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diff --git a/apps/drivers/ms5611/ms5611.cpp b/apps/drivers/ms5611/ms5611.cpp
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+/****************************************************************************
+ *
+ * Copyright (C) 2012 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 Driver for the MS5611 barometric pressure sensor connected via I2C
+ */
+
+#include <nuttx/config.h>
+
+#include <drivers/device/i2c.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <semaphore.h>
+#include <string.h>
+#include <fcntl.h>
+#include <poll.h>
+#include <errno.h>
+#include <stdio.h>
+#include <math.h>
+#include <unistd.h>
+
+#include <nuttx/arch.h>
+#include <nuttx/wqueue.h>
+#include <nuttx/clock.h>
+
+#include <arch/board/up_hrt.h>
+
+#include <drivers/drv_baro.h>
+
+/**
+ * Calibration PROM as reported by the device.
+ */
+#pragma pack(push,1)
+struct ms5611_prom_s {
+ uint16_t factory_setup;
+ uint16_t c1_pressure_sens;
+ uint16_t c2_pressure_offset;
+ uint16_t c3_temp_coeff_pres_sens;
+ uint16_t c4_temp_coeff_pres_offset;
+ uint16_t c5_reference_temp;
+ uint16_t c6_temp_coeff_temp;
+ uint16_t serial_and_crc;
+};
+
+/**
+ * Grody hack for crc4()
+ */
+union ms5611_prom_u {
+ uint16_t c[8];
+ struct ms5611_prom_s s;
+};
+#pragma pack(pop)
+
+class MS5611 : public device::I2C
+{
+public:
+ MS5611(int bus);
+ ~MS5611();
+
+ virtual int init();
+
+ 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.
+ */
+ void print_info();
+
+protected:
+ virtual int probe();
+
+private:
+ union ms5611_prom_u _prom;
+
+ struct work_s _work;
+ unsigned _measure_ticks;
+
+ unsigned _num_reports;
+ volatile unsigned _next_report;
+ volatile unsigned _oldest_report;
+ struct baro_report *_reports;
+
+ bool _collect_phase;
+ unsigned _measure_phase;
+
+ int32_t _dT;
+ int64_t _temp64;
+
+ int _orbject;
+
+ unsigned _reads;
+ unsigned _measure_errors;
+ unsigned _read_errors;
+ unsigned _buf_overflows;
+
+ /**
+ * Test whether the device supported by the driver is present at a
+ * specific address.
+ *
+ * @param address The I2C bus address to probe.
+ * @return True if the device is present.
+ */
+ int probe_address(uint8_t address);
+
+ /**
+ * Initialise the automatic measurement state machine and start it.
+ *
+ * @note This function is called at open and error time. It might make sense
+ * to make it more aggressive about resetting the bus in case of errors.
+ */
+ void start();
+
+ /**
+ * Stop the automatic measurement state machine.
+ */
+ void stop();
+
+ /**
+ * Perform a poll cycle; collect from the previous measurement
+ * and start a new one.
+ *
+ * This is the heart of the measurement state machine. This function
+ * alternately starts a measurement, or collects the data from the
+ * previous measurement.
+ *
+ * When the interval between measurements is greater than the minimum
+ * measurement interval, a gap is inserted between collection
+ * and measurement to provide the most recent measurement possible
+ * at the next interval.
+ */
+ void cycle();
+
+ /**
+ * Static trampoline from the workq context; because we don't have a
+ * generic workq wrapper yet.
+ *
+ * @param arg Instance pointer for the driver that is polling.
+ */
+ static void cycle_trampoline(void *arg);
+
+ /**
+ * Issue a measurement command for the current state.
+ *
+ * @return OK if the measurement command was successful.
+ */
+ int measure();
+
+ /**
+ * Collect the result of the most recent measurement.
+ */
+ int collect();
+
+ /**
+ * Read the MS5611 PROM
+ *
+ * @return OK if the PROM reads successfully.
+ */
+ int read_prom();
+
+ /**
+ * PROM CRC routine ported from MS5611 application note
+ *
+ * @param n_prom Pointer to words read from PROM.
+ * @return True if the CRC matches.
