
 private:
-	ms5611::prom_u	*_prom
+	ms5611::prom_u	&_prom;
 
 	int		_probe_address(uint8_t address);
 
@@ -92,15 +111,12 @@ private:
 };
 
 device::Device *
-MS5611_i2c_interface()
+MS5611_i2c_interface(ms5611::prom_u &prom_buf)
 {
-#ifdef PX4_I2C_OBDEV_MS5611
-	return new MS5611_I2C(MS5611_BUS);
-#endif
-	return nullptr;
+	return new MS5611_I2C(MS5611_BUS, prom_buf);
 }
 
-MS5611_I2C::MS5611_I2C(int bus, ms5611_prom_u &prom) :
+MS5611_I2C::MS5611_I2C(int bus, ms5611::prom_u &prom) :
 	I2C("MS5611_I2C", nullptr, bus, 0, 400000),
 	_prom(prom)
 {
@@ -146,11 +162,6 @@ MS5611_I2C::ioctl(unsigned operation, unsigned &arg)
 	int ret;
 
 	switch (operation) {
-	case IOCTL_SET_PROMBUFFER:
-		_prom = reinterpret_cast<ms5611_prom_u *>(arg);
-		ret = OK;
-		break;
-
 	case IOCTL_RESET:
 		ret = _reset();
 		break;
@@ -255,10 +266,11 @@ MS5611_I2C::_read_prom()
 		/* assemble 16 bit value and convert from big endian (sensor) to little endian (MCU) */
 		cvt.b[0] = prom_buf[1];
 		cvt.b[1] = prom_buf[0];
-		_prom->c[i] = cvt.w;
+		_prom.c[i] = cvt.w;
 	}
 
 	/* calculate CRC and return success/failure accordingly */
-	return ms5611::crc4(&_prom->c[0]) ? OK : -EIO;
+	return ms5611::crc4(&_prom.c[0]) ? OK : -EIO;
 }
 
+#endif /* PX4_I2C_OBDEV_MS5611 */
diff --git a/src/drivers/ms5611/ms5611_spi.cpp b/src/drivers/ms5611/ms5611_spi.cpp
index eed8e1697..156832a61 100644
--- a/src/drivers/ms5611/ms5611_spi.cpp
+++ b/src/drivers/ms5611/ms5611_spi.cpp
@@ -37,31 +37,44 @@
   * SPI interface for MS5611
   */
 
+/* XXX trim includes */
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <assert.h>
+#include <debug.h>
+#include <errno.h>
+#include <unistd.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/device/spi.h>
+
+#include "ms5611.h"
 
 /* SPI protocol address bits */
 #define DIR_READ			(1<<7)
 #define DIR_WRITE			(0<<7)
 #define ADDR_INCREMENT			(1<<6)
 
-device::Device *MS5611_spi_interface();
+#ifdef PX4_SPIDEV_BARO
+
+device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf);
 
-class MS5611_SPI : device::SPI
+class MS5611_SPI : public device::SPI
 {
 public:
-	MS5611_SPI(int bus, spi_dev_e device);
+	MS5611_SPI(int bus, spi_dev_e device, ms5611::prom_u &prom_buf);
 	virtual ~MS5611_SPI();
 
 	virtual int	init();
 	virtual int	read(unsigned offset, void *data, unsigned count);
 	virtual int	ioctl(unsigned operation, unsigned &arg);
 
-protected:
-	virtual int	probe();
-
 private:
-	ms5611::prom_u	*_prom
-
-	int		_probe_address(uint8_t address);
+	ms5611::prom_u	&_prom;
 
 	/**
 	 * Send a reset command to the MS5611.
@@ -93,12 +106,19 @@ private:
 };
 
 device::Device *
-MS5611_spi_interface()
+MS5611_spi_interface(ms5611::prom_u &prom_buf)
+{
+	return new MS5611_SPI(1 /* XXX MAGIC NUMBER */, (spi_dev_e)PX4_SPIDEV_BARO, prom_buf);
+}
+
+MS5611_SPI::MS5611_SPI(int bus, spi_dev_e device, ms5611::prom_u &prom_buf) :
+	SPI("MS5611_SPI", nullptr, bus, device, SPIDEV_MODE3, 2000000),
+	_prom(prom_buf)
+{
+}
+
+MS5611_SPI::~MS5611_SPI()
 {
-#ifdef PX4_SPIDEV_BARO
-	return new MS5611_SPI(1 /* XXX MAGIC NUMBER */, (spi_dev_e)PX4_SPIDEV_BARO);
-#endif
-	return nullptr;
 }
 
 int
@@ -107,18 +127,24 @@ MS5611_SPI::init()
 	int ret;
 
 	ret = SPI::init();
-	if (ret != OK)
+	if (ret != OK) {
+		debug("SPI init failed");
 		goto out;
+	}
 
 	/* send reset command */
 	ret = _reset();
-	if (ret != OK)
+	if (ret != OK) {
+		debug("reset failed");
 		goto out;
+	}
 
 	/* read PROM */
 	ret = _read_prom();
-	if (ret != OK)
+	if (ret != OK) {
+		debug("prom readout failed");
 		goto out;
+	}
 
 out:
 	return ret;
@@ -139,9 +165,9 @@ MS5611_SPI::read(unsigned offset, void *data, unsigned count)
 
 	if (ret == OK) {
 		/* fetch the raw value */
-		cvt->b[0] = data[3];
-		cvt->b[1] = data[2];
-		cvt->b[2] = data[1];
+		cvt->b[0] = buf[3];
+		cvt->b[1] = buf[2];
+		cvt->b[2] = buf[1];
 		cvt->b[3] = 0;
 
 		ret = count;
@@ -156,10 +182,6 @@ MS5611_SPI::ioctl(unsigned operation, unsigned &arg)
 	int ret;
 
 	switch (operation) {
-	case IOCTL_SET_PROMBUFFER:
-		_prom = reinterpret_cast<ms5611_prom_u *>(arg);
-		return OK;
-
 	case IOCTL_RESET:
 		ret = _reset();
 		break;
@@ -226,3 +248,5 @@ MS5611_SPI::_reg16(unsigned reg)
 
 	return (uint16_t)(cmd[1] << 8) | cmd[2];
 }
+
+#endif /* PX4_SPIDEV_BARO */