Allow access to both device handles, make external use a special handle

1 files changed, 48 insertions, 22 deletions

diff --git a/src/drivers/ms5611/ms5611.cpp b/src/drivers/ms5611/ms5611.cpp
index 340a2e660..beca29d6d 100644
--- a/src/drivers/ms5611/ms5611.cpp
+++ b/src/drivers/ms5611/ms5611.cpp
@@ -91,12 +91,13 @@ static const int ERROR = -1;
 /* internal conversion time: 9.17 ms, so should not be read at rates higher than 100 Hz */
 #define MS5611_CONVERSION_INTERVAL	10000	/* microseconds */
 #define MS5611_MEASUREMENT_RATIO	3	/* pressure measurements per temperature measurement */
-#define MS5611_BARO_DEVICE_PATH		"/dev/ms5611"
+#define MS5611_BARO_DEVICE_PATH_EXT	"/dev/ms5611_ext"
+#define MS5611_BARO_DEVICE_PATH_INT	"/dev/ms5611_int"
 
 class MS5611 : public device::CDev
 {
 public:
-	MS5611(device::Device *interface, ms5611::prom_u &prom_buf);
+	MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char* path);
 	~MS5611();
 
 	virtual int		init();
@@ -195,8 +196,8 @@ protected:
  */
 extern "C" __EXPORT int ms5611_main(int argc, char *argv[]);
 
-MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf) :
-	CDev("MS5611", MS5611_BARO_DEVICE_PATH),
+MS5611::MS5611(device::Device *interface, ms5611::prom_u &prom_buf, const char* path) :
+	CDev("MS5611", path),
 	_interface(interface),
 	_prom(prom_buf.s),
 	_measure_ticks(0),
@@ -224,7 +225,7 @@ MS5611::~MS5611()
 	stop_cycle();
 
 	if (_class_instance != -1)
-		unregister_class_devname(MS5611_BARO_DEVICE_PATH, _class_instance);
+		unregister_class_devname(get_devname(), _class_instance);
 
 	/* free any existing reports */
 	if (_reports != nullptr)
@@ -792,10 +793,10 @@ MS5611	*g_dev_ext = nullptr;
 MS5611	*g_dev_int = nullptr;
 
 void	start(bool external_bus);
-void	test();
-void	reset();
+void	test(bool external_bus);
+void	reset(bool external_bus);
 void	info();
-void	calibrate(unsigned altitude);
+void	calibrate(unsigned altitude, bool external_bus);
 void	usage();
 
 /**
@@ -879,27 +880,34 @@ start(bool external_bus)
 	}
 
 	if (external_bus) {
-		g_dev_ext = new MS5611(interface, prom_buf);
+		g_dev_ext = new MS5611(interface, prom_buf, MS5611_BARO_DEVICE_PATH_EXT);
 		if (g_dev_ext == nullptr) {
 			delete interface;
 			errx(1, "failed to allocate driver");
 		}
+
 		if (g_dev_ext->init() != OK)
 			goto fail;
+
+		fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY);
+
 	} else {
 
-		g_dev_int = new MS5611(interface, prom_buf);
+		g_dev_int = new MS5611(interface, prom_buf, MS5611_BARO_DEVICE_PATH_INT);
 		if (g_dev_int == nullptr) {
 			delete interface;
 			errx(1, "failed to allocate driver");
 		}
+
 		if (g_dev_int->init() != OK)
 			goto fail;
 
+		fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY);
+
 	}
 
 	/* set the poll rate to default, starts automatic data collection */
-	fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY);
+
 	if (fd < 0) {
 		warnx("can't open baro device");
 		goto fail;
@@ -932,16 +940,22 @@ fail:
  * and automatic modes.
  */
 void
-test()
+test(bool external_bus)
 {
 	struct baro_report report;
 	ssize_t sz;
 	int ret;
 
-	int fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY);
+	int fd;
+
+	if (external_bus) {
+		fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY);
+	} else {
+		fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY);
+	}
 
 	if (fd < 0)
-		err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", MS5611_BARO_DEVICE_PATH);
+		err(1, "open failed (try 'ms5611 start' if the driver is not running)");
 
 	/* do a simple demand read */
 	sz = read(fd, &report, sizeof(report));
@@ -995,9 +1009,15 @@ test()
  * Reset the driver.
  */
 void
-reset()
+reset(bool external_bus)
 {
-	int fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY);
+	int fd;
+
+	if (external_bus) {
+		fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY);
+	} else {
+		fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY);
+	}
 
 	if (fd < 0)
 		err(1, "failed ");
@@ -1037,16 +1057,22 @@ info()
  * Calculate actual MSL pressure given current altitude
  */
 void
-calibrate(unsigned altitude)
+calibrate(unsigned altitude, bool external_bus)
 {
 	struct baro_report report;
 	float	pressure;
 	float	p1;
 
-	int fd = open(MS5611_BARO_DEVICE_PATH, O_RDONLY);
+	int fd;
+
+	if (external_bus) {
+		fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY);
+	} else {
+		fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY);
+	}
 
 	if (fd < 0)
-		err(1, "%s open failed (try 'ms5611 start' if the driver is not running)", MS5611_BARO_DEVICE_PATH);
+		err(1, "open failed (try 'ms5611 start' if the driver is not running)");
 
 	/* start the sensor polling at max */
 	if (OK != ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_MAX))
@@ -1141,13 +1167,13 @@ ms5611_main(int argc, char *argv[])
 	 * Test the driver/device.
 	 */
 	if (!strcmp(verb, "test"))
-		ms5611::test();
+		ms5611::test(external_bus);
 
 	/*
 	 * Reset the driver.
 	 */
 	if (!strcmp(verb, "reset"))
-		ms5611::reset();
+		ms5611::reset(external_bus);
 
 	/*
 	 * Print driver information.
@@ -1164,7 +1190,7 @@ ms5611_main(int argc, char *argv[])
 
 		long altitude = strtol(argv[optind+1], nullptr, 10);
 
-		ms5611::calibrate(altitude);
+		ms5611::calibrate(altitude, external_bus);
 	}
 
 	errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'");