+ */
+ bool crc4(uint16_t *n_prom);
+
+};
+
+/* helper macro for handling report buffer indices */
+#define INCREMENT(_x, _lim) do { _x++; if (_x >= _lim) _x = 0; } while(0)
+
+/*
+ * MS5611 internal constants and data structures.
+ */
+
+/* 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_ADDRESS_1 0x76 /* address select pins pulled high (PX4FMU series v1.6+) */
+#define MS5611_ADDRESS_2 0x77 /* address select pins pulled low (PX4FMU prototypes) */
+
+#define ADDR_RESET_CMD 0x1E /* read from this address to reset chip (0b0011110 on bus) */
+#define ADDR_CMD_CONVERT_D1 0x48 /* 4096 samples to this address to start conversion (0b01001000 on bus) */
+#define ADDR_CMD_CONVERT_D2 0x58 /* 4096 samples */
+#define ADDR_DATA 0x00 /* address of 3 bytes / 32bit pressure data */
+#define ADDR_PROM_SETUP 0xA0 /* address of 8x 2 bytes factory and calibration data */
+#define ADDR_PROM_C1 0xA2 /* address of 6x 2 bytes calibration data */
+
+/*
+ * Driver 'main' command.
+ */
+extern "C" __EXPORT int ms5611_main(int argc, char *argv[]);
+
+
+MS5611::MS5611(int bus) :
+ I2C("MS5611", BARO_DEVICE_PATH, bus, 0, 400000),
+ _measure_ticks(0),
+ _num_reports(0),
+ _next_report(0),
+ _oldest_report(0),
+ _reports(nullptr),
+ _collect_phase(false),
+ _measure_phase(0),
+ _dT(0),
+ _temp64(0),
+ _reads(0),
+ _measure_errors(0),
+ _read_errors(0),
+ _buf_overflows(0)
+{
+ // enable debug() calls
+ _debug_enabled = true;
+
+ // work_cancel in the dtor will explode if we don't do this...
+ _work.worker = nullptr;
+}
+
+MS5611::~MS5611()
+{
+ /* make sure we are truly inactive */
+ stop();
+
+ /* free any existing reports */
+ if (_reports != nullptr)
+ delete[] _reports;
+}
+
+int
+MS5611::init()
+{
+ int ret;
+
+ /* do I2C init (and probe) first */
+ ret = I2C::init();
+
+ /* assuming we're good, advertise the object */
+ if (ret == OK) {
+ struct baro_report b;
+
+ /* if this fails (e.g. no object in the system) that's OK */
+ memset(&b, 0, sizeof(b));
+ _orbject = orb_advertise(ORB_ID(sensor_baro), &b);
+
+ if (_orbject < 0)
+ debug("failed to create sensor_baro object");
+ }
+
+ return ret;
+}
+
+int
+MS5611::open_first(struct file *filp)
+{
+ /* reset to manual-poll mode */
+ _measure_ticks = 0;
+
+ /* allocate basic report buffers */
+ _num_reports = 2;
+ _reports = new struct baro_report[_num_reports];
+ _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;
+}
+
+int
+MS5611::probe()
+{
+ if (OK == probe_address(MS5611_ADDRESS_1))
+ return OK;
+
+ if (OK == probe_address(MS5611_ADDRESS_2))
+ return OK;
+
+ return -EIO;
+}
+
+int
+MS5611::probe_address(uint8_t address)
+{
+ uint8_t cmd = ADDR_RESET_CMD;
+
+ /* select the address we are going to try */
+ set_address(address);
+
+ /* send reset command */
+ if (OK != transfer(&cmd, 1, nullptr, 0))
+ return -EIO;
+
+ /* wait for PROM contents to be in the device (2.8 ms) */
+ usleep(3000);
+
+ /* read PROM */
+ if (OK != read_prom())
+ return -EIO;
+
+ return OK;
+}
+
+ssize_t
+MS5611::read(struct file *filp, char *buffer, size_t buflen)
+{
+ unsigned count = buflen / sizeof(struct baro_report);
+ int ret = 0;
+
+ /* buffer must be large enough */
+ if (count < 1)
+ return -ENOSPC;
+
+ /* if automatic measurement is enabled */
+ if (_measure_ticks > 0) {
+
+ /*
+ * While there is space in the caller's buffer, and reports, copy them.
+ * Note that we may be pre-empted by the workq thread while we are doing this;
+ * we are careful to avoid racing with them.
+ */
+ while (count--) {
+ if (_oldest_report != _next_report) {
+ memcpy(buffer, _reports + _oldest_report, sizeof(*_reports));
+ ret += sizeof(_reports[0]);
+ INCREMENT(_oldest_report, _num_reports);
+ }
+ }
+
+ _reads++;
+
+ /* if there was no data, warn the caller */
+ return ret ? ret : -EAGAIN;
+ }
+
+ /* manual measurement - run one conversion */
+ /* XXX really it'd be nice to lock against other readers here */
+ do {
+ _measure_phase = 0;
+ _oldest_report = _next_report = 0;
+
+ /* do temperature first */
+ if (OK != measure()) {
+ ret = -EIO;
+ break;
+ }
+
+ usleep(MS5611_CONVERSION_INTERVAL);
+
+ if (OK != collect()) {
+ ret = -EIO;
+ break;
+ }
+
+ /* now do a pressure measurement */
+ if (OK != measure()) {
+ ret = -EIO;
+ break;
+ }
+
+ usleep(MS5611_CONVERSION_INTERVAL);
+
+ if (OK != collect()) {
+ ret = -EIO;
+ break;
+ }
+
+ /* state machine will have generated a report, copy it out */
+ memcpy(buffer, _reports, sizeof(*_reports));
+ ret = sizeof(*_reports);
+ _reads++;
+
+ } while (0);
+
+ return ret;
+}
+
+int
+MS5611::ioctl(struct file *filp, int cmd, unsigned long arg)
+{
+ switch (cmd) {
+
+ case BAROIOCSPOLLRATE: {
+ switch (arg) {
+
+ /* switching to manual polling */
+ case BARO_POLLRATE_MANUAL:
+ stop();
+ _measure_ticks = 0;
+ return OK;
+
+ /* external signalling not supported */
+ case BARO_POLLRATE_EXTERNAL:
+
+ /* zero would be bad */
+ case 0:
+ return -EINVAL;
+
+ /* adjust to a legal polling interval in Hz */
+ default: {
+ /* do we need to start internal polling? */
+ bool want_start = (_measure_ticks == 0);
+
+ /* convert hz to tick interval via microseconds */
+ unsigned ticks = USEC2TICK(1000000 / arg);
+
+ /* check against maximum rate */
+ if (ticks < USEC2TICK(MS5611_CONVERSION_INTERVAL))
+ return -EINVAL;
+
+ /* update interval for next measurement */
+ _measure_ticks = ticks;
+
+ /* if we need to start the poll state machine, do it */
+ if (want_start)
+ start();
+
+ return OK;
+ }
+ }
+ }
+
+ case BAROIOCSQUEUEDEPTH: {
+ /* lower bound is mandatory, upper bound is a sanity check */
+ if ((arg < 2) || (arg > 100))
+ return -EINVAL;
+
+ /* allocate new buffer */
+ struct baro_report *buf = new struct baro_report[arg];
+
+ if (nullptr == buf)
+ return -ENOMEM;
+
+ /* reset the measurement state machine with the new buffer, free the old */
+ stop();
+ delete[] _reports;
+ _num_reports = arg;
+ _reports = buf;
+ start();
+
+ return OK;
+ }
+
+ case BAROIOCSREPORTFORMAT:
+ return -EINVAL;
+
+ default:
+ /* give it to the superclass */
+ return I2C::ioctl(filp, cmd, arg);
+ }
+}
+
+void
+MS5611::start()
+{
+ /* make sure we are stopped first */
+ stop();
+
+ /* reset the report ring and state machine */
+ _collect_phase = false;
+ _measure_phase = 0;
+ _oldest_report = _next_report = 0;
+
+ /* schedule a cycle to start things */
+ work_queue(&_work, (worker_t)&MS5611::cycle_trampoline, this, 1);
+}
+
+void
+MS5611::stop()
+{
+ work_cancel(&_work);
+}
+
+void
+MS5611::cycle_trampoline(void *arg)
+{
+ MS5611 *dev = (MS5611 *)arg;
+
+ dev->cycle();
+}
+
+void
+MS5611::cycle()
+{
+ /* collection phase? */
+ if (_collect_phase) {
+
+ /* perform collection */
+ if (OK != collect()) {
+ log("FATAL collection error - restarting\n");
+ start();
+ return;
+ }
+
+ /* next phase is measurement */
+ _collect_phase = false;
+
+ /*
+ * Is there a collect->measure gap?
+ * Don't inject one after temperature measurements, so we can keep
+ * doing pressure measurements at something close to the desired rate.
+ */
+ if ((_measure_phase != 0) &&
+ (_measure_ticks > USEC2TICK(MS5611_CONVERSION_INTERVAL))) {
+
+ /* schedule a fresh cycle call when we are ready to measure again */
+ work_queue(&_work,
+ (worker_t)&MS5611::cycle_trampoline,
+ this,
+ _measure_ticks - USEC2TICK(MS5611_CONVERSION_INTERVAL));
+
+ return;
+ }
+ }
+
+ /* measurement phase */
+ if (OK != measure()) {
+ log("FATAL measure error - restarting\n");
+ start();
+ }
+
+ /* next phase is collection */
+ _collect_phase = true;
+
+ /* schedule a fresh cycle call when the measurement is done */
+ work_queue(&_work,
+ (worker_t)&MS5611::cycle_trampoline,
+ this,
+ USEC2TICK(MS5611_CONVERSION_INTERVAL));
+}
+
+int
+MS5611::measure()
+{
+ int ret;
+
+ /*
+ * In phase zero, request temperature; in other phases, request pressure.
+ */
+ uint8_t cmd_data = (_measure_phase == 0) ? ADDR_CMD_CONVERT_D2 : ADDR_CMD_CONVERT_D1;
+
+ /*
+ * Send the command to begin measuring.
+ */
+ ret = transfer(&cmd_data, 1, nullptr, 0);
+
+ if (OK != ret)
+ _measure_errors++;
+
+ return ret;
+}
+
+int
+MS5611::collect()
+{
+ uint8_t cmd;
+ uint8_t data[3];
+
+ /* read the most recent measurement */
+ cmd = 0;
+
+ /* this should be fairly close to the end of the conversion, so the best approximation of the time */
+ _reports[_next_report].timestamp = hrt_absolute_time();
+
+ if (OK != transfer(&cmd, 1, &data[0], 3)) {
+ _read_errors++;
+ return -EIO;
+ }
+
+ /* fetch the raw value */
+ uint32_t raw = (((uint32_t)data[0]) << 16) | (((uint32_t)data[1]) << 8) | ((uint32_t)data[2]);
+
+ /* handle a measurement */
+ if (_measure_phase == 0) {
+
+ /* temperature calculation */
+ _dT = raw - (((int32_t)_prom.s.c5_reference_temp) * 256);
+ _temp64 = 2000 + (((int64_t)_dT) * _prom.s.c6_temp_coeff_temp) / 8388608;
+
+ } else {
+
+ /* pressure calculation */
+ int64_t offset = (int64_t)_prom.s.c2_pressure_offset * 65536 + ((int64_t)_dT * _prom.s.c4_temp_coeff_pres_offset) / 128;
+ int64_t sens = (int64_t)_prom.s.c1_pressure_sens * 32768 + ((int64_t)_dT * _prom.s.c3_temp_coeff_pres_sens) / 256;
+
+ /* it's pretty cold, second order temperature compensation needed */
+ if (_temp64 < 2000) {
+ /* second order temperature compensation */
+ int64_t temp2 = (((int64_t)_dT) * _dT) >> 31;
+ int64_t tmp_64 = (_temp64 - 2000) * (_temp64 - 2000);
+ int64_t offset2 = (5 * tmp_64) >> 1;
+ int64_t sens2 = (5 * tmp_64) >> 2;
+ _temp64 = _temp64 - temp2;
+ offset = offset - offset2;
+ sens = sens - sens2;
+ }
+
+ int64_t press_int64 = (((raw * sens) / 2097152 - offset) / 32768);
+
+ /* generate a new report */
+ _reports[_next_report].temperature = _temp64 / 100.0f;
+ _reports[_next_report].pressure = press_int64 / 100.0f;
+ /* convert as double for max. precision, store as float (more than enough precision) */
+ _reports[_next_report].altitude = (44330.0 * (1.0 - pow((press_int64 / 101325.0), 0.190295)));
+
+ /* publish it */
+ orb_publish(ORB_ID(sensor_baro), _orbject, &_reports[_next_report]);
+
+ /* post a report to the ring - note, not locked */
+ INCREMENT(_next_report, _num_reports);
+
+ /* if we are running up against the oldest report, toss it */
+ if (_next_report == _oldest_report) {
+ _buf_overflows++;
+ INCREMENT(_oldest_report, _num_reports);
+ }
+
+ /* notify anyone waiting for data */
+ poll_notify(POLLIN);
+ }
+
+
+ /* update the measurement state machine */
+ INCREMENT(_measure_phase, MS5611_MEASUREMENT_RATIO + 1);
+
+ return OK;
+}
+
+int
+MS5611::read_prom()
+{
+ /* read PROM data */
+ uint8_t prom_buf[2] = {255, 255};
+
+ for (int i = 0; i < 8; i++) {
+ uint8_t cmd = ADDR_PROM_SETUP + (i * 2);
+
+ if (OK != transfer(&cmd, 1, &prom_buf[0], 2))
+ break;
+
+ /* assemble 16 bit value and convert from big endian (sensor) to little endian (MCU) */
+ _prom.c[i] = (((uint16_t)prom_buf[0]) << 8) | ((uint16_t)prom_buf[1]);
+
+ }
+
+ /* calculate CRC and return false */
+ return crc4(&_prom.c[0]) ? OK : -EIO;
+}
+
+bool
+MS5611::crc4(uint16_t *n_prom)
+{
+ int16_t cnt;
+ uint16_t n_rem;
+ uint16_t crc_read;
+ uint8_t n_bit;
+
+ n_rem = 0x00;
+
+ /* save the read crc */
+ crc_read = n_prom[7];
+
+ /* remove CRC byte */
+ n_prom[7] = (0xFF00 & (n_prom[7]));
+
+ for (cnt = 0; cnt < 16; cnt++) {
+ /* uneven bytes */
+ if (cnt & 1) {
+ n_rem ^= (uint8_t)((n_prom[cnt >> 1]) & 0x00FF);
+
+ } else {
+ n_rem ^= (uint8_t)(n_prom[cnt >> 1] >> 8);
+ }
+
+ for (n_bit = 8; n_bit > 0; n_bit--) {
+ if (n_rem & 0x8000) {
+ n_rem = (n_rem << 1) ^ 0x3000;
+
+ } else {
+ n_rem = (n_rem << 1);
+ }
+ }
+ }
+
+ /* final 4 bit remainder is CRC value */
+ n_rem = (0x000F & (n_rem >> 12));
+ n_prom[7] = crc_read;
+
+ /* return true if CRCs match */
+ return (0x000F & crc_read) == (n_rem ^ 0x00);
+}
+
+void
+MS5611::print_info()
+{
+ printf("reads: %u\n", _reads);
+ printf("measure errors: %u\n", _measure_errors);
+ printf("read errors: %u\n", _read_errors);
+ printf("read overflows: %u\n", _buf_overflows);
+ printf("poll interval: %u ticks\n", _measure_ticks);
+ printf("report queue: %u (%u/%u @ %p)\n",
+ _num_reports, _oldest_report, _next_report, _reports);
+ printf("dT/temp64: %d/%lld\n", _dT, _temp64);
+}
+
+/**
+ * Local functions in support of the shell command.
+ */
+namespace
+{
+
+/* oddly, ERROR is not defined for c++ */
+#ifdef ERROR
+# undef ERROR
+#endif
+const int ERROR = -1;
+
+MS5611 *g_dev;
+
+/*
+ * XXX this should just be part of the generic sensors test...
+ */
+
+
+int
+test_fail(const char *fmt, ...)
+{
+ va_list ap;
+
+ fprintf(stderr, "FAIL: ");
+ va_start(ap, fmt);
+ vfprintf(stderr, fmt, ap);
+ va_end(ap);
+ fprintf(stderr, "\n");
+ fflush(stderr);
+ return ERROR;
+}
+
+int
+test_note(const char *fmt, ...)
+{
+ va_list ap;
+
+ fprintf(stderr, "note: ");
+ va_start(ap, fmt);
+ vfprintf(stderr, fmt, ap);
+ va_end(ap);
+ fprintf(stderr, "\n");
+ fflush(stderr);
+ return OK;
+}
+
+/**
+ * Perform some basic functional tests on the driver;
+ * make sure we can collect data from the sensor in polled
+ * and automatic modes.
+ *
+ * @param fd An open file descriptor on the driver.
+ */
+int
+test(int fd)
+{
+ struct baro_report report;
+ ssize_t sz;
+ int ret;
+
+
+ /* do a simple demand read */
+ sz = read(fd, &report, sizeof(report));
+
+ if (sz != sizeof(report))
+ return test_fail("immediate read failed: %d", errno);
+
+ test_note("single read");
+ test_note("pressure: %u", (unsigned)report.pressure);
+ test_note("altitude: %u", (unsigned)report.altitude);
+ test_note("temperature: %u", (unsigned)report.temperature);
+ test_note("time: %lld", report.timestamp);
+ usleep(1000000);
+
+ /* set the queue depth to 10 */
+ if (OK != ioctl(fd, BAROIOCSQUEUEDEPTH, 10))
+ return test_fail("failed to set queue depth");
+
+ /* start the sensor polling at 2Hz */
+ if (OK != ioctl(fd, BAROIOCSPOLLRATE, 2))
+ return test_fail("failed to set 2Hz poll rate");
+
+ /* read the sensor 5x and report each value */
+ for (unsigned i = 0; i < 5; i++) {
+ struct pollfd fds;
+
+ /* wait for data to be ready */
+ fds.fd = fd;
+ fds.events = POLLIN;
+ ret = poll(&fds, 1, 2000);
+
+ if (ret != 1)
+ return test_fail("timed out waiting for sensor data");
+
+ /* now go get it */
+ sz = read(fd, &report, sizeof(report));
+
+ if (sz != sizeof(report))
+ return test_fail("periodic read failed: %d", errno);
+
+ test_note("periodic read %u", i);
+ test_note("pressure: %u", (unsigned)report.pressure);
+ test_note("altitude: %u", (unsigned)report.altitude);
+ test_note("temperature: %u", (unsigned)report.temperature);
+ test_note("time: %lld", report.timestamp);
+ }
+
+ return test_note("PASS");
+ return OK;
+}
+
+int
+info()
+{
+ if (g_dev == nullptr) {
+ fprintf(stderr, "MS5611: driver not running\n");
+ return -ENOENT;
+ }
+
+ printf("state @ %p\n", g_dev);
+ g_dev->print_info();
+
+ return OK;
+}
+
+
+} // namespace
+
+int
+ms5611_main(int argc, char *argv[])
+{
+ /*
+ * Start/load the driver.
+ *
+ * XXX it would be nice to have a wrapper for this...
+ */
+ if (!strcmp(argv[1], "start")) {
+
+ if (g_dev != nullptr) {
+ fprintf(stderr, "MS5611: already loaded\n");
+ return -EBUSY;
+ }
+
+ /* create the driver */
+ /* XXX HORRIBLE hack - the bus number should not come from here */
+ g_dev = new MS5611(2);
+
+ if (g_dev == nullptr) {
+ fprintf(stderr, "MS5611: driver alloc failed\n");
+ return -ENOMEM;
+ }
+
+ if (OK != g_dev->init()) {
+ fprintf(stderr, "MS5611: driver init failed\n");
+ usleep(100000);
+ delete g_dev;
+ g_dev = nullptr;
+ return -EIO;
+ }
+
+ return OK;
+ }
+
+ /*
+ * Test the driver/device.
+ */
+ if (!strcmp(argv[1], "test")) {
+ int fd, ret;
+
+ fd = open(BARO_DEVICE_PATH, O_RDONLY);
+
+ if (fd < 0)
+ return test_fail("driver open failed: %d", errno);
+
+ ret = test(fd);
+ close(fd);
+ return ret;
+ }
+
+ /*
+ * Print driver information.
+ */
+ if (!strcmp(argv[1], "info"))
+ return info();
+
+ fprintf(stderr, "unrecognised command, try 'start', 'test' or 'info'\n");
+ return -EINVAL;
+}
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-25 01:52:16 +0